Electronic parking brake system and electronic parking brake method for vehicle

Abstract

An electronic parking brake system of a vehicle according to one aspect of the present application includes: a power supply control switch of a brake motor disposed between the brake motor and a power supply and configured to be in a closed state to supply power to the brake motor using the power supply; the detection unit is configured to determine a current value of the brake motor based on a plurality of currents of the brake motor acquired redundantly; determining a phase voltage value of the brake motor based on the plurality of phase voltages of the brake motor acquired redundantly; determining a bus voltage value of the brake motor based on a plurality of bus voltages of the brake motor acquired redundantly; the control unit is coupled with the detection unit and is configured to generate fault alarm information and control a power supply control switch of the brake motor based on a current value and a phase voltage value of the brake motor in a first detection state; and in the second detection state, fault alarm information is generated at least based on the current value of the brake motor and the bus voltage value, and the driving current of the brake motor is selectively controlled.

Description

Technical Field

[0001] The present application generally relates to the field of vehicles, and more particularly to an electronic parking brake system of a vehicle and an electronic parking brake method of a vehicle. Background Art

[0002] With the development of vehicle automation and intelligence, the Electronic Park Brake (EPB) system has gradually developed into an important component of smart cars. In the EPB system, the built-in electronic control unit can control the brake motor installed on the wheel side to achieve the clamping and release of the wheel, thereby realizing the electronic parking of the vehicle. For example, the EPB system can respond to the driver's parking command and drive the mechanical device (such as a screw rod, a caliper, etc.) to apply a clamping force to the brake disc, thereby providing a parking function in a vehicle stationary scene to prevent the vehicle from sliding down the slope. In addition, the EPB system can also provide redundant braking functions during vehicle driving. For example, when the service brake system is in an abnormal state, the EPB system can intervene through the backup control circuit to achieve emergency braking to ensure the driving safety of the vehicle.

[0003] However, due to the complex driving conditions of vehicles, when the EPB system fails or malfunctions, it may cause the EPB system to be unexpectedly activated during driving or the vehicle to slide down a slope when stationary, affecting the safety of the vehicle. Therefore, how to improve the reliability and safety of the EPB system is an urgent problem to be solved. Summary of the invention

[0004] In order to solve or at least alleviate one or more of the above problems, the following technical solutions are provided.

[0005] According to a first aspect of the present application, there is provided an electronic parking brake system for a vehicle, the electronic parking brake system comprising: a power control switch of a brake motor, which is arranged between the brake motor and a power supply and is configured to be in a closed state so as to utilize the power supply to supply power to the brake motor; a detection unit, which is configured to: determine the current value of the brake motor based on multiple redundantly acquired currents of the brake motor; determine the phase voltage value of the brake motor based on multiple redundantly acquired phase voltages of the brake motor; and determine the bus voltage value of the brake motor based on multiple redundantly acquired bus voltages of the brake motor; a control unit, which is coupled to the detection unit and is configured to: generate fault alarm information based on the current value and phase voltage value of the brake motor and control the power control switch of the brake motor in a first detection state; and generate fault alarm information based on at least the current value and bus voltage value of the brake motor and selectively control the driving current of the brake motor in a second detection state.

[0006] According to the electronic parking brake system described in an embodiment of the present application, the multiple currents of the brake motor that are redundantly collected include a first current collected at a first end of the brake motor and a second current collected at a second end of the brake motor.

[0007] According to the electronic parking brake system described in one embodiment or any one of the above embodiments of the present application, the detection unit is further configured to: determine the current value of the brake motor based on the current value of the first current and the current value of the second current in response to the current value of the first current matching the current value of the second current; and discard the redundantly collected multiple currents of the brake motor in response to the current value of the first current not matching the current value of the second current.

[0008] According to the electronic parking brake system of one embodiment or any one of the above embodiments of the present application, the multiple phase voltages of the brake motor collected redundantly include a first phase voltage collected at the third end of the brake motor and a second phase voltage collected at the fourth end of the brake motor.

[0009] According to the electronic parking brake system described in one embodiment or any one of the above embodiments of the present application, the detection unit is further configured to: determine the phase voltage value of the brake motor based on the voltage value of the first phase voltage and the voltage value of the second phase voltage in response to the voltage value of the first phase voltage matching the voltage value of the second phase voltage; and discard the redundantly collected multiple phase voltages of the brake motor in response to the voltage value of the first phase voltage matching the voltage value of the second phase voltage.

[0010] According to the electronic parking brake system according to one embodiment of the present application or any one of the above embodiments, the multiple bus voltages of the brake motor that are redundantly collected include a first bus voltage collected at the first end of the power control switch of the brake motor and a second bus voltage collected at the second end of the power control switch of the brake motor.

[0011] According to the electronic parking brake system described in one embodiment or any one of the above embodiments of the present application, the detection unit is further configured to: determine the bus voltage value of the brake motor based on the voltage value of the first bus voltage and the voltage value of the second bus voltage in response to the voltage value of the first bus voltage matching the voltage value of the second bus voltage; and discard the redundantly collected multiple bus voltages of the brake motor in response to the voltage value of the first bus voltage matching the voltage value of the second bus voltage.

[0012] According to the electronic parking brake system of one embodiment or any one of the above embodiments of the present application, the first detection state includes a vehicle driving state, and the second detection state includes a vehicle driving state and a vehicle stationary state.

[0013] According to the electronic parking brake system described in one embodiment of the present application or any one of the above embodiments, the control unit is further configured to, in the first detection state: compare the current value of the brake motor with a current threshold to generate a current comparison result; compare the phase voltage value of the brake motor with a voltage threshold to generate a voltage comparison result; and generate fault alarm information based on the current comparison result and the voltage comparison result and control the power control switch of the brake motor.

[0014] According to the electronic parking brake system described in one embodiment or any one of the above embodiments of the present application, the control unit is further configured to, in the first detection state: in response to the current comparison result indicating that the current value of the brake motor is greater than or equal to the current threshold and the voltage comparison result indicating that the phase voltage value of the brake motor is greater than or equal to the voltage threshold, generate fault alarm information and control the power control switch to switch from a closed state to an open state; and in response to the current comparison result indicating that the current value of the brake motor is less than the current threshold or the voltage comparison result indicating that the phase voltage value of the brake motor is less than the voltage threshold, keep the power control switch of the brake motor in a closed state.

[0015] According to the electronic parking brake system described in one embodiment or any one of the above embodiments of the present application, the control unit is further configured to, in the second detection state: determine the clamping force of the brake motor based at least on the current value and the bus voltage value of the brake motor; generate a fault alarm message in response to the determined clamping force being greater than or equal to a first clamping force threshold in the vehicle driving state; and generate a fault alarm message and increase the driving current of the brake motor in response to the determined clamping force being less than or equal to a second clamping force threshold in the vehicle stationary state.

[0016] According to the electronic parking brake system of one embodiment or any one of the above embodiments of the present application, the control unit is further configured to, in a third detection state: control the power control switch to switch from a closed state to an open state and obtain a third bus voltage collected at the second end of the power control switch; control the power control switch to switch back to a closed state and obtain a fourth bus voltage collected at the second end of the power control switch; and generate a detection result of the power control switch based on a comparison of the third bus voltage and the fourth bus voltage with the voltage of the power supply.

[0017] According to a second aspect of the present application, a vehicle electronic parking brake method is provided, the electronic parking brake method comprising: setting a power control switch of the brake motor between the brake motor and the power supply and controlling the power control switch to be in a closed state to utilize the power supply to supply power to the brake motor; determining the current value of the brake motor based on multiple redundantly collected currents of the brake motor, determining the phase voltage value of the brake motor based on multiple redundantly collected phase voltages of the brake motor, and determining the bus voltage value of the brake motor based on multiple redundantly collected bus voltages of the brake motor; generating fault alarm information based on the current value and phase voltage value of the brake motor in a first detection state and controlling the power control switch of the brake motor; and generating fault alarm information based on at least the current value and bus voltage value of the brake motor in a second detection state and selectively controlling the driving current of the brake motor.

[0018] According to the electronic parking brake method for a vehicle described in an embodiment of the present application, the multiple currents of the brake motor that are redundantly collected include a first current collected at a first end of the brake motor and a second current collected at a second end of the brake motor.

[0019] An electronic parking brake method for a vehicle according to one embodiment or any one of the above embodiments of the present application, wherein determining the current value of the brake motor based on multiple currents of the brake motor collected redundantly comprises: determining the current value of the brake motor based on the current value of the first current and the current value of the second current in response to the current value of the first current matching the current value of the second current; and discarding the multiple currents of the brake motor collected redundantly in response to the current value of the first current not matching the current value of the second current.

[0020] According to an electronic parking brake method for a vehicle in one embodiment or any one of the above embodiments of the present application, the multiple phase voltages of the brake motor collected redundantly include a first phase voltage collected at the third end of the brake motor and a second phase voltage collected at the fourth end of the brake motor.

[0021] An electronic parking brake method for a vehicle according to one embodiment or any one of the above embodiments of the present application, wherein determining the phase voltage value of the brake motor based on the redundantly collected multiple phase voltages of the brake motor comprises: determining the phase voltage value of the brake motor based on the voltage value of the first phase voltage and the voltage value of the second phase voltage in response to a match between the voltage value of the first phase voltage and the voltage value of the second phase voltage; and discarding the redundantly collected multiple phase voltages of the brake motor in response to a mismatch between the voltage value of the first phase voltage and the voltage value of the second phase voltage.

[0022] According to an electronic parking brake method for a vehicle according to one embodiment of the present application or any of the above embodiments, the multiple bus voltages of the brake motor that are redundantly collected include a first bus voltage collected at a first end of a power control switch of the brake motor and a second bus voltage collected at a second end of the power control switch of the brake motor.

[0023] An electronic parking brake method for a vehicle according to one embodiment or any one of the above embodiments of the present application, wherein determining the bus voltage value of the brake motor based on the redundantly collected multiple bus voltages of the brake motor comprises: determining the bus voltage value of the brake motor based on the voltage value of the first bus voltage and the voltage value of the second bus voltage in response to a voltage value of the first bus voltage matching the voltage value of the second bus voltage; and discarding the redundantly collected multiple bus voltages of the brake motor in response to a voltage value of the first bus voltage not matching the voltage value of the second bus voltage.

[0024] According to an electronic parking brake method for a vehicle in one embodiment or any one of the above embodiments of the present application, the first detection state includes a vehicle driving state, and the second detection state includes a vehicle driving state and a vehicle stationary state.

[0025] An electronic parking brake method for a vehicle according to one embodiment of the present application or any one of the above embodiments, wherein in a first detection state, fault alarm information is generated based on the current value and phase voltage value of the brake motor and the power control switch of the brake motor is controlled, including: comparing the current value of the brake motor with a current threshold to generate a current comparison result; comparing the phase voltage value of the brake motor with a voltage threshold to generate a voltage comparison result; and generating fault alarm information based on the current comparison result and the voltage comparison result and controlling the power control switch of the brake motor.

[0026] An electronic parking brake method for a vehicle according to one embodiment of the present application or any one of the above embodiments, wherein generating fault alarm information based on the current comparison result and the voltage comparison result and controlling the power control switch of the brake motor includes: in response to the current comparison result indicating that the current value of the brake motor is greater than or equal to a current threshold and the voltage comparison result indicating that the phase voltage value of the brake motor is greater than or equal to a voltage threshold, generating fault alarm information and controlling the power control switch to switch from a closed state to an open state; and in response to the current comparison result indicating that the current value of the brake motor is less than the current threshold or the voltage comparison result indicating that the phase voltage value of the brake motor is less than the voltage threshold, keeping the power control switch of the brake motor in a closed state.

[0027] According to an electronic parking brake method for a vehicle in accordance with one embodiment or any one of the above embodiments of the present application, in a second detection state, fault alarm information is generated based at least on the current value and bus voltage value of the brake motor and the driving current of the brake motor is selectively controlled, including: determining the clamping force of the brake motor based at least on the current value and bus voltage value of the brake motor; generating fault alarm information in response to the determined clamping force being greater than or equal to a first clamping force threshold in the driving state of the vehicle; and generating fault alarm information and increasing the driving current of the brake motor in response to the determined clamping force being less than or equal to a second clamping force threshold in the stationary state of the vehicle.

[0028] According to an electronic parking brake method for a vehicle in accordance with one embodiment of the present application or any one of the above embodiments, the method further includes, in a third detection state: controlling the power control switch to switch from a closed state to an open state and obtaining a third bus voltage collected at the second end of the power control switch; controlling the power control switch to switch back to a closed state and obtaining a fourth bus voltage collected at the second end of the power control switch; and generating a detection result of the power control switch based on a comparison of the third bus voltage and the fourth bus voltage with the voltage of the power supply.

[0029] The vehicle control scheme according to one or more embodiments of the present application can achieve safe detection and control of the brake motor in the first detection state and the second detection state respectively through redundant brake motor current acquisition, phase voltage acquisition and bus voltage acquisition, thereby effectively avoiding unexpected activation of the electronic parking brake system during vehicle driving, braking abnormalities, and vehicle rolling down a slope due to insufficient braking torque in vehicle stationary scenarios, thereby improving the reliability and safety of the electronic parking brake system and ensuring vehicle driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or other aspects and advantages of the present application will become clearer and easier to understand through the following description of various aspects in conjunction with the accompanying drawings, in which the same or similar units are represented by the same reference numerals. In the accompanying drawings:

[0031] Figure 1 A structural block diagram of an electronic parking brake system for a vehicle according to one or more embodiments of the present application is shown.

[0032] Figure 2 A structural block diagram of an electronic parking brake system for a vehicle according to one or more embodiments of the present application is shown.

[0033] Figure 3 A flow chart of an electronic parking brake method for a vehicle according to one or more embodiments of the present application is shown.

[0034] Figure 4 A flow chart of an electronic parking brake method for a vehicle according to one or more embodiments of the present application is shown. DETAILED DESCRIPTION

[0035] The present application is described more fully below with reference to the accompanying drawings in which illustrative embodiments of the present application are illustrated. However, the present application may be implemented in different forms and should not be interpreted as being limited to the embodiments given herein. The above embodiments are given to make the disclosure herein comprehensive and complete, so as to more fully convey the scope of protection of the present application to those skilled in the art.

[0036] In the context of the present application, terms such as “comprise” and “include” mean that in addition to the units and steps directly and explicitly stated in the specification and claims, the technical solution of the present application does not exclude the situation where it has other units and steps that are not directly or explicitly stated.

[0037] In the context of the present application, unless otherwise specified, terms such as "first" and "second" do not indicate the order of units in terms of time, space, size, etc., but are merely used to distinguish between units.

[0038] In the context of the present application, "coupling" should be understood to include the situation where electrical energy or electrical signals are directly transmitted between two units, or the situation where electrical energy or electrical signals are indirectly transmitted through one or more intermediate units. In the context of the present application, "phase voltage" refers to the voltage across each phase winding of the brake motor, and "bus voltage" refers to the supply voltage of the brake motor. In the context of the present application, "clamping force of the brake motor" refers to the force generated by the brake motor through its drive mechanism (such as screw drive or gear drive) to make the friction plate contact with the brake disc to generate sufficient friction to achieve vehicle braking.

[0039] Hereinafter, various exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings.

[0040] Figure 1 A structural block diagram of an electronic parking brake system for a vehicle according to one or more embodiments of the present application is shown.

[0041] like Figure 1 As shown in FIG. 1 , an electronic parking brake system 100 of a vehicle includes a power control switch 110 of a brake motor, a detection unit 120 , and a control unit 130 coupled to the detection unit 120 .

[0042] The power control switch 110 is disposed between the brake motor and the power supply and is configured to be in a closed state to supply power to the brake motor using the power supply. For example, during vehicle braking, the brake motor may be driven to generate a braking torque, thereby driving the brake caliper to clamp the brake disc. For example, the power supply may be implemented as a 12V or 24V power supply system of the vehicle, such as a 12V battery power supply.

[0043] The detection unit 120 is configured to determine the current value of the brake motor based on multiple redundantly collected currents of the brake motor, determine the phase voltage value of the brake motor based on multiple redundantly collected phase voltages of the brake motor, and determine the bus voltage value of the brake motor based on multiple redundantly collected bus voltages of the brake motor. It should be noted that the redundant acquisition in this article refers to the acquisition of at least two currents, at least two phase voltages and at least two bus power supplies of the brake motor through at least two independent acquisition components or acquisition channels at the same time to meet the functional safety requirements of the automotive industry for the electronic parking brake system, such as ISO26262 functional safety requirements.

[0044] In one embodiment, the multiple currents of the brake motor collected redundantly may include a first current collected at the first end of the brake motor and a second current collected at the second end of the brake motor. Exemplarily, the first end of the brake motor may be an end of the brake motor connected to the power supply, and the second end of the brake motor may be an end of the brake motor connected to the ground. In one embodiment, the detection unit 120 may be configured to determine the current value of the brake motor based on the current value of the first current and the current value of the second current when the current value of the collected first current matches the current value of the collected second current, and discard the multiple currents of the brake motor collected redundantly when the current value of the collected first current does not match the current value of the collected second current. Exemplarily, the current value of the collected first current matches the current value of the collected second current, which can be understood as the current value of the first current being equal to or substantially equal to the current value of the second current, for example, the difference between the two is less than a preset threshold. Exemplarily, the detection unit 120 may be configured to determine the average value of the current value of the first current and the current value of the second current as the current value of the brake motor.

[0045] In one embodiment, the redundantly collected multiple phase voltages of the brake motor may include a first phase voltage collected at the third end of the brake motor and a second phase voltage collected at the fourth end of the brake motor. Exemplarily, the third end of the brake motor may be the P end of the brake motor (e.g., the positive pole of the connection terminal of the brake motor), and the fourth end of the brake motor may be the N end of the brake motor (e.g., the negative pole of the connection terminal of the brake motor). In one embodiment, the detection unit 120 may be configured to determine the phase voltage value of the brake motor based on the voltage value of the first phase voltage and the voltage value of the second phase voltage when the voltage value of the collected first phase voltage matches the voltage value of the collected second phase voltage, and to discard the redundantly collected multiple phase voltages of the brake motor when the voltage value of the collected first phase voltage does not match the voltage value of the collected second phase voltage. Exemplarily, the matching of the voltage value of the collected first phase voltage and the voltage value of the collected second phase voltage can be understood as the voltage value of the first phase voltage being equal to or substantially equal to the voltage value of the second phase voltage, for example, the difference between the two is less than a preset threshold. Exemplarily, the detection unit 120 may be configured to determine an average value of the voltage value of the first phase voltage and the voltage value of the second phase voltage as the phase voltage value of the brake motor.

[0046] In one embodiment, the redundantly collected multiple bus voltages of the brake motor may include a first bus voltage collected at a first end of the power control switch 110 and a second bus voltage collected at a second end of the power control switch 110. Exemplarily, the first end of the power control switch 110 may be an end of the power control switch 110 connected to the power supply, and the second end of the power control switch 110 may be an end of the power control switch 110 connected to the brake motor. In one embodiment, the detection unit 120 may be configured to determine the bus voltage value of the brake motor based on the voltage value of the collected first bus voltage and the voltage value of the collected second bus voltage when the voltage value of the collected first bus voltage matches the voltage value of the collected second bus voltage, and to discard the redundantly collected multiple bus voltages of the brake motor when the voltage value of the collected first bus voltage does not match the voltage value of the collected second bus voltage. Exemplarily, the matching of the voltage value of the collected first bus voltage and the voltage value of the collected second bus voltage can be understood as the voltage value of the first bus voltage being equal to or substantially equal to the voltage value of the second bus voltage, for example, the difference between the two is less than a preset threshold. Exemplarily, the detection unit 120 may be configured to determine an average value of the voltage value of the first bus voltage and the voltage value of the second bus voltage as the bus voltage value of the brake motor.

[0047] The control unit 130 is configured to generate fault alarm information and control the power control switch 110 based on the current value and phase voltage value of the brake motor in a first detection state, and to generate fault alarm information and selectively control the driving current of the brake motor based at least on the current value and bus voltage value of the brake motor in a second detection state.

[0048] In one embodiment, the first detection state may include a vehicle driving state, and the second detection state may include a vehicle driving state and a vehicle stationary state. For example, the control unit 130 may determine the vehicle driving state and the vehicle stationary state based on the vehicle speed information.

[0049] In one embodiment, in the first detection state, the control unit 130 may be configured to compare the current value of the brake motor with the current threshold to generate a current comparison result, compare the phase voltage value of the brake motor with the voltage threshold to generate a voltage comparison result, and generate fault alarm information based on the current comparison result and the voltage comparison result and control the power control switch 110. Exemplarily, the current threshold may be set to 0.1A and the voltage threshold may be set to 0.1V. In one embodiment, when the current comparison result indicates that the current value of the brake motor is greater than or equal to the current threshold and the voltage comparison result indicates that the phase voltage value of the brake motor is greater than or equal to the voltage threshold, a fault alarm information may be generated and the power control switch 110 may be controlled to switch from a closed state to an open state; when the current comparison result indicates that the current value of the brake motor is less than the current threshold or the voltage comparison result indicates that the phase voltage value of the brake motor is less than the voltage threshold, the power control switch 110 may be kept in a closed state. Exemplarily, the fault alarm information may be displayed on the vehicle instrument, on the vehicle screen, or sent to the mobile terminal of the vehicle user to remind the vehicle user to stop the vehicle in time and inspect the electronic parking brake system. In the first detection state, for example, when the vehicle is driving, the current value of the brake motor is determined based on multiple redundantly collected currents of the brake motor, and the phase voltage value of the brake motor is determined based on multiple redundantly collected phase voltages of the brake motor, as well as redundant detection of current comparison results and voltage comparison results. This can effectively avoid unexpected activation of the electronic parking brake system during vehicle driving and meet the ISO26262 functional safety requirements of ASIL D level.

[0050] In one embodiment, in the second detection state, the control unit 130 may be configured to determine the clamping force of the brake motor based on at least the current value and the bus voltage value of the brake motor, generate fault alarm information in response to the determined clamping force being greater than or equal to the first clamping force threshold in the vehicle driving state, and generate fault alarm information and increase the driving current of the brake motor in response to the determined clamping force being less than or equal to the second clamping force threshold in the vehicle stationary state. In the vehicle driving state, when the determined clamping force is less than the first clamping force threshold, the power control switch 110 may be kept in a closed state. In the vehicle stationary state, when the determined clamping force is greater than the second clamping force threshold, the power control switch 110 may be kept in a closed state. Exemplarily, the first clamping force threshold may be set based on the vehicle speed, and the greater the vehicle speed, the smaller the first clamping force threshold, for example, the first clamping force threshold is set to 10N when the vehicle speed is 10km / h and the first clamping force threshold is set to 5N when the vehicle speed is 100km / h. Exemplarily, the second clamping force threshold can be set based on factors such as vehicle weight and tire size, for example, to 50N. Exemplarily, the fault alarm information can be displayed on the vehicle instrument, on the vehicle screen, or sent to the vehicle user's mobile terminal to remind the vehicle user to stop the vehicle in time and inspect the electronic parking brake system. In the second detection state, for example, in the vehicle driving state and the vehicle stationary state, by determining the current value of the brake motor based on multiple currents of the brake motor collected redundantly and determining the bus voltage value of the brake motor based on multiple bus voltages of the brake motor collected redundantly, the clamping force of the brake motor in the vehicle driving state and the vehicle stationary state can be accurately calculated, thereby effectively avoiding the braking anomaly of the electronic parking brake system during vehicle driving and the vehicle rolling due to insufficient braking torque in the vehicle stationary scene, and meeting the ISO26262 functional safety requirements of ASIL C level.

[0051] In one embodiment, the clamping force Fn of the brake motor can be determined based on at least the current value of the brake motor and the bus voltage value by the following formula (1):

[0052] Fn=I 2 ×t×K×U formula (1)

[0053] Wherein, I represents the current value of the brake motor, t represents the duration of the current acting on the brake motor, K represents the correction factor of the bus voltage value, and U represents the bus voltage value. Exemplarily, the correction factor K of the bus voltage value can be obtained by calibration in various parking scenarios based on factors such as the weight and distribution of the vehicle, the tire size, etc.

[0054] In one embodiment, in the third detection state, the control unit 130 may be configured to control the power control switch 110 to switch from the closed state to the open state and obtain the third bus voltage collected at the second end of the power control switch 110, control the power control switch 110 to switch back to the closed state and obtain the fourth bus voltage collected at the second end of the power control switch 110, and generate the detection result of the power control switch 110 based on the comparison of the third bus voltage and the fourth bus voltage with the voltage of the power supply. Exemplarily, the second end of the power control switch 110 may be an end of the power control switch 110 connected to the brake motor. Exemplarily, the third bus voltage and the fourth bus voltage may be compared with the minimum voltage (e.g., 0V) and the maximum voltage (e.g., 12V) of the power supply, respectively, to generate the detection result of the power control switch 110. For example, when the third bus voltage and the fourth bus voltage are respectively consistent or substantially consistent with the minimum voltage and the maximum voltage of the power supply, the detection result of the power control switch 110 may be determined to be normal; otherwise, the detection result of the power control switch 110 may be determined to be abnormal and a fault alarm message may be generated. In one embodiment, the third detection state may include a power-on initialization state of the vehicle.

[0055] According to one or more embodiments of the present application, the electronic parking brake system of the vehicle can divide the control function of the brake motor into Level 1, Level 2 and Level 3 based on the E-GAS architecture, wherein the Level 1 layer performs control of the brake motor, the Level 2 layer detects the execution result of the Level 1 layer to determine whether the execution result of the Level 1 layer is normal, and the Level 3 layer detects and controls the system hardware carrier, thereby ensuring that the system hardware carrier is safe and meets the ISO26262 functional safety requirements of ASIL D level. Specifically, the Level 1 layer may include a power control switch 110 of the brake motor, which is arranged between the brake motor and the power supply. By controlling the closing and opening of the power control switch, the brake motor can be enabled and disabled, thereby realizing the opening and closing of the electronic parking brake function. The Level2 layer may include a detection unit 120, which detects the execution result of the Level1 layer (i.e., the execution result of the control of the brake motor) based on the redundantly collected multiple currents, multiple phase voltages, and multiple bus voltages of the brake motor to determine whether the execution result of the Level1 layer is normal. For example, when the redundantly collected multiple currents, multiple phase voltages, and multiple bus voltages of the brake motor are matched, the execution result of the Level1 layer can be determined to be normal, otherwise the execution result of the Level1 layer is determined to be abnormal. The Level3 layer may include a control unit 130, which may be implemented as a microcontroller unit (MCU) that meets the ASIL D level and is configured to control the power control switch based on the current value and phase voltage value of the brake motor.

[0056] According to one or more embodiments of the present application, the electronic parking brake system of the vehicle can realize safety detection and control of the brake motor in the first detection state and the second detection state respectively through redundant current collection, phase voltage collection and bus voltage collection of the brake motor, thereby effectively avoiding unexpected activation of the electronic parking brake system during vehicle driving, braking abnormalities and vehicle rolling down a slope due to insufficient braking torque in a vehicle stationary scenario, thereby improving the reliability and safety of the electronic parking brake system and ensuring vehicle driving safety.

[0057] The following will be combined Figure 2 Specific implementations of an electronic parking brake system for a vehicle according to one or more embodiments of the present application are described in detail.

[0058] Figure 2 A structural block diagram of an electronic parking brake system for a vehicle according to one or more embodiments of the present application is shown.

[0059] like Figure 2As shown in FIG. 1 , the electronic parking brake system 200 of the vehicle includes a power control switch S1, a brake motor 210, a motor drive unit 220, a processing unit 230, and a bridge circuit (eg, Figure 2 The power switching devices Q1, Q2, Q3, Q4 shown in the figure constitute an H-bridge circuit), a current detection unit ( Figure 2 Not shown), phase voltage detection unit ( Figure 2 Not shown) and bus voltage detection unit ( Figure 2 In one embodiment, Figure 1 The power control switch 110 shown in FIG. 1 can be implemented as Figure 2 The power control switch S1 shown in Figure 1 The detection unit 120 and the control unit 130 shown in FIG. 1 can be integrated in Figure 2 In one embodiment, the processing unit 230 may be implemented as a processor of an MCU.

[0060] The power control switch S1 is disposed between the brake motor 210 and the power supply and is configured to be in a closed state to use the power supply to power the brake motor 210. For example, the power supply can be implemented as a 12V or 24V power supply system of the vehicle, such as a 12V battery power supply.

[0061] When controlling the brake motor 210, the processing unit 230 may output a control signal to the motor drive unit 220 via the interface SPI to control the motor drive unit 220 to output a PWM signal (for example, via Figure 2 The interfaces HB_DRV1, HB_DRV2, HB_DRV3 and HB_DRV4 shown in the figure are used to control the conduction and disconnection of Q1, Q2, Q3 and Q4 in the bridge circuit of the brake motor 210, thereby controlling the forward and reverse rotation of the brake motor 210 to start and shut down the brake motor 210. Exemplarily, when the power switch devices Q1 and Q3 are closed and the power switch devices Q2 and Q4 are disconnected, the current on the brake motor 210 flows from the power switch device Q1 to Q3, thereby causing the brake motor 210 to rotate forward to start the brake motor 210; when the power switch devices Q1 and Q3 are disconnected and the power switch devices Q2 and Q4 are closed, the current on the brake motor 210 flows from the power switch device Q2 to Q4, thereby causing the brake motor 210 to reverse to shut down the brake motor 210.

[0062] For the sake of clarity, Figure 2The current detection unit, the phase voltage detection unit and the bus voltage detection unit are not shown, but only the first current I1 and the second current I2 redundantly collected by the current detection unit, the first phase voltage Un and the second phase voltage Up redundantly collected by the phase voltage detection unit, and the first bus voltage U1 and the second bus voltage U2 redundantly collected by the bus voltage detection unit are shown. As an example, refer to Figure 2 As shown, the current detection unit can collect the current output by the amplifier A1 and the current output by the amplifier A2 as the first current I1 and the second current I2, respectively, the phase voltage detection unit can collect the phase voltages at the N-terminal and the P-terminal of the brake motor 210 as the first phase voltage Un and the second phase voltage Up, respectively, and the bus voltage detection unit can collect the voltages at both ends of the power control switch S1 as the first bus voltage U1 and the second bus voltage U2. Exemplarily, the amplifier A1 can obtain and amplify the current flowing through the resistor R1 by coupling with the resistor R1 so that the current detection unit can collect it, and the amplifier A2 can obtain and amplify the current flowing through the resistor R2 by coupling with the resistor R2 so that the current detection unit can collect it. Exemplarily, the resistance values ​​of the resistors R1 and R2 can be set to 10mΩ.

[0063] The processing unit 230 can obtain the redundantly collected first current I1 and second current I2 from the current detection unit via interfaces ADC3 and ADC6, and determine the current value of the brake motor 210 based on the first current I1 and the second current I2. In one embodiment, the processing unit 230 can be configured to determine the current value of the brake motor 210 based on the current value of the first current I1 and the current value of the second current I2 when the current value of the first current I1 matches (e.g., is equal or substantially equal to) the current value of the second current I2, and discard the collected first current I1 and second current I2 when the current value of the first current I1 does not match the current value of the second current I2. Exemplarily, the processing unit 230 can be configured to determine the average value of the current value of the first current I1 and the current value of the second current I2 as the current value of the brake motor 210.

[0064] The processing unit 230 can obtain the redundantly collected first phase voltage Un and second phase voltage Up from the phase voltage detection unit via interfaces ADC4 and ADC5, and determine the phase voltage value of the brake motor 210 based on the first phase voltage Un and the second phase voltage Up. In one embodiment, the processing unit 230 can be configured to determine the phase voltage value of the brake motor 210 based on the voltage value of the first phase voltage Un and the voltage value of the second phase voltage Up when the voltage value of the first phase voltage Un matches (e.g., is equal or substantially equal to) the voltage value of the second phase voltage Up, and discard the collected first phase voltage Un and the second phase voltage Up when the voltage value of the first phase voltage Un does not match the voltage value of the second phase voltage Up. Exemplarily, the processing unit 230 can be configured to determine the average value of the voltage value of the first phase voltage Un and the voltage value of the second phase voltage Up as the phase voltage value of the brake motor 210.

[0065] The processing unit 230 can obtain the redundantly collected first bus voltage U1 and second bus voltage U2 from the bus voltage detection unit via the interfaces ADC1 and ADC2, and determine the bus voltage value of the brake motor 210 based on the first bus voltage U1 and the second bus voltage U2. In one embodiment, the processing unit 230 can be configured to determine the bus voltage value of the brake motor 210 based on the voltage value of the first bus voltage U1 and the voltage value of the second bus voltage U2 when the voltage value of the first bus voltage U1 matches (e.g., is equal or substantially equal to) the voltage value of the second bus voltage U2, and discard the collected first bus voltage U1 and second bus voltage U2 when the voltage value of the first bus voltage U1 does not match the voltage value of the second bus voltage U2. Exemplarily, the processing unit 230 can be configured to determine the average value of the voltage value of the first bus voltage U1 and the voltage value of the second bus voltage U2 as the bus voltage value of the brake motor 210.

[0066] In one embodiment, when the vehicle is in a driving state, the processing unit 230 may be configured to compare the current value of the brake motor 210 with the current threshold to generate a current comparison result, compare the phase voltage value of the brake motor 210 with the voltage threshold to generate a voltage comparison result, and generate fault alarm information based on the current comparison result and the voltage comparison result and control the power control switch S1. In one embodiment, when the current comparison result indicates that the current value of the brake motor 210 is greater than or equal to the current threshold and the voltage comparison result indicates that the phase voltage value of the brake motor 210 is greater than or equal to the voltage threshold, the processing unit 230 may generate a fault alarm information and control the power control switch S1 (for example, via Figure 2The interface GPIO1 shown in is switched from a closed state to an open state; when the current comparison result indicates that the current value of the brake motor 210 is less than the current threshold or the voltage comparison result indicates that the phase voltage value of the brake motor 210 is less than the voltage threshold, the power control switch S1 can be kept in a closed state.

[0067] In one embodiment, in the vehicle driving state and the vehicle stationary state, the processing unit 230 can be configured to determine the clamping force of the brake motor 210 based on at least the current value and the bus voltage value of the brake motor 210, generate fault alarm information in response to the determined clamping force being greater than or equal to the first clamping force threshold in the vehicle driving state, and generate fault alarm information and increase the driving current of the brake motor 210 (for example, via the braking current) in response to the determined clamping force being less than or equal to the second clamping force threshold in the vehicle stationary state. Figure 2 The interface SPI shown in the control motor drive unit 220 increases the drive current output to the H-bridge circuit). In the vehicle driving state, when the determined clamping force is less than the first clamping force threshold, the power control switch S1 can be kept in a closed state. In the vehicle stationary state, when the determined clamping force is greater than the second clamping force threshold, the power control switch S1 can be kept in a closed state. For example, the clamping force of the brake motor 210 can be calculated with reference to the formula (1) described above.

[0068] In one embodiment, in the vehicle power-on initialization state, the processing unit 230 can be configured to control the power control switch S1 (eg, via Figure 2 The interface GPIO1 shown in FIG. 1 is switched from a closed state to an open state and a third bus voltage is obtained from the bus voltage detection unit via the interface ADC2, and the power control switch S1 is controlled (for example, via Figure 2 The interface GPIO1 shown in the figure is switched back to a closed state and the fourth bus voltage is obtained from the bus voltage detection unit via the interface ADC2, and the detection result of the power control switch S1 is generated based on the comparison of the third bus voltage and the fourth bus voltage with the voltage of the power supply. Exemplarily, the third bus voltage and the fourth bus voltage can be compared with the minimum voltage (e.g., 0V) and the maximum voltage (e.g., 12V) of the power supply, respectively, to generate the detection result of the power control switch S1. For example, when the third bus voltage and the fourth bus voltage are respectively consistent or substantially consistent with the minimum voltage and the maximum voltage of the power supply, the detection result of the power control switch S1 can be determined to be normal; otherwise, the detection result of the power control switch S1 can be determined to be abnormal and a fault alarm message can be generated.

[0069] Figure 3 A flow chart of an electronic parking brake method for a vehicle according to one or more embodiments of the present application is shown. Figure 3 The steps shown in the above Figure 1-2 The electronic parking brake system of the vehicle described in the invention is implemented.

[0070] like Figure 3 As shown in FIG. 1 , in step S301 , a power control switch of the brake motor is provided between the brake motor and the power supply and the power control switch is controlled to be in a closed state so as to supply power to the brake motor using the power supply.

[0071] In step S303, the current value of the brake motor is determined based on multiple redundantly collected currents of the brake motor, the phase voltage value of the brake motor is determined based on multiple redundantly collected phase voltages of the brake motor, and the bus voltage value of the brake motor is determined based on multiple redundantly collected bus voltages of the brake motor.

[0072] Optionally, in step S303, the redundantly collected multiple currents of the brake motor may include a first current collected at a first end of the brake motor and a second current collected at a second end of the brake motor. Exemplarily, the first end of the brake motor may be an end of the brake motor connected to a power supply, and the second end of the brake motor may be an end of the brake motor that is grounded. In one embodiment, the current value of the brake motor may be determined based on the current value of the first current and the current value of the second current when the current value of the collected first current matches the current value of the collected second current, and the redundantly collected multiple currents of the brake motor may be discarded when the current value of the collected first current does not match the current value of the collected second current. Exemplarily, the average value of the current value of the first current and the current value of the second current may be determined as the current value of the brake motor.

[0073] Optionally, in step S303, the redundantly collected multiple phase voltages of the brake motor may include a first phase voltage collected at the third end of the brake motor and a second phase voltage collected at the fourth end of the brake motor. Exemplarily, the third end of the brake motor may be the P end of the brake motor (e.g., the positive pole of the connection terminal of the brake motor), and the fourth end of the brake motor may be the N end of the brake motor (e.g., the negative pole of the connection terminal of the brake motor). In one embodiment, the phase voltage value of the brake motor may be determined based on the voltage value of the first phase voltage and the voltage value of the second phase voltage when the voltage value of the collected first phase voltage matches the voltage value of the collected second phase voltage, and the redundantly collected multiple phase voltages of the brake motor may be discarded when the voltage value of the collected first phase voltage does not match the voltage value of the collected second phase voltage. Exemplarily, the average value of the voltage value of the first phase voltage and the voltage value of the second phase voltage may be determined as the phase voltage value of the brake motor.

[0074] Optionally, in step S303, the redundantly collected multiple bus voltages of the brake motor may include a first bus voltage collected at the first end of the power control switch and a second bus voltage collected at the second end of the power control switch. Exemplarily, the first end of the power control switch may be an end of the power control switch connected to the power supply, and the second end of the power control switch may be an end of the power control switch connected to the brake motor. In one embodiment, the bus voltage value of the brake motor may be determined based on the voltage value of the collected first bus voltage and the voltage value of the collected second bus voltage when the voltage value of the collected first bus voltage matches the voltage value of the collected second bus voltage, and the redundantly collected multiple bus voltages of the brake motor may be discarded when the voltage value of the collected first bus voltage does not match the voltage value of the collected second bus voltage. Exemplarily, the average value of the voltage value of the first bus voltage and the voltage value of the second bus voltage may be determined as the bus voltage value of the brake motor.

[0075] In step S305 , fault alarm information is generated based on the current value and phase voltage value of the brake motor in the first detection state and the power control switch of the brake motor is controlled.

[0076] Optionally, in step S305, the first detection state may include a vehicle driving state. In one embodiment, the current value of the brake motor may be compared with a current threshold to generate a current comparison result, the phase voltage value of the brake motor may be compared with a voltage threshold to generate a voltage comparison result, and a fault alarm message may be generated based on the current comparison result and the voltage comparison result and the power control switch 110 may be controlled. In one embodiment, when the current comparison result indicates that the current value of the brake motor is greater than or equal to the current threshold and the voltage comparison result indicates that the phase voltage value of the brake motor is greater than or equal to the voltage threshold, a fault alarm message may be generated and the power control switch may be controlled to switch from a closed state to an open state; when the current comparison result indicates that the current value of the brake motor is less than the current threshold or the voltage comparison result indicates that the phase voltage value of the brake motor is less than the voltage threshold, the power control switch may be kept in a closed state. In the first detection state, for example, when the vehicle is driving, the current value of the brake motor is determined based on multiple redundantly collected currents of the brake motor, and the phase voltage value of the brake motor is determined based on multiple redundantly collected phase voltages of the brake motor, as well as redundant detection of current comparison results and voltage comparison results. This can effectively avoid unexpected activation of the electronic parking brake system during vehicle driving and meet the ISO26262 functional safety requirements of ASIL D level.

[0077] In step S307 , fault alarm information is generated based on at least the current value of the brake motor and the bus voltage value in the second detection state, and the drive current of the brake motor is selectively controlled.

[0078] Optionally, in step S307, the second detection state may include a vehicle driving state and a vehicle stationary state. In one embodiment, the clamping force of the brake motor may be determined based at least on the current value and bus voltage value of the brake motor, and a fault alarm message may be generated in response to the determined clamping force being greater than or equal to a first clamping force threshold in the vehicle driving state, and a fault alarm message may be generated and the driving current of the brake motor may be increased in response to the determined clamping force being less than or equal to a second clamping force threshold in the vehicle stationary state. In the vehicle driving state, when the determined clamping force is less than the first clamping force threshold, the power control switch may be kept in a closed state. In the vehicle stationary state, when the determined clamping force is greater than the second clamping force threshold, the power control switch may be kept in a closed state. In the second detection state, for example, when the vehicle is in driving state and when the vehicle is stationary, the current value of the brake motor is determined based on multiple redundantly collected currents of the brake motor, and the bus voltage value of the brake motor is determined based on multiple redundantly collected bus voltages of the brake motor. The clamping force of the brake motor in the vehicle driving state and the vehicle stationary state can be accurately calculated, thereby effectively avoiding the braking anomaly of the electronic parking brake system during vehicle driving and the vehicle rolling downhill due to insufficient braking torque in the vehicle stationary scenario, and meeting the ISO26262 functional safety requirements of ASIL C level.

[0079] In one embodiment, the electronic parking brake method may further include controlling the power control switch to switch from the closed state to the open state in the third detection state and obtaining the third bus voltage collected at the second end of the power control switch, controlling the power control switch to switch back to the closed state and obtaining the fourth bus voltage collected at the second end of the power control switch, and generating the detection result of the power control switch based on the comparison of the third bus voltage and the fourth bus voltage with the voltage of the power supply. Exemplarily, the third bus voltage and the fourth bus voltage may be compared with the minimum voltage (e.g., 0V) and the maximum voltage (e.g., 12V) of the power supply, respectively, to generate the detection result of the power control switch. For example, when the third bus voltage and the fourth bus voltage are respectively consistent or substantially consistent with the minimum voltage and the maximum voltage of the power supply, the detection result of the power control switch may be determined to be normal; otherwise, the detection result of the power control switch may be determined to be abnormal and a fault alarm message may be generated. In one embodiment, the third detection state may include the power-on initialization state of the vehicle.

[0080] The electronic parking brake method for a vehicle according to one aspect of the present application can realize safety detection and control of the brake motor in a first detection state and a second detection state respectively through redundant current collection, phase voltage collection and bus voltage collection of the brake motor, thereby effectively avoiding unexpected activation of the electronic parking brake system during vehicle driving, braking abnormalities, and vehicle rolling due to insufficient braking torque in a vehicle stationary scenario, thereby improving the reliability and safety of the electronic parking brake system and ensuring vehicle driving safety.

[0081] Figure 4 A flow chart of an electronic parking brake method for a vehicle according to one or more embodiments of the present application is shown. Figure 4 The steps shown in the above Figure 1-2 The electronic parking brake system of the vehicle described in the invention is implemented.

[0082] like Figure 4 As shown in , in step S401, the control of the power control switch of the brake motor is detected. Optionally, in step S401, the power control switch can be controlled to switch from a closed state to an open state in the power-on initialization state of the vehicle and a third bus voltage collected at the second end of the power control switch can be obtained, and the power control switch can be controlled to switch back to a closed state and a fourth bus voltage collected at the second end of the power control switch can be obtained, so as to detect the control of the power control switch of the brake motor based on the collected third bus voltage and fourth bus voltage.

[0083] In step S403, it is determined whether the control of the power control switch of the brake motor is normal. When it is determined to be normal, step S405 is entered, otherwise step S407 is entered. Optionally, in step S403, the control of the power control switch of the brake motor can be determined by comparing the third bus voltage and the fourth bus voltage with the voltage of the power supply to determine whether the control is normal. Exemplarily, the third bus voltage and the fourth bus voltage can be compared with the minimum voltage (e.g., 0V) and the maximum voltage (e.g., 12V) of the power supply, respectively, to determine whether the control of the power control switch of the brake motor is normal. When the third bus voltage and the fourth bus voltage are respectively consistent or substantially consistent with the minimum voltage and the maximum voltage of the power supply, the control of the power control switch of the brake motor can be determined to be normal; otherwise, the control of the power control switch of the brake motor can be determined to be abnormal.

[0084] In step S405, the current value of the brake motor is determined based on multiple redundantly collected currents of the brake motor, the phase voltage value of the brake motor is determined based on multiple redundantly collected phase voltages of the brake motor, and the bus voltage value of the brake motor is determined based on multiple redundantly collected bus voltages of the brake motor.

[0085] In step S407, fault alarm information is generated.

[0086] In step S409, whether the electronic parking brake is normal is determined based on the current value and phase voltage value of the brake motor in the first detection state. If it is determined to be normal, the process proceeds to step S411, otherwise, the process proceeds to step S413.

[0087] In step S411, the power control switch of the brake motor is kept in a closed state.

[0088] In step S413, a fault alarm message is generated and the power control switch of the brake motor is disconnected.

[0089] In step S415, whether the electronic parking brake is normal is determined at least based on the current value of the brake motor and the bus voltage value in the second detection state, and when it is determined to be normal, the process proceeds to step S417, otherwise, the process proceeds to step S419. Optionally, in step S415, the clamping force of the brake motor can be determined at least based on the current value of the brake motor and the bus voltage value, and in the vehicle driving state, the electronic parking brake is determined to be abnormal in response to the determined clamping force being greater than or equal to the first clamping force threshold, otherwise, the electronic parking brake is determined to be normal; in the vehicle stationary state, the electronic parking brake is determined to be abnormal in response to the determined clamping force being less than or equal to the second clamping force threshold, otherwise, the electronic parking brake is determined to be normal.

[0090] In step S417, keep the power control switch of the brake motor in a closed state.

[0091] In step S419, a fault alarm message is generated and the driving current of the brake motor is selectively increased. Optionally, in step S419, a fault alarm message is generated when the electronic parking brake is judged to be abnormal in the vehicle driving state, and a fault alarm message is generated and the driving current of the brake motor is increased when the electronic parking brake is judged to be abnormal in the vehicle stationary state.

[0092] In the applicable case, hardware, software or a combination of hardware and software can be used to realize the various embodiments provided by the application. Moreover, in the applicable case, without departing from the scope of the application, the various hardware components and / or software components set forth herein can be combined into a composite component comprising software, hardware and / or both. In the applicable case, without departing from the scope of the application, the various hardware components and / or software components set forth herein can be divided into a subcomponent comprising software, hardware or both. In addition, in the applicable case, it is contemplated that the software component can be implemented as a hardware component, and vice versa. In the applicable case, the order of the various steps described herein can be changed, combined into a composite step and / or divided into substeps to provide the features described herein.

[0093] The embodiments and examples set forth herein are provided to best illustrate embodiments according to the present application and its specific applications, and thereby enable those skilled in the art to implement and use the present application. However, those skilled in the art will appreciate that the above description and examples are provided only for ease of illustration and example. The description set forth is not intended to cover all aspects of the present application or to limit the present application to the precise form disclosed.

Claims

1. An electronic parking brake system for a vehicle, characterized in that: The electronic parking brake system comprises: a power control switch of the brake motor, which is disposed between the brake motor and the power supply and is configured to be in a closed state to supply power to the brake motor using the power supply; A detection unit configured to: Determining a current value of the brake motor based on multiple currents of the brake motor acquired redundantly; Determining a phase voltage value of the brake motor based on a plurality of phase voltages of the brake motor acquired redundantly; and Determine the bus voltage value of the brake motor based on multiple bus voltages of the brake motor acquired redundantly; A control unit, which is coupled to the detection unit and configured to: generating fault alarm information based on the current value and phase voltage value of the brake motor and controlling the power control switch of the brake motor in a first detection state; and In the second detection state, fault alarm information is generated based on at least the current value and the bus voltage value of the brake motor and the drive current of the brake motor is selectively controlled.

2. The electronic parking brake system according to claim 1, wherein the plurality of currents of the brake motor collected redundantly include a first current collected at a first end of the brake motor and a second current collected at a second end of the brake motor, Wherein the detection unit is further configured to: determining a current value of the brake motor based on the current value of the first current and the current value of the second current in response to the current value of the first current matching the current value of the second current; and The redundantly acquired plurality of currents of the brake motor are discarded in response to a current value of the first current not matching a current value of the second current.

3. The electronic parking brake system according to claim 1, wherein the redundantly acquired multiple phase voltages of the brake motor include a first phase voltage acquired at a third terminal of the brake motor and a second phase voltage acquired at a fourth terminal of the brake motor, Wherein the detection unit is further configured to: determining a phase voltage value of the brake motor based on the voltage value of the first phase voltage and the voltage value of the second phase voltage in response to the voltage value of the first phase voltage matching the voltage value of the second phase voltage; as well as In response to a voltage value of the first phase voltage not matching a voltage value of the second phase voltage, discarding the redundantly acquired multiple phase voltages of the brake motor, The redundantly acquired multiple bus voltages of the brake motor include a first bus voltage acquired at a first end of a power control switch of the brake motor and a second bus voltage acquired at a second end of a power control switch of the brake motor. Wherein the detection unit is further configured to: determining a bus voltage value of the brake motor based on the voltage value of the first bus voltage and the voltage value of the second bus voltage in response to the voltage value of the first bus voltage matching the voltage value of the second bus voltage; as well as In response to a voltage value of the first bus voltage not matching a voltage value of the second bus voltage, the redundantly acquired plurality of bus voltages of the brake motor are discarded.

4. The electronic parking brake system according to claim 1, wherein the first detection state includes a vehicle driving state, and the second detection state includes a vehicle driving state and a vehicle stationary state, The control unit is further configured to: comparing the current value of the brake motor with a current threshold to generate a current comparison result; comparing a phase voltage value of the brake motor with a voltage threshold to generate a voltage comparison result; as well as generating fault alarm information based on the current comparison result and the voltage comparison result and controlling the power control switch of the brake motor, The control unit is further configured to: In response to the current comparison result indicating that the current value of the brake motor is greater than or equal to a current threshold and the voltage comparison result indicating that the phase voltage value of the brake motor is greater than or equal to a voltage threshold, generating fault alarm information and controlling the power control switch to switch from a closed state to an open state; as well as In response to the current comparison result indicating that the current value of the brake motor is less than a current threshold or the voltage comparison result indicating that the phase voltage value of the brake motor is less than a voltage threshold, keeping the power control switch of the brake motor in a closed state, The control unit is further configured to: determining a clamping force of the brake motor based at least on a current value and a bus voltage value of the brake motor; generating fault warning information in response to the determined clamping force being greater than or equal to a first clamping force threshold value in the vehicle driving state; as well as In response to the determined clamping force being less than or equal to a second clamping force threshold value in the vehicle stationary state, a fault warning message is generated and a driving current of the brake motor is increased.

5. The electronic parking brake system according to claim 3, wherein the control unit is further configured to: Controlling the power control switch to switch from a closed state to an open state and acquiring a third bus voltage collected at a second end of the power control switch; Controlling the power control switch to switch back to a closed state and acquiring a fourth bus voltage collected at a second end of the power control switch; and A detection result of the power control switch is generated based on a comparison between the third bus voltage and the fourth bus voltage and the voltage of the power supply.

6. A vehicle electronic parking brake method, characterized in that: The electronic parking brake method comprises: A power control switch of the brake motor is arranged between the brake motor and the power supply and the power control switch is controlled to be in a closed state so as to use the power supply to supply power to the brake motor; Determine the current value of the brake motor based on multiple redundantly collected currents of the brake motor, determine the phase voltage value of the brake motor based on multiple redundantly collected phase voltages of the brake motor, and determine the bus voltage value of the brake motor based on multiple redundantly collected bus voltages of the brake motor; generating fault alarm information based on the current value and phase voltage value of the brake motor and controlling the power control switch of the brake motor in a first detection state; and In the second detection state, fault alarm information is generated based on at least the current value and the bus voltage value of the brake motor and the drive current of the brake motor is selectively controlled.

7. The electronic parking brake method for a vehicle according to claim 6, wherein the multiple currents of the brake motor collected redundantly include a first current collected at a first end of the brake motor and a second current collected at a second end of the brake motor, Wherein determining the current value of the brake motor based on the multiple currents of the brake motor acquired redundantly comprises: determining a current value of the brake motor based on the current value of the first current and the current value of the second current in response to the current value of the first current matching the current value of the second current; as well as The redundantly acquired plurality of currents of the brake motor are discarded in response to a current value of the first current not matching a current value of the second current.

8. The electronic parking brake method for a vehicle according to claim 6, wherein the redundantly acquired multiple phase voltages of the brake motor include a first phase voltage acquired at a third end of the brake motor and a second phase voltage acquired at a fourth end of the brake motor, Wherein determining the phase voltage value of the brake motor based on the redundantly acquired multiple phase voltages of the brake motor comprises: determining a phase voltage value of the brake motor based on the voltage value of the first phase voltage and the voltage value of the second phase voltage in response to the voltage value of the first phase voltage matching the voltage value of the second phase voltage; as well as In response to a voltage value of the first phase voltage not matching a voltage value of the second phase voltage, discarding the redundantly acquired multiple phase voltages of the brake motor, The redundantly acquired multiple bus voltages of the brake motor include a first bus voltage acquired at a first end of a power control switch of the brake motor and a second bus voltage acquired at a second end of a power control switch of the brake motor. Wherein determining the bus voltage value of the brake motor based on the redundantly acquired multiple bus voltages of the brake motor comprises: determining a bus voltage value of the brake motor based on the voltage value of the first bus voltage and the voltage value of the second bus voltage in response to the voltage value of the first bus voltage matching the voltage value of the second bus voltage; as well as In response to a voltage value of the first bus voltage not matching a voltage value of the second bus voltage, the redundantly acquired plurality of bus voltages of the brake motor are discarded.

9. The electronic parking brake method for a vehicle according to claim 6, wherein the first detection state includes a vehicle driving state, and the second detection state includes a vehicle driving state and a vehicle stationary state. Wherein generating fault alarm information based on the current value and phase voltage value of the brake motor and controlling the power control switch of the brake motor in the first detection state includes: comparing the current value of the brake motor with a current threshold to generate a current comparison result; comparing a phase voltage value of the brake motor with a voltage threshold to generate a voltage comparison result; as well as generating fault alarm information based on the current comparison result and the voltage comparison result and controlling the power control switch of the brake motor, The method for generating fault alarm information based on the current comparison result and the voltage comparison result and controlling the power control switch of the brake motor includes: In response to the current comparison result indicating that the current value of the brake motor is greater than or equal to a current threshold and the voltage comparison result indicating that the phase voltage value of the brake motor is greater than or equal to a voltage threshold, generating fault alarm information and controlling the power control switch to switch from a closed state to an open state; and In response to the current comparison result indicating that the current value of the brake motor is less than a current threshold or the voltage comparison result indicating that the phase voltage value of the brake motor is less than a voltage threshold, keeping the power control switch of the brake motor in a closed state, Wherein generating fault alarm information based on at least the current value and bus voltage value of the brake motor and selectively controlling the driving current of the brake motor in the second detection state comprises: determining a clamping force of the brake motor based at least on a current value and a bus voltage value of the brake motor; generating fault warning information in response to the determined clamping force being greater than or equal to a first clamping force threshold value in the vehicle driving state; and In response to the determined clamping force being less than or equal to a second clamping force threshold value in the vehicle stationary state, a fault warning message is generated and a driving current of the brake motor is increased.

10. The vehicle electronic parking brake method according to claim 8, wherein the method further comprises, in the third detection state: Controlling the power control switch to switch from a closed state to an open state and acquiring a third bus voltage collected at a second end of the power control switch; Controlling the power control switch to switch back to a closed state and acquiring a fourth bus voltage collected at a second end of the power control switch; and A detection result of the power control switch is generated based on a comparison between the third bus voltage and the fourth bus voltage and the voltage of the power supply.

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