Electronic parking brake control method and device, vehicle control system and vehicle

Abstract

The invention discloses an electronic parking brake control method and device, a vehicle control system and a vehicle, and is applied to the technical field of vehicle control, and the method comprises the following steps: obtaining state information of a target vehicle and a vehicle end control quantity sent by an electronic parking brake system of the target vehicle; according to the state information, obtaining a standard control quantity associated with the electronic parking braking function of the target vehicle; and the electronic parking braking system is controlled according to the vehicle end control quantity and the standard control quantity, so that the electronic parking braking system conducts parking braking on the target vehicle or releases parking braking. According to the application, accurate control of the electronic parking brake system can be realized, the parking control accuracy of the vehicle is improved, the phenomena such as slope slipping and drifting of the vehicle are reduced, and the safety risk of the vehicle is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, in particular to an electronic parking brake control method, device, vehicle control system and vehicle. Background Art

[0002] The electronic parking brake system is a system that realizes parking brake by electronic control. When the sensor group of the electronic parking brake system is abnormal, the controller of the electronic parking brake system will determine the wrong control amount through the abnormal sensing signal output by the sensor group and output it to the motor of the electronic parking brake system, causing the caliper of the electronic parking brake system to be abnormally released or abnormally clamped under the driving action of the motor, resulting in abnormal parking control of the vehicle, resulting in phenomena such as vehicle sliding down the slope, vehicle tail swinging, abnormal braking of the vehicle, etc., increasing the safety risk of the vehicle. Summary of the invention

[0003] Embodiments of the present application provide an electronic parking brake control method, an apparatus, a vehicle control system, and a vehicle, for improving the accuracy of vehicle parking control.

[0004] On the one hand, an embodiment of the present application provides an electronic parking brake control method, comprising the following steps: Acquiring status information of a target vehicle and a vehicle-side control quantity sent by an electronic parking brake system of the target vehicle; obtaining a standard control amount associated with an electronic parking brake function of the target vehicle according to the state information; The electronic parking brake system is controlled according to the vehicle-side control amount and the standard control amount, so that the electronic parking brake system performs parking brake or releases parking brake on the target vehicle.

[0005] On the other hand, an embodiment of the present application provides an electronic parking brake control device, comprising: An acquisition module, used to acquire the state information of the target vehicle and the vehicle-side control quantity sent by the electronic parking brake system of the target vehicle; A processing module is used to obtain a standard control quantity associated with the electronic parking brake function of the target vehicle according to the status information; and control the electronic parking brake system according to the vehicle-side control quantity and the standard control quantity so that the electronic parking brake system performs parking brake or releases parking brake on the target vehicle.

[0006] In another aspect, an embodiment of the present application provides a vehicle control system, comprising: The electronic parking brake control device mentioned above; The electronic parking brake system is used to generate a vehicle-side control amount and send it to the electronic parking brake control device, and to perform parking brake or release parking brake on the target vehicle under the control of the electronic parking brake control device.

[0007] In another aspect, an embodiment of the present application provides a vehicle, comprising: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned electronic parking brake control method.

[0008] The beneficial effects of the present application are: providing an electronic parking brake control method, device, vehicle control system and vehicle, obtaining the state information of the target vehicle and the vehicle-side control quantity sent by the electronic parking brake system of the target vehicle, and obtaining the standard control quantity associated with the electronic parking brake function of the target vehicle according to the state information, and then controlling the electronic parking brake system according to the vehicle-side control quantity and the standard control quantity, so that the electronic parking brake system performs parking brake or releases the parking brake on the target vehicle. It can be seen that the embodiment of the present application determines the standard control quantity associated with the electronic parking brake function through the state information of the target vehicle, and obtains the vehicle-side control quantity sent by the electronic parking brake system, and then uses the standard control quantity and the vehicle-side control quantity to control the electronic parking brake system to perform parking brake or release the parking brake on the target vehicle, so that the electronic parking brake system can be accurately controlled, the accuracy of the vehicle parking control can be improved, and phenomena such as vehicle sliding down a slope and vehicle tail swinging can be reduced, and the safety risk of the vehicle can be reduced.

[0009] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a flow chart of an electronic parking brake control method provided in an embodiment of the present application; Figure 2 is a structural diagram of an electronic parking brake control device provided in an embodiment of the present application; Figure 3 is a structural diagram of an electronic parking brake control device and multiple electronic parking brake systems provided in an embodiment of the present application; Figure 4 is a structural diagram of a vehicle control system provided in an embodiment of the present application; Figure 5is an example diagram of a vehicle provided in an embodiment of the present application; Figure 6 It is a schematic diagram of the electronic parking brake control provided in an embodiment of the present application. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0012] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. The described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0013] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0014] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0015] The Electronic Park Brake (EPB) system is a system that realizes parking brake by electronic control, which can keep the vehicle stationary on a slope. The electronic parking brake system usually includes components such as a controller, a sensor group, a motor, a caliper, a friction plate and a brake disc. The sensor group may include multiple types of sensors, which are used to detect the sensor signals required to realize the electronic parking brake function of the vehicle and send them to the controller. The controller is used to calculate the control amount used to control the motor drive based on the sensor signal and output it to the motor. The motor is used to drive the caliper to perform a clamping action or a release action based on the control amount, thereby realizing parking control of the vehicle. Among them, if the caliper performs a clamping action, the brake disc and the friction plate are in contact, thereby realizing parking brake; if the caliper performs a release action, the brake disc and the friction plate are separated, thereby realizing the release of the parking brake.

[0016] In the electronic parking brake system, when the sensor group is abnormal, the controller will determine the erroneous control amount through the abnormal sensor signal output by the sensor group and output it to the motor, causing the caliper to be abnormally released or abnormally clamped under the drive of the motor, resulting in abnormal vehicle parking control, resulting in phenomena such as vehicle sliding down a slope and vehicle skidding, increasing the safety risk of the vehicle.

[0017] In addition, the Automotive Safety Integration Level (ASIL) of vehicle electronic systems is a standard used to evaluate the safety performance of vehicle electronic systems. It evaluates the risk level of risk events according to severity, probability and controllability. Among them, severity describes the type of injury that the driver and passengers in the car may suffer, probability describes the frequency of exposure to danger, and controllability describes the role of the driver in preventing injury.

[0018] According to prior knowledge, the functional safety level of vehicle electronic systems can be divided into QM level, ASIL-A level, ASIL-B level, ASIL-C level and ASIL-D level, and the functional safety level gradually increases from QM level to ASIL-D level. Among them, the functional safety level is positively correlated with the potential risk of vehicle electronic systems, that is, the higher the functional safety level, the higher the potential risk of vehicle electronic systems; the lower the functional safety level, the lower the potential risk of vehicle electronic systems. Since the electronic parking brake system will bring serious safety hazards to the vehicle when it fails, the electronic parking brake system is configured to the highest functional safety level, that is, ASIL-D level, to ensure the driving safety and parking safety of the vehicle.

[0019] At present, all components in the electronic parking brake system are usually configured to the ASIL-D level so that the electronic parking brake system can meet the ASIL-D level. For example, a high-confidence sensor is configured for the electronic parking brake system, and the high-confidence sensor is used to detect the signal required for parking brake or releasing parking brake to ensure the accuracy of the signal. For another example, the controller of the electronic parking brake system is adjusted so that the controller has a low random hardware failure rate and diagnostic coverage to ensure the stability of vehicle parking control.

[0020] However, in order to make the electronic parking brake system reach the ASIL-D level, it is often necessary to design complex logical judgment conditions and circuit structures for the electronic parking brake system. For example, a large number of complex modules such as data processing modules and redundant modules are designed for the controller of the electronic parking brake system, so as to obtain a powerful but highly coupled controller to reduce the failure risk of the electronic parking brake system. This system design will aggravate the coupling of the electronic parking brake system, which refers to the correlation and interdependence between the components in the electronic parking brake system, and at the same time increase the hardware load and hardware cost of the electronic parking brake system, thereby affecting the driving performance of the vehicle.

[0021] In view of this, the embodiments of the present application provide an electronic parking brake control method, device, vehicle control system and vehicle, aiming to improve the accuracy of vehicle parking control, and reduce the coupling, hardware load and hardware cost of the electronic parking brake system, to ensure that the parking control of the target vehicle meets the functional safety requirements.

[0022] First, the implementation steps of the electronic parking brake control method provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0023] The electronic parking brake control method provided in the embodiment of the present application can be applied to a terminal, a server, or software running in a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN) and big data and artificial intelligence platforms. In addition, the server can also be a node server in a blockchain network, but is not limited to this. Among them, blockchain is a new application mode of computer technologies such as distributed data storage, point-to-point transmission, consensus mechanism, and encryption algorithm.

[0024] Reference Figure 1 , Figure 1 It is a flow chart of the electronic parking brake control method provided in the present application. The electronic parking brake control method is applied to an electronic parking brake control device. The method may include the following steps S101-S103.

[0025] S101, obtaining the state information of the target vehicle and the vehicle-side control quantity sent by the electronic parking brake system of the target vehicle.

[0026] In this step, the status information of the target vehicle is obtained, and the status information is used to determine the standard control quantity associated with the electronic parking brake function of the target vehicle. At the same time, the vehicle-side control quantity sent by the electronic parking brake system of the target vehicle is obtained. The vehicle-side control quantity is used to combine with the standard control quantity to achieve precise parking control of the vehicle.

[0027] The above-mentioned state information of the target vehicle refers to information used to characterize the target vehicle during driving or parking.

[0028] The state information of the target vehicle can be set according to actual conditions, and the embodiment of the present application does not specifically limit this. For example, the state information of the target vehicle can include but is not limited to the speed information of the target vehicle, the parking gear state information, the road slope information, the driving torque information, the braking torque information, the brake disc temperature sensor signal, the friction plate temperature sensor signal, etc., but is not limited thereto.

[0029] The above-mentioned obtaining of the state information of the target vehicle may include obtaining the state information of the target vehicle through detection by a plurality of preset sensors of the target vehicle.

[0030] Alternatively, the above-mentioned obtaining of the state information of the target vehicle may include obtaining state information sent by other controllers of the target vehicle, such as a dynamic controller, a body domain controller, a cockpit domain controller, etc., as the state information of the target vehicle.

[0031] The above-mentioned vehicle-side control quantity refers to the control quantity determined and sent by the controller of the electronic parking brake system, and the vehicle-side control quantity is associated with the electronic parking brake function of the target vehicle. For example, the sensor group of the electronic parking brake system detects the sensor signal required to realize the electronic parking brake function of the vehicle and sends the detected sensor signal to the controller of the electronic parking brake system, and the controller of the electronic parking brake system calculates the vehicle-side control quantity based on the sensor signal. It should be understood that the generation of the vehicle-side control quantity belongs to the prior art and will not be described in detail.

[0032] The data format of the above-mentioned vehicle-side control quantity can be set according to actual conditions, and the embodiment of the present application does not make any specific limitation on this.

[0033] Exemplarily, in some embodiments, the vehicle-side control quantity may include data in the form of instructions and data in the form of values. For example, the vehicle-side control quantity may include a vehicle-side parking control instruction and a vehicle-side motor current value; wherein the vehicle-side parking control instruction refers to a parking control instruction determined by a controller of an electronic parking brake system, and the vehicle-side parking control instruction may include any one of a vehicle-side parking brake instruction or a vehicle-side parking brake release instruction, the vehicle-side parking brake instruction is used to park the target vehicle, and the vehicle-side parking brake release instruction is used to release the parking brake of the target vehicle; and the vehicle-side motor current value refers to the current value of the motor of the electronic parking brake system, which can be determined by the controller of the electronic parking brake system and usually corresponds to the clamping force of the caliper of the electronic parking brake system, which means that the vehicle-side motor current value can be used to control the clamping degree or release degree of the caliper; in addition, the vehicle-side motor current value is always a positive value.

[0034] Exemplarily, in some embodiments, the above-mentioned vehicle-side control quantity may be data in numerical form. For example, the vehicle-side control quantity may be a vehicle-side motor current value, which refers to the current value of the motor of the electronic parking brake system, which may be determined by the controller of the electronic parking brake system and generally corresponds to the clamping force of the caliper of the electronic parking brake system, which means that the vehicle-side motor current value may be used to control the clamping degree or release degree of the caliper; wherein the vehicle-side motor current value is positive or negative, and when the vehicle-side motor current value is positive, it indicates that the vehicle-side control quantity is associated with the parking brake, that is, the vehicle-side control quantity is used to perform parking brake on the target vehicle; when the vehicle-side motor current value is negative, it indicates that the vehicle-side control quantity is associated with releasing the parking brake, that is, the vehicle-side control quantity is used to release the parking brake on the target vehicle.

[0035] S102: Obtain a standard control amount associated with the electronic parking brake function of the target vehicle according to the state information.

[0036] In this step, after obtaining the status information of the target vehicle, the status information of the target vehicle is processed to determine a high-reliability standard control quantity. The standard control quantity is associated with the electronic parking brake function of the target vehicle. The standard control quantity is used to be combined with the vehicle-side control quantity to achieve precise parking control of the vehicle.

[0037] The above-mentioned standard control amount refers to a control amount determined by a terminal or a server that executes the electronic parking brake control method, and the standard control amount is associated with the electronic parking brake function of the target vehicle.

[0038] The data format of the above-mentioned standard control quantity can be set according to actual conditions, and the embodiments of the present application do not make any specific limitations on this.

[0039] Exemplarily, in some embodiments, the above-mentioned standard control quantity may include data in the form of instructions and data in the form of values. For example, the standard control quantity may include a standard parking control instruction and a standard motor current value, both of which are associated with the electronic parking brake function, and the standard parking control instruction and the standard motor current value may be obtained by processing the state information; wherein, the standard parking control instruction may include any one of a standard parking brake instruction or a standard parking brake release instruction, the standard parking brake instruction corresponds to the parking brake, and the standard parking brake release instruction corresponds to the parking brake release; and the standard motor current value corresponds to the clamping force of the caliper of the electronic parking brake system, and it can be used to control the clamping degree or release degree of the caliper; in addition, the standard motor current value is always a positive value.

[0040] Exemplarily, in some embodiments, the above-mentioned standard control amount can be data in numerical form. For example, the standard control can be a standard motor current value, which is obtained by processing the state information. The standard motor current value corresponds to the clamping force of the caliper of the electronic parking brake system and is associated with the electronic parking brake function. It can be used to control the clamping degree or release degree of the caliper. Among them, the standard motor current value is a positive value or a negative value. When the standard motor current value is a positive value, it indicates that the standard control amount is associated with the parking brake; when the standard motor current value is a negative value, it indicates that the standard control amount is associated with releasing the parking brake.

[0041] The data form of the above-mentioned standard control quantity is the same as the data form of the above-mentioned vehicle-side control quantity. For example, if the vehicle-side control quantity includes data in the form of instructions and data in the form of numerical values, the standard control quantity includes data in the form of instructions and data in the form of numerical values; if the vehicle-side control quantity is data in the form of numerical values, the standard control quantity is data in the form of numerical values.

[0042] The above-mentioned obtaining the standard control amount associated with the electronic parking brake function of the target vehicle based on the status information may include obtaining the standard control amount associated with the electronic parking brake function of the target vehicle based on the status information in combination with a machine learning method, but is not limited to this.

[0043] The above-mentioned machine learning method can be set according to actual conditions, and the embodiments of the present application do not specifically limit this. For example, the above-mentioned machine learning method can be a support vector machine; or the above-mentioned machine learning method can be a random forest or a logistic regression, etc., but is not limited thereto.

[0044] The acquisition of the above-mentioned state information and the acquisition of the above-mentioned vehicle-side control quantity can be carried out in parallel, that is, the state information and the vehicle-side control quantity are acquired at the same time.

[0045] Alternatively, the acquisition of the above-mentioned state information and the acquisition of the above-mentioned vehicle-side control quantity may be performed serially, for example, the state information is acquired first, and then the vehicle-side control quantity is acquired; or, the vehicle-side control quantity is acquired first, and then the state information is acquired.

[0046] The generation of the above-mentioned standard control quantity and the acquisition of the above-mentioned vehicle-side control quantity can be carried out in parallel, that is, the standard control quantity is generated through the status information, and the vehicle-side control quantity is acquired at the same time.

[0047] Alternatively, the generation of the above-mentioned standard control quantity and the acquisition of the above-mentioned vehicle-side control quantity can be performed serially, for example, the standard control quantity is first generated through the status information, and then the vehicle-side control quantity is acquired; or, the vehicle-side control quantity is first acquired, and then the standard control quantity is generated through the status information.

[0048] S103, controlling the electronic parking brake system according to the vehicle-side control amount and the standard control amount, so that the electronic parking brake system performs parking brake or releases parking brake on the target vehicle.

[0049] In this step, since the controller of the electronic parking brake system will generate an erroneous control quantity when the sensor group of the electronic parking brake system is abnormal, the vehicle-side control quantity sent by the electronic parking brake system may have errors, resulting in abnormal vehicle parking control. In this regard, the embodiment of the present application does not simply rely on the vehicle-side control quantity sent by the electronic parking brake system when implementing parking control, but is more related to the standard control quantity generated by the status information of the target vehicle. Specifically, in this step, the parking control of the target vehicle is achieved by arbitrating the standard control quantity obtained in the previous step and the vehicle-side control quantity sent by the electronic parking brake system, so that the electronic parking brake system can park the target vehicle or release the parking brake, thereby improving the accuracy of the vehicle parking control.

[0050] The above-mentioned control of the electronic parking brake system according to the vehicle-side control quantity and the standard control quantity may include obtaining the target control quantity and sending it to the electronic parking brake system based on the vehicle-side control quantity and the standard control quantity in combination with a machine learning method, so that the electronic parking brake system performs parking brake or releases the parking brake on the target vehicle based on the target control quantity, but is not limited to this.

[0051] The specific operations performed by the electronic parking brake system when used to park or release the parking brake on the target vehicle can be set according to actual conditions, and the embodiments of the present application do not specifically limit this.

[0052] Exemplarily, in some embodiments, when the electronic parking brake system is used to park or release the parking brake of a target vehicle, the controller of the electronic parking brake system drives and controls the motor of the electronic parking brake system based on the target control amount, so that the motor rotates in a first direction, and under the driving action of the motor, the caliper of the electronic parking brake system performs a clamping action, and the brake disc and the friction plate are in contact, thereby achieving parking brake; or, the controller of the electronic parking brake system drives and controls the motor of the electronic parking brake system based on the target control amount, so that the motor rotates in a second direction, and under the driving action of the motor, the caliper of the electronic parking brake system performs a releasing action, and the brake disc and the friction plate are separated, thereby achieving the release of the parking brake; wherein, the target control amount may be the average of the vehicle-end control amount and the standard control amount.

[0053] The first direction is opposite to the second direction.

[0054] The configuration relationship between the first direction and the clamping action performed by the caliper can be set according to actual conditions, and this application does not specifically limit this. The first direction can be a clockwise direction, for example, the caliper performs a clamping action when the motor rotates in a clockwise direction; or the first direction can be a counterclockwise direction, for example, the caliper performs a clamping action when the motor rotates in a counterclockwise direction.

[0055] The configuration relationship between the second direction and the release action of the caliper can be set according to actual conditions, and this embodiment does not specifically limit this. The second direction can be a clockwise direction, for example, the caliper performs a release action when the motor rotates in a clockwise direction; or the second direction can be a counterclockwise direction, for example, the caliper performs a release action when the motor rotates in a counterclockwise direction.

[0056] In summary, it can be seen that the embodiment of the present application determines the standard control quantity associated with the electronic parking brake function through the status information of the target vehicle, and obtains the vehicle-side control quantity sent by the electronic parking brake system, and then uses the standard control quantity and the vehicle-side control quantity to control the electronic parking brake system to park the target vehicle or release the parking brake. In this way, precise control of the electronic parking brake system can be achieved, the accuracy of vehicle parking control can be improved, phenomena such as vehicle sliding down a slope and vehicle tail-spinning can be reduced, and the safety risks of the vehicle can be reduced.

[0057] The above steps will be further described below.

[0058] In some embodiments, the state information may include vehicle speed information, parking gear state information, road slope information and torque information. The parking gear state information is used to indicate whether the gear position of the target vehicle is the parking gear. The standard control quantity associated with the electronic parking brake function of the target vehicle obtained according to the state information may include: According to the vehicle speed information and the parking gear state information, a standard clamping control amount is determined as a standard control amount; wherein the standard clamping control amount is used to control the electronic parking brake system to perform parking brake on the target vehicle; Alternatively, a standard release control amount is determined as the standard control amount according to at least one of the parking gear state information, the road slope information or the torque information; wherein the standard release control amount is used to control the electronic parking brake system to release the parking brake on the target vehicle.

[0059] In this embodiment, the parking control mode of the target vehicle may include any one of the parking brake mode or the parking brake release mode. During parking control, the parking control mode of the target vehicle can be determined by the state information of the target vehicle, so as to obtain the control amount corresponding to the parking control mode as the standard control amount. Specifically, the parking control mode of the target vehicle can be determined as the parking brake mode by analyzing and processing the vehicle speed information and the parking gear state information, so as to determine the standard clamping control amount as the standard control amount; or, the parking control mode of the target vehicle can be determined as the parking brake release mode by analyzing and processing at least one of the parking gear state information, the road slope information or the torque information, so as to determine the standard release control amount as the standard control amount. It can be seen that in this embodiment, the parking control mode of the target vehicle is determined by analyzing and processing the state information of different dimensions while fully considering the vehicle state information of multiple dimensions, and the control amount corresponding to the parking control mode is used as the standard control amount associated with the electronic parking brake function, so as to effectively improve the accuracy of the standard control amount.

[0060] The above-mentioned status information may include vehicle speed information, parking gear status information, road slope information and torque information. Among them, the vehicle speed information is used to indicate the distance traveled by the target vehicle in a unit time; the parking gear status information is used to indicate whether the gear position of the target vehicle is the parking gear, that is, whether the target vehicle is in the P gear; the road slope information is used to indicate the slope of the road where the target vehicle is located; the torque information is used to indicate the torque force of the target vehicle, such as the torque output by the engine of the target vehicle.

[0061] The acquisition method of the above vehicle speed information, the above parking gear status information, the above road slope information and the above torque information can be set according to actual conditions, and this embodiment does not specifically limit this. For example, the vehicle speed information and road slope information of the target vehicle are acquired through the Global Positioning System (GPS), the parking gear status information sent by the body domain controller of the target vehicle is acquired, and the torque information sent by the dynamic controller (VDC) of the target vehicle is acquired, but it is not limited to this.

[0062] The above-mentioned standard clamping control amount is associated with the parking brake, and is used to control the electronic parking brake system to perform parking brake on the target vehicle.

[0063] The standard release control amount is associated with releasing the parking brake, and is used to control the electronic parking brake system to release the parking brake of the target vehicle.

[0064] The data form of the above-mentioned standard clamping control amount and the above-mentioned standard release control amount can be set according to actual conditions, and this embodiment does not specifically limit this. For example, the above-mentioned standard clamping control amount may include a standard parking brake instruction and a standard motor current value; the above-mentioned standard release control amount may include a standard release parking brake instruction and a standard motor current value; wherein the standard motor current value is always a positive value. For another example, the above-mentioned standard clamping control amount may be a standard motor current value, and the standard motor current value is a positive value, to indicate that the standard clamping control amount is associated with the parking brake; the above-mentioned standard release control amount may be a standard motor current value, and the standard motor current value is a negative value, to indicate that the standard release control amount is associated with releasing the parking brake.

[0065] The above-mentioned determination of the standard clamping control amount as the standard control amount based on the vehicle speed information and the parking gear status information may include determining the standard clamping control amount as the standard control amount based on the vehicle speed information and the parking gear status information in combination with a machine learning method, but is not limited to this.

[0066] The above-mentioned determination of the standard release control amount as the standard control amount based on at least one of the parking gear status information, road slope information or torque information may include determining the standard release control amount as the standard control amount based on at least one of the parking gear status information, road slope information or torque information in combination with a machine learning method, but is not limited to this.

[0067] In some embodiments, determining the standard clamping control amount as the standard control amount according to the vehicle speed information and the parking gear state information may include: If the vehicle speed information is less than a preset vehicle speed threshold and the parking gear state information indicates that the gear position of the target vehicle is the parking gear, a standard clamping control amount is determined as the standard control amount.

[0068] In this embodiment, when it is detected that the vehicle speed information is less than the preset vehicle speed threshold and the target vehicle is in the P gear, it means that the target vehicle is traveling slowly and the driver expects parking brake. In this case, parking brake on the target vehicle will not cause the vehicle to drift. Therefore, it can be directly determined that the parking control mode of the target vehicle is the parking brake mode, so as to determine the standard clamping control amount associated with the parking brake, and use the determined standard clamping control amount as the standard control amount associated with the electronic parking brake function. It can be seen that in this embodiment, the parking control mode of the target vehicle is determined to be the parking brake by analyzing and processing the vehicle speed information and the parking gear status information, and the standard clamping control amount associated with the parking brake is output as the standard control amount, which can effectively improve the accuracy of the standard control amount.

[0069] The above vehicle speed threshold can be set according to actual conditions, and this embodiment does not impose any specific limitation on this.

[0070] The above-mentioned determination of the standard clamping control amount may include, based on the whole vehicle information of the target vehicle, searching from the first mapping data for a standard motor current value corresponding to the state information as the standard clamping control amount, and the standard motor current value is a positive value, wherein the first mapping data may include multiple preset information groups and standard motor current values ​​corresponding to each preset information group, and the preset information group includes multiple preset whole vehicle information.

[0071] The first mapping data may be chart data or table data, but is not limited thereto.

[0072] The above vehicle information can be set according to actual conditions, and this embodiment does not specifically limit this. For example, the above vehicle information may include the speed information, road slope information, parking gear state information, driving torque information, braking torque information, front wheel angle information, rear wheel angle information, slip rate information, etc. of the target vehicle, but is not limited thereto. In addition, the above vehicle information may be data sent by other controllers, or data obtained by detecting the target vehicle, but is not limited thereto.

[0073] Alternatively, the above-mentioned determination of the standard clamping control amount may include obtaining a standard motor current value as the standard clamping control amount based on the whole vehicle information of the target vehicle in combination with machine learning, and the standard motor current value is a positive value, but is not limited to this.

[0074] In some embodiments, the torque information may include driving torque information and braking torque information; and determining the standard release control amount as the standard control amount according to at least one of the parking gear state information, the road slope information or the torque information may include: If the road slope information is less than a preset slope threshold and the parking gear state information indicates that the gear position of the target vehicle is not the parking gear, determining the standard release control amount as the standard control amount; Alternatively, if the road slope information is greater than or equal to the slope threshold and the parking gear state information indicates that the gear position of the target vehicle is not the parking gear, and the braking torque information is greater than the driving torque information, the standard release control amount is determined as the standard control amount.

[0075] In this embodiment, when it is detected that the road slope information is less than the preset slope threshold, it means that the slope of the road where the target vehicle is located is small, and the possibility of the vehicle rolling down the slope is low. In this case, if it is detected that the target vehicle is in a gear other than the P gear, it means that the driver expects to release the parking brake. Since the possibility of the vehicle rolling down the slope is low in this case, the parking control mode of the target vehicle can be directly determined as the parking brake release mode, so as to determine the standard release control amount related to the release of the parking brake, and the determined standard release control amount is used as the standard control amount associated with the electronic parking brake function.

[0076] When the road slope information is detected to be greater than or equal to the slope threshold, it means that the slope of the road where the target vehicle is located is large, and the possibility of the vehicle rolling down the slope is high. In this case, if the target vehicle is detected to be in a gear other than the P gear, it means that the target vehicle expects to release the parking brake, but since the possibility of the vehicle rolling down the slope is high in this case, the parking control mode of the target vehicle cannot be directly determined as the parking brake release mode, but needs to be further determined based on the torque information of the target vehicle.

[0077] When the target vehicle is on a road with a large slope, there are two control situations that make the target vehicle stationary on such a road. One control situation is that the target vehicle is in P gear, the electronic parking brake system performs parking brake on the target vehicle, and the target vehicle is stationary; and the other control situation is that the target vehicle is in a gear other than P gear and the brake pedal is in a stepped state, and the target vehicle is stationary due to full braking. Among them, the situation where the above road slope information is greater than or equal to the slope threshold and the target vehicle is in a gear other than P gear contradicts the above first control situation.

[0078] Based on this, in the present embodiment, when it is detected that the road slope information is greater than or equal to the slope threshold and the target vehicle is in a gear other than the P gear, further judgment is made based on the torque information of the target vehicle to determine whether the target vehicle meets the second control condition mentioned above. If the target vehicle meets the second control condition mentioned above, it can be determined that the parking control mode of the target vehicle is the parking brake release mode. Specifically, if the braking torque information of the target vehicle is greater than the driving torque information of the target vehicle, it means that the target vehicle is braking, that is, the target vehicle meets the second control condition mentioned above. At this time, it is determined that the parking control mode of the target vehicle is the parking brake release mode, so as to determine the standard release control amount related to the parking brake release, and use the determined standard release control amount as the standard control amount associated with the electronic parking brake function.

[0079] It can be seen that in this embodiment, when a small road slope is detected, the parking control mode of the target vehicle is determined to be the releasing parking brake mode through the parking gear status information; and when a large road slope is detected, the parking control mode of the target vehicle is determined to be the releasing parking brake mode through the parking gear status information, the driving torque information and the braking torque information. After that, when it is determined that the parking brake mode is released, the standard release control amount associated with the releasing of the parking brake is used as the standard control amount, which can effectively improve the accuracy of the standard control amount.

[0080] The torque information may include driving torque information and braking torque information, wherein the driving torque information refers to a torque value used to drive the target vehicle forward or backward, and the braking torque information refers to a torque value used to slow down or stop the target vehicle.

[0081] The above slope threshold can be set according to actual conditions, and this embodiment does not specifically limit this.

[0082] The above-mentioned determination of the standard release control amount may include, based on the whole vehicle information of the target vehicle, searching from the second mapping data for a standard motor current value corresponding to the state information as the standard release control amount, and the standard motor current value is a negative value, wherein the second mapping data may include multiple preset information groups and standard motor current values ​​corresponding to each preset information group, and the preset information group includes multiple preset state information.

[0083] The second mapping data may be chart data or table data, but is not limited thereto.

[0084] Alternatively, the above-mentioned determination of the standard release control amount may include obtaining a standard motor current value as the standard release control amount based on the whole vehicle information of the target vehicle in combination with machine learning, and the standard motor current value is a negative value, but is not limited to this.

[0085] In some embodiments, the above-mentioned controlling the electronic parking brake system according to the vehicle-side control amount and the standard control amount may include: If the error value of the vehicle-side control amount relative to the standard control amount is greater than or equal to a preset error threshold, the standard control amount is sent to the electronic parking brake system, so that the electronic parking brake system performs parking braking or releases parking braking based on the standard control amount; Alternatively, if the error value of the vehicle-side control amount relative to the standard control amount is less than the error threshold, an execution instruction is sent to the electronic parking brake system so that the electronic parking brake system performs parking braking or releases parking braking based on the execution instruction and the vehicle-side control amount.

[0086] In this embodiment, when the sensor group of the electronic parking brake system is abnormal, the controller of the electronic parking brake system will generate an erroneous control amount, so the vehicle-side control amount sent by the electronic parking brake system may have errors, resulting in abnormal vehicle parking control. In this regard, the embodiment of the present application does not simply rely on the vehicle-side control amount sent by the electronic parking brake system when implementing parking control, but is more related to a highly reliable standard control amount.

[0087] Specifically, first, based on the vehicle-side control quantity and the standard control quantity, the error value of the vehicle-side control quantity relative to the standard control quantity is determined, and the error value can characterize the degree of difference between the vehicle-side control quantity and the standard control quantity; then, it is determined whether the error value is greater than or equal to a preset error threshold; if so, it means that the degree of difference between the vehicle-side control quantity and the standard control quantity is too large, and the credibility of the vehicle-side control quantity is low. At this time, a standard control quantity with higher accuracy is selected as the parking control standard, and the standard control quantity is sent to the electronic parking brake system, so that the electronic parking brake system performs parking braking or releases parking braking based on the standard control quantity; if not, it means that the degree of difference between the vehicle-side control quantity and the standard control quantity is small, and the credibility of the vehicle-side control quantity is high. At this time, the vehicle-side control quantity can be selected as the parking control standard. Since the electronic parking brake system stores the vehicle-side control quantity, it is only necessary to send an execution instruction to the electronic parking brake system at this time, so that the electronic parking brake system performs parking braking or releases parking braking based on the execution instruction and the vehicle-side control quantity.

[0088] It can be seen that this implementation method accurately selects a parking control standard with higher credibility by measuring the degree of difference between the vehicle-side control quantity and the standard control quantity, and then controls the electronic parking brake system based on this parking control standard, so that the electronic parking brake system performs parking brake or releases the parking brake on the target vehicle. In this way, accurate control of the electronic parking brake system can be achieved, and the problem of error in parking control quantity caused by abnormal sensor group of the electronic parking brake system can be solved, thereby improving the accuracy of vehicle parking control, reducing phenomena such as vehicle sliding down a slope and vehicle tail-spinning, and reducing vehicle safety risks.

[0089] The error value of the above vehicle-side control quantity relative to the standard control quantity is used to measure the degree of difference between the vehicle-side control quantity and the standard control quantity.

[0090] The error value of the vehicle-side control amount relative to the standard control amount can be set according to actual conditions, and this embodiment does not specifically limit this. For example, the absolute value of the difference between the vehicle-side control amount and the standard control amount is obtained as the error value of the vehicle-side control amount relative to the standard control amount. For another example, the absolute value of the difference between the standard control amount and the vehicle-side control amount is obtained as the control difference, and the ratio of the control difference to the standard control amount is obtained as the error value of the vehicle-side control amount relative to the standard control amount.

[0091] The above error threshold can be set according to actual conditions, and this embodiment does not specifically limit this.

[0092] The specific operations performed by the electronic parking brake system when it is used to perform parking braking or release parking braking based on the standard control amount can be set according to actual conditions, and this embodiment does not specifically limit this.

[0093] Exemplarily, in some embodiments, when the electronic parking brake system is used to perform parking braking or release parking brakes based on a standard control amount, if the standard control amount is a standard clamping control amount, the controller of the electronic parking brake system controls the motor of the electronic parking brake system based on the standard clamping control amount, so that the caliper is clamped under the driving action of the motor, thereby achieving parking braking; if the standard control amount is a standard release control amount, the controller of the electronic parking brake system controls the motor of the electronic parking brake system based on the standard release control amount, so that the caliper is released under the driving action of the motor, thereby achieving the release of the parking brake.

[0094] The specific operations that the electronic parking brake system is used to perform when performing parking braking or releasing parking braking based on execution instructions and vehicle-side control quantities can be set according to actual conditions, and this embodiment does not specifically limit this.

[0095] For example, in some embodiments, the vehicle-side control amount may include any one of a vehicle-side clamping control amount or a vehicle-side release control amount, wherein the vehicle-side clamping control amount is associated with the parking brake, and the vehicle-side clamping control amount may be a vehicle-side motor current value, and the vehicle-side motor current value is a positive value; the vehicle-side release control amount is associated with releasing the parking brake, and the vehicle-side release control amount may be a vehicle-side motor current value, and the vehicle-side motor current value is a negative value. When the electronic parking brake system is used to perform parking brake or release parking brake based on the execution instruction and the vehicle-side control amount, if the vehicle-side control amount is the vehicle-side clamping control amount, the controller of the electronic parking brake system controls the motor of the electronic parking brake system based on the execution instruction and the vehicle-side clamping control amount, so that the caliper is clamped under the driving action of the motor, thereby realizing parking brake; or, if the vehicle-side control amount is the vehicle-side release control amount, the controller of the electronic parking brake system controls the motor of the electronic parking brake system based on the execution instruction and the vehicle-side release control amount, so that the caliper is released under the driving action of the motor, thereby realizing releasing the parking brake.

[0096] Secondly, the implementation of the electronic parking brake control device provided in the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0097] Reference Figure 2 , Figure 2 : is a structural diagram of an electronic parking brake control device provided by the present application, and the electronic parking brake control device may include: An acquisition module 201 is used to acquire the state information of the target vehicle and the vehicle-side control amount sent by the electronic parking brake system of the target vehicle; The processing module 202 is used to obtain a standard control quantity associated with the electronic parking brake function of the target vehicle according to the status information; and control the electronic parking brake system according to the vehicle-side control quantity and the standard control quantity so that the electronic parking brake system performs parking brake or releases the parking brake on the target vehicle.

[0098] The communication method between the acquisition module 201 and the electronic parking brake system of the target vehicle is a wireless communication method.

[0099] The communication method between the processing module 202 and the electronic parking brake system of the target vehicle is a wireless communication method.

[0100] The wireless communication mode can be set according to actual conditions, and the embodiments of the present application do not specifically limit this. For example, the wireless communication mode can be a fifth-generation mobile communication network or a wireless local area network, but is not limited thereto.

[0101] In some embodiments, the electronic parking brake control device may be a cloud server.

[0102] In some embodiments, reference Figure 3 The electronic parking brake control device can be configured to perform parking control on the electronic parking brake system of at least one target vehicle. Specifically, the electronic parking brake control device can simultaneously monitor multiple target vehicles within a preset area, that is, the electronic parking brake control device can perform parking control on the electronic parking brake systems of multiple target vehicles, which can reduce the system design difficulty and hardware cost of a single target vehicle.

[0103] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0104] Furthermore, the implementation of the vehicle control system provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0105] Reference Figure 4 , Figure 4 : is a structural diagram of a vehicle control system provided by the present application, the vehicle control system is applicable to a single target vehicle, and the vehicle control system may include: The electronic parking brake control device mentioned above; The electronic parking brake system is used to generate a vehicle-side control quantity and send it to an electronic parking brake control device, and to park or release the parking brake on a target vehicle under the control of the electronic parking brake control device.

[0106] The specific implementation of the electronic parking brake control device can be found in the above-mentioned embodiment, which will not be described in detail.

[0107] The specific operations that the above-mentioned electronic parking brake system is used to perform when generating the vehicle-side control amount can be set according to actual conditions, and the embodiments of the present application do not specifically limit this.

[0108] For example, in some embodiments, referring to Figure 4 The sensor group 301 of the electronic parking brake system detects the sensor signal required to realize the electronic parking brake function of the vehicle and sends the detected sensor signal to the controller 302 of the electronic parking brake system. The controller 302 of the electronic parking brake system calculates the vehicle-side control amount based on the sensor signal. It should be understood that the generation of the vehicle-side control amount belongs to the prior art and will not be described in detail.

[0109] The specific operations performed by the electronic parking brake system when it is used to park or release the parking brake of a target vehicle under the control of the electronic parking brake control device can be set according to actual conditions, and the embodiments of the present application do not specifically limit this.

[0110] For example, in some embodiments, referring to Figure 4 , the controller 302 of the electronic parking brake system drives and controls the motor 303 of the electronic parking brake system based on the target control amount sent by the electronic parking brake control device, so that the motor 303 rotates in a first direction, and under the driving action of the motor 303, the caliper 304 of the electronic parking brake system performs a clamping action, and the brake disc and the friction plate are in contact, thereby realizing parking braking; or, the controller 302 of the electronic parking brake system drives and controls the motor 303 of the electronic parking brake system based on the target control amount sent by the electronic parking brake control device, so that the motor 303 rotates in a second direction, and under the driving action of the motor 303, the caliper 304 of the electronic parking brake system performs a releasing action, and the brake disc and the friction plate are separated, thereby realizing releasing the parking brake, wherein the target control amount can be the average of the vehicle-end control amount and the standard control amount, but is not limited to this.

[0111] In some embodiments, when the electronic parking brake system is used to park or release the parking brake of a target vehicle under the control of the electronic parking brake control device, it is specifically used to perform the following operations: Applying parking brake or releasing parking brake to the target vehicle based on the standard control amount sent by the electronic parking brake control device; Alternatively, based on the vehicle-side control amount and the execution instruction sent by the electronic parking brake control device, the parking brake is applied to the target vehicle or the parking brake is released.

[0112] In this embodiment, the standard control quantity is a control quantity generated by the electronic parking brake control device according to the state information of the target vehicle, and the vehicle-side control quantity is a control quantity generated by the electronic parking brake system. Since the controller of the electronic parking brake system will generate an erroneous control quantity when the sensor group of the electronic parking brake system is abnormal, the vehicle-side control quantity sent by the electronic parking brake system may have errors, resulting in abnormal vehicle parking control. Since the failure rate of the device used to collect the state information of the target vehicle is low, the standard control quantity generated by the state information of the target vehicle is more reliable than the vehicle-side control quantity. In this regard, the electronic parking brake control device does not rely solely on the vehicle-side control quantity sent by the electronic parking brake system when implementing parking control, but is more related to the highly reliable standard control quantity.

[0113] Specifically, first, the electronic parking brake control device determines the error value of the vehicle-side control amount relative to the standard control amount based on the vehicle-side control amount and the standard control amount. The error value can characterize the degree of difference between the vehicle-side control amount and the standard control amount; then, the electronic parking brake control device determines whether the error value is greater than or equal to a preset error threshold; if so, it means that the degree of difference between the vehicle-side control amount and the standard control amount is too large, and the credibility of the vehicle-side control amount is low. At this time, the electronic parking brake control device selects the standard control amount with higher accuracy as the parking control standard, and sends the standard control amount to the electronic parking brake control device. If the electronic parking brake system is set to the standard control quantity, the electronic parking brake system will perform parking braking or release the parking brake based on the standard control quantity; if not, it means that the difference between the vehicle-side control quantity and the standard control quantity is small, and the credibility of the vehicle-side control quantity is high. At this time, the electronic parking brake control device selects the vehicle-side control quantity as the parking control standard. Since the electronic parking brake system stores the vehicle-side control quantity, the electronic parking brake control device only needs to send an execution instruction to the electronic parking brake system. In this case, the electronic parking brake system will perform parking braking or release the parking brake based on the execution instruction and the vehicle-side control quantity.

[0114] It can be seen that in the present embodiment, the electronic parking brake control device accurately selects a parking control standard with higher credibility by measuring the difference between the vehicle-side control quantity and the standard control quantity, and then the electronic parking brake control device controls the electronic parking brake system based on the parking control standard, so that the electronic parking brake system performs parking brake or releases the parking brake on the target vehicle. In this way, accurate control of the electronic parking brake system can be achieved, and the problem of error in parking control quantity caused by abnormal sensor group of the electronic parking brake system can be solved, thereby improving the accuracy of vehicle parking control, reducing phenomena such as vehicle sliding down a slope and vehicle tail swinging, and reducing vehicle safety risks.

[0115] The specific operations performed by the electronic parking brake system when it is used to park or release the parking brake of the target vehicle based on the standard control amount sent by the electronic parking brake control device can be set according to actual conditions, and this embodiment does not specifically limit this.

[0116] For example, in some embodiments, referring to Figure 4When the electronic parking brake system is used to perform parking brake or release parking brake based on the standard control amount, if the standard control amount is the standard clamping control amount, the controller 302 of the electronic parking brake system controls the motor 303 of the electronic parking brake system based on the standard clamping control amount, so that the caliper 304 is clamped under the driving action of the motor 303, thereby realizing parking brake; if the standard control amount is the standard release control amount, the controller 302 of the electronic parking brake system controls the motor 303 of the electronic parking brake system based on the standard release control amount, so that the caliper 304 is released under the driving action of the motor 303, thereby realizing releasing the parking brake.

[0117] The above-mentioned electronic parking brake system is used to perform specific operations when parking or releasing the parking brake of the target vehicle based on the vehicle-side control amount and the execution instruction sent by the electronic parking brake control device. The specific operations can be set according to actual conditions, and this embodiment does not make specific limitations on this.

[0118] Exemplarily, in some embodiments, the vehicle-side control amount may include any one of a vehicle-side clamping control amount and a vehicle-side release control amount, wherein the vehicle-side clamping control amount is associated with the parking brake, and the vehicle-side clamping control amount may be a vehicle-side motor current value, and the vehicle-side motor current value is a positive value; the vehicle-side release control amount is associated with releasing the parking brake, and the vehicle-side release control amount may be a vehicle-side motor current value, and the vehicle-side motor current value is a negative value. Figure 4 When the electronic parking brake system is used to perform parking brake or release parking brake based on the execution instruction and the vehicle-end control amount, if the vehicle-end control amount is the vehicle-end clamping control amount, the controller 302 of the electronic parking brake system controls the motor 303 of the electronic parking brake system based on the execution instruction and the vehicle-end clamping control amount, so that the caliper 304 is clamped under the driving action of the motor 303, thereby realizing parking brake; or, if the vehicle-end control amount is the vehicle-end release control amount, the controller 302 of the electronic parking brake system controls the motor 303 of the electronic parking brake system based on the execution instruction and the vehicle-end release control amount, so that the caliper 304 is released under the driving action of the motor 303, thereby realizing releasing the parking brake.

[0119] In some embodiments, reference Figure 4 The electronic parking brake control device and the motor 303 of the electronic parking brake system are both configured to the highest functional safety level, namely, the ASIL-D level; the sensor group 301 and the controller 302 of the electronic parking brake system are both configured to the lowest functional safety level, namely, the QM level.

[0120] In this embodiment, when different components in the vehicle electronic system are independent, the vehicle electronic system can be functionally decomposed for safety. Based on this, in this embodiment, the acquisition module and processing module associated with the electronic parking brake function are integrated into the electronic parking brake control device, and both the acquisition module and the processing module are ASIL-D level, while the sensor group 301 related to information acquisition and the controller 302 related to the control amount calculation in the electronic parking brake system of the target vehicle are QM level, which means that the target vehicle only needs to integrate a certain precision sensor group 301 and an electronic parking brake function to realize the link, while a large number of high-precision sensors, complex circuits and other components are integrated in the electronic parking brake control device and reach the ASIL-D level. In addition, considering that the structure of the motor 303 is relatively simple, and it is necessary to ensure the normal clamping or normal release of the caliper 304 during the parking control, and the drive of the motor 303 is crucial to the clamping and release action of the caliper 304, the motor 303 in the electronic parking brake system still undertakes the ASIL-D level.

[0121] It can be seen that this embodiment decomposes the ASIL-D requirements of the electronic parking brake system, transplants the original ASIL-D level sensor group 301 and controller 302 to the electronic parking brake control device, and configures the sensor group 301 and controller 302 in the electronic parking brake system of the target vehicle to the QM level. The electronic parking brake control device can obtain a highly reliable standard control quantity, and combined with the vehicle-side control quantity, precise parking control can be achieved without the need to configure the electronic parking brake system with a high-precision sensor group 301, complex circuits and other components. This can effectively reduce the coupling of the electronic parking brake system, reduce the hardware load and hardware cost of the electronic parking brake system, and ensure that the parking control of the target vehicle meets the functional safety requirements.

[0122] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0123] Finally, refer to Figure 5 , the embodiment of the present application further provides a vehicle, which may include: at least one processor 401; At least one memory 402, used to store at least one program; When at least one program is executed by at least one processor 401 , at least one processor 401 implements the above-mentioned electronic parking brake control method.

[0124] The above-mentioned vehicles can be private cars, such as sedans, sport utility vehicles (SUV), multi-purpose vehicles (MPV) or pickup trucks, etc., or they can be commercial vehicles, such as vans, buses, small trucks or large trailers, etc. They can also be gasoline vehicles or new energy vehicles such as hybrid vehicles and pure electric vehicles.

[0125] The above-mentioned memory 402, as a non-transient network system, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory 402 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 402 may optionally include a memory 402 remotely arranged relative to the processor 401, and these remote memories 402 may be connected to the processor 401 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0126] The above-mentioned memory 402 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM). The memory 402 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 402, and the processor 401 is called to execute the method of the embodiment of this application.

[0127] The processor 401 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided in the embodiments of the present application.

[0128] In some embodiments, the vehicle may further include: Input / output interface, used to realize information input and output; Communication interface, used to realize communication interaction between this device and other devices. Communication can be realized through wired methods (such as USB, network cable, etc.) or wireless methods (such as mobile network, WIFI, Bluetooth, etc.); A bus that transmits information between various components of the device (e.g., processor 401, memory 402, input / output interfaces, and communication interfaces); The processor 401 , the memory 402 , the input / output interface and the communication interface can be connected to each other in communication within the device via a bus.

[0129] The contents of the above method embodiments are all applicable to the present vehicle embodiment. The functions specifically implemented by the present vehicle embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0130] To facilitate understanding of the electronic parking brake control method, device, vehicle control system and vehicle of the present application, the actual application scenarios of the electronic parking brake control method, device, vehicle control system and vehicle of the present application are illustrated herein by way of example.

[0131] Reference Figure 6 , Figure 6 It is a schematic diagram of the electronic parking brake control. In this example, the vehicle control system includes a cloud server and the electronic parking brake systems of multiple target vehicles. The cloud server is an electronic parking brake control device. The electronic parking brake systems of each target vehicle communicate with the cloud server through the fifth-generation mobile communication network. Among them, the cloud server is equipped with an acquisition module 201 and a processing module 202, and both the acquisition module 201 and the processing module 202 are set to the ASIL-D level; the electronic parking brake system of each target vehicle is equipped with a sensor group 301, a controller 302, a motor 303 and a caliper 304, wherein the sensor group 301 and the controller 302 are both set to the QM level, the motor 303 is set to the ASIL-D level, and the caliper 304 has no level. This means that each target vehicle only needs to integrate a certain precision sensor group 301 and an electronic parking brake function to realize the link, while a large number of high-precision sensors, complex circuits and other components are integrated in the cloud server and reach the ASIL-D level. Since the functional safety level of the cloud server is higher than that of the electronic parking brake system, the credibility of the control quantity generated by the cloud server is higher than that of the control quantity generated by the electronic parking brake system.

[0132] Based on the above vehicle control system, for each target vehicle, the parking control of the target vehicle is specifically implemented as shown in the following steps S201-S205.

[0133] S201, the sensor group 301 of the electronic parking brake system detects the sensor signal required to realize the electronic parking brake function of the vehicle and sends the detected sensor signal to the controller 302 of the electronic parking brake system. The controller 302 of the electronic parking brake system calculates the vehicle-side control amount based on the sensor signal and sends it to the cloud server.

[0134] S202, the acquisition module 201 of the cloud server acquires the vehicle-side control quantity sent by the electronic parking brake system.

[0135] In addition, the acquisition module 201 of the cloud server acquires the speed information and road slope information of the target vehicle through the GPS system, acquires the parking gear status information sent by the body domain controller 302 of the target vehicle, and acquires the driving torque information and braking torque information sent by the dynamic controller 302 of the target vehicle. The acquisition module 201 of the cloud server sends the acquired data to the processing module 202 of the cloud server.

[0136] If the vehicle speed information is less than the preset threshold value 1 and the parking gear status information indicates that the gear position of the target vehicle is P gear, the processing module 202 of the cloud server obtains the standard motor current value as the standard clamping control quantity based on the whole vehicle information of the target vehicle and combined with machine learning, and the standard motor current value is a positive value, and then determines the standard clamping control quantity as the standard control quantity.

[0137] Alternatively, the processing module 202 of the cloud server compares the size relationship between the road slope information and the preset threshold value 2. If the road slope information is less than the preset threshold value 2 and the parking gear status information indicates that the gear position of the target vehicle is not the P gear, then based on the whole vehicle information of the target vehicle and combined with machine learning, a standard motor current value is obtained as the standard release control amount, and the standard motor current value is a negative value, and then the standard release control amount is determined as the standard control amount; if the road slope information is greater than or equal to the preset threshold value 2 and the parking gear status information indicates that the gear position of the target vehicle is not the P gear, and the braking torque information is greater than the driving torque information, then based on the whole vehicle information of the target vehicle and combined with machine learning, a standard motor current value is obtained as the standard release control amount, and the standard motor current value is a negative value, and then the standard release control amount is determined as the standard control amount.

[0138] S203, the processing module 202 of the cloud server obtains the absolute value of the difference between the standard control amount and the vehicle-side control amount as the control difference, and obtains the ratio of the control difference to the standard control amount as the error value of the vehicle-side control amount relative to the standard control amount.

[0139] S204, the processing module 202 of the cloud server compares the error value of the vehicle-side control quantity relative to the standard control quantity and the preset threshold value 3. If the error value of the vehicle-side control quantity relative to the standard control quantity is greater than or equal to the preset threshold value 3, the standard control quantity is sent to the electronic parking brake system, otherwise an execution instruction is sent to the electronic parking brake system.

[0140] S205, the electronic parking brake system performs parking brake or releases parking brake on the target vehicle based on any one of the standard control quantity or the vehicle-side control quantity.

[0141] Specifically, when the electronic parking brake system is used to perform parking braking or release parking braking based on a standard control amount, if the standard control amount is a standard clamping control amount, the controller 302 of the electronic parking brake system controls the motor 303 of the electronic parking brake system based on the standard clamping control amount, so that the caliper 304 is clamped under the driving action of the motor 303, thereby realizing parking braking; if the standard control amount is a standard release control amount, the controller 302 of the electronic parking brake system controls the motor 303 of the electronic parking brake system based on the standard release control amount, so that the caliper 304 is released under the driving action of the motor 303, thereby realizing releasing the parking brake.

[0142] Alternatively, the vehicle-end control quantity may include any one of a vehicle-end clamping control quantity or a vehicle-end release control quantity, wherein the vehicle-end clamping control quantity is associated with the parking brake, the vehicle-end clamping control quantity may be the vehicle-end motor current value, and the vehicle-end motor current value is a positive value; the vehicle-end release control quantity is associated with releasing the parking brake, the vehicle-end release control quantity may be the vehicle-end motor current value, and the vehicle-end motor current value is a negative value. When the electronic parking brake system is used to perform parking brake or release parking brake based on execution instructions and vehicle-end control quantity, if the vehicle-end control quantity is a vehicle-end clamping control quantity, the controller 302 of the electronic parking brake system controls the motor 303 of the electronic parking brake system based on the execution instructions and the vehicle-end clamping control quantity, so that the caliper 304 is clamped under the driving action of the motor 303, thereby realizing parking brake; or, if the vehicle-end control quantity is a vehicle-end release control quantity, the controller 302 of the electronic parking brake system controls the motor 303 of the electronic parking brake system based on the execution instructions and the vehicle-end release control quantity, so that the caliper 304 is released under the driving action of the motor 303, thereby realizing releasing the parking brake.

[0143] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the application is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are expected, wherein the order of various operations is changed and the sub-operation described as a part of a larger operation is performed independently.

[0144] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present application. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional techniques of the engineer. Therefore, those skilled in the art can implement the present application set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the attached claims and their equivalents.

[0145] If the functions are implemented in the form of software functional units 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 application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several programs to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0146] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution system, device or apparatus. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution system, device or apparatus.

[0147] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0148] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0149] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0150] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0151] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the described embodiments. Technical personnel familiar with the field may make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. An electronic parking brake control method, characterized in that: The following steps are involved: Acquiring status information of a target vehicle and a vehicle-side control quantity sent by an electronic parking brake system of the target vehicle; obtaining a standard control amount associated with an electronic parking brake function of the target vehicle according to the state information; The electronic parking brake system is controlled according to the vehicle-side control amount and the standard control amount, so that the electronic parking brake system performs parking brake or releases parking brake on the target vehicle.

2. The electronic parking brake control method according to claim 1, characterized in that: The state information includes vehicle speed information, parking gear state information, road slope information and torque information, and the parking gear state information is used to indicate whether the gear position of the target vehicle is the parking gear; The step of obtaining a standard control amount associated with the electronic parking brake function of the target vehicle according to the state information includes: According to the vehicle speed information and the parking gear state information, a standard clamping control amount is determined as the standard control amount; wherein the standard clamping control amount is used to control the electronic parking brake system to perform parking braking on the target vehicle; Alternatively, a standard release control amount is determined as the standard control amount based on at least one of the parking gear state information, the road slope information or the torque information; wherein the standard release control amount is used to control the electronic parking brake system to release the parking brake on the target vehicle.

3. The electronic parking brake control method according to claim 2, characterized in that: The step of determining the standard clamping control amount as the standard control amount according to the vehicle speed information and the parking gear state information includes: If the vehicle speed information is less than a preset vehicle speed threshold and the parking gear state information indicates that the gear position of the target vehicle is the parking gear, the standard clamping control amount is determined as the standard control amount.

4. The electronic parking brake control method according to claim 2, characterized in that: The torque information includes driving torque information and braking torque information; the determining of a standard release control amount as the standard control amount according to at least one of the parking gear state information, the road slope information or the torque information includes: If the road slope information is less than a preset slope threshold and the parking gear state information indicates that the gear position of the target vehicle is not the parking gear, determining the standard release control amount as the standard control amount; Alternatively, if the road slope information is greater than or equal to the slope threshold and the parking gear state information indicates that the gear position of the target vehicle is not the parking gear, and the braking torque information is greater than the driving torque information, the standard release control amount is determined as the standard control amount.

5. The electronic parking brake control method according to claim 1, characterized in that: The controlling the electronic parking brake system according to the vehicle-side control amount and the standard control amount includes: If the error value of the vehicle-side control amount relative to the standard control amount is greater than or equal to a preset error threshold, the standard control amount is sent to the electronic parking brake system, so that the electronic parking brake system performs parking braking or releases parking braking based on the standard control amount; Alternatively, if the error value of the vehicle-end control quantity relative to the standard control quantity is less than the error threshold, an execution instruction is sent to the electronic parking brake system so that the electronic parking brake system performs parking braking or releases parking braking based on the execution instruction and the vehicle-end control quantity.

6. An electronic parking brake control device, characterized in that: include: An acquisition module, used to acquire the state information of the target vehicle and the vehicle-side control quantity sent by the electronic parking brake system of the target vehicle; A processing module is used to obtain a standard control quantity associated with the electronic parking brake function of the target vehicle according to the status information; and control the electronic parking brake system according to the vehicle-side control quantity and the standard control quantity so that the electronic parking brake system performs parking brake or releases parking brake on the target vehicle.

7. A vehicle control system, characterized in that: include: The electronic parking brake control device as claimed in claim 6; The electronic parking brake system is used to generate a vehicle-side control amount and send it to the electronic parking brake control device, and to perform parking brake or release parking brake on the target vehicle under the control of the electronic parking brake control device.

8. The vehicle control system according to claim 7, characterized in that: When the electronic parking brake system is used to perform parking brake or release parking brake on the target vehicle under the control of the electronic parking brake control device, it is specifically used to perform the following operations: Applying parking brake or releasing parking brake to the target vehicle based on the standard control amount sent by the electronic parking brake control device; Alternatively, based on the vehicle-side control amount and the execution instruction sent by the electronic parking brake control device, the parking brake is applied to the target vehicle or the parking brake is released.

9. The vehicle control system according to claim 8, characterized in that: The electronic parking brake control device and the motor of the electronic parking brake system are both configured to the highest functional safety level, and the sensor group and the controller of the electronic parking brake system are both configured to the lowest functional safety level.

10. A vehicle, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements an electronic parking brake control method as described in any one of items 1-5.

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