Electronic parking brake control methods, devices, vehicle control systems and vehicles

Abstract

This application discloses an electronic parking brake control method, device, vehicle control system, and vehicle, applied in the field of vehicle control technology. The method includes: acquiring the state information of a target vehicle and a vehicle-side control quantity sent by the electronic parking brake system of the target vehicle; obtaining a standard control quantity associated with the electronic parking brake function of the target vehicle based on the state information; and controlling the electronic parking brake system based on the vehicle-side control quantity and the standard control quantity to enable the electronic parking brake system to apply parking brake or release parking brake to the target vehicle. This application can achieve precise control of the electronic parking brake system, improve the accuracy of vehicle parking control, reduce phenomena such as vehicle rollover and vehicle fishtailing, and reduce vehicle safety risks.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to electronic parking brake control methods, devices, vehicle control systems, and vehicles. Background Technology

[0002] An electronic parking brake system is a system that uses electronic control to achieve parking braking. When the sensor group of the electronic parking brake system malfunctions, the controller of the electronic parking brake system will determine the incorrect control quantity through the abnormal sensing signals output by the sensor group and output it to the motor of the electronic parking brake system. This causes the caliper of the electronic parking brake system to abnormally release or clamp under the drive of the motor, resulting in abnormal vehicle parking control. This can lead to phenomena such as vehicle rolling, vehicle fishtailing, and abnormal braking, increasing the safety risks of the vehicle. Summary of the Invention

[0003] This application provides an electronic parking brake control method, device, vehicle control system, and vehicle to improve the accuracy of vehicle parking control.

[0004] On the one hand, embodiments of this application provide an electronic parking brake control method, including the following steps:

[0005] Acquire the status information of the target vehicle and the vehicle-side control quantities sent by the electronic parking brake system of the target vehicle;

[0006] Based on the status information, a standard control quantity associated with the electronic parking brake function of the target vehicle is obtained;

[0007] The electronic parking brake system is controlled according to the vehicle-side control quantity and the standard control quantity, so that the electronic parking brake system applies parking brake to the target vehicle or releases parking brake.

[0008] On the other hand, embodiments of this application provide an electronic parking brake control device, including:

[0009] The acquisition module is used to acquire the status information of the target vehicle and the vehicle-side control quantity sent by the electronic parking brake system of the target vehicle.

[0010] The processing module is configured to obtain a standard control quantity associated with the electronic parking brake function of the target vehicle based on the status information; and to control the electronic parking brake system based on the vehicle-side control quantity and the standard control quantity, so that the electronic parking brake system applies parking brake or releases parking brake on the target vehicle.

[0011] In another aspect, embodiments of this application provide a vehicle control system, including:

[0012] The aforementioned electronic parking brake control device;

[0013] An electronic parking brake system is used to generate vehicle-side control quantities and send them to the electronic parking brake control device, and to apply parking brake or release parking brake to the target vehicle under the control of the electronic parking brake control device.

[0014] In another aspect, embodiments of this application provide a vehicle, including:

[0015] At least one processor;

[0016] At least one memory for storing at least one program;

[0017] When the at least one program is executed by the at least one processor, the at least one processor implements the above-described electronic parking brake control method.

[0018] The beneficial effects of this application are: it provides an electronic parking brake control method, device, vehicle control system, and vehicle; it acquires 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 based on the state information, it obtains a standard control quantity associated with the electronic parking brake function of the target vehicle; then, it controls the electronic parking brake system based on the vehicle-side control quantity and the standard control quantity, so that the electronic parking brake system applies parking brake or releases parking brake on the target vehicle. It can be seen that the embodiments of this application determine the standard control quantity associated with the electronic parking brake function through the state information of the target vehicle, acquire the vehicle-side control quantity sent by the electronic parking brake system, and then use the standard control quantity and the vehicle-side control quantity to control the electronic parking brake system to apply parking brake or release parking brake on the target vehicle. This enables precise control of the electronic parking brake system, improves the accuracy of vehicle parking control, reduces phenomena such as vehicle rollover and vehicle fishtailing, and lowers vehicle safety risks.

[0019] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0020] Figure 1 This is a flowchart of the electronic parking brake control method provided in the embodiments of this application;

[0021] Figure 2 This is a structural diagram of the electronic parking brake control device provided in the embodiments of this application;

[0022] Figure 3This is a structural diagram of the electronic parking brake control device and multiple electronic parking brake systems provided in the embodiments of this application;

[0023] Figure 4 This is a structural diagram of the vehicle control system provided in an embodiment of this application;

[0024] Figure 5 These are example vehicle diagrams provided in the embodiments of this application;

[0025] Figure 6 This is a schematic diagram of the electronic parking brake control provided in the embodiments of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0027] The present application will be further described below with reference to the accompanying drawings and specific embodiments. The described embodiments should not be considered as limitations on the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0028] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is 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.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0030] An Electronic Parking Brake (EPB) system is an electronically controlled parking braking system that allows a vehicle to remain stationary on a slope. An EPB typically includes components such as a controller, sensor array, motor, calipers, brake pads, and brake discs. The sensor array can include various types of sensors that detect the signals required to activate the EPB function and send them to the controller. The controller calculates control signals based on these signals to drive the motor and outputs the results to the motor. The motor then drives the calipers to perform either clamping or releasing actions, thus controlling the vehicle's parking position. Specifically, if the calipers clamp, the brake disc and brake pads contact, applying the parking brake; if the calipers release, the brake disc and brake pads separate, releasing the parking brake.

[0031] In an electronic parking brake system, when the sensor group malfunctions, the controller will determine the incorrect control quantity by the abnormal sensing signal output by the sensor group and output it to the motor. This causes the caliper to release or clamp abnormally under the drive of the motor, resulting in abnormal vehicle parking control. This can lead to phenomena such as vehicle rolling backward or fishtailing, increasing the vehicle's safety risks.

[0032] Furthermore, the Automotive Safety Integration Level (ASIL) for vehicle electronic systems is a standard used to assess the safety performance of vehicle electronic systems. It evaluates the risk level of a risk event based on severity, likelihood, and controllability. Severity describes the types of injury that the driver and occupants may suffer, likelihood describes the frequency of the vehicle's exposure to the hazard, and controllability describes the driver's role in preventing injury.

[0033] Based on prior knowledge, the functional safety levels of vehicle electronic systems can be divided into QM, ASIL-A, ASIL-B, ASIL-C, and ASIL-D levels, with the functional safety level gradually increasing from QM to ASIL-D. The functional safety level is positively correlated with the potential risk of the vehicle electronic system; that is, the higher the functional safety level, the higher the potential risk, and vice versa. Because a malfunction in the electronic parking brake system would pose a serious safety hazard to the vehicle, the electronic parking brake system is configured with the highest functional safety level, ASIL-D, to ensure both driving and parking safety.

[0034] Currently, all components in electronic parking brake systems are typically configured to ASIL-D level to ensure the system meets ASIL-D standards. For example, high-reliability sensors are used to detect the signals required for parking or releasing the parking brake, ensuring signal accuracy. Another example is adjusting the electronic parking brake system's controller to have a low random hardware failure rate and high diagnostic coverage, ensuring the stability of vehicle parking control.

[0035] However, to achieve ASIL-D level for electronic parking brake systems, complex logic conditions and circuit structures are often required. For example, the controller of the electronic parking brake system may require numerous complex modules, such as data processing and redundancy modules, resulting in a powerful but highly coupled controller to reduce the risk of system failure. This system design exacerbates the coupling of the electronic parking brake system; coupling refers to the correlation and interdependence between components within the system. It also increases the hardware load and cost, thus affecting vehicle performance.

[0036] In view of this, embodiments of this application provide an electronic parking brake control method, device, vehicle control system, and vehicle, aiming to improve the accuracy of vehicle parking control, reduce the coupling, hardware load, and hardware cost of the electronic parking brake system, and ensure that the parking control of the target vehicle meets functional safety requirements.

[0037] First, the implementation steps of the electronic parking brake control method provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0038] The electronic parking brake control method provided in this application can be applied to a terminal, a server, or software running on either a terminal or a server. The terminal can be a tablet, laptop, desktop computer, etc., but is not limited to these. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. Furthermore, the server can be a node server in a blockchain network, but is not limited to these. Blockchain is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms.

[0039] Reference Figure 1 , Figure 1 This is a flowchart of an electronic parking brake control method provided in this application. The electronic parking brake control method is applied to an electronic parking brake control device and may include the following steps S101-S103.

[0040] S101, acquire the status information of the target vehicle and the vehicle-side control quantity sent by the electronic parking brake system of the target vehicle.

[0041] In this step, the status information of the target vehicle is obtained. 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 combined with the standard control quantity to achieve precise parking control of the vehicle.

[0042] The aforementioned target vehicle status information refers to information used to characterize the target vehicle during driving or parking.

[0043] The aforementioned target vehicle status information can be set according to actual conditions, and this application embodiment does not impose specific limitations on it. For example, the aforementioned target vehicle status information may include, but is not limited to, vehicle speed information, parking gear status information, road slope information, drive torque information, braking torque information, brake disc temperature sensor signal, friction pad temperature sensor signal, etc., but is not limited to these.

[0044] The aforementioned acquisition of the target vehicle's status information may include obtaining the target vehicle's status information through multiple preset sensors.

[0045] Alternatively, the above-mentioned acquisition of the target vehicle's status information may include acquiring status information sent by other controllers of the target vehicle, such as dynamic controllers, body domain controllers, and cockpit domain controllers, as the target vehicle's status information.

[0046] The aforementioned vehicle-side control quantity refers to the control quantity determined and sent by the controller of the electronic parking brake system, which is associated with the electronic parking brake function of the target vehicle. For example, the sensor array of the electronic parking brake system detects the sensing signals required to realize the vehicle's electronic parking brake function and sends the detected sensing signals to the controller of the electronic parking brake system. The controller of the electronic parking brake system calculates the vehicle-side control quantity based on the sensing signals. It should be understood that the generation of the vehicle-side control quantity is prior art and will not be elaborated further.

[0047] The data format of the above-mentioned vehicle-side control quantities can be set according to the actual situation, and this application embodiment does not specifically limit it.

[0048] For example, in some embodiments, the aforementioned vehicle-side control quantities may include data in the form of instructions and data in the form of values. For instance, the vehicle-side control quantities may include a vehicle-side parking control command and a vehicle-side motor current value; wherein, the vehicle-side parking control command refers to a parking control command determined by the controller of the electronic parking brake system, and the vehicle-side parking control command may include either a vehicle-side parking brake command or a vehicle-side parking brake release command. The vehicle-side parking brake command is used to apply parking brake to the target vehicle, and the vehicle-side parking brake release command is used to release the parking brake from the target vehicle; while 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 typically corresponds to the clamping force of the caliper of the electronic parking brake system. This means that the vehicle-side motor current value can be used to control the clamping degree or the release degree of the caliper; furthermore, the vehicle-side motor current value is always positive.

[0049] For example, in some embodiments, the aforementioned vehicle-side control quantity can be data in numerical form. For instance, the vehicle-side control quantity can be the vehicle-side motor current value, which refers to the current value of the motor in the electronic parking brake system. This current value can be determined by the controller of the electronic parking brake system and typically corresponds to the clamping force of the caliper in the electronic parking brake system. This means that the vehicle-side motor current value can be used to control the clamping or releasing degree of the caliper. The vehicle-side motor current value can be positive or negative. When the vehicle-side motor current value is positive, it indicates that the vehicle-side control quantity is associated with the parking brake, i.e., the vehicle-side control quantity is used to apply the parking brake to 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, i.e., the vehicle-side control quantity is used to release the parking brake from the target vehicle.

[0050] S102, based on the status information, obtain the standard control quantity associated with the electronic parking brake function of the target vehicle.

[0051] In this step, after obtaining the target vehicle's status information, the status information is processed to determine a high-confidence standard control quantity. The standard control quantity is associated with the target vehicle's electronic parking brake function and is used to combine with the vehicle-side control quantity to achieve precise parking control of the vehicle.

[0052] The aforementioned standard control quantity refers to the control quantity determined by the terminal or server executing the electronic parking brake control method, and the standard control quantity is associated with the electronic parking brake function of the target vehicle.

[0053] The data format of the above standard control quantities can be set according to the actual situation, and the embodiments of this application do not specifically limit it.

[0054] For example, in some embodiments, the aforementioned standard control quantities may include data in the form of instructions and data in the form of values. For instance, standard control quantities may include standard parking control commands and standard motor current values, both of which are associated with the electronic parking brake function and can be obtained by processing state information. The standard parking control command may include either a standard parking brake command or a standard parking brake release command, with the standard parking brake command corresponding to the parking brake and the standard parking brake release command corresponding to the release of the parking brake. The standard motor current value corresponds to the clamping force of the caliper in the electronic parking brake system and can be used to control the clamping or releasing degree of the caliper. Furthermore, the standard motor current value is always positive.

[0055] For example, in some embodiments, the aforementioned standard control quantity can be data in numerical form. For instance, the standard control can be a standard motor current value, obtained by processing state information. This standard motor current value corresponds to the clamping force of the caliper in the electronic parking brake system and is associated with the electronic parking brake function. It can be used to control the clamping or releasing degree of the caliper. The standard motor current value can be positive or negative. When the standard motor current value is positive, it indicates that the standard control quantity is associated with the parking brake; when the standard motor current value is negative, it indicates that the standard control quantity is associated with releasing the parking brake.

[0056] The data format of the aforementioned standard control quantities is the same as that of the aforementioned vehicle-side control quantities. For example, if the vehicle-side control quantities include data in both command and numerical formats, then the standard control quantities include data in both command and numerical formats; if the vehicle-side control quantities are numerical data, then the standard control quantities are numerical data.

[0057] The above-mentioned standard control quantity associated with the electronic parking brake function of the target vehicle based on the state information may include obtaining the standard control quantity associated with the electronic parking brake function of the target vehicle based on the state information in combination with machine learning methods, but is not limited to this.

[0058] The machine learning methods described above can be set according to actual conditions, and this application embodiment does not specifically limit them. For example, the machine learning methods described above can be support vector machines; or, the machine learning methods described above can be random forests or logistic regression, etc., but are not limited to these.

[0059] The acquisition of the aforementioned status information and the acquisition of the aforementioned vehicle-side control quantities can be performed in parallel, that is, the status information and the vehicle-side control quantities are acquired simultaneously.

[0060] Alternatively, the acquisition of the aforementioned status information and the acquisition of the aforementioned vehicle-side control quantities can be performed sequentially. For example, the status information can be acquired first, followed by the vehicle-side control quantities; or the vehicle-side control quantities can be acquired first, followed by the status information.

[0061] The generation of the aforementioned standard control quantities and the acquisition of the aforementioned vehicle-side control quantities can be carried out in parallel, that is, the standard control quantities are generated through status information, while the vehicle-side control quantities are acquired at the same time.

[0062] Alternatively, the generation of the aforementioned standard control quantity and the acquisition of the aforementioned vehicle-side control quantity can be performed sequentially. For example, the standard control quantity can be generated first using status information, and then the vehicle-side control quantity can be acquired; or the vehicle-side control quantity can be acquired first, and then the standard control quantity can be generated using status information.

[0063] S103 controls the electronic parking brake system based on the vehicle-side control quantity and the standard control quantity, so that the electronic parking brake system applies parking brake to the target vehicle or releases the parking brake.

[0064] In this step, if the sensor array of the electronic parking brake system malfunctions, the controller of the electronic parking brake system will generate incorrect control inputs. Therefore, the vehicle-side control input sent by the electronic parking brake system may contain errors, leading to abnormal vehicle parking control. To address this, this embodiment does not solely rely on the vehicle-side control input sent by the electronic parking brake system when implementing parking control; it also relates to a standard control input generated from the target vehicle's state information. Specifically, this step arbitrates the standard control input obtained in the preceding steps and the vehicle-side control input sent by the electronic parking brake system to achieve parking control of the target vehicle. This allows the electronic parking brake system to apply or release the parking brake on the target vehicle, thereby improving the accuracy of vehicle parking control.

[0065] The above-mentioned control of the electronic parking brake system based on the vehicle-side control quantity and the standard control quantity may include obtaining the target control quantity based on the vehicle-side control quantity and the standard control quantity, combined with machine learning methods, and sending it to the electronic parking brake system so that the electronic parking brake system can apply parking brake or release parking brake to the target vehicle based on the target control quantity, but is not limited to this.

[0066] The specific operations performed by the above-mentioned electronic parking brake system when applying parking brake to or releasing parking brake on the target vehicle can be set according to the actual situation, and the embodiments of this application do not specifically limit this.

[0067] For example, in some embodiments, when the electronic parking brake system is used to apply parking brake to or release parking brake on a target vehicle, the controller of the electronic parking brake system drives the motor of the electronic parking brake system based on a target control quantity, causing the motor to rotate in a first direction. Under the driving action of the motor, the caliper of the electronic parking brake system performs a clamping action, and the brake disc and friction pads come into contact, thereby achieving parking brake; or, the controller of the electronic parking brake system drives the motor of the electronic parking brake system based on a target control quantity, causing the motor to rotate in a second direction. Under the driving action of the motor, the caliper of the electronic parking brake system performs a releasing action, and the brake disc and friction pads separate, thereby achieving parking brake release; wherein, the target control quantity can be the average of the vehicle-end control quantity and the standard control quantity.

[0068] The first direction mentioned above is opposite to the second direction mentioned above.

[0069] The configuration relationship between the aforementioned first direction and the clamping action of the caliper can be set according to the actual situation, and this application does not impose any specific limitations on it. The aforementioned first direction can be a clockwise direction, for example, the caliper performs the clamping action when the motor rotates in a clockwise direction; or, the aforementioned first direction can also be a counterclockwise direction, for example, the caliper performs the clamping action when the motor rotates in a counterclockwise direction.

[0070] The configuration relationship between the second direction and the caliper's release action can be set according to actual conditions, and this embodiment does not impose specific limitations on it. The second direction can be clockwise, for example, the caliper performs the release action when the motor rotates clockwise; or, the second direction can be counterclockwise, for example, the caliper performs the release action when the motor rotates counterclockwise.

[0071] In summary, the embodiments of this application determine the standard control quantity associated with the electronic parking brake function by using the state information of the target vehicle, and obtain the vehicle-side control quantity sent by the electronic parking brake system. Then, the standard control quantity and the vehicle-side control quantity are used to control the electronic parking brake system to apply parking brake or release parking brake to the target vehicle. This enables precise control of the electronic parking brake system, improves the accuracy of vehicle parking control, reduces phenomena such as vehicle rollover and vehicle fishtailing, and lowers vehicle safety risks.

[0072] The steps described above will be explained in further detail below.

[0073] In some implementations, the aforementioned state information may include vehicle speed information, parking gear status information, road slope information, and torque information, wherein the parking gear status information is used to characterize whether the target vehicle is in parking gear; the aforementioned method of obtaining a standard control quantity associated with the electronic parking brake function of the target vehicle based on the state information may include:

[0074] Based on vehicle speed information and parking gear status information, a standard clamping control quantity is determined as the standard control quantity; the standard clamping control quantity is used to control the electronic parking brake system to apply parking brake to the target vehicle.

[0075] Alternatively, a standard release control quantity may be determined as a standard control quantity based on at least one of the following: parking gear status information, road slope information, or torque information; wherein, the standard release control quantity is used to control the electronic parking brake system to release the parking brake on the target vehicle.

[0076] In this embodiment, the parking control method of the target vehicle may include either a parking brake method or a parking brake release method. During parking control, the parking control method of the target vehicle can be determined through the target vehicle's state information, thereby obtaining a control quantity corresponding to the parking control method as a standard control quantity. Specifically, the parking control method of the target vehicle can be determined to be a parking brake method by analyzing and processing vehicle speed information and parking gear state information, thereby determining a standard clamping control quantity as a standard control quantity; or, the parking control method of the target vehicle can be determined to be a parking brake release method by analyzing and processing at least one of parking gear state information, road slope information, or torque information, thereby determining a standard release control quantity as a standard control quantity. It is evident that this embodiment, by fully considering multiple dimensions of vehicle state information, determines the parking control method of the target vehicle by analyzing and processing state information from different dimensions, and uses the control quantity corresponding to the parking control method as a standard control quantity associated with the electronic parking brake function, thus effectively improving the accuracy of the standard control quantity.

[0077] The aforementioned status information may include vehicle speed information, parking gear status information, road slope information, and torque information. Specifically, vehicle speed information indicates the distance the target vehicle travels per unit time; parking gear status information indicates whether the target vehicle is in parking gear, i.e., whether the target vehicle is in P gear; road slope information indicates the slope of the road where the target vehicle is located; and torque information indicates the torque force of the target vehicle, such as the torque output by the target vehicle's engine.

[0078] The methods for obtaining the aforementioned vehicle speed information, parking gear status information, road surface slope information, and torque information can be set according to actual conditions, and this embodiment does not impose specific limitations on them. For example, the vehicle speed information and road surface slope information of the target vehicle can be obtained through the Global Positioning System (GPS), the parking gear status information sent by the target vehicle's body domain controller can be obtained, and the torque information sent by the target vehicle's Vehicle Dynamics Controller (VDC) can be obtained, but it is not limited to these methods.

[0079] The aforementioned standard clamping control amount is related to the parking brake, and it is used to control the electronic parking brake system to apply parking brake to the target vehicle.

[0080] The aforementioned standard release control quantity is associated with the release of the parking brake; it is used to control the electronic parking brake system to release the parking brake on the target vehicle.

[0081] The data formats of the aforementioned standard clamping control quantity and the aforementioned standard release control quantity can be set according to actual conditions, and this embodiment does not impose specific limitations on them. For example, the aforementioned standard clamping control quantity may include a standard parking brake command and a standard motor current value; the aforementioned standard release control quantity may include a standard parking brake release command and a standard motor current value; wherein, the standard motor current value is always positive. As another example, the aforementioned standard clamping control quantity may be a standard motor current value, and the standard motor current value is positive, to indicate that the standard clamping control quantity is associated with the parking brake; the aforementioned standard release control quantity may be a standard motor current value, and the standard motor current value is negative, to indicate that the standard release control quantity is associated with releasing the parking brake.

[0082] The above-mentioned determination of the standard clamping control quantity as the standard control quantity based on vehicle speed information and parking gear status information may include determining the standard clamping control quantity as the standard control quantity based on vehicle speed information and parking gear status information in combination with machine learning methods, but is not limited to this.

[0083] The determination of the standard release control quantity as the standard control quantity based on at least one of the parking gear status information, road slope information, or torque information may include determining the standard release control quantity as the standard control quantity based on at least one of the parking gear status information, road slope information, or torque information, combined with machine learning methods, but is not limited to this.

[0084] In some implementations, determining the standard clamping control amount as the standard control amount based on vehicle speed information and parking gear status information may include:

[0085] If the vehicle speed information is less than the preset vehicle speed threshold and the parking gear status information indicates that the target vehicle is in parking gear, then the standard clamping control quantity is determined as the standard control quantity.

[0086] In this embodiment, when the detected vehicle speed is less than a preset speed threshold and the target vehicle is in P gear, it indicates that the target vehicle is moving slowly and the driver intends to apply the parking brake. Under these circumstances, applying the parking brake will not cause the vehicle to skid. Therefore, the parking control mode of the target vehicle can be directly determined as the parking brake mode. This allows for the determination of the standard clamping control quantity associated with the parking brake, which is then used as the standard control quantity associated with the electronic parking brake function. Thus, this embodiment, by fully considering the target vehicle's speed and parking gear status information, analyzes and processes these information to determine the target vehicle's parking control mode as parking brake, and outputs the standard clamping control quantity associated with the parking brake as the standard control quantity. This effectively improves the accuracy of the standard control quantity.

[0087] The above-mentioned vehicle speed threshold can be set according to the actual situation, and this implementation method does not impose specific limitations on it.

[0088] The aforementioned determination of the standard clamping control quantity may include finding the standard motor current value corresponding to the status information from the first mapping data based on the vehicle information of the target vehicle as the standard clamping control quantity, and the standard motor current value is positive. The first mapping data may include multiple preset information groups and the standard motor current value corresponding to each preset information group. The preset information groups include multiple preset vehicle information.

[0089] The first mapping data mentioned above can be chart data or tabular data, but is not limited to these.

[0090] The aforementioned vehicle information can be set according to actual conditions, and this embodiment does not impose specific limitations on it. For example, the aforementioned vehicle information may include the target vehicle's speed information, road slope information, parking gear status information, drive torque information, braking torque information, front wheel steering angle information, rear wheel steering angle information, slip ratio information, etc., but is not limited to these. In addition, the aforementioned vehicle information may be data sent by other controllers, or data obtained by detecting the target vehicle, but is not limited to these.

[0091] Alternatively, the determination of the standard clamping control quantity may include obtaining the standard motor current value as the standard clamping control quantity based on the vehicle information of the target vehicle and in combination with machine learning, and the standard motor current value is positive, but is not limited to this.

[0092] In some implementations, the torque information may include drive torque information and braking torque information; 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 may include:

[0093] If the road slope information is less than the preset slope threshold and the parking gear status information indicates that the gear of the target vehicle is not in parking gear, then the standard release control quantity is determined as the standard control quantity.

[0094] Alternatively, if the road slope information is greater than or equal to the slope threshold and the parking gear status information indicates that the target vehicle's gear is not in parking gear, and the braking torque information is greater than the driving torque information, then the standard release control quantity is determined as the standard control quantity.

[0095] In this embodiment, when the detected road slope information is less than a preset slope threshold, it indicates that the slope of the road where the target vehicle is located is relatively small, and the possibility of the vehicle rolling backwards is low. In this case, if the target vehicle is detected to be in a gear other than P, it indicates that the driver intends to release the parking brake. Since the possibility of the vehicle rolling backwards is low in this case, the parking control mode of the target vehicle can be directly determined to be the parking brake release mode. The standard release control quantity related to releasing the parking brake is then determined, and this determined standard release control quantity is used as the standard control quantity associated with the electronic parking brake function.

[0096] When the detected road slope information is greater than or equal to the slope threshold, it indicates that the road where the target vehicle is located has a large slope, and the possibility of the vehicle rolling backwards is high. In this case, if the target vehicle is detected to be in a gear other than P, it means that the target vehicle intends to release the parking brake. However, since the possibility of the vehicle rolling backwards is high in this situation, the parking control mode of the target vehicle cannot be directly determined as the parking brake release mode. Instead, further judgment needs to be made based on the torque information of the target vehicle.

[0097] When the target vehicle is on a road with a significant incline, there are two control scenarios that bring the target vehicle to a standstill. One scenario involves the target vehicle being in Park (P) gear, with the electronic parking brake system applying the parking brake, bringing the vehicle to a standstill. The other scenario involves the target vehicle being in a gear other than Park and the brake pedal being depressed, bringing the vehicle to a standstill due to full braking. The scenario where the road slope is greater than or equal to a slope threshold and the target vehicle is in a gear other than Park contradicts the first control scenario.

[0098] Based on this, in this embodiment, when the road slope information is detected to be greater than or equal to the slope threshold and the target vehicle is in a gear other than P, 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, the parking control method of the target vehicle can be determined to be the parking brake release method. Specifically, if the braking torque information of the target vehicle is greater than the driving torque information of the target vehicle, it indicates that the target vehicle is braking, that is, the target vehicle meets the second control condition mentioned above. At this time, the parking control method of the target vehicle is determined to be the parking brake release method, thereby determining the standard release control quantity related to the parking brake release, and using the determined standard release control quantity as the standard control quantity associated with the electronic parking brake function.

[0099] As can be seen, this embodiment determines the parking control mode of the target vehicle as the parking brake release mode by using the parking gear status information when the road surface slope is small, and determines the parking control mode of the target vehicle as the parking brake release mode by using the parking gear status information, drive torque information and braking torque information when the road surface slope is large. Then, when the parking brake release mode is determined, the standard release control quantity associated with the parking brake release is used as the standard control quantity, which can effectively improve the accuracy of the standard control quantity.

[0100] The torque information mentioned above can include drive torque information and braking torque information. Drive torque information refers to the torque value used to propel the target vehicle forward or backward, while braking torque information refers to the torque value used to slow down or stop the target vehicle.

[0101] The above slope threshold can be set according to the actual situation, and this implementation method does not make specific limitations on it.

[0102] The aforementioned determination of the standard release control quantity may include finding the standard motor current value corresponding to the status information from the second mapping data based on the vehicle information of the target vehicle as the standard release control quantity, and the standard motor current value is negative. The second mapping data may include multiple preset information groups and the standard motor current value corresponding to each preset information group. The preset information groups include multiple preset status information.

[0103] The second mapping data mentioned above can be chart data or tabular data, but is not limited to these.

[0104] Alternatively, the determination of the standard release control quantity may include obtaining a standard motor current value as the standard release control quantity based on the vehicle information of the target vehicle and in combination with machine learning, and the standard motor current value is negative, but is not limited to this.

[0105] In some implementations, controlling the electronic parking brake system based on vehicle-side control quantities and standard control quantities may include:

[0106] If the error value of the vehicle-side control quantity relative to the standard control quantity is greater than or equal to the preset error threshold, the standard control quantity is sent to the electronic parking brake system so that the electronic parking brake system can perform parking braking or release parking braking based on the standard control quantity.

[0107] Alternatively, if the error value of the vehicle-side control quantity relative to the standard control quantity is less than the error threshold, an execution command 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 command and the vehicle-side control quantity.

[0108] In this embodiment, if the sensor array of the electronic parking brake system malfunctions, the controller of the electronic parking brake system will generate incorrect control signals. Therefore, the vehicle-side control signals sent by the electronic parking brake system may contain errors, leading to abnormal vehicle parking control. To address this, this application embodiment does not solely rely on the vehicle-side control signals sent by the electronic parking brake system when implementing parking control, but rather uses highly reliable standard control signals.

[0109] Specifically, firstly, 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. This 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 indicates that the difference between the vehicle-side control quantity and the standard control quantity is too large, and the reliability of the vehicle-side control quantity is low. In this case, the 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 can perform parking braking or release parking braking based on the standard control quantity. If not, it indicates that the difference between the vehicle-side control quantity and the standard control quantity is small, and the reliability of the vehicle-side control quantity is high. In this case, 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 command to the electronic parking brake system so that the electronic parking brake system can perform parking braking or release parking braking based on the execution command and the vehicle-side control quantity.

[0110] As can be seen, this implementation method accurately selects a parking control standard with high reliability by measuring the degree of difference between the vehicle-side control quantity and the standard control quantity. Then, based on this parking control standard, the electronic parking brake system is controlled so that the electronic parking brake system applies parking brake or releases parking brake on the target vehicle. This enables precise control of the electronic parking brake system, solves the problem of errors in parking control quantity caused by abnormal sensor group of the electronic parking brake system, improves the accuracy of vehicle parking control, reduces phenomena such as vehicle rollover and vehicle fishtailing, and reduces vehicle safety risks.

[0111] The error value of the above-mentioned 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.

[0112] The error value of the vehicle-side control quantity relative to the standard control quantity can be set according to actual conditions, and this embodiment does not impose specific limitations on it. For example, the absolute value of the difference between the vehicle-side control quantity and the standard control quantity can be obtained as the error value of the vehicle-side control quantity relative to the standard control quantity. Another example is to obtain the absolute value of the difference between the standard control quantity and the vehicle-side control quantity as the control difference, and obtain the ratio of the control difference to the standard control quantity as the error value of the vehicle-side control quantity relative to the standard control quantity.

[0113] The above error threshold can be set according to the actual situation, and this implementation method does not impose specific limitations on it.

[0114] The specific operations performed by the above-mentioned electronic parking brake system when it is used to apply parking brake or release parking brake based on standard control quantities can be set according to actual conditions, and this embodiment does not make specific limitations on this.

[0115] For example, in some embodiments, when the electronic parking brake system is used to apply parking brake or release parking brake based on a standard control quantity, if the standard control quantity is a standard clamping control quantity, the controller of the electronic parking brake system controls the motor of the electronic parking brake system based on the standard clamping control quantity, so that the caliper clamps under the drive of the motor, thereby realizing parking brake; if the standard control quantity is a standard release control quantity, the controller of the electronic parking brake system controls the motor of the electronic parking brake system based on the standard release control quantity, so that the caliper releases under the drive of the motor, thereby realizing release of parking brake.

[0116] The specific operations performed by the above-mentioned electronic parking brake system when it is used to perform parking braking or release parking braking based on execution commands and vehicle-side control quantities can be set according to actual conditions, and this embodiment does not make specific limitations in this regard.

[0117] For example, in some embodiments, the vehicle-end control quantity may include either a vehicle-end clamping control quantity or a vehicle-end release control quantity. The vehicle-end clamping control quantity is associated with the parking brake and may be a vehicle-end motor current value, wherein the vehicle-end motor current value is positive. The vehicle-end release control quantity is associated with releasing the parking brake and may be a vehicle-end motor current value, wherein the vehicle-end motor current value is negative. When the electronic parking brake system is used to apply or release the parking brake based on the execution command and the vehicle-end control quantity, if the vehicle-end control quantity is a vehicle-end clamping control quantity, the controller of the electronic parking brake system controls the motor of the electronic parking brake system based on the execution command and the vehicle-end clamping control quantity, so that the caliper clamps under the drive of the motor, thereby achieving parking brake application. Alternatively, if the vehicle-end control quantity is a vehicle-end release control quantity, the controller of the electronic parking brake system controls the motor of the electronic parking brake system based on the execution command and the vehicle-end release control quantity, so that the caliper releases under the drive of the motor, thereby achieving parking brake release.

[0118] Secondly, the implementation methods of the electronic parking brake control device provided in this application will be described in detail below with reference to the accompanying drawings.

[0119] Reference Figure 2 , Figure 2 This is a structural diagram of the electronic parking brake control device provided in this application, which may include:

[0120] The acquisition module 201 is used to acquire the status information of the target vehicle and the vehicle-side control quantity sent by the electronic parking brake system of the target vehicle.

[0121] The processing module 202 is used to obtain a standard control quantity associated with the electronic parking brake function of the target vehicle based on the status information; and to control the electronic parking brake system based on the vehicle-side control quantity and the standard control quantity so that the electronic parking brake system applies parking brake to the target vehicle or releases parking brake.

[0122] The communication method between the aforementioned acquisition module 201 and the electronic parking brake system of the aforementioned target vehicle is wireless communication.

[0123] The communication method between the aforementioned processing module 202 and the electronic parking brake system of the aforementioned target vehicle is wireless communication.

[0124] The wireless communication method described above can be set according to actual conditions, and this application embodiment does not specifically limit it. For example, the wireless communication method can be a fifth-generation mobile communication network or a wireless local area network, but it is not limited to these.

[0125] In some implementations, the aforementioned electronic parking brake control device may be a cloud server.

[0126] In some implementations, refer to Figure 3 The aforementioned 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, meaning it can perform parking control on the electronic parking brake systems of multiple target vehicles. This reduces the system design complexity and hardware cost for a single target vehicle.

[0127] The content of the above method embodiments is applicable to the device embodiments. The specific functions implemented by the 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.

[0128] Furthermore, the implementation methods of the vehicle control system provided in this application will be described in detail below with reference to the accompanying drawings.

[0129] Reference Figure 4 , Figure 4 This is a structural diagram of the vehicle control system provided in this application. The vehicle control system is applicable to a single target vehicle and may include:

[0130] The aforementioned electronic parking brake control device;

[0131] An electronic parking brake system is used to generate vehicle-side control quantities and send them to an electronic parking brake control device, and to apply parking brake or release parking brake to the target vehicle under the control of the electronic parking brake control device.

[0132] The specific implementation of the above-mentioned electronic parking brake control device can be found in the aforementioned embodiments, and will not be repeated here.

[0133] The specific operations performed by the aforementioned electronic parking brake system when generating vehicle-side control quantities can be set according to actual conditions, and this application embodiment does not impose specific limitations on this.

[0134] Exemplarily, in some embodiments, reference is made to Figure 4 The sensor group 301 of the electronic parking brake system detects the sensing signals required to realize the electronic parking brake function of the vehicle and sends the detected sensing signals to the controller 302 of the electronic parking brake system. The controller 302 of the electronic parking brake system calculates the vehicle-side control quantity based on the sensing signals. It should be understood that the generation of the vehicle-side control quantity is prior art and will not be described in detail here.

[0135] The specific operations performed by the aforementioned electronic parking brake system when it applies parking brake or releases parking brake on a target vehicle under the control of the electronic parking brake control device can be set according to actual conditions, and this application embodiment does not specifically limit this.

[0136] Exemplarily, in some embodiments, reference is made to Figure 4 The controller 302 of the electronic parking brake system drives the motor 303 of the electronic parking brake system based on the target control quantity sent by the electronic parking brake control device, causing the motor 303 to rotate in a first direction. 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 friction pads come into contact, thereby realizing parking brake. Alternatively, the controller 302 of the electronic parking brake system drives the motor 303 of the electronic parking brake system based on the target control quantity sent by the electronic parking brake control device, causing the motor 303 to rotate in a second direction. 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 friction pads separate, thereby realizing the release of parking brake. The target control quantity can be the average of the vehicle-end control quantity and the standard control quantity, but is not limited to this.

[0137] In some embodiments, when the above-mentioned electronic parking brake system is used to apply parking brake or release parking brake to the target vehicle under the control of the electronic parking brake control device, it is specifically used to perform the following operations:

[0138] Based on the standard control quantity sent by the electronic parking brake control device, the target vehicle is either put into parking brake or released from parking brake.

[0139] Alternatively, based on vehicle-side control quantities and execution commands sent by the electronic parking brake control device, the target vehicle may be put into parking braking or released from parking braking.

[0140] In this embodiment, the standard control quantity is the control quantity generated by the electronic parking brake control device based on the target vehicle's state information, while the vehicle-side control quantity is the control quantity generated by the electronic parking brake system. Because the controller of the electronic parking brake system will generate incorrect control quantities in the event of a sensor malfunction, the vehicle-side control quantity sent by the electronic parking brake system may contain errors, leading to abnormal vehicle parking control. Since the failure rate of the devices used to collect the target vehicle's state information is relatively low, the standard control quantity generated from the target vehicle's state information has higher reliability than the vehicle-side control quantity. Therefore, when implementing parking control, the electronic parking brake control device does not solely rely on the vehicle-side control quantity sent by the electronic parking brake system, but also considers the highly reliable standard control quantity.

[0141] Specifically, firstly, the electronic parking brake control device determines the error value of the vehicle-side control quantity relative to the standard control quantity based on the vehicle-side control quantity and the standard control quantity. This error value characterizes the degree of difference between the vehicle-side control quantity and the standard control quantity. Then, the electronic parking brake control device determines whether this error value is greater than or equal to a preset error threshold. If so, it indicates that the difference between the vehicle-side control quantity and the standard control quantity is too large, and the reliability of the vehicle-side control quantity is low. In this case, the electronic parking brake control device selects the more accurate standard control quantity as the parking control standard and sends the standard control quantity to the electronic parking brake control device. If the vehicle-side control system is not in operation, the electronic parking brake system will apply parking brake or release parking brake based on the standard control quantity. If not, it indicates that the difference between the vehicle-side control quantity and the standard control quantity is small, and the reliability of the vehicle-side control quantity is high. In this case, 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 command to the electronic parking brake system. In this case, the electronic parking brake system will apply parking brake or release parking brake based on the execution command and the vehicle-side control quantity.

[0142] As can be seen, in this embodiment, the electronic parking brake control device accurately selects a parking control standard with high reliability by measuring the degree of difference between the vehicle-side control quantity and the standard control quantity. Then, the electronic parking brake control device controls the electronic parking brake system based on this parking control standard, so that the electronic parking brake system applies parking brake to the target vehicle or releases the parking brake. This enables precise control of the electronic parking brake system, solves the problem of errors in parking control quantity caused by abnormal sensor group of the electronic parking brake system, improves the accuracy of vehicle parking control, reduces phenomena such as vehicle rollover and vehicle fishtailing, and reduces vehicle safety risks.

[0143] The specific operations performed by the above-mentioned electronic parking brake system when applying parking brake or releasing parking brake to a target vehicle based on a standard control quantity sent by the electronic parking brake control device can be set according to the actual situation, and this embodiment does not make specific limitations in this regard.

[0144] Exemplarily, in some embodiments, reference is made to Figure 4When the electronic parking brake system is used to apply or release the parking brake based on a standard control quantity, if the standard control quantity is a standard 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 standard clamping control quantity, so that the caliper 304 clamps under the driving action of the motor 303, thereby realizing the parking brake; if the standard control quantity is a standard 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 standard release control quantity, so that the caliper 304 releases under the driving action of the motor 303, thereby realizing the release of the parking brake.

[0145] The specific operations performed by the above-mentioned electronic parking brake system when applying parking brake or releasing parking brake to the target vehicle based on vehicle-side control quantities and execution commands sent by the electronic parking brake control device can be set according to actual conditions, and this embodiment does not make specific limitations in this regard.

[0146] For example, in some embodiments, the vehicle-end control quantity may include either 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 and may be a vehicle-end motor current value, and the vehicle-end motor current value is positive; the vehicle-end release control quantity is associated with releasing the parking brake and may be a vehicle-end motor current value, and the vehicle-end motor current value is negative. (Refer to...) Figure 4 When the electronic parking brake system is used to apply parking brake or release parking brake based on the execution command 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 command and vehicle-end clamping control quantity, so that the caliper 304 clamps 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 command and vehicle-end release control quantity, so that the caliper 304 releases under the driving action of the motor 303, thereby realizing release of parking brake.

[0147] In some implementations, refer to Figure 4 The aforementioned electronic parking brake control device and the motor 303 of the aforementioned electronic parking brake system are both configured with the highest functional safety level, namely ASIL-D level; the sensor group 301 and controller 302 of the aforementioned electronic parking brake system are both configured with the lowest functional safety level, namely QM level.

[0148] In this embodiment, when different components within the vehicle's electronic system are independent, the vehicle's electronic system can be functionally decomposed for safety. Based on this, this embodiment integrates an acquisition module and a processing module associated with the electronic parking brake function into the electronic parking brake control device. Both the acquisition and processing modules meet ASIL-D standards. The sensor group 301 related to information acquisition and the controller 302 related to control quantity calculation in the target vehicle's electronic parking brake system meet QM standards. This means that the target vehicle only needs to integrate a sensor group 301 of a certain precision and the electronic parking brake function implementation link, while a large number of high-precision sensors, complex circuits, and other components are integrated into the electronic parking brake control device and meet ASIL-D standards. Furthermore, considering that the structure of the motor 303 is relatively simple and it needs to ensure the normal clamping or releasing of the caliper 304 during parking control, and that the drive of the motor 303 is crucial for the clamping and releasing action of the caliper 304, the motor 303 in the electronic parking brake system also meets ASIL-D standards.

[0149] As can be seen, 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. Through the electronic parking brake control device, a high-reliability standard control quantity can be obtained, and combined with the vehicle-side control quantity, so as to achieve precise parking control without configuring high-precision sensor group 301, complex circuits and other components in the electronic parking brake system. 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 at the same time ensure that the parking control of the target vehicle meets the functional safety requirements.

[0150] The content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0151] Finally, refer to Figure 5 This application also provides a vehicle, which may include:

[0152] At least one processor 401;

[0153] At least one memory 402 is used to store at least one program;

[0154] When at least one program is executed by at least one processor 401, the at least one processor 401 implements the above-described electronic parking brake control method.

[0155] The aforementioned vehicles can be private cars, such as sedans, sport utility vehicles (SUVs), multi-purpose vehicles (MPVs), or pickup trucks, or commercial vehicles, such as vans, buses, small trucks, or large trailers, or gasoline vehicles or new energy vehicles such as hybrid or pure electric vehicles.

[0156] The aforementioned memory 402, as a non-transitory network system, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory 402 may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 402 may optionally include memory 402 remotely located relative to processor 401, and these remote memories 402 can be connected to processor 401 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0157] The aforementioned memory 402 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). Memory 402 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in memory 402 and called by processor 401 to execute the methods of the embodiments of this application.

[0158] The processor 401 described above can be implemented using a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0159] In some embodiments, the vehicle may further include:

[0160] Input / output interfaces are used to implement information input and output;

[0161] The communication interface is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0162] The bus transmits information between various components of the device (such as processor 401, memory 402, input / output interface and communication interface);

[0163] The processor 401, memory 402, input / output interface, and communication interface can communicate with each other within the device via a bus.

[0164] The content of the above method embodiments is applicable to this vehicle embodiment. The specific functions implemented in this vehicle embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0165] To facilitate understanding of the electronic parking brake control method, device, vehicle control system, and vehicle described in this application, examples of actual application scenarios of the electronic parking brake control method, device, vehicle control system, and vehicle described in this application are provided below.

[0166] Reference Figure 6 , Figure 6 This is a schematic diagram of the electronic parking brake control system. In this example, the vehicle control system includes a cloud server and electronic parking brake systems of multiple target vehicles. The cloud server is the electronic parking brake control device, and the electronic parking brake systems of each target vehicle communicate with the cloud server via a 5G mobile communication network. The cloud server is equipped with an acquisition module 201 and a processing module 202, both of which are set to ASIL-D level. Each target vehicle's electronic parking brake system is equipped with a sensor group 301, a controller 302, a motor 303, and a caliper 304. The sensor group 301 and controller 302 are both set to QM level, the motor 303 is set to ASIL-D level, and the caliper 304 has no level. This means that each target vehicle only needs to integrate a sensor group 301 with a certain precision and electronic parking brake function to achieve the link, while a large number of high-precision sensors, complex circuits, and other components are integrated into the cloud server and reach ASIL-D level. Because the functional safety level of the cloud server is higher than that of the electronic parking brake system, the reliability of the control quantities generated by the cloud server is higher than that of the control quantities generated by the electronic parking brake system.

[0167] Based on the above vehicle control system, the specific implementation of the parking control of each target vehicle is shown in steps S201-S205.

[0168] S201, the sensor group 301 of the electronic parking brake system detects the sensing signals required to realize the electronic parking brake function of the vehicle and sends the detected sensing signals to the controller 302 of the electronic parking brake system. The controller 302 of the electronic parking brake system calculates the vehicle-side control quantity based on the sensing signals and sends it to the cloud server.

[0169] S202, the cloud server acquisition module 201 acquires the vehicle-side control quantity sent by the electronic parking brake system.

[0170] Additionally, the cloud server acquisition module 201 acquires the target vehicle's speed and road slope information via the GPS system, acquires the parking gear status information sent by the target vehicle's body domain controller 302, and acquires the drive torque and braking torque information sent by the target vehicle's dynamic controller 302. The cloud server acquisition module 201 then sends the acquired data to the cloud server processing module 202.

[0171] If the vehicle speed information is less than the preset threshold 1 and the parking gear status information indicates that the target vehicle is in P gear, then the cloud server processing module 202 obtains the standard motor current value as the standard clamping control quantity based on the vehicle information of the target vehicle and in combination with machine learning. The standard motor current value is positive, and then the standard clamping control quantity is determined as the standard control quantity.

[0172] Alternatively, the cloud server processing module 202 compares the road slope information with a preset threshold 2. If the road slope information is less than the preset threshold 2 and the parking gear status information indicates that the target vehicle's gear is not P, then based on the target vehicle's overall vehicle information and using machine learning, a standard motor current value is obtained as the standard release control quantity, and the standard motor current value is negative. Then, the standard release control quantity is determined as the standard control quantity. If the road slope information is greater than or equal to the preset threshold 2 and the parking gear status information indicates that the target vehicle's gear is not P, and the braking torque information is greater than the driving torque information, then based on the target vehicle's overall vehicle information and using machine learning, a standard motor current value is obtained as the standard release control quantity, and the standard motor current value is negative. Then, the standard release control quantity is determined as the standard control quantity.

[0173] S203, the cloud server's processing module 202 obtains the absolute value of the difference between the standard control quantity and the vehicle-side control quantity as the control difference value, and obtains the ratio of the control difference value to the standard control quantity as the error value of the vehicle-side control quantity relative to the standard control quantity.

[0174] S204, the cloud server's processing module 202 compares the error value of the vehicle-side control quantity relative to the standard control quantity with the preset threshold 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 3, the standard control quantity is sent to the electronic parking brake system; otherwise, an execution command is sent to the electronic parking brake system.

[0175] S205, the electronic parking brake system applies or releases the parking brake on the target vehicle based on either a standard control quantity or a vehicle-side control quantity.

[0176] Specifically, when the electronic parking brake system is used to apply parking brake or release parking brake based on a standard control quantity, if the standard control quantity is a standard 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 standard clamping control quantity, so that the caliper 304 clamps under the driving action of the motor 303, thereby realizing parking brake; if the standard control quantity is a standard 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 standard release control quantity, so that the caliper 304 releases under the driving action of the motor 303, thereby realizing release of parking brake.

[0177] Alternatively, the vehicle-end control quantity may include either the vehicle-end clamping control quantity or the vehicle-end release control quantity. The vehicle-end clamping control quantity is associated with the parking brake and can be the vehicle-end motor current value, which is positive. The vehicle-end release control quantity is associated with the release of the parking brake and can be the vehicle-end motor current value, which is negative. When the electronic parking brake system is used to apply parking brake or release parking brake based on the execution command and the 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 command and the vehicle-end clamping control quantity, so that the caliper 304 clamps 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 command and the vehicle-end release control quantity, so that the caliper 304 releases under the driving action of the motor 303, thereby realizing release of parking brake.

[0178] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0179] Furthermore, although this application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may 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 this application. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional technology for an engineer. Therefore, those skilled in the art can implement the application set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of this application, which is determined by the full scope of the appended claims and their equivalents.

[0180] If the aforementioned functions are implemented as 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 this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several programs to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0181] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable programs for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, a program execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can retrieve and execute a program from or in conjunction with such a program execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can mean any means that can contain, store, communicate, propagate, or transmit a program for use by or in conjunction with a program execution system, apparatus, or device.

[0182] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0183] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable program execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0184] In the foregoing description of this specification, the references to terms such as "one embodiment," "another embodiment," or "some embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0185] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

[0186] The above is a detailed description of the preferred embodiments of this application, but this application is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An electronic parking brake control method, characterized in that, Includes the following steps: Acquire the status information of the target vehicle and the vehicle-side control quantities sent by the electronic parking brake system of the target vehicle; Based on the status information, a standard control quantity associated with the electronic parking brake function of the target vehicle is obtained; The electronic parking brake system is controlled according to the vehicle-side control quantity and the standard control quantity, so that the electronic parking brake system applies parking brake or releases parking brake on the target vehicle. The step of controlling the electronic parking brake system based on the vehicle-side control quantity and the standard control quantity includes: If the error value of the vehicle-side control quantity relative to the standard control quantity is greater than or equal to a preset error threshold, 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 the error value of the vehicle-side control quantity relative to the standard control quantity is less than the error threshold, an execution command 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 command and the vehicle-side control quantity.

2. The electronic parking brake control method according to claim 1, characterized in that, The status information includes vehicle speed information, parking gear status information, road slope information, and torque information. The parking gear status information is used to indicate whether the target vehicle is in parking gear. The step of obtaining the standard control quantity associated with the electronic parking brake function of the target vehicle based on the state information includes: Based on the vehicle speed information and the parking gear status information, a standard clamping control quantity is determined as the standard control quantity; wherein, the standard clamping control quantity is used to control the electronic parking brake system to apply parking brake to the target vehicle; Alternatively, a standard release control quantity may be determined as the standard control quantity based on at least one of the parking gear status information, the road surface slope information, or the torque information; wherein the standard release control quantity 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 based on the vehicle speed information and the parking gear status information includes: If the vehicle speed information is less than a preset vehicle speed threshold and the parking gear status information indicates that the target vehicle is in parking gear, then the standard clamping control quantity is determined as the standard control quantity.

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

5. An electronic parking brake control device, characterized in that, include: The acquisition module is used to acquire the status information of the target vehicle and the vehicle-side control quantity sent by the electronic parking brake system of the target vehicle. The processing module is used to obtain a standard control quantity associated with the electronic parking brake function of the target vehicle based on the status information. The electronic parking brake system is controlled according to the vehicle-side control quantity and the standard control quantity, so that the electronic parking brake system applies parking brake or releases parking brake on the target vehicle. The step of controlling the electronic parking brake system based on the vehicle-side control quantity and the standard control quantity includes: If the error value of the vehicle-side control quantity relative to the standard control quantity is greater than or equal to a preset error threshold, 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 the error value of the vehicle-side control quantity relative to the standard control quantity is less than the error threshold, an execution command 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 command and the vehicle-side control quantity.

6. A vehicle control system, characterized in that, include: The electronic parking brake control device as described in claim 5; An electronic parking brake system is used to generate vehicle-side control quantities and send them to the electronic parking brake control device, and to apply parking brake or release parking brake to the target vehicle under the control of the electronic parking brake control device.

7. The vehicle control system according to claim 6, characterized in that, The electronic parking brake system is used to apply parking brake or release parking brake to the target vehicle under the control of the electronic parking brake control device, specifically to perform the following operations: Based on the standard control quantity sent by the electronic parking brake control device, the target vehicle is either put into parking brake or released from parking brake. Alternatively, based on the vehicle-side control quantity and the execution command sent by the electronic parking brake control device, the target vehicle may be subjected to parking brake or released parking brake.

8. The vehicle control system according to claim 7, characterized in that, The electronic parking brake control device and the motor of the electronic parking brake system are both configured with the highest functional safety level, while the sensor group and controller of the electronic parking brake system are both configured with the lowest functional safety level.

9. 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 the electronic parking brake control method according to any one of claims 1-4.

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