Parking braking system and method, VIU and vehicle

Abstract

The embodiment of the invention provides a parking braking system and method, a VIU and a vehicle, relates to the technical field of intelligent vehicles, and is used for realizing redundancy of a parking function. The parking braking system comprises a first VIU and a second VIU, the first VIU is used for being coupled with a first caliper motor, and the second VIU is used for being coupled with a second caliper motor. The first VIU is used for outputting a first driving signal, and the first driving signal is used for driving the first caliper motor; and the second VIU is used for outputting a second driving signal, and the second driving signal is used for driving the second caliper motor.

Description

Technical Field

[0001] The present application relates to the field of intelligent vehicle technology, and in particular to a parking brake system, method, VIU and vehicle. Background Art

[0002] With the popularization of electronic gear-shift (EGS) systems and new energy vehicles, the traditional parking (P) gear lock mechanism can no longer meet the requirements of new technologies. In particular, for vehicles without the P gear lock mechanism, in order to achieve remote control driving, automatic parking, L3 level autonomous driving, and the upcoming L4 level autonomous driving, etc., parking brake system redundancy is essential. Summary of the invention

[0003] The present application provides a parking brake system, method, VIU and vehicle for achieving redundancy of parking function.

[0004] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0005] In a first aspect, a parking brake system is provided, which includes a first VIU and a second VIU, the first VIU and the second VIU can be VIUs located on both sides of a vehicle, the first VIU is used to couple with a first caliper motor, and the second VIU is used to couple with a second caliper motor, the first caliper motor and the second caliper motor can also be caliper motors located on both sides of the vehicle; the first VIU is used to output a first drive signal, and the first drive signal is used to drive the first caliper motor; the second VIU is used to output a second drive signal, and the second drive signal is used to drive the second caliper motor.

[0006] In the above technical solution, the first VIU in the vehicle is used to output the first drive signal and the second VIU is used to output the second drive signal, so as to drive the first caliper motor and the second caliper motor respectively through the first drive signal and the second drive signal, so as to realize the redundancy of the parking function by controlling the first caliper motor and the second caliper motor respectively through the first VIU and the second VIU. That is, the embodiment of the present application unbinds the parking brake from the driving brake, and sets the control function in the parking brake in the first VIU and the second VIU with higher control authority in a distributed deployment manner, and uses the first VIU and the second VIU to independently control the first caliper motor and the second caliper motor respectively, so as to realize the redundancy of the parking function by utilizing the advantage that the distributed deployment naturally meets the redundancy requirements. At this time, the first VIU and the second VIU in the parking brake system can use the existing VIU in the vehicle, so compared with the solution of the related technology, there is no need to set up an independent EPB controller, and thus has great advantages in terms of cost, space deployment, manufacturing and maintenance, and at the same time, the applicable vehicles are not limited by the vehicle type, so the scope of use is wider.

[0007] In a possible implementation of the first aspect, the first VIU and the second VIU are coupled via a controller area network (CAN) bus; the first VIU is further used to send first parking brake status information corresponding to the first VIU to the second VIU via the CAN bus; the second VIU is further used to send second parking brake status information corresponding to the second VIU to the first VIU via the CAN bus. In the above possible implementation, the first VIU and the second VIU can exchange their respective parking brake status information via the CAN bus, so that different VIUs can timely and accurately obtain the parking brake status information corresponding to other VIUs, and can then effectively determine the braking state corresponding to the parking brake system.

[0008] In a possible implementation of the first aspect, the first VIU includes a first controller and a first motor drive unit, and the second VIU includes a second controller and a second motor drive unit. Optionally, the first controller and the second controller may be microprocessors MCU, which may be implemented by reusing the original MCU in the VIU, and the first motor drive unit and the second motor drive unit may be motor drive units additionally integrated in the first controller and the second controller. In the above possible implementation, by setting the first motor drive unit in the first VIU, setting the second motor drive unit in the second VIU, and using the first controller in the first VIU to control the first motor drive unit to output a first drive signal, and using the second controller in the second VIU to control the second motor drive unit to output a second drive signal, the integration of the first VIU and the second VIU is improved while realizing the redundancy of the parking function.

[0009] In a possible implementation of the first aspect, the first motor drive unit includes a first pre-drive circuit and a first H-bridge circuit, and the second motor drive unit includes a second pre-drive circuit and a second H-bridge circuit, that is, each motor drive unit can be composed of a two-stage drive circuit. In the above possible implementation, the first motor drive unit and the second motor drive unit adopt a two-stage drive, which can improve the driving capabilities of the two motor drive units.

[0010] In a possible implementation of the first aspect, the first controller is used to output a first control signal, and the first motor drive unit is used to output a first drive signal according to the first control signal; the second controller is used for a second control signal, and the second motor drive unit is used to output a second drive signal according to the second control signal. In the above possible implementation, by setting the first motor drive unit in the first VIU, setting the second motor drive unit in the second VIU, and using the first controller in the first VIU to control the first motor drive unit to output the first drive signal, and using the second controller in the second VIU to control the second motor drive unit to output the second drive signal, the redundancy of the parking function is achieved while improving the integration of the first VIU and the second VIU.

[0011] In a possible implementation of the first aspect, the first VIU further includes a first connector, and the first motor drive unit is coupled to the first caliper motor through the first connector; the second VIU further includes a second connector, and the second motor drive unit is coupled to the second caliper motor through the second connector. In the above possible implementation, the first motor drive unit in the first VIU is coupled to the first caliper motor through the first connector, and the second motor drive unit in the second VIU is coupled to the second caliper motor through the second connector, thereby reducing the transmission loss of the first drive signal and the second drive signal and improving the signal quality.

[0012] In a possible implementation of the first aspect, the first VIU further includes a first power supply circuit, and the second VIU further includes a second power supply circuit; the first power supply circuit is used to receive a first power supply signal and supply power to the first motor drive unit through the first power supply signal; the second power supply circuit is used to receive a second power supply signal and supply power to the second motor drive unit through the second power supply signal, and the first power supply signal and the second power supply signal are two different power supply signals. Optionally, two power supply interfaces may be provided in each of the first VIU and the second VIU, and the first power supply circuit and the second power supply circuit may be coupled to different power supply interfaces of the two power supply interfaces. In the above possible implementation, the first motor drive unit is supplied with power by the first power supply circuit, and the second motor drive unit is supplied with power by the second power supply circuit, so that the normal power supply of the first motor drive unit and the second motor drive unit can be achieved, and at the same time, the utilization rate of the two power supply interfaces in the first VIU and the second VIU can be improved.

[0013] In a possible implementation of the first aspect, the first power supply circuit includes a first anti-reverse connection circuit, and the second power supply circuit includes a second anti-reverse connection circuit. In the above possible implementation, when the first power supply signal and / or the second power supply signal is a reverse power supply signal, the received power supply signal can be processed for anti-reverse connection by the corresponding anti-reverse connection circuit to avoid the power supply signal from damaging the motor drive unit, thereby improving the safety of the motor drive unit.

[0014] In a possible implementation of the first aspect, the first power supply circuit further includes a first slow start circuit, and the second power supply circuit includes a second slow start circuit. In the above possible implementation, the first slow start circuit and the second slow start circuit respectively perform slow start processing on the first power supply signal and the second power supply signal, thereby preventing the current or voltage of the first motor drive unit and the second motor drive unit from rising too fast, thereby preventing the vehicle from shaking when performing parking braking.

[0015] In a possible implementation of the first aspect, the first VIU is also used to: when a parking brake failure occurs, send indication information to the second VIU, the indication information is used to indicate that the first VIU has a parking brake failure; the second VIU is also used to receive the indication information, and output a third drive signal according to the indication information, the third drive signal is used to drive the first caliper motor and the second caliper motor. In the above possible implementation, when a parking brake failure occurs in one of the first VIU and the second VIU, the other VIU can promptly learn of the failure according to the received indication information, and output a third drive signal for driving the first caliper motor and the second caliper motor, so as to avoid a parking brake failure in one of the VIUs, resulting in an inability to park or release the parking, thereby improving the reliability and safety of the parking brake system.

[0016] In a possible implementation of the first aspect, the first VIU or the second VIU is also used to: send parking brake status information corresponding to the parking brake system; wherein, one of the first VIU and the second VIU can be used as a master VIU, and the other VIU can be used as a slave VIU, and specifically, the parking brake status information corresponding to the parking brake system can be sent by the master VIU. In the above possible implementation, when there is a master VIU and a slave VIU in the first VIU and the second VIU, the master VIU sends the parking brake status information corresponding to the parking brake system to other systems of the vehicle, so that the parking brake system has only one VIU to communicate with the outside world, so that there is no need to improve the communication process between the parking brake system and other systems, thereby improving the compatibility of the parking brake system.

[0017] In a possible implementation of the first aspect, the first VIU or the second VIU is further used to couple with at least one of the following: a brake light, a human-machine interface, and an electronic stability control (ESC) system. In the above possible implementation, one of the first VIU and the second VIU can be coupled with at least one of the brake light, the HMI, and the ESC system, so that the parking brake system has only one VIU communicating with the above components, so that there is no need to improve the communication process between the parking brake system and the above components, thereby improving the compatibility of the parking brake system.

[0018] In a second aspect, a parking brake method is provided, which is applied to a parking brake system, wherein the parking brake system includes a first vehicle integrated unit VIU and a second VIU, the first VIU is used to couple with a first caliper motor, and the second VIU is used to couple with a second caliper motor, the method comprising: the first VIU outputs a first drive signal, and the first drive signal is used to drive the first caliper motor; the second VIU outputs a second drive signal, and the second drive signal is used to drive the second caliper motor.

[0019] In a possible implementation of the second aspect, the first VIU and the second VIU are coupled via a controller area network (CAN) bus, and the method further includes: the first VIU sends first parking brake status information corresponding to the first VIU to the second VIU via the CAN bus; and the second VIU sends second parking brake status information corresponding to the second VIU to the first VIU via the CAN bus.

[0020] In a possible implementation of the second aspect, the first VIU includes a first controller and a first motor drive unit, and the first VIU outputs a first drive signal, including: the first controller outputs a first control signal, and the first motor drive unit outputs the first drive signal according to the first control signal; the second VIU includes a second controller and a second motor drive unit, and the second VIU outputs a second drive signal, including: the second controller outputs a second control signal, and the second motor drive unit outputs a second drive signal according to the second control signal.

[0021] In a possible implementation of the second aspect, the first VIU also includes a first power supply circuit, and the second VIU also includes a second power supply circuit. The method also includes: the first power supply circuit receives a first power supply signal, and supplies power to the first motor drive unit through the first power supply signal; the second power supply circuit receives a second power supply signal, and supplies power to the second motor drive unit through the second power supply signal, and the first power supply signal and the second power supply signal are two power supply signals provided by the same power supply.

[0022] In a possible implementation manner of the second aspect, the first power supply circuit includes a first anti-reverse connection circuit, and the second power supply circuit includes a second anti-reverse connection circuit.

[0023] In a possible implementation manner of the second aspect, the first power supply circuit further includes a first slow start circuit, and the second power supply circuit includes a second slow start circuit.

[0024] In a possible implementation of the second aspect, the method also includes: when a parking brake failure occurs in the first VIU, the first VIU sends an indication message to the second VIU, and the indication message is used to indicate that a parking brake failure occurs in the first VIU; the second VIU receives the indication message and outputs a third drive signal according to the indication message, and the third drive signal is used to drive the first caliper motor and the second caliper motor.

[0025] In a possible implementation manner of the second aspect, the method also includes: the first VIU or the second VIU sends parking brake status information corresponding to the parking brake system; wherein, one VIU of the first VIU and the second VIU can be used as a master VIU, and the other VIU can be used as a slave VIU, and specifically, the parking brake status information corresponding to the parking brake system can be sent by the master VIU.

[0026] In a possible implementation manner of the second aspect, the first VIU or the second VIU is further used to couple with at least one of the following: a brake light, a human-machine interface, and an electronic stability control ESC system.

[0027] According to a third aspect, a VIU is provided, which is applied to a parking brake system, and the VIU is used to couple with a caliper motor; the VIU is used to output a driving signal, and the driving signal is used to drive the caliper motor.

[0028] In a possible implementation of the third aspect, the VIU is coupled to other VIUs via a controller area network (CAN) bus, and the VIU is further used to: send parking brake status information corresponding to the VIU to the other VIU via the CAN bus; and / or receive parking brake status information corresponding to the other VIU sent by the other VIU via the CAN bus.

[0029] In a possible implementation of the third aspect, the VIU is also used to: when a parking brake failure occurs, send indication information to the other VIU, where the indication information is used to indicate that a parking brake failure has occurred in the VIU; and / or, receive indication information sent by the other VIU when a parking brake failure occurs, and output a drive signal according to the indication information.

[0030] In a possible implementation manner of the third aspect, the VIU includes a controller and a motor drive unit; the controller is used to output a control signal; and the motor drive unit is used to output the drive signal according to the control signal.

[0031] In a possible implementation manner of the third aspect, the VIU further includes a connector, and the motor drive unit is coupled to the caliper motor through the connector.

[0032] In a possible implementation of the third aspect, the VIU further includes: the power supply circuit, which is used to receive a power supply signal and supply power to the motor drive unit through the power supply signal. Optionally, the power supply circuit includes an anti-reverse connection circuit; and / or, the power supply circuit also includes a soft start circuit.

[0033] In a possible implementation manner of the third aspect, the VIU is further used to: send parking brake status information corresponding to the parking brake system.

[0034] In a possible implementation manner of the third aspect, the VIU is further used to couple with at least one of the following: a brake light, a human-machine interface, and an electronic stability control (ESC) system.

[0035] In a fourth aspect, a parking brake method is provided, which can be applied to a VIU of a parking brake system, the VIU being used to couple with a caliper motor. The method comprises: the VIU outputting a driving signal, the driving signal being used to drive the caliper motor.

[0036] In a possible implementation of the fourth aspect, the VIU is coupled to other VIUs via a CAN bus, and the method further includes: the VIU sends parking brake status information corresponding to the VIU to the other VIU via the CAN bus; and / or, receives parking brake status information corresponding to the other VIU sent by the other VIU via the CAN bus.

[0037] In a possible implementation of the fourth aspect, the method further includes: when a parking brake failure occurs, the VIU sends indication information to the other VIU, and the indication information is used to indicate that a parking brake failure occurs in the VIU; and / or, receives the indication information sent by the other VIU when a parking brake failure occurs, and outputs a drive signal according to the indication information.

[0038] In a possible implementation manner of the fourth aspect, the method further includes: the VIU sending parking brake status information corresponding to the parking brake system.

[0039] In a possible implementation of the fourth aspect, the VIU includes a controller and a motor drive unit; accordingly, the VIU outputs a drive signal including: the controller outputs a control signal, and the motor drive unit outputs the drive signal according to the control signal. Optionally, the controller may be an MCU; and the motor drive unit includes a pre-drive circuit and an H-bridge circuit.

[0040] In a possible implementation manner of the fourth aspect, the VIU also includes the power supply circuit, and the method further includes: the power supply circuit receives a power supply signal and supplies power to the motor drive unit through the power supply signal.

[0041] In a possible implementation manner of the fourth aspect, the power supply circuit includes an anti-reverse connection circuit, and the method further includes: the power supply circuit provides anti-reverse connection protection for the motor drive unit through the anti-reverse connection circuit.

[0042] In a possible implementation of the fourth aspect, the power supply circuit may further include a soft start circuit, and the method further includes: the soft start circuit performs soft start processing on the power supply signal, and transmits the processed power supply signal to the pre-drive circuit and the H-bridge circuit in the motor drive unit to power the pre-drive circuit and the H-bridge circuit.

[0043] In a possible implementation manner of the fourth aspect, the VIU is also used to couple with at least one of the following: a brake light, a human-machine interface, and an ESC system.

[0044] In a fifth aspect, a vehicle is provided, comprising: a parking brake system as provided in the first aspect or any possible implementation of the first aspect, and a first caliper motor, a second caliper motor, a first caliper and a second caliper, the parking brake system being used to drive the first caliper motor and the second caliper motor to provide power to the first caliper and the second caliper respectively.

[0045] According to another aspect of the present application, a readable storage medium is provided, which includes instructions. When at least one processor of the device executes the instructions, the device executes the parking braking method provided by the second aspect or any possible implementation of the second aspect.

[0046] According to another aspect of the present application, a readable storage medium is provided, which includes instructions. When at least one processor of the device executes the instructions, the device executes the parking braking method provided by the fourth aspect or any possible implementation of the fourth aspect.

[0047] According to another aspect of the present application, a computer program product is provided, which includes instructions. When at least one processor of a device executes the instructions, the device executes the parking braking method provided by the second aspect or any possible implementation of the second aspect.

[0048] According to another aspect of the present application, a computer program product is provided, which includes instructions. When at least one processor of a device executes the instructions, the device executes the parking braking method provided by the fourth aspect or any possible implementation of the fourth aspect.

[0049] It can be understood that the beneficial effects that can be achieved by any of the parking brake methods, VIU, vehicle computer-readable storage media and computer program products provided above can correspond to the beneficial effects in the parking brake system provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of the structure of a parking brake system provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of the structure of another parking brake system provided in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of the structure of another parking brake system provided in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of the structure of another parking brake system provided in an embodiment of the present application;

[0055] Figure 6 A schematic diagram of the structure of another parking brake system provided in an embodiment of the present application;

[0056] Figure 7 A schematic diagram of the structure of another parking brake system provided in an embodiment of the present application;

[0057] Figure 8 A schematic diagram of the structure of a VIU provided in an embodiment of the present application;

[0058] Fig. 9 A schematic diagram of the structure of another VIU provided in an embodiment of the present application;

[0059] Fig.10 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The following will discuss the making and use of various embodiments in detail. However, it should be understood that many applicable inventive concepts provided by this application can be implemented in a variety of specific environments. The specific embodiments discussed are only illustrative of specific ways to implement and use this description and this technology, and do not limit the scope of this application.

[0061] Unless defined otherwise, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art.

[0062] Various circuits or other components may be described or referred to as being "configured to" perform one or more tasks. In this case, "configured to" is used to imply structure by indicating that the circuit / component includes structure (e.g., circuitry) that performs the one or more tasks during operation. Thus, even when the specified circuit / component is not currently operational (e.g., not turned on), the circuit / component may be referred to as being configured to perform the task. Circuits / components used with the phrase "configured to" include hardware, such as circuits that perform an operation, etc.

[0063] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. In the present application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, a and b, a and c, b and c, a, b and c; where a, b and c can be single or multiple.

[0064] The embodiments of the present application use words such as "first" and "second" to distinguish objects with similar names, functions or effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order. The term "coupled" is used to indicate electrical connection, including direct connection through wires or connection terminals or indirect connection through other devices. Therefore, "coupled" should be regarded as a broad electronic communication connection.

[0065] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0066] Before introducing the embodiments of the present application, the relevant background technology involved in the present application is first introduced and explained.

[0067] With the popularization of electronic gear-shift (EGS) systems and new energy vehicles, the traditional parking (P) gear lock mechanism can no longer meet the requirements of new technologies. In particular, for vehicles without the P gear lock mechanism, in order to achieve remote control driving, automatic parking, L3 level automatic driving, and the upcoming L4 level automatic driving, the parking brake system needs to meet or satisfy certain redundancy requirements.

[0068] For example, taking GB 21670-2008 Technical Requirements and Test Methods for Passenger Vehicle Braking Systems as an example, the redundancy requirements that the parking function needs to meet are: when the internal electronic control transmission, the external circuit of the electronic control unit except the power supply circuit is damaged or the control device fails, the parking brake can still be applied from the driving position and the fully loaded vehicle can remain stationary on an 8% uphill or downhill slope. If the above performance can be achieved and the parking brake is not affected by the ignition switch state once it is applied and remains in working state, it is allowed to automatically apply the parking brake when the vehicle is stationary; when the driver restarts the vehicle, the parking brake should be released immediately. The above performance can be achieved through the engine / manual transmission or automatic transmission (parking gear) or with the assistance of them. If necessary, the parking brake can also be released using on-board tools and auxiliary equipment.

[0069] It will be understood that the above description of the redundancy requirements that the parking function needs to meet is merely exemplary. In actual applications, the redundancy requirements that the parking function needs to meet may vary for different vehicles or different regulations, and the above examples do not constitute a limitation to the embodiments of the present application.

[0070] In the related art, in order to meet the requirements of regulations and advanced driver assistance functions, the following three solutions are usually adopted. The first solution is to integrate the electronic parking brake (EPB) controller into the electronic stability control (ESC) system (also known as the ESC assembly) of the vehicle body, and use the EPB controller and the P gear locking mechanism to implement it. The second solution is to set up an independent dual-control EPB controller and use the dual-control EPB controller to implement it. The third solution is to use a distributed EPB in a wire control brake system (for example, one-box) to implement it, and the wire control brake system includes an intelligent integrated power brake (IPB) system and a redundant brake unit (RBU).

[0071] However, the first and second solutions mentioned above require additional controllers, and the first solution requires a P-position locking mechanism, which is more expensive and requires a larger deployment space, that is, it has disadvantages in cost and layout space; the third solution mentioned above requires the use of RBU, which is not a standard feature of vehicles. For example, some mid- and low-end vehicles are not equipped with RBU, so it is difficult to apply to any vehicle and has a limited scope of application.

[0072] Based on this, an embodiment of the present application provides a vehicle parking brake system, which realizes the redundancy of the parking function by deploying the hardware driving part of the caliper motors corresponding to the left and right sides (i.e., the motor driving unit hereinafter) into the vehicle integrated / integration unit (VIU) on both sides, and controlling the caliper motors on both sides respectively through the VIUs on both sides.

[0073] The technical solution of the present application can be applied to various vehicles, which may include but are not limited to: road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. The vehicle can be a vehicle in a broad sense, for example, the vehicle can be a vehicle (such as a commercial vehicle, a passenger car, a car, an electric car, a ship, a flight, a train, a high-speed rail, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a mower, a harvester, etc.), amusement equipment, a toy vehicle, etc.

[0074] Figure 1 A schematic diagram of the structure of a vehicle 100 provided in an embodiment of the present application, the vehicle 100 may have an automatic driving function. In one possible embodiment, the vehicle 100 is configured to be in a fully or partially automatic driving mode. For example, the vehicle 100 may control itself while being in the automatic driving mode, and may determine the current state of the vehicle and its surrounding environment through human operation, determine the possible behavior of at least one other vehicle in the surrounding environment, and determine the confidence level corresponding to the possibility of the other vehicle performing the possible behavior, and control the vehicle 100 based on the determined information. When the vehicle 100 is in the automatic driving mode, the vehicle 100 may be set to operate without human interaction. In another embodiment, the vehicle 100 may be a vehicle with a P gear locking mechanism canceled, and / or a vehicle supporting a remote parking assist (RPB) function.

[0075] The vehicle 100 may include various subsystems, such as a travel system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, and a power source 110, a computer system 112, and a user interface 116. Optionally, the vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple elements. In addition, each subsystem and element of the vehicle 100 may be interconnected by wire or wirelessly.

[0076] The travel system 102 may include components that provide powered movement for the vehicle 100. In one embodiment, the travel system 102 may include an engine 118, an energy source 119, a transmission 120, and wheels 121 (or tires). The engine 118 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 118 converts the energy source 119 into mechanical energy.

[0077] Examples of energy source 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 119 may also provide energy to other systems of vehicle 100.

[0078] The transmission 120 can transmit mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft. In some embodiments, the transmission 120 may also include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 121.

[0079] The sensor system 104 may include several sensors that sense information about the environment surrounding the vehicle 100. For example, the sensor system 104 may include a positioning system 122 (the positioning system may be a global positioning system (GPS) system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU) 124, a radar 126, a laser rangefinder 128, and a camera 130. The sensor system 104 may also include sensors of the internal systems of the monitored vehicle 100 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and recognition are key functions for the safe operation of the autonomous vehicle 100.

[0080] Positioning system 122 may be used to estimate the geographic location of vehicle 100. IMU 124 is used to sense position and orientation changes of vehicle 100 based on inertial acceleration. In some embodiments, IMU 124 may be a combination of an accelerometer and a gyroscope.

[0081] Radar 126 may utilize radio signals to sense objects within the surrounding environment of vehicle 100. In some embodiments, in addition to sensing objects, radar 126 may also be used to sense the speed and / or heading of an object.

[0082] The laser rangefinder 128 may utilize laser light to sense objects in the environment in which the vehicle 100 is located. In some embodiments, the laser rangefinder 128 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0083] The camera 130 may be used to capture multiple images of the surrounding environment of the vehicle 100. The camera 130 may be a still camera or a video camera.

[0084] Control system 106 controls the operation of vehicle 100 and its components. Control system 106 may include various elements, including steering system 132 , throttle 134 , braking system 136 , sensor fusion algorithm 138 , computer vision system 140 , path control system 142 , and obstacle avoidance system 144 .

[0085] The steering system 132 is operable to adjust the forward direction of the vehicle 100. For example, in one embodiment, the steering system 132 may be a steering wheel system.

[0086] The throttle 134 is used to control the operating speed of the engine 118 and, in turn, the speed of the vehicle 100 .

[0087] The braking system 136 is a system for applying a certain braking force to the wheel 121, thereby forcing it to brake to a certain extent. The function of the braking system 136 is to force the moving vehicle 100 to slow down or even stop according to the requirements of the driver or the controller, or to stabilize the stopped vehicle 100 under various road conditions (for example, on a ramp), or to keep the speed of the vehicle 100 traveling downhill stable. In one embodiment, the braking system 136 can use friction to slow down the wheel 121. In other embodiments, the braking system 136 can convert the kinetic energy of the wheel 121 into electric current, and the braking system 136 can also take other forms to slow down the rotation speed of the wheel 121 to control the speed of the vehicle 100.

[0088] The computer vision system 140 can be operated to process and analyze the images captured by the camera 130 in order to identify objects and / or features in the environment surrounding the vehicle 100. The objects and / or features may include traffic signs, road boundaries, and obstacles. The computer vision system 140 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 140 can be used to map the environment, track objects, estimate the speed of objects, and the like.

[0089] The route control system 142 is used to determine the driving route of the vehicle 100. In some embodiments, the route control system 142 may combine data from the sensors 138, the GPS 122, and one or more predetermined maps to determine the driving route for the vehicle 100.

[0090] The obstacle avoidance system 144 is used to identify, evaluate, and avoid or otherwise negotiate potential obstacles in the environment of the vehicle 100 .

[0091] Of course, in one example, the control system 106 may include additional or alternative components other than those shown and described, or may also reduce some of the components shown above.

[0092] The vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users through peripherals 108. The peripherals 108 may include a wireless communication system 146, an onboard computer 148, a microphone 150, and / or a speaker 152.

[0093] In some embodiments, the peripheral device 108 provides a means for the user of the vehicle 100 to interact with the user interface 116. For example, the onboard computer 148 can provide information to the user of the vehicle 100. The user interface 116 can also operate the onboard computer 148 to receive input from the user. The onboard computer 148 can be operated via a touch screen. In other cases, the peripheral device 108 can provide a means for the vehicle 100 to communicate with other devices located in the vehicle. For example, the microphone 150 can receive audio (e.g., voice commands or other audio input) from the user of the vehicle 100. Similarly, the speaker 152 can output audio to the user of the vehicle 100.

[0094] The wireless communication system 146 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 146 can use 3G cellular communication, such as code division multiple access (code division multiple access, CDMA), EVDO, global system for mobile communications (global system for mobile communications, GSM) / general packet radio service technology (general packet radio service, GPRS), or 4G cellular communication, such as long term evolution (long term evolution, LTE), or 5G cellular communication. The wireless communication system 146 can use WiFi to communicate with a wireless local area network (wireless local area network, WLAN). In some embodiments, the wireless communication system 146 can use an infrared link, Bluetooth or ZigBee to communicate directly with the device. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system 146 may include one or more dedicated short range communications (dedicated short range communications, DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside stations.

[0095] The power source 110 can provide power to various components of the vehicle 100. In one embodiment, the power source 110 can be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to various components of the vehicle 100. In some embodiments, the power source 110 and the energy source 119 can be implemented together, such as in some all-electric vehicles.

[0096] Some or all functions of the vehicle 100 are controlled by a computer system 112. The computer system 112 may include at least one processor 113 that executes instructions 115 stored in a non-transitory computer-readable medium such as a memory 114. The computer system 112 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner.

[0097] Processor 113 can be any conventional processor, such as commercially available central processing unit (CPU). Alternatively, the processor can be a dedicated device such as application specific integrated circuits (ASIC) or other hardware-based processors. Although the figure functionally illustrates the processor, memory, and other elements of the computer in the same block, it should be understood by those of ordinary skill in the art that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, the memory can be a hard disk drive or other storage media located in a housing different from the computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, some components such as steering components and deceleration components can each have their own processors, and the processors only perform calculations related to the functions specific to the components.

[0098] In various aspects described herein, the processor may be located remote from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

[0099] In some embodiments, the memory 114 may contain instructions 115 (e.g., program logic) that may be executed by the processor 113 to perform various functions of the vehicle 100, including those described above. The memory 114 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of the travel system 102, the sensor system 104, the control system 106, and the peripherals 108.

[0100] In addition to instructions 115, memory 114 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other such vehicle data, and other information. Such information may be used by vehicle 100 and computer system 112 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0101] The user interface 116 is used to provide information to or receive information from a user of the vehicle 100. Optionally, the user interface 116 may include one or more input / output devices within the set of peripherals 108, such as a wireless communication system 146, an onboard computer 148, a microphone 150, and a speaker 152.

[0102] Computer system 112 may control functions of vehicle 100 based on input received from various subsystems (e.g., travel system 102, sensor system 104, and control system 106) and from user interface 116. For example, computer system 112 may utilize input from control system 106 in order to control steering system 132 to avoid obstacles detected by sensor system 104 and obstacle avoidance system 144. In some embodiments, computer system 112 may be operable to provide control over many aspects of vehicle 100 and its subsystems.

[0103] Alternatively, one or more of the above-mentioned components may be installed or associated separately from the vehicle 100. For example, the memory 114 may exist partially or completely separately from the vehicle 100. The above-mentioned components may be communicatively coupled together in a wired and / or wireless manner.

[0104] Optionally, the above components are only an example. In practical applications, the components in the above modules may be added or deleted according to actual needs. The above examples should not be construed as limitations on the embodiments of the present application.

[0105] An autonomous vehicle traveling on a road, such as vehicle 100 above, can identify objects in its surrounding environment to determine adjustments to the current speed. The objects can be other vehicles, traffic control devices, or other types of objects. In some examples, each identified object can be considered independently, and based on the object's respective characteristics, such as its current speed, acceleration, spacing from the vehicle, etc., can be used to determine the speed to be adjusted by the autonomous vehicle.

[0106] Optionally, the autonomous vehicle 100 or a computing device associated with the autonomous vehicle 100 (e.g., computer system 112, computer vision system 140, memory 114) can predict the behavior of the identified objects based on the characteristics of the identified objects and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each of the identified objects depends on the behavior of each other, so all of the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 100 can adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle can determine what stable state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the objects. In this process, other factors can also be considered to determine the speed of the vehicle 100, such as the lateral position of the vehicle 100 in the road it is traveling on, the curvature of the road, the proximity of static and dynamic objects, etc.

[0107] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of vehicle 100 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes on the road).

[0108] It is to be understood that the structure of the vehicle 100 shown in the figure does not constitute a limitation on the vehicle 100 , and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0109] Figure 2 A schematic structural diagram of a parking brake system provided in an embodiment of the present application, the parking brake system may be applied to the vehicle provided above, for example, the vehicle may be the vehicle 100 mentioned above.

[0110] The parking brake system includes a first VIU 10 and a second VIU 20. The first VIU 10 can be used to couple with a first caliper motor 30. Specifically, the first VIU 10 is used to output a first drive signal, and the first drive signal is used to drive the first caliper motor 30. The second VIU 20 can be used to couple with a second caliper motor 40. Specifically, the second VIU 20 is used to output a second drive signal, and the second drive signal is used to drive the second caliper motor 40.

[0111] The VIU (e.g., the first VIU 10 and the second VIU 20) is a vehicle integrated unit, which may also be referred to as a vehicle integrated unit, or a regional control unit or a regional controller. The VIU may be used to provide a part or all of the data processing functions and / or control functions required by the components in the vehicle.

[0112] In addition, the caliper motor may be a motor of a corresponding caliper (or brake caliper), for example, the first caliper motor 30 may be a motor of the first caliper, and the second caliper motor 40 may be a motor of the second caliper. The caliper motor may be used to rotate under the action of a driving signal, and when the caliper motor rotates, it drives the corresponding caliper to clamp the wheel, so that the vehicle can be stably parked under different road conditions (for example, on a slope).

[0113] Optionally, the first VIU 10 and the second VIU 20 may be VIUs located on both sides of the vehicle, for example, the first VIU 10 may be a VIU located on the left side of the vehicle, and the second VIU 10 may be a VIU located on the right side of the vehicle. Correspondingly, the first caliper motor 30 and the second caliper motor 40 may also be caliper motors located on both sides of the vehicle and corresponding to the VIUs, for example, the first caliper motor 30 may be a caliper motor located on the left side of the vehicle, and the second caliper motor 40 may be a caliper motor located on the right side of the vehicle.

[0114] In a possible embodiment, when the vehicle needs to be parked, the first VIU 10 and the second VIU 20 can be used to output a first drive signal and a second drive signal respectively according to some basic information related to the vehicle, so that the first caliper motor 30 provides a braking force for the first caliper under the action of the first drive signal, and the second caliper motor 40 provides a braking force for the second brake caliper under the action of the second drive signal, thereby enabling the vehicle to achieve stable parking under the action of the above-mentioned braking force.

[0115] Exemplarily, the basic information may include, but is not limited to: driver input (e.g., operation of an EPB button, driver presence status), external function (e.g., automatic parking AVH, driver assistance deceleration control CDD-S) request, vehicle driving information (e.g., accelerator pedal, gear position, ignition IGN, vehicle power supply voltage Vol), longitudinal acceleration information, wheel speed information (e.g., wheel speed, pulse), service brake status (e.g., brake pressure), ambient temperature information, vehicle information (e.g., mileage), etc.

[0116] Optionally, each VIU in the first VIU 10 and the second VIU 20 can also separately obtain the above basic information and perform certain logic processing. The first VIU 10 and the second VIU 20 can obtain the above driver input through the hardware hard line (HW hard line) number, and can obtain other information in the above basic information through the bus, for example, the bus can be a controller area network (CAN) bus, or a flexible data FD bus.

[0117] In the parking brake system provided by the embodiment of the present application, the first VIU 10 in the vehicle outputs the first drive signal and the second VIU 20 outputs the second drive signal, so as to drive the first caliper motor 30 and the second caliper motor 40 respectively through the first drive signal and the second drive signal, thereby realizing the redundancy of the parking function by controlling the first caliper motor 30 and the second caliper motor 40 respectively through the first VIU 10 and the second VIU 20. That is, the embodiment of the present application unbinds the parking brake from the driving brake, and sets the control function in the parking brake in the first VIU 10 and the second VIU 20 with higher control authority in a distributed deployment manner, and uses the first VIU 10 and the second VIU 20 to independently control the first caliper motor 30 and the second caliper motor 40 respectively, thereby realizing the redundancy of the parking function by utilizing the advantage that the distributed deployment naturally meets the redundancy requirements. At this time, the first VIU 10 and the second VIU 20 in the parking brake system can use the existing VIU in the vehicle, so compared with the solutions of the related technology, there is no need to set up an independent EPB controller, which has great advantages in terms of cost, space deployment, manufacturing and maintenance. At the same time, the applicable vehicles are not limited by vehicle type, so the scope of use is wider.

[0118] Optionally, the first VIU 10 and the second VIU 20 may include a software program for implementing the electronic parking brake EPB function, and the software program may be referred to as EPB software. For example, the first VIU 10 includes the first EPB software, and the second VIU 20 includes the second EPB software. Specifically, the first EPB software may control the first VIU 10 to output the first drive signal according to the above basic information, and the second EPB software may control the second VIU 20 to output the second drive signal according to the above basic information.

[0119] In a possible embodiment, the EPB software may include a standstill manager (SSM), a parking brake control (PBC), and an EPB hardware driver control (EPB HW driver control). The SSM may also be referred to as an SSM (host), and the SSM may include a host safety barrier. The PBC may include an arbitration.

[0120] Among them, SSM (host) can be used for vehicle status monitoring and identification of EPB requirements, etc. The PEB requirements may include static clamping, static release, automatic clamping, automatic release, dynamic clamping, departure assistance, brake pad adjustment request, wheel hub mode recognition, external request clamping, external request release, full clamping, full release, etc. The host safety barrier in the SSM can be used to approve the use of EPB hardware drivers. The PBC can be used for parking brake control, such as controlling wheel hub mode, rolling clamping, clamping, rear wheel anti-lock, high temperature re-clamping, brake pad adjustment, hydraulic brake request, release, etc. The EPB HW driver control can be used to control the EPB hardware driver and send electrical measurement information to the EPB.

[0121] For example, Figure 3 As shown, the first EPB software may include SSM (host)_1, PBC_1 and EPB HW driver control_1, and the second EPB software may include SSM (host)_2, PBC_2 and EPB HW driver control_2.

[0122] It can be understood that the above-mentioned structure and related description of the EPB software (for example, the first EPB software and the second EPB software) are merely exemplary and do not constitute a limitation to the embodiments of the present application. For a detailed description of the specific structure and functions of the EPB software, please refer to the description in the relevant technology, and the embodiments of the present application will not go into details therein.

[0123] In the above possible embodiments, by setting the first EPB software in the first VIU 10 and setting the second EPB software in the second VIU 20, the first VIU 10 can control the first caliper motor 30 based on the first EPB software, and the second VIU 20 can control the second caliper motor 40 based on the second EPB software, thereby enabling the first VIU 10 and the second VIU 20 to have the control function of the parking brake through software improvement.

[0124] Further, such as Figure 2 and Figure 3 As shown, the first VIU 10 and the second VIU 20 can be coupled via a CAN bus. The CAN bus can be used to implement communication between the first VIU 10 and the second VIU 20.

[0125] Optionally, the CAN bus may be a public CAN bus, or a controller area network with flexible data rate (CAN FD).

[0126] Optionally, the first VIU 10 and the second VIU 20 may communicate according to a certain period, for example, the period may be 8 ms, 10 ms or 15 ms, etc., which is not specifically limited in the embodiment of the present application.

[0127] In a possible embodiment, the first VIU 10 is further used to send first parking brake status information corresponding to the first VIU 10 to the second VIU 20 through the CAN bus, and the second VIU 20 is further used to receive the first parking brake status information through the CAN bus. Similarly, the second VIU 20 is further used to send second parking brake status information corresponding to the second VIU 20 to the first VIU 10 through the CAN bus, and the first VIU 10 is further used to receive the second parking brake status information through the CAN bus.

[0128] The first parking brake state information may include parking brake state information related to the first VIU 10, and the second parking brake state information may include parking brake state information related to the second VIU 20. The parking brake state information related to any VIU includes at least one of the following information: PBC out actuation state, PBC out pad adjustment request, PBC out monitor command, and fault information of the VIU.

[0129] It can be understood that the detailed description of the above-mentioned PBC output actuator state, PBC output brake pad adjustment request and PBC output motor command can be found in the description of the relevant technology, and the embodiments of the present application will not be repeated here.

[0130] In the above possible embodiments, the first VIU 10 and the second VIU 20 can exchange their respective parking brake status information through the CAN bus, so that different VIUs can timely and accurately obtain the parking brake status information corresponding to other VIUs, and then effectively determine the braking status corresponding to the parking brake system.

[0131] In another possible embodiment, when a parking brake failure occurs in one of the first VIU 10 and the second VIU 20, the VIU having the failure is further used to send indication information to the other VIU through the CAN bus, and the other VIU is further used to receive the indication information through the CAN bus and output a third drive signal according to the indication information, and the third drive signal is used to drive the first caliper motor 30 and the second caliper motor 40. The parking brake failure of the above VIU can also be called a parking brake error or a parking brake abnormality.

[0132] Optionally, the indication information may include a drive instruction corresponding to the VIU with the parking brake failure, and the operation of the drive instruction may be used to output a corresponding drive signal. That is, when a parking brake failure occurs in one of the first VIU 10 and the second VIU 20, the other VIU can follow and respond to the drive instruction of the VIU with the failure.

[0133] Exemplarily, taking the parking failure of the first VIU 10 as an example, the first VIU 10 is also used to send an indication message to the second VIU 20 through the CAN bus, and the indication message indicates that a parking brake failure occurs in the first VIU 10; the second VIU 20 is also used to receive the indication message through the CAN bus, and output a third drive signal according to the indication message, and the third drive signal is used to drive the first caliper motor 30 and the second caliper motor 40.

[0134] Optionally, the above indication information may also be error information in the parking brake status information related to the VIU. That is, when the first VIU 10 has a parking brake failure, the indication information may be carried in the first parking brake status information corresponding to the first VIU 10; when the second VIU 20 has a parking brake failure, the indication information may be carried in the second parking brake status information corresponding to the second VIU 20, and sent to the first VIU 10 through the second parking brake status information.

[0135] In the above possible embodiments, when a parking brake failure occurs in one of the first VIU 10 and the second VIU 20, the other VIU can promptly be informed of the failure based on the received indication information, and output a third drive signal for driving the first caliper motor 30 and the second caliper motor 40, so as to avoid a parking brake failure in one of the VIUs resulting in an inability to park or release the vehicle, thereby improving the reliability and safety of the parking brake system.

[0136] In another possible embodiment, the first VIU 10 or the second VIU 20 is further used to send parking brake status information corresponding to the parking brake system. Among them, one of the first VIU 10 and the second VIU 20 can be used as a master VIU, and the other VIU can be used as a slave VIU. Specifically, the master VIU can send the parking brake status information corresponding to the parking brake system.

[0137] Exemplarily, if the first VIU 10 is a master VIU and the second VIU 20 is a slave VIU, the first VIU 10 can be used to send parking brake status information corresponding to the parking brake system to other systems of the vehicle, for example, the other systems may include an ESC system; if the second VIU 20 is a master VIU and the first VIU 10 is a slave VIU, the second VIU 20 can be used to send parking brake status information corresponding to the parking brake system to other systems of the vehicle.

[0138] The parking brake system may refer to a system including the parking brake control function and the motor drive function including the first VIU 10 and the second VIU 20, but does not include the first caliper motor 30 and the second caliper motor 40, and the calipers corresponding to the caliper motors. The parking brake state information corresponding to the parking brake system may be obtained by combining the first parking brake state information and the second parking brake state information, and is used to indicate the parking brake state of the system as a whole.

[0139] Optionally, the master VIU in the first VIU 10 and the second VIU 20 can also communicate with other systems (e.g., ESC system) at a certain period, for example, the period can be 8ms, 10ms or 15ms, etc. Exemplarily, the master VIU can also send wheel speed and master cylinder pressure information to the ESC system.

[0140] In the above possible embodiments, when there is a master VIU and a slave VIU in the first VIU 10 and the second VIU 20, the master VIU sends the parking brake status information corresponding to the parking brake system to other systems of the vehicle, so that the parking brake system communicates with only one VIU to the outside. In this way, there is no need to improve the communication process between the parking brake system and other systems, thereby improving the compatibility of the parking brake system.

[0141] Further, such as Figure 4As shown, the first VIU 10 may include a first controller 11 and a first motor drive unit 12, and the second VIU 20 may include a second controller 21 and a second motor drive unit 22. The output end of the first controller 11 is coupled with the input end of the first motor drive unit 12, and the output end of the first motor drive unit 12 is used to couple with the first caliper motor 30; the output end of the second controller 21 is coupled with the input end of the second motor drive unit 22, and the output end of the second motor drive unit 22 is used to couple with the second caliper motor 40.

[0142] Optionally, the first controller 11 and the second controller 21 may be a microprocessor (micro controller unit, MCU), and the MCU may be a single chip system integrating a microcontroller, a memory, an input / output interface and other functions. At present, the MCU is integrated in the VIU of the vehicle, so that the original MCU in the VIU can be reused to achieve. Exemplarily, the first controller 11 may be the original MCU in the first VIU 10, and the second controller 21 may be the original MCU in the second VIU 20.

[0143] In a possible embodiment, when the first VIU 10 is used to output a first drive signal, the first controller 11 can be used to output the first control signal, and the first motor drive unit 12 can be used to receive the first control signal and output the first drive signal according to the first control signal; when the second VIU 20 is used to output a second drive signal, the second controller 21 can be used to output a second control signal, and the second motor drive unit 22 can be used to receive the second control signal and output the second drive signal according to the second control signal.

[0144] Correspondingly, when the first VIU 10 includes the first EPB software and the second VIU 20 includes the second EPB software, the first EPB software may be specifically set on the first controller 11 and the second EPB software may be set on the second controller 21 .

[0145] The first controller 11 and the first motor drive unit 12 , as well as the second controller 21 and the second motor drive unit 22 , may be coupled via a serial peripheral interface (SPI) and an input output (IO) interface.

[0146] In addition, the first VIU 10 may also include a CAN transceiver, which can communicate with the outside (e.g., chassis, body, power and entertainment, etc.) through multiple CAN buses (e.g., CAN0 to CANn), and the first controller 11 (e.g., MCU) can also be coupled to the CAN transceiver to receive or send signals through the CAN transceiver.

[0147] In the above possible embodiments, by setting the first motor drive unit 12 in the first VIU 10, setting the second motor drive unit 22 in the second VIU 20, and using the first controller 11 in the first VIU 10 to control the first motor drive unit 12 to output a first drive signal, and using the second controller 21 in the second VIU 20 to control the second motor drive unit 22 to output a second drive signal, the redundancy of the parking function is achieved while improving the integration of the first VIU 10 and the second VIU 20.

[0148] In a possible embodiment, the first motor drive unit 12 and the second motor drive unit 22 may be two-stage drives, that is, each motor drive unit may be composed of a two-stage drive circuit, and the motor drive unit may also be called a drive module.

[0149] In one example, if Figure 5 As shown, the first motor drive unit 12 includes a first pre-drive circuit 12a and a first H-bridge circuit 12b, and the second motor drive unit 22 includes a second pre-drive circuit 22a and a second H-bridge circuit 22b. The input end of the first pre-drive circuit 12a is coupled to the output end of the first controller 11, the output end of the first pre-drive circuit 12a is coupled to the input end of the first H-bridge circuit 12b, and the output end of the first H-bridge circuit 12b is used to couple with the first caliper motor 30. The input end of the second pre-drive circuit 22a is coupled to the output end of the second controller 21, the output end of the second pre-drive circuit 22a is coupled to the input end of the second H-bridge circuit 22b, and the output end of the second H-bridge circuit 22b is used to couple with the second caliper motor 40.

[0150] The first pre-driver circuit 12a and the second pre-driver circuit 22a may also be referred to as a pre-driver module or a pre-driver chip. Figure 6 As shown, the pre-driver module or pre-driver chip can have the following functions: voltage detection, overcurrent detection, shunt circuit, H-bridge circuit control, receiving EPB button signal, EPB lamp driving. The first H-bridge circuit 12b and the second H-bridge circuit 22b can also be called peripheral H-bridge, or peripheral H-bridge circuit.

[0151] In one possible example, the first pre-driver circuit 12a may be used to drive the first H-bridge circuit 12b, and perform voltage detection and current detection on the first H-bridge circuit 12b; the second pre-driver circuit 22a may be used to drive the second H-bridge circuit 22b, and perform voltage detection and current detection on the second H-bridge circuit 22b. In another possible example, the rated current of the first H-bridge circuit 12b and the rated current of the second H-bridge circuit 22b may be greater than 40A.

[0152] Optionally, when the first H-bridge circuit 12b has an abnormal condition such as overcurrent or overvoltage, the first controller 11 can also shut down the first H-bridge circuit 12b through the first pre-driver circuit 12a, that is, shut down the first H-bridge circuit 12b for protection. Similarly, when the second H-bridge circuit 22b has an abnormal condition such as overcurrent or overvoltage, the second controller 21 can also shut down the second H-bridge circuit 22b through the second pre-driver circuit 22a, that is, shut down the second H-bridge circuit 22b for protection.

[0153] It is understandable that the first pre-driver circuit 12a and the second pre-driver circuit 22a, as well as the first H-bridge circuit 12b and the second H-bridge circuit 22b, can adopt the pre-driver circuit and H-bridge circuit in the EPB system of the prior art. For example, in practical applications, the pre-driver chip can adopt the pre-driver chip of model L9396 / 9397.

[0154] Optional, such as Figure 6 As shown, the motor drive units (e.g., the first motor drive unit 12 and the second motor drive unit 22) can also be coupled to a protection field effect transistor at the power supply end of the H-bridge circuit. Exemplarily, the first motor drive unit 12 can also include a first protection field effect transistor coupled to the power supply end of the first H-bridge circuit 12b, and the first protection field effect transistor can be used to protect the first H-bridge circuit 12b; the second pre-drive circuit 22a can also include a second protection field effect transistor coupled to the power supply end of the second H-bridge circuit 22b, and the second protection field effect transistor can be used to protect the second H-bridge circuit 22b.

[0155] In the above possible embodiments, the first motor drive unit 12 and the second motor drive unit 22 adopt two-stage drive, that is, the first motor drive unit 12 includes a first pre-drive circuit 12a and a first H-bridge circuit 12b, and the second motor drive unit 22 includes a second pre-drive circuit 22a and a second H-bridge circuit 22b, so that the driving capabilities of the two motor drive units can be improved.

[0156] Further, such as Figure 5 As shown, the first VIU 10 may further include a first connector 13, and the first motor drive unit 12 may be coupled to the first caliper motor 30 through the first connector 13. Similarly, the second VIU 20 may further include a second connector 23, and the second motor drive unit 22 may be coupled to the second caliper motor 40 through the second connector 23. At this time, the first connector 13 may be used to achieve coupling between the first H-bridge circuit 12b and the first caliper motor 30, and the second connector 23 may be used to achieve coupling between the second H-bridge circuit 22b and the second caliper motor 40.

[0157] Figure 6The connector in the VIU is shown by taking any one of the first VIU 10 and the second VIU 20 as an example. The connector can be used to couple with a caliper motor, an EPB button, a light emitting diode (LED), etc.

[0158] In the above possible embodiments, the first motor drive unit 12 in the first VIU 10 is coupled to the first caliper motor 30 via the first connector 13, and the second motor drive unit 22 in the second VIU 20 is coupled to the second caliper motor 40 via the second connector 23, thereby reducing the transmission loss of the first drive signal and the second drive signal and improving the signal quality.

[0159] Optionally, the first VIU 10 may further include a first power circuit 14, and the second VIU 20 may further include a second power circuit 24. The first power circuit 14 is used to receive a first power signal and supply power to the first motor drive unit 12 through the first power signal. For example, the first pre-drive circuit 12a and the first H-bridge circuit 12b may be supplied with power through the first power signal.

[0160] The second power supply circuit 24 is used to receive a second power supply signal and supply power to the second motor drive unit 22 through the second power supply signal, for example, to supply power to the second pre-drive circuit 22a and the second H-bridge circuit 22b through the second power supply signal. The first power supply signal and the second power supply signal can be two different power supply signals.

[0161] Exemplarily, each of the first VIU 10 and the second VIU 20 may be provided with two power supply interfaces, and the first power supply circuit 14 and the second power supply circuit 24 may be coupled to different power supply interfaces of the two power supply interfaces. Figure 6 As shown, the two power supply interfaces include VBAT0 and VBAT1, the first power supply circuit 14 can be coupled to the first power supply interface VBAT0, and the second power supply circuit 24 can be coupled to the second power supply interface VBAT1. Figure 6 Also shown is a combiner / anti-reverse connection circuit that is already in the VIU and is coupled to the two power supply interfaces (ie, VBAT0 and VBAT1).

[0162] In a possible embodiment, the first power supply circuit 14 may include a first anti-reverse connection circuit 14a. The first power supply circuit 14 may be used to provide anti-reverse connection protection for the first motor drive unit 12 through the first anti-reverse connection circuit 14a, so that when the first power supply signal is a reverse power supply signal, the first anti-reverse connection circuit 14a may be used to perform anti-reverse connection processing on the first power supply signal to avoid the first power supply signal from damaging the first motor drive unit 12, thereby improving the safety of the first motor drive unit 12.

[0163] Similarly, the second power supply circuit 24 may include a second anti-reverse connection circuit 24a. The second power supply circuit 24 may be used to provide anti-reverse connection protection for the second motor drive unit 22 through the second anti-reverse connection circuit 24a, so that when the second power supply signal is a reverse power supply signal, the second anti-reverse connection circuit 24a may be used to perform anti-reverse connection processing on the second power supply signal to avoid the second power supply signal from damaging the second motor drive unit 22, thereby improving the safety of the second motor drive unit 22.

[0164] In another possible embodiment, the first power supply circuit 14 may further include a first slow start circuit 14b. The first slow start circuit 14b may be used to: perform slow start processing on the first power supply signal, and transmit the processed power supply signal to the first pre-driver circuit 12a and the first H-bridge circuit 12b in the first motor drive unit 12 to power the first pre-driver circuit 12a and the first H-bridge circuit 12b. Optionally, the first pre-driver circuit 12a may also send first power supply feedback information to the first slow start circuit 14b, so that the first slow start circuit 14b may perform slow start processing on the first power supply signal based on the first power supply feedback information. The first power supply feedback information may be used to indicate the voltage or current of the first pre-driver circuit 12a and / or the first H-bridge circuit 12b.

[0165] Similarly, the second power supply circuit 24 may also include a second slow start circuit 24b. The second slow start circuit 24b may be used to: perform slow start processing on the second power supply signal, and transmit the processed power supply signal to the second pre-drive circuit 22a and the second H-bridge circuit 22b in the second motor drive unit 22 to power the second pre-drive circuit 22a and the second H-bridge circuit 22b. Optionally, the second pre-drive circuit 22a may also send second power supply feedback information to the second slow start circuit 24b, so that the second slow start circuit 24b may perform slow start processing on the second power supply signal based on the second power supply feedback information. The second power supply feedback information may be used to indicate the voltage or current of the second pre-drive circuit 22a and / or the second H-bridge circuit 22b.

[0166] It is understandable that the above Figure 6 In the figure, any one of the first VIU 10 and the second VIU 20 is taken as an example to illustrate the power supply circuit in the VIU, and the power supply circuit may include an anti-reverse connection circuit and a slow start circuit. In addition, Figure 6 The part of the VIU located in the filled area (anti-reverse connection circuit, soft start circuit, pre-drive circuit and H-bridge circuit, etc.) can be the newly added structural part of the embodiment of the present application, and the part located in the unfilled area (for example, MCU and CAN transceiver, etc.) can be the existing structural part in the VIU.

[0167] In the above possible embodiments, the first power supply signal and the second power supply signal are respectively subjected to slow start processing by the first slow start circuit 14b and the second slow start circuit 24b, thereby preventing the current or voltage of the first motor drive unit 12 and the second motor drive unit 22 from rising too fast, thereby preventing the vehicle from shaking when the parking brake is applied.

[0168] Optionally, one of the first VIU 10 and the second VIU 20 is further configured to be coupled with at least one of the following components: a brake light, a human machine interface (HMI), an ESC system, and the like.

[0169] In a possible embodiment, when one of the first VIU 10 and the second VIU 20 is used as a master VIU and the other VIU is used as a slave VIU, the master VIU can be coupled to at least one of the above components. Exemplarily, if the first VIU 10 is the master VIU and the second VIU 20 is the slave VIU, the first VIU 10 can be used to couple with at least one of a brake light, an HMI, and an ESC system, etc.; if the second VIU 20 is the master VIU and the first VIU 10 is the slave VIU, the second VIU 20 can be used to couple with at least one of a brake light, an HMI, and an ESC system, etc. Figure 7 In the description, the second VIU 20 is taken as the master VIU and the first VIU 10 is taken as the slave VIU as an example.

[0170] In the above possible embodiments, one of the first VIU 10 and the second VIU 20 can be coupled with at least one of the brake lights, HMI and ESC systems, so that the parking brake system can have only one VIU communicating with the above components. In this way, there is no need to improve the communication process between the parking brake system and the above components, thereby improving the compatibility of the parking brake system.

[0171] Based on this, an embodiment of the present application also provides a parking brake method, which can be applied to a parking brake system, the parking brake system includes a first VIU and a second VIU, the first VIU is used to couple with a first caliper motor, and the second VIU is used to couple with a second caliper motor, the method includes: the first VIU outputs a first drive signal, and the first drive signal is used to drive the first caliper motor; the second VIU outputs a second drive signal, and the second drive signal is used to drive the second caliper motor.

[0172] In a possible embodiment, when the vehicle needs to be parked, the first VIU and the second VIU can be used to output the first drive signal and the second drive signal respectively according to some basic information related to the vehicle, so that the first caliper motor provides braking force for the first caliper under the action of the first drive signal, and the second caliper motor provides braking force for the second brake caliper under the action of the second drive signal, thereby enabling the vehicle to achieve stable parking under the action of the above-mentioned braking force.

[0173] Optionally, the first VIU and the second VIU may include a software program for implementing the EPB function, and the software program may be referred to as EPB software. For example, the first VIU includes the first EPB software, and the second VIU includes the second EPB software. Specifically, the first EPB software may control the first VIU to output a first drive signal according to the above basic information, and the second EPB software may control the second VIU to output a second drive signal according to the above basic information.

[0174] Further, the first VIU and the second VIU are coupled via a CAN bus. The CAN bus may be a common CAN bus or a CAN FD. The first VIU and the second VIU may communicate at a certain period, for example, the period may be 8ms, 10ms or 15ms, etc., which is not specifically limited in the embodiments of the present application.

[0175] In a possible embodiment, the method further includes: the first VIU sends first parking brake status information corresponding to the first VIU to the second VIU via the CAN bus; and the second VIU sends second parking brake status information corresponding to the second VIU to the first VIU via the CAN bus.

[0176] In another possible embodiment, when a parking brake failure occurs in one of the first VIU and the second VIU, the failed VIU is also used to send indication information to the other VIU via the CAN bus, and the other VIU is also used to receive the indication information via the CAN bus and output a third drive signal based on the indication information, and the third drive signal is used to drive the first caliper motor and the second caliper motor.

[0177] Exemplarily, taking the parking failure of the first VIU as an example, the method also includes: the first VIU sends an indication message to the second VIU, and the indication message is used to indicate that a parking brake failure occurs in the first VIU; the second VIU receives the indication message, and outputs a third drive signal according to the indication message, and the third drive signal is used to drive the first caliper motor and the second caliper motor.

[0178] In another possible embodiment, the method further includes: the first VIU or the second VIU sends parking brake status information corresponding to the parking brake system. Among them, one of the first VIU and the second VIU can be used as a master VIU, and the other VIU can be used as a slave VIU, and specifically, the master VIU can send the parking brake status information corresponding to the parking brake system.

[0179] Exemplarily, if the first VIU is the master VIU and the second VIU is the slave VIU, the first VIU can send parking brake status information corresponding to the parking brake system to other systems of the vehicle, for example, the other systems may include an ESC system; if the second VIU is the master VIU and the first VIU is the slave VIU, the second VIU can send parking brake status information corresponding to the parking brake system to other systems of the vehicle.

[0180] Further, the first VIU includes a first controller and a first motor drive unit, and the first VIU outputs a first drive signal, including: the first controller outputs a first control signal, and the first motor drive unit outputs the first drive signal according to the first control signal. The second VIU includes a second controller and a second motor drive unit, and the second VIU outputs a second drive signal, including: the second controller outputs a second control signal, and the second motor drive unit outputs a second drive signal according to the second control signal.

[0181] The first controller and the first motor drive unit, and the second controller and the second motor drive unit can be coupled via a serial peripheral interface SPI and an IO interface.

[0182] Optionally, the first controller and the second controller may be an MCU, which may be a single-chip system integrating a microcontroller, a memory, an input / output interface, and other functions. Currently, an MCU has been integrated into the VIU of the vehicle, so that the original MCU in the VIU can be reused to achieve this. Exemplarily, the first controller may be the original MCU of the first VIU, and the second controller may be the original MCU of the second VIU.

[0183] In a possible embodiment, the first motor drive unit and the second motor drive unit may be two-stage drives, that is, each motor drive unit may be composed of two-stage drive circuits, and the motor drive unit may also be referred to as a drive module. The first motor drive unit includes a first pre-drive circuit and a first H-bridge circuit, and the second motor drive unit includes a second pre-drive circuit and a second H-bridge circuit.

[0184] In a possible example, the first pre-driver circuit can drive the first H-bridge circuit and perform voltage detection and current detection on the first H-bridge circuit; the second pre-driver circuit can drive the second H-bridge circuit and perform voltage detection and current detection on the second H-bridge circuit.

[0185] Optionally, when the first H-bridge circuit has an abnormal condition such as overcurrent or overvoltage, the first controller may also shut down the first H-bridge circuit through the first pre-driver circuit, that is, shut down the first H-bridge circuit for protection. Similarly, when the second H-bridge circuit has an abnormal condition such as overcurrent or overvoltage, the second controller may also shut down the second H-bridge circuit through the second pre-driver circuit, that is, shut down the second H-bridge circuit for protection.

[0186] Furthermore, the first VIU also includes a first power supply circuit, and the second VIU also includes a second power supply circuit. The method also includes: the first power supply circuit receives a first power supply signal, and supplies power to the first motor drive unit through the first power supply signal; the second power supply circuit receives a second power supply signal, and supplies power to the second motor drive unit through the second power supply signal, and the first power supply signal and the second power supply signal are two power supply signals provided by the same power supply.

[0187] Exemplarily, two power supply interfaces may be provided in each of the first VIU and the second VIU, and the first power supply circuit and the second power supply circuit may be coupled to different power supply interfaces of the two power supply interfaces. For example, the two power supply interfaces include VBAT0 and VBAT1, the first power supply circuit may be coupled to the first power supply interface VBAT0, and the second power supply circuit may be coupled to the second power supply interface VBAT1.

[0188] In a possible embodiment, the first power supply circuit includes a first anti-reverse connection circuit. The method further includes: the first power supply circuit provides anti-reverse connection protection for the first motor drive unit through the first anti-reverse connection circuit, so that when the first power supply signal is a reverse power supply signal, the first anti-reverse connection circuit can be used to perform anti-reverse connection processing on the first power supply signal to avoid the first power supply signal from causing damage to the first motor drive unit, thereby improving the safety of the first motor drive unit.

[0189] Similarly, the second power supply circuit may include a second anti-reverse connection circuit. The method also includes: the second power supply circuit provides anti-reverse connection protection for the second motor drive unit through the second anti-reverse connection circuit, so that when the second power supply signal is a reverse power supply signal, the second power supply signal can be processed for anti-reverse connection through the second anti-reverse connection circuit to avoid the second power supply signal from damaging the second motor drive unit, thereby improving the safety of the second motor drive unit.

[0190] In another possible embodiment, the first power supply circuit may further include a first slow start circuit. The method further includes: the first slow start circuit performs slow start processing on the first power supply signal, and transmits the processed power supply signal to the first pre-drive circuit and the first H-bridge circuit in the first motor drive unit to power the first pre-drive circuit and the first H-bridge circuit.

[0191] Similarly, the second power supply circuit may further include a second slow start circuit. The method further includes: the second slow start circuit performs slow start processing on the second power supply signal, and transmits the processed power supply signal to the second pre-drive circuit and the second H-bridge circuit in the second motor drive unit to power the second pre-drive circuit and the second H-bridge circuit.

[0192] Furthermore, the first VIU or the second VIU is also used to couple with at least one of the following: a brake light, a human-machine interface, and an electronic stability control ESC system.

[0193] In a possible embodiment, when one of the first VIU and the second VIU is used as a master VIU and the other VIU is used as a slave VIU, the master VIU can be coupled to at least one of the above components. Exemplarily, if the first VIU is the master VIU and the second VIU is the slave VIU, the first VIU can be used to couple with at least one of a brake light, an HMI, and an ESC system, etc.; if the second VIU is the master VIU and the first VIU is the slave VIU, the second VIU can be used to couple with at least one of a brake light, an HMI, and an ESC system, etc.

[0194] On the other hand, the embodiment of the present application further provides a VIU, which can be applied to a parking brake system, and the VIU is used to couple with a caliper motor. The VIU is used to: output a driving signal, and the driving signal is used to drive the caliper motor.

[0195] Furthermore, the VIU is coupled to other VIUs via a CAN bus, and can communicate with other VIUs or other systems via the CAN bus.

[0196] In a possible embodiment, the VIU is further used to: send parking brake status information corresponding to the VIU to the other VIU via the CAN bus; and / or receive parking brake status information corresponding to the other VIU sent by the other VIU via the CAN bus.

[0197] In another possible embodiment, the VIU is also used to: when a parking brake failure occurs, send indication information to the other VIU, where the indication information is used to indicate that a parking brake failure has occurred in the VIU; and / or receive indication information sent by the other VIU when a parking brake failure occurs, and output a drive signal according to the indication information.

[0198] In yet another possible embodiment, the VIU is further used to: send parking brake status information corresponding to the parking brake system.

[0199] Further, such as Figure 8As shown, the VIU includes a controller and a motor drive unit, wherein the controller is used to output a control signal, and the motor drive unit is used to output the drive signal according to the control signal.

[0200] Optionally, the controller may be an MCU.

[0201] Optionally, the motor drive unit may be a two-stage drive. Exemplarily, the motor drive unit includes a pre-drive circuit and an H-bridge circuit.

[0202] Further, such as Fig. 9 As shown, the VIU also includes: the power supply circuit, which is used to receive a power supply signal and supply power to the motor drive unit through the power supply signal.

[0203] In a possible embodiment, the power supply circuit includes an anti-reverse connection circuit. The power supply circuit can be used to provide anti-reverse connection protection for the motor drive unit through the anti-reverse connection circuit, so that when the power supply signal is a reverse power supply signal, the anti-reverse connection circuit can be used to perform anti-reverse connection processing on the power supply signal to avoid the power supply signal from damaging the motor drive unit, thereby improving the safety of the motor drive unit.

[0204] In another possible embodiment, the power supply circuit may further include a slow start circuit. The slow start circuit may be used to perform slow start processing on the power supply signal and transmit the processed power supply signal to the pre-drive circuit and the H-bridge circuit in the motor drive unit to supply power to the pre-drive circuit and the H-bridge circuit.

[0205] Furthermore, the VIU is also used to couple with at least one of the following: a brake light, a human-machine interface, and an ESC system.

[0206] In another aspect, the embodiment of the present application further provides a parking brake method, which can be applied to a VIU of a parking brake system, the VIU being used to couple with a caliper motor. The method comprises: the VIU outputting a driving signal, the driving signal being used to drive the caliper motor.

[0207] Furthermore, the VIU is coupled to other VIUs via a CAN bus, and can communicate with other VIUs or other systems via the CAN bus.

[0208] In a possible embodiment, the method further includes: the VIU sending parking brake status information corresponding to the VIU to the other VIU via the CAN bus; and / or, receiving parking brake status information corresponding to the other VIU sent by the other VIU via the CAN bus.

[0209] In another possible embodiment, the method further includes: when a parking brake failure occurs, the VIU sends indication information to the other VIU, where the indication information is used to indicate that a parking brake failure occurs in the VIU; and / or, receives indication information sent by the other VIU when a parking brake failure occurs, and outputs a drive signal according to the indication information.

[0210] In yet another possible embodiment, the method further includes: the VIU sending parking brake status information corresponding to the parking brake system.

[0211] Furthermore, the VIU includes a controller and a motor drive unit. Accordingly, the VIU outputs a drive signal including: the controller outputs a control signal, and the motor drive unit outputs the drive signal according to the control signal.

[0212] Optionally, the controller may be an MCU.

[0213] Optionally, the motor drive unit may be a two-stage drive. Exemplarily, the motor drive unit includes a pre-drive circuit and an H-bridge circuit.

[0214] Furthermore, the VIU also includes the power supply circuit, and the method also includes: the power supply circuit receives a power supply signal and supplies power to the motor drive unit through the power supply signal.

[0215] In a possible embodiment, the power supply circuit includes an anti-reverse connection circuit, and the method further includes: the power supply circuit provides anti-reverse connection protection for the motor drive unit through the anti-reverse connection circuit, so that when the power supply signal is a reverse power supply signal, the anti-reverse connection circuit can be used to perform anti-reverse connection processing on the power supply signal to avoid the power supply signal from causing damage to the motor drive unit, thereby improving the safety of the motor drive unit.

[0216] In another possible embodiment, the power supply circuit may further include a soft start circuit, and the method further includes: the soft start circuit performs soft start processing on the power supply signal, and transmits the processed power supply signal to the pre-drive circuit and the H-bridge circuit in the motor drive unit to power the pre-drive circuit and the H-bridge circuit.

[0217] Furthermore, the VIU is also used to couple with at least one of the following: a brake light, a human-machine interface, and an ESC system.

[0218] Based on this, the embodiment of the present application also provides a vehicle, such as Fig.10 As shown, the vehicle comprises the parking brake system provided above, a first caliper motor, a second caliper motor, a first caliper and a second caliper. The parking brake system is used to drive the first caliper motor and the second caliper motor to provide power to the first caliper and the second caliper respectively.

[0219] It can be understood that all relevant contents of the embodiments corresponding to the above-mentioned parking brake system can be referred to in the description of the embodiments corresponding to the above-mentioned parking brake method, VIU and vehicle, and the embodiments of the present application will not be repeated here.

[0220] In the method provided in the embodiment of the present application, it can be implemented in whole or in part by software, hardware or a combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, twisted pair) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any medium that a computer can access or a data storage device such as a server or a data center that includes one or more media integrations. The medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., an optical disk), or a semiconductor medium (e.g., a solid-state hard disk), etc.

[0221] In another aspect of the present application, a readable storage medium is provided, which includes instructions. When at least one processor of a device executes the instructions, the device executes the steps in the parking brake method embodiment corresponding to the above-mentioned parking brake system.

[0222] In another aspect of the present application, a readable storage medium is provided, which includes instructions. When at least one processor of the device executes the instructions, the device executes the steps in the parking brake method embodiment corresponding to the above-mentioned VIU.

[0223] In another aspect of the present application, a computer program product is provided, which includes instructions. When at least one processor of a device executes the instructions, the device executes the steps in the parking brake method embodiment corresponding to the above-mentioned parking brake system.

[0224] In another aspect of the present application, a computer program product is provided, which includes instructions. When at least one processor of a device executes the instructions, the device executes the steps in the parking brake method embodiment corresponding to the above VIU.

[0225] Finally, it should be noted that the above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A parking brake system, characterized in that: The parking brake system comprises a first vehicle integrated unit VIU and a second VIU, wherein the first VIU is used to couple with a first caliper motor, and the second VIU is used to couple with a second caliper motor; The first VIU is used to output a first drive signal, and the first drive signal is used to drive the first caliper motor; The second VIU is used to output a second driving signal, and the second driving signal is used to drive the second caliper motor.

2. The parking brake system according to claim 1, characterized in that: The first VIU and the second VIU are coupled via a controller area network (CAN) bus; The first VIU is further configured to send first parking brake status information corresponding to the first VIU to the second VIU via the CAN bus; The second VIU is further used to send second parking brake status information corresponding to the second VIU to the first VIU through the CAN bus.

3. The parking brake system according to claim 1 or 2, characterized in that: The first VIU includes a first controller and a first motor drive unit, and the second VIU includes a second controller and a second motor drive unit.

4. The parking brake system according to claim 3, characterized in that: The first motor driving unit includes a first pre-driving circuit and a first H-bridge circuit, and the second motor driving unit includes a second pre-driving circuit and a second H-bridge circuit.

5. The parking brake system according to claim 3 or 4, characterized in that: The first controller is used to output a first control signal, and the first motor driving unit is used to output the first driving signal according to the first control signal; The second controller is used for a second control signal, and the second motor driving unit is used for outputting the second driving signal according to the second control signal.

6. The parking brake system according to any one of claims 3 to 5, characterized in that: The first VIU further includes a first connector, through which the first motor drive unit is coupled to the first caliper motor; the second VIU further includes a second connector, through which the second motor drive unit is coupled to the second caliper motor.

7. The parking brake system according to any one of claims 3 to 6, characterized in that: The first VIU further includes a first power supply circuit, and the second VIU further includes a second power supply circuit; The first power supply circuit is used to receive a first power supply signal and supply power to the first motor drive unit through the first power supply signal; The second power supply circuit is used to receive a second power supply signal and supply power to the second motor drive unit via the second power supply signal. The first power supply signal and the second power supply signal are two different power supply signals.

8. The parking brake system according to claim 7, characterized in that: The first power supply circuit includes a first reverse connection protection circuit, and the second power supply circuit includes a second reverse connection protection circuit.

9. The parking brake system according to claim 7 or 8, characterized in that: The first power supply circuit further includes a first slow start circuit, and the second power supply circuit includes a second slow start circuit.

10. The parking brake system according to any one of claims 1 to 9, characterized in that: The first VIU is further configured to send indication information to the second VIU when a parking brake failure occurs, wherein the indication information is configured to indicate that a parking brake failure occurs in the first VIU; The second VIU is further used to receive the indication information and output a third driving signal according to the indication information, wherein the third driving signal is used to drive the first caliper motor and the second caliper motor.

11. The parking brake system according to any one of claims 1 to 10, characterized in that: The first VIU or the second VIU is further used to send parking brake status information corresponding to the parking brake system.

12. The parking brake system according to any one of claims 1 to 11, characterized in that: The first VIU or the second VIU is further used to couple with at least one of the following: a brake light, a human-machine interface, and an electronic stability control ESC system.

13. A parking brake method, characterized in that: Applied to a parking brake system, the parking brake system includes a first vehicle integrated unit VIU and a second VIU, the first VIU is used to couple with a first caliper motor, the second VIU is used to couple with a second caliper motor, the method includes: The first VIU outputs a first driving signal, and the first driving signal is used to drive the first caliper motor; The second VIU outputs a second driving signal, and the second driving signal is used to drive the second caliper motor.

14. The parking brake method according to claim 13, characterized in that: The first VIU and the second VIU are coupled via a controller area network (CAN) bus, and the method further comprises: The first VIU sends first parking brake status information corresponding to the first VIU to the second VIU via the CAN bus; The second VIU sends second parking brake status information corresponding to the second VIU to the first VIU through the CAN bus.

15. The parking brake method according to claim 13 or 14, characterized in that: The first VIU includes a first controller and a first motor driving unit, and the first VIU outputs a first driving signal, including: the first controller outputs a first control signal, and the first motor driving unit outputs the first driving signal according to the first control signal; The second VIU includes a second controller and a second motor driving unit, and the second VIU outputting a second driving signal includes: the second controller outputting a second control signal, and the second motor driving unit outputting the second driving signal according to the second control signal.

16. The parking brake method according to claim 15, characterized in that: The first VIU further includes a first power supply circuit, the second VIU further includes a second power supply circuit, and the method further includes: The first power supply circuit receives a first power supply signal and supplies power to the first motor drive unit through the first power supply signal; The second power supply circuit receives a second power supply signal and supplies power to the second motor drive unit via the second power supply signal. The first power supply signal and the second power supply signal are two power supply signals provided by the same power supply.

17. The parking brake method according to claim 16, characterized in that: The first power supply circuit includes a first reverse connection protection circuit, and the second power supply circuit includes a second reverse connection protection circuit.

18. The parking brake method according to claim 16 or 17, characterized in that: The first power supply circuit further includes a first slow start circuit, and the second power supply circuit includes a second slow start circuit.

19. The parking brake method according to any one of claims 13 to 18, characterized in that: The method further comprises: When a parking brake failure occurs in the first VIU, the first VIU sends indication information to the second VIU, where the indication information is used to indicate that a parking brake failure occurs in the first VIU; The second VIU receives the indication information, and outputs a third driving signal according to the indication information, where the third driving signal is used to drive the first caliper motor and the second caliper motor.

20. The parking brake method according to any one of claims 13 to 19, characterized in that: The method further comprises: The first VIU or the second VIU sends parking brake status information corresponding to the parking brake system.

21. The parking brake method according to any one of claims 13 to 20, characterized in that: The first VIU or the second VIU is further used to couple with at least one of the following: a brake light, a human-machine interface, and an electronic stability control ESC system.

22. A vehicle integrated unit (VIU), characterized in that: Applied in a parking brake system, the VIU is used to couple with a caliper motor; The VIU is used to output a driving signal, and the driving signal is used to drive the caliper motor.

23. The VIU according to claim 22, characterized in that The VIU is coupled to other VIUs via a controller area network (CAN) bus, and the VIU is further used for: Sending parking brake status information corresponding to the VIU to the other VIU via the CAN bus; and / or, The parking brake status information corresponding to the other VIU sent by the other VIU is received through the CAN bus.

24. The VIU according to claim 22 or 23, characterized in that The VIU is also used to: When a parking brake failure occurs, sending indication information to the other VIU, wherein the indication information is used to indicate that the parking brake failure occurs in the VIU; and / or, receiving indication information sent by the other VIU when a parking brake failure occurs, and outputting a driving signal according to the indication information.

25. The VIU according to any one of claims 22 to 24, characterized in that: The VIU includes a controller and a motor drive unit; The controller is used to output a control signal; The motor driving unit is used to output the driving signal according to the control signal.

26. The VIU according to claim 25, characterized in that The VIU also includes: The power supply circuit is used to receive a power supply signal and supply power to the motor drive unit through the power supply signal.

27. The VIU according to any one of claims 22 to 26, characterized in that: The VIU is also used to: Sending parking brake status information corresponding to the parking brake system.

28. The VIU according to any one of claims 22 to 27, characterized in that: The VIU is further configured to be coupled with at least one of the following: a brake light, a human-machine interface, and an electronic stability control (ESC) system.

29. A vehicle, characterized in that: The vehicle comprises a parking brake system as claimed in any one of claims 1 to 12, a first caliper motor, a second caliper motor, a first caliper and a second caliper, wherein the parking brake system is used to drive the first caliper motor and the second caliper motor to provide power to the first caliper and the second caliper respectively.

30. A readable storage medium, characterized in that: The readable storage medium includes instructions, and when at least one processor of the device executes the instructions, the device executes the parking brake method according to any one of claims 13 to 21.

31. A computer program product, characterized in that The computer program product comprises instructions, and when at least one processor of a device executes the instructions, the device executes the parking brake method according to any one of claims 13 to 21.

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