Parking braking device, control method and vehicle

Abstract

The invention provides a parking braking device, a control method and a vehicle, and belongs to the technical field of vehicles. The electromagnet comprises an iron core and a coil surrounding the outer side of the iron core; the pawl is connected with the iron core; the ratchet wheel is fixed on an output shaft of the brake motor, the ratchet wheel comprises a plurality of ratchets, and self-locking structures are arranged on the ratchets; the coil is configured to drive the iron core to drive the pawl to move to the space between teeth of the ratchet wheel; the ratchet wheel is configured to respond to rotation of the output shaft in the first direction to drive the self-locking structure to be buckled with the pawl so as to prevent the pawl from moving in the direction away from the ratchet wheel. After the pawl is inserted into the ratchet, the position of the pawl is fixed through the self-locking structure, so that the pawl is prevented from being disengaged from the space between the ratchets, use of a hydraulic cylinder and a bistable electromagnet is avoided, and the cost consumed for achieving the parking braking function of a vehicle is reduced.

Description

Technical Field

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

[0002] The parking brake device is a device used to prevent the vehicle from moving during parking, and includes a brake caliper, a brake motor, and a fixing device used to prevent the output shaft of the brake motor from rotating. The parking brake process is usually that the output shaft of the brake motor first drives the brake caliper to apply a certain clamping force to the brake disc, and then the fixing device fixes the position of the output shaft, so that the brake caliper maintains the original clamping force during parking.

[0003] In the related art, the fixing device is usually a ratchet pawl mechanism, in which the ratchet is fixed to the output shaft of the brake motor, and the output shaft is prevented from rotating by inserting the pawl between the teeth of the ratchet. Since the hydraulic cylinder or bistable electromagnet can keep its output end position fixed even when it is not powered, in order to prevent the pawl from coming out again after being inserted between the teeth of the ratchet, the pawl is usually connected to the output end of the hydraulic cylinder or bistable electromagnet, so that the position of the pawl is fixed after the pawl is inserted between the teeth of the ratchet. However, the production cost of the hydraulic cylinder and the bistable electromagnet is relatively high, which in turn increases the cost of realizing the parking brake function of the vehicle. Summary of the invention

[0004] Based on this, the present application provides a parking brake device, a control method and a vehicle to solve the problem of how to reduce the cost consumed by the vehicle to implement the parking brake function.

[0005] According to a first aspect of an embodiment of the present application, a parking brake device is provided, the parking brake device comprising: Brake motor; An electromagnet, comprising an iron core and a coil surrounding the outer side of the iron core; A pawl connected to the iron core; A ratchet wheel fixed on the output shaft of the brake motor, the ratchet wheel comprising a plurality of ratchet teeth, and a self-locking structure is provided on the ratchet teeth; The coil is configured to drive the iron core to drive the pawl to move between the teeth of the ratchet wheel; The ratchet is configured to, in response to the rotation of the output shaft in a first direction, drive the self-locking structure to engage with the pawl to prevent the pawl from moving away from the ratchet; and, in response to the rotation of the output shaft in a second direction, drive the self-locking structure to separate from the pawl to allow the pawl to move away from the ratchet; The first direction is opposite to the second direction.

[0006] Optionally, the self-locking structure comprises a recessed portion provided on the tooth surface of the ratchet; The pawl is provided with a protrusion adapted to the recess; The ratchet is specifically configured to drive the recessed portion to engage with the raised portion in response to the rotation of the output shaft in the first direction.

[0007] Optionally, the recessed portion includes an inter-tooth space corresponding to an inclination angle of a tooth surface of the ratchet tooth, and the inclination angle of the tooth surface is greater than a preset angle; The ratchet wheel is specifically configured to drive the inter-tooth space corresponding to the tooth surface inclination angle of the ratchet teeth to engage with the protrusion in response to the rotation of the output shaft in the first direction.

[0008] Optionally, the tooth surface of the ratchet comprises a first tooth surface located on a side of the ratchet wheel close to the clockwise direction and a second tooth surface located on a side of the ratchet wheel close to the counterclockwise direction; The first direction includes a clockwise direction, and the recessed portion is located on the first tooth surface; Alternatively, the first direction includes a counterclockwise direction, and the recessed portion is located on the second tooth surface.

[0009] Optionally, the electromagnet further comprises a return structure connected to the iron core, and the return structure is configured to drive the iron core to drive the pawl to disengage from between the teeth of the ratchet wheel.

[0010] Optionally, the iron core comprises an iron rod, and opposite ends of the iron rod are respectively connected to the pawl and the pressure plate, wherein the pressure plate extends out of the coil; The return structure comprises a coil spring, and the coil spring is sleeved on the iron rod; one end of the coil spring abuts against the end of the coil, and the other end abuts against the pressure plate.

[0011] A second aspect of the embodiment of the present application provides a method for controlling a parking brake device, the method being applied to the parking brake device described in the first aspect of the embodiment of the present application, the method comprising: In response to a parking signal, the electromagnet is controlled to energize the coil, so as to drive the iron core to drive the pawl to move between the teeth of the ratchet wheel; When the pawl is located between the teeth of the ratchet wheel, controlling the output shaft of the brake motor to rotate in the first direction to drive the self-locking structure to engage with the pawl; When it is detected that a preset condition is met, the electromagnet is controlled to cut off power to the coil; wherein the preset condition at least includes the self-locking structure being engaged with the pawl.

[0012] Optionally, the parking brake device further includes a return structure connected to the iron core, and after controlling the electromagnet to cut off power to the coil, the method further includes: In response to a parking release signal, controlling the output shaft of the brake motor to rotate in the second direction to drive the self-locking structure to separate from the pawl; When the self-locking structure is separated from the pawl, the return structure is controlled to drive the iron core to drive the pawl to disengage from the teeth of the ratchet wheel.

[0013] Optionally, in response to the parking signal, controlling the electromagnet to energize the coil includes: In response to a parking signal, obtaining an opening degree of a brake pedal and a required braking force of the vehicle; determining a target braking force corresponding to the opening degree of the brake pedal; Based on the required braking force and the target braking force, applying a corresponding target current to the brake motor so that the ratchet is located at a target position; When the ratchet wheel is located at the target position, the electromagnet is controlled to energize the coil.

[0014] Optionally, the step of obtaining the required braking force includes: Obtaining the slope of the road on which the vehicle is located; determining the required braking force based on the slope; There is a positive correlation between the slope and the required braking force.

[0015] Optionally, after controlling the electromagnet to de-energize the coil, the method further includes: Get the rotation speed of the wheel; Based on the rotation speed, determining whether the vehicle is sliding down a slope; When the vehicle rolls down the slope, the actual parking brake force of the vehicle is controlled to increase from a current value.

[0016] A third aspect of the embodiments of the present application provides a vehicle, comprising the parking brake device described in the first aspect of the embodiments of the present application, or comprising a control module, wherein the control module is used to implement the steps of the control method of the parking brake device described in the second aspect of the embodiments of the present application.

[0017] The present application provides a parking brake device, a control method and a vehicle, wherein the parking brake device comprises: a brake motor; an electromagnet comprising an iron core and a coil surrounding the outside of the iron core; a pawl connected to the iron core; a ratchet fixed to the output shaft of the brake motor, wherein the ratchet comprises a plurality of ratchet teeth, and a self-locking structure is provided on the ratchet teeth; the coil is configured to drive the iron core to drive the pawl to move to between the teeth of the ratchet; the ratchet is configured to drive the self-locking structure to engage with the pawl in response to the rotation of the output shaft in a first direction, so as to prevent the pawl from moving away from the ratchet; and, in response to the rotation of the output shaft in a second direction, drive the self-locking structure to separate from the pawl, so as to allow the pawl to move away from the ratchet; wherein the first direction is opposite to the second direction.

[0018] The parking brake device described in the present application includes an electromagnet, a brake motor, a ratchet and a pawl, wherein a self-locking structure is provided on the ratchet teeth of the ratchet. After the coil of the electromagnet drives the iron core of the electromagnet to drive the pawl to insert into the ratchet, the ratchet will drive the self-locking structure to engage with the pawl in response to the rotation of the output shaft in the first direction, thereby preventing the pawl from moving away from the ratchet. After the pawl is inserted into the ratchet teeth, the present application fixes the position of the pawl through the self-locking structure to prevent the pawl from falling out from between the teeth, so that the position of the pawl after being inserted into the teeth no longer needs to be fixed by the output end of the hydraulic cylinder and the bistable electromagnet, thereby avoiding the use of the hydraulic cylinder and the bistable electromagnet, and reducing the cost consumed by the vehicle to realize the parking brake function. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 is a structural schematic diagram of a parking brake device provided in an embodiment of the present application; Figure 2 is a partial schematic diagram of a parking brake device including a self-locking structure provided in an embodiment of the present application; Figure 3 is a step diagram of a control method for a parking brake device provided in an embodiment of the present application; Figure 4 is a step diagram of a method for releasing the parking brake provided in an embodiment of the present application; Figure 5 It is a step diagram of a control method of a brake motor provided in an embodiment of the present application; Figure 6 is a step diagram of a method for obtaining required braking force provided in an embodiment of the present application; Figure 7 This is a step diagram of a method for preventing a vehicle from sliding down a slope provided in an embodiment of the present application; Figure 8 is a flow chart of a control method of a parking brake device provided in an embodiment of the present application; Fig. 9 is a diagram showing position changes of the ratchet and the pawl during the parking and unparking processes provided by an embodiment of the present application; Fig.10 It is a structural schematic diagram of a control system of a parking brake device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] The parking brake device is a device used to prevent the vehicle from moving during parking, and includes a brake caliper, a brake motor, and a fixing device used to prevent the output shaft of the brake motor from rotating. The parking brake process is usually that the output shaft of the brake motor first drives the brake caliper to apply a certain clamping force to the brake disc, and then the fixing device fixes the position of the output shaft, so that the brake caliper maintains the original clamping force during parking.

[0023] In the related art, the fixing device is usually a ratchet pawl mechanism, in which the ratchet is fixed to the output shaft of the brake motor, and the output shaft is prevented from rotating by inserting the pawl between the teeth of the ratchet. Since the hydraulic cylinder or bistable electromagnet can keep its output end position fixed even when it is not powered, in order to prevent the pawl from coming out again after being inserted between the teeth of the ratchet, the pawl is usually connected to the output end of the hydraulic cylinder or bistable electromagnet, so that the position of the pawl is fixed after the pawl is inserted between the teeth of the ratchet. However, the production cost of the hydraulic cylinder and the bistable electromagnet is relatively high, which in turn increases the cost of realizing the parking brake function of the vehicle.

[0024] Based on this, in order to solve the problem of how to reduce the cost consumed by the vehicle to realize the parking brake function, the present application provides a parking brake device, a control method and a vehicle, wherein the parking brake device includes an electromagnet, a brake motor, a ratchet and a pawl, wherein a self-locking structure is provided on the ratchet teeth of the ratchet. After the coil of the electromagnet drives the iron core of the electromagnet to drive the pawl to insert into the ratchet, the ratchet will drive the self-locking structure to engage with the pawl in response to the rotation of the output shaft in the first direction, thereby preventing the pawl from moving away from the ratchet. After the pawl is inserted into the ratchet teeth, the present application fixes the position of the pawl through the self-locking structure to prevent the pawl from falling out from between the teeth, so that the position of the pawl after being inserted between the teeth no longer needs to be fixed by the output end of the hydraulic cylinder and the bistable electromagnet, thereby avoiding the use of the hydraulic cylinder and the bistable electromagnet, and reducing the cost consumed by the vehicle to realize the parking brake function. The specific method is as follows: The first aspect of the present application proposes an embodiment, such as Figure 1 A schematic diagram of the structure of a parking brake device is shown, and Figure 2 A partial schematic diagram of a parking brake device including a self-locking structure is shown, and the parking brake device includes: Brake motor; An electromagnet, comprising an iron core and a coil surrounding the outer side of the iron core; A pawl connected to the iron core; A ratchet wheel fixed on the output shaft of the brake motor, the ratchet wheel comprising a plurality of ratchet teeth, and a self-locking structure is provided on the ratchet teeth; The coil is configured to drive the iron core to drive the pawl to move between the teeth of the ratchet wheel; The ratchet is configured to, in response to the rotation of the output shaft in a first direction, drive the self-locking structure to engage with the pawl to prevent the pawl from moving away from the ratchet; and, in response to the rotation of the output shaft in a second direction, drive the self-locking structure to separate from the pawl to allow the pawl to move away from the ratchet; The first direction is opposite to the second direction.

[0025] The brake motor refers to an electric motor used to drive the brake caliper to clamp the brake disc or drive the brake caliper to release the brake disc. The output shaft of the brake motor is connected to the brake caliper. When the vehicle is parked, the output shaft of the brake motor rotates to drive the brake caliper to clamp the brake disc, thereby applying braking force to the wheel. In an optional embodiment, the magnitude of the clamping force applied by the brake caliper on the brake disc can be changed by applying different currents to the brake motor.

[0026] The electromagnet includes an iron core and a coil surrounding the outside of the iron core. When the electromagnet energizes the coil, the magnetic field generated by the coil will cause the iron core to move under the drive of the magnetic field force; when the electromagnet de-energizes the coil, the magnetic field generated by the coil disappears, and the iron core will no longer be affected by the magnetic field force from the magnetic field. In an optional embodiment, the shape of the iron core can be block-shaped.

[0027] The parking brake device also includes a pawl and a ratchet. The pawl is connected to the iron core of the electromagnet, and the ratchet is fixed to the output shaft of the brake motor and rotates synchronously with the output shaft of the brake motor. When the output shaft of the brake motor rotates, the ratchet will also rotate synchronously with the output shaft; when the ratchet stops rotating under the action of external force, the output shaft of the brake motor will also stop rotating.

[0028] The ratchet wheel includes multiple ratchet teeth evenly distributed on the circumference, and the gap between two adjacent ratchet teeth is the teeth of the ratchet wheel. When the pawl extends into the teeth of the ratchet wheel, the ratchet wheel will remain relatively stationary with the pawl under the obstruction of the pawl; when the pawl is separated from the teeth of the ratchet wheel, the force obstructing the ratchet wheel disappears, and the ratchet wheel will be allowed to move relative to the pawl.

[0029] When the driver presses the parking brake button, the vehicle responds to the driver's trigger signal and controls the output shaft of the brake motor to drive the brake caliper to clamp the brake disc. During the process of the brake caliper clamping the brake disc, the ratchet will also rotate with the output shaft. When the parking brake force of the vehicle reaches the required braking force, the electromagnet energizes the coil, so that the iron core drives the pawl to move closer to the ratchet under the action of the magnetic field force, and moves to the teeth of the ratchet.

[0030] After the pawl moves to the teeth of the ratchet wheel, the output shaft of the brake motor rotates in the first direction, thereby driving the self-locking structure of the ratchet wheel to engage with the pawl, so as to prevent the pawl from moving away from the ratchet wheel and prevent the pawl from coming out of the teeth after being inserted into the teeth. At the same time, when the parking brake is released, the output shaft of the brake motor rotates in the second direction opposite to the first direction, thereby driving the self-locking structure to separate from the pawl, so as to allow the pawl to move away from the ratchet wheel.

[0031] In an optional embodiment, the self-locking structure can be a buckle, and a slot corresponding to the buckle is provided on the pawl. The output shaft of the brake motor moves in a first direction, thereby driving the buckle to engage with the slot; the output shaft of the brake motor moves in a second direction, thereby driving the buckle to separate from the slot.

[0032] In an optional implementation, the first direction may be counterclockwise, and the second direction may be clockwise; or, the first direction may be clockwise, and the second direction may be counterclockwise.

[0033] The parking brake device described in this embodiment includes an electromagnet, a brake motor, a ratchet and a pawl, wherein a self-locking structure is provided on the ratchet teeth of the ratchet. After the coil of the electromagnet drives the iron core of the electromagnet to drive the pawl to insert into the ratchet, the ratchet will drive the self-locking structure to engage with the pawl in response to the rotation of the output shaft in the first direction, thereby preventing the pawl from moving away from the ratchet. In this embodiment, after the pawl is inserted into the ratchet teeth, the position of the pawl is fixed by the self-locking structure to prevent the pawl from falling out from between the teeth, so that the position of the pawl after being inserted into the teeth no longer needs to be fixed by the output end of the hydraulic cylinder and the bistable electromagnet, thereby avoiding the use of the hydraulic cylinder and the bistable electromagnet, and reducing the cost consumed by the vehicle to realize the parking brake function.

[0034] Optionally, the self-locking structure comprises a recessed portion provided on the tooth surface of the ratchet; The pawl is provided with a protrusion adapted to the recess; The ratchet is specifically configured to drive the recessed portion to engage with the raised portion in response to the rotation of the output shaft in the first direction.

[0035] The self-locking structure may include a recessed portion provided on the ratchet, wherein the recessed portion refers to a portion on the tooth surface of the ratchet that bends toward the inside of the ratchet. The pawl is provided with a raised portion adapted to the recessed portion, wherein the raised portion refers to a portion on the pawl that bends toward the outside of the pawl. The raised portion adapted to the recessed portion means that the raised portion should be at least partially engaged with the recessed portion, that is, the raised portion should be at least partially extended into the recessed portion.

[0036] When the output shaft of the brake motor rotates in the first direction, the output shaft drives the ratchet wheel to rotate in the first direction. During the process of the ratchet wheel rotating in the first direction, the tooth surface of the ratchet tooth gradually approaches the pawl located between the teeth, thereby making the concave part gradually approach the convex part, and finally making the concave part and the convex part buckle.

[0037] After the recessed portion and the raised portion are engaged, if the pawl has a tendency to move away from the ratchet wheel under the action of an external force, the surface of the raised portion will interact with the surface of the recessed portion, thereby preventing the pawl from moving away from the ratchet wheel.

[0038] In an optional embodiment, the cross-section of the recessed portion may be in the shape of a rectangle or an arc, and corresponding to the recessed portion, the cross-section of the raised portion may also be in the shape of a rectangle or an arc.

[0039] This embodiment prevents the pawl from moving away from the ratchet wheel by interlocking the recessed portion on the ratchet tooth with the raised portion on the pawl, which can effectively simplify the structure of the self-locking device, thereby reducing the difficulty of manufacturing the ratchet wheel and avoiding an increase in the cost of implementing the parking function.

[0040] Optionally, the recessed portion includes an inter-tooth space corresponding to an inclination angle of a tooth surface of the ratchet tooth, and the inclination angle of the tooth surface is greater than a preset angle; The ratchet wheel is specifically configured to drive the inter-tooth space corresponding to the tooth surface inclination angle of the ratchet teeth to engage with the protrusion in response to the rotation of the output shaft in the first direction.

[0041] The concave portion can be formed by the inclination of the ratchet tooth, and specifically can include the tooth tip space corresponding to the tooth surface inclination angle of the ratchet tooth, wherein the tooth surface inclination angle of the ratchet tooth refers to the angle between the tooth surface of the ratchet tooth and the radial line of the ratchet wheel. The tooth tip space corresponding to the tooth surface inclination angle specifically refers to the space between the tooth surface of the ratchet tooth and the radial line passing through the tooth tip of the ratchet tooth, which can be specifically referred to Figure 2 The part filled with slashes.

[0042] When the tooth surface inclination angle is greater than a preset angle, the pawl can be fixed in position by the tooth surface space corresponding to the tooth surface inclination angle after being in contact with the tooth surface, thereby preventing the pawl from moving away from the ratchet wheel.

[0043] In an optional implementation, the preset angle may be 9°.

[0044] In this embodiment, the recessed portion is formed by the inclined ratchet teeth, which can minimize the damage to the shape of the ratchet teeth while achieving the self-locking function, thereby ensuring the strength of the ratchet.

[0045] Optionally, refer to Figure 2 The tooth surface of the ratchet includes a first tooth surface located on the clockwise side of the ratchet wheel and a second tooth surface located on the counterclockwise side of the ratchet wheel; The first direction includes a clockwise direction, and the recessed portion is located on the first tooth surface; Alternatively, the first direction includes a counterclockwise direction, and the recessed portion is located on the second tooth surface.

[0046] The tooth surface of the ratchet comprises a first tooth surface and a second tooth surface, the first tooth surface is located on the side of the ratchet wheel close to the clockwise direction, and the second tooth surface is located on the side of the ratchet wheel close to the counterclockwise direction.

[0047] The first direction includes a counterclockwise direction or a clockwise direction. When the output shaft of the brake motor rotates counterclockwise, it will drive the ratchet to rotate counterclockwise; when the output shaft of the brake motor rotates clockwise, it will drive the ratchet to move and rotate clockwise.

[0048] When the pawl is inserted between the teeth of the ratchet wheel, if the first direction includes the counterclockwise direction, when the ratchet wheel rotates in the counterclockwise direction, the second tooth surface of the ratchet wheel close to the counterclockwise direction will be driven toward the pawl; if the first direction includes the clockwise direction, when the ratchet wheel rotates in the clockwise direction, the first tooth surface of the ratchet wheel close to the clockwise direction will be driven toward the pawl.

[0049] It can be seen from this that when the first direction includes the clockwise direction, the recessed portion should be located on the first tooth surface so that the protruding portion can be engaged with the recessed portion; when the first direction includes the counterclockwise direction, the recessed portion should be located on the second tooth surface so that the protruding portion can be engaged with the recessed portion.

[0050] In this embodiment, when the first direction is clockwise or counterclockwise, the position of the recessed portion is adaptively changed so that the recessed portion and the raised portion can be smoothly engaged regardless of the rotation direction of the output shaft, thereby ensuring the success rate of the vehicle parking brake and improving the flexibility of the control of the parking brake device.

[0051] Optionally, the electromagnet further comprises a return structure connected to the iron core, and the return structure is configured to drive the iron core to drive the pawl to disengage from between the teeth of the ratchet wheel.

[0052] The return structure is connected to the iron core and is configured to drive the iron core to drive the pawl to disengage from the teeth of the ratchet wheel. In an optional embodiment, the return structure can be a small motor, the output shaft of the motor is connected to the iron core, and the iron core is driven to move away from the ratchet wheel through the rotation of the motor output shaft, thereby driving the pawl to disengage from the teeth of the ratchet wheel.

[0053] The parking brake device in this embodiment is also provided with a return structure for driving the iron core to drive the pawl to disengage from the teeth of the ratchet wheel, so that after the self-locking structure is separated from the pawl, the pawl can smoothly disengage from the teeth of the ratchet wheel, thereby achieving contact of the parking brake.

[0054] Optionally, the iron core comprises an iron rod, and opposite ends of the iron rod are respectively connected to the pawl and the pressure plate, wherein the pressure plate extends out of the coil; The return structure comprises a coil spring, and the coil spring is sleeved on the iron rod; one end of the coil spring abuts against the end of the coil, and the other end abuts against the pressure plate.

[0055] The iron core includes an iron rod, which is in the shape of a rod, with a pawl and a pressure plate connected to the two opposite ends, respectively, and the pressure plate is located outside the coil. The spiral spring is sleeved on the iron rod and is located outside the coil, with one end abutting against the end of the coil and the other end abutting against the pressure plate. When the coil drives the iron core to drive the pawl to move between the teeth of the ratchet wheel, the spiral spring generates elastic potential energy under the compression of the pressure plate and the end of the coil.

[0056] When the ratchet responds to the rotation of the output shaft in the second direction, driving the self-locking structure to separate from the pawl, the force that prevents the pawl from moving away from the ratchet disappears. At this time, the elastic potential energy of the coil spring is released, causing the iron core to move away from the ratchet, thereby driving the pawl to disengage from the teeth of the ratchet.

[0057] In this embodiment, the coil spring drives the iron core to drive the pawl to disengage from the teeth of the ratchet wheel, so that the iron core can automatically drive the pawl to disengage from the teeth of the ratchet wheel after the self-locking structure is separated from the pawl. This not only simplifies the structure of the parking brake device, but also simplifies the control steps of the parking release process, so that the pawl can automatically disengage from the teeth of the ratchet wheel.

[0058] The second aspect of the present application proposes an embodiment, such as Figure 3 As shown in the step diagram of a control method for a parking brake device, the method is applied to the parking brake device described in the present application, and can be specifically applied to a control module connected to an electromagnet and a brake motor, and the main steps include: Step S101 , in response to a parking signal, controlling the electromagnet to energize the coil, so as to drive the iron core to drive the pawl to move between the teeth of the ratchet wheel.

[0059] The parking signal refers to an indication signal used to instruct the vehicle to apply the parking brake, which can be triggered by the user through the parking brake button or parking brake handle, or by the vehicle itself based on its own driving speed or the user's control of the vehicle.

[0060] When the control module receives the parking signal, it indicates that the user intends to control the vehicle to park, so it can control the electromagnet to energize the coil, so that the coil generates a magnetic field, and then the magnetic field acts on the iron core through the magnetic field force, driving the iron core to drive the pawl to move between the teeth of the ratchet. After the pawl moves to the teeth of the ratchet, the pawl can hinder the rotation of the ratchet, thereby preventing the output shaft of the brake motor from rotating and preventing the brake caliper from loosening.

[0061] Step S102, when the pawl is located between the teeth of the ratchet wheel, controlling the output shaft of the brake motor to rotate in the first direction to drive the self-locking structure to engage with the pawl.

[0062] When the pawl is located between the teeth of the ratchet, it indicates that the output shaft of the brake motor is unable to rotate due to the obstruction of the pawl. At this time, in order to prevent the pawl from falling out from between the teeth of the ratchet, the output shaft of the brake motor should be controlled to rotate in the first direction, thereby driving the self-locking structure to engage with the pawl. The self-locking structure prevents the pawl from moving away from the ratchet, thereby preventing the pawl from falling out.

[0063] Step S103, when it is detected that a preset condition is met, controlling the electromagnet to cut off power to the coil.

[0064] Wherein, the preset condition at least includes the self-locking structure being engaged with the pawl.

[0065] After the self-locking structure is engaged with the pawl, the pawl will be unable to move away from the ratchet due to the hindrance of the self-locking structure. At this time, there is no need to use the magnetic field generated by the coil to keep the pawl between the teeth of the ratchet. Therefore, when the self-locking structure is detected to be engaged with the pawl, the electromagnet can be controlled to cut off the power to the coil, thereby completing the parking brake of the vehicle.

[0066] In an optional implementation, when it is detected that a preset condition is met, the electromagnet may be immediately controlled to cut off the power to the coil, or the electromagnet may be controlled to cut off the power to the coil after a preset time, such as 2 seconds.

[0067] The method described in this embodiment is applied to the parking brake device described in this application. In response to the parking signal, the parking brake device first controls the electromagnet to energize the coil, so that the iron core drives the pawl to move to the teeth between the ratchet teeth, thereby preventing the caliper from loosening. Subsequently, when the pawl is located between the teeth of the ratchet, the output shaft of the brake motor is controlled to rotate in the first direction, thereby driving the self-locking structure to engage with the pawl, and the ratchet is kept at the position between the teeth of the ratchet through the self-locking structure. Finally, after the self-locking structure engages with the pawl, the electromagnet is controlled to de-energize the coil. In this embodiment, after the pawl is inserted into the ratchet, the position of the pawl is fixed by the self-locking structure, thereby preventing the pawl from coming out from the teeth, so that the position of the pawl after being inserted into the teeth no longer needs to be fixed by the output end of the hydraulic cylinder and the bistable electromagnet, thereby avoiding the use of the hydraulic cylinder and the bistable electromagnet, and reducing the cost consumed by the vehicle to realize the parking brake function.

[0068] At the same time, in this embodiment, the power is cut off after the self-locking structure is engaged with the pawl, which can also reduce the energy consumption required for parking the vehicle and improve the greenness of the vehicle.

[0069] Optionally, the parking brake device further comprises a return structure connected to the iron core, referring to Figure 4 A method step diagram for releasing the parking brake is shown, after controlling the electromagnet to cut off power to the coil, the method further includes: Step S104 , in response to the parking release signal, controlling the output shaft of the brake motor to rotate in the second direction to drive the self-locking structure to separate from the pawl.

[0070] Step S105 , when the self-locking structure is separated from the pawl, controlling the return structure to drive the iron core to drive the pawl to disengage from between the teeth of the ratchet wheel.

[0071] The parking release signal refers to an indication signal for instructing the vehicle to release the parking brake, and can be triggered by the user through a parking brake release button or a parking brake release handle.

[0072] The parking brake device also includes a return structure connected to the iron core, and the return structure is used to drive the iron core to drive the pawl to disengage from the teeth of the ratchet. In an optional embodiment, the iron core includes an iron rod, and the opposite ends of the iron rod are respectively connected to the pawl and the pressure plate, wherein the pressure plate extends out of the coil; the return structure includes a coil spring, and the coil spring is sleeved on the iron rod, one end of the coil spring abuts against the end of the coil, and the other end abuts against the pressure plate. The coil spring can drive the iron core to drive the pawl to disengage from the teeth of the ratchet through its own stored elastic potential energy.

[0073] When the parking brake device receives the parking release signal, it indicates that the user intends to release the parking brake. Therefore, at this time, the output shaft of the brake motor can be controlled to rotate in the second direction, thereby driving the self-locking structure away from the pawl, so that the self-locking structure allows the pawl to move away from the ratchet. When the self-locking structure is away from the pawl, the return structure is controlled to drive the iron core to drive the pawl to disengage from the teeth of the ratchet, so that the rotation of the ratchet is no longer hindered by the pawl, so that the brake caliper can release the brake disc.

[0074] The parking brake device in this embodiment also includes a return structure, which can enable the pawl to automatically disengage from the teeth of the ratchet wheel after being separated from the self-locking structure, thereby automatically releasing the parking brake of the vehicle and improving the degree of automation of the vehicle.

[0075] Optionally, refer to Figure 5 The step diagram of a control method for a brake motor is shown, in step S101, in response to a parking signal, controlling the electromagnet to energize the coil, specifically comprising the following steps: Step S11, in response to the parking signal, obtaining the opening degree of the brake pedal and the required braking force of the vehicle.

[0076] Step S12, determining a target braking force corresponding to the opening degree of the brake pedal.

[0077] Step S13: Based on the required braking force and the target braking force, a corresponding target current is applied to the brake motor to locate the ratchet at a target position.

[0078] Step S14, when the ratchet is located at the target position, controlling the electromagnet to energize the coil.

[0079] Before the control electromagnet energizes the coil, the ratchet wheel should be driven to the target position to ensure that the vehicle can remain stationary after the parking brake device completes parking.

[0080] Specifically, in response to the parking signal, the opening of the brake pedal and the required braking force of the vehicle are first obtained. The opening of the brake pedal refers to the opening of the brake pedal when the user steps on it, which represents the parking braking force expected by the user. The larger the opening of the brake pedal, the greater the parking braking force expected by the user; the smaller the opening of the brake pedal, the smaller the parking braking force expected by the user. The required braking force of the vehicle refers to the parking braking force that the vehicle should have to avoid rolling down a slope, which is determined based on the environment and road conditions where the vehicle is located.

[0081] Subsequently, the target braking force corresponding to the brake pedal opening is determined according to the opening of the brake pedal. In an optional implementation, the target braking force may be determined according to a preset mapping table. The preset mapping table stores different braking forces corresponding to different openings, and the braking force corresponding to the obtained brake pedal opening in the preset mapping table may be determined as the target braking force.

[0082] The target braking force represents the parking braking force that the user subjectively expects the vehicle to have, and the required braking force represents the parking braking force that the vehicle should have as determined objectively by the environment. Therefore, the parking braking force that the vehicle should ultimately have can be determined based on the required braking force and the target braking force, and a target current corresponding to the final parking braking force can be applied to the brake motor to drive the ratchet to the target position.

[0083] When the ratchet is in the target position, it indicates that the current parking brake force can meet the parking requirements of the vehicle. Therefore, the electromagnet can be controlled to energize the coil and insert the pawl between the teeth of the ratchet to keep the parking brake force of the vehicle at the current value during the parking process.

[0084] In an optional implementation, before obtaining the opening of the brake pedal and the required braking force of the vehicle, the voltage of the circuit where the brake motor is located can also be obtained. If the voltage of the circuit where the brake motor is located is greater than the first threshold, or less than the second threshold, a parking failure prompt message is sent to the user, and the parking failure warning light is turned on; if the voltage of the circuit where the brake motor is located is less than or equal to the first threshold, and greater than or equal to the second threshold, the opening of the brake pedal and the required braking force of the vehicle are obtained. Among them, the first threshold is greater than the second threshold.

[0085] In an optional implementation, the target braking force and the required braking force may be compared in magnitude, and the larger of the two may be determined as the final parking braking force of the vehicle.

[0086] Alternatively, in an optional implementation, the average value of the target braking force and the required braking force may be determined as the final parking braking force of the vehicle.

[0087] Before controlling the electromagnet to energize the coil, this embodiment places the ratchet at the target position based on the required braking force and the target braking force, so that when the vehicle determines the target position of the ratchet, both the subjective factors of the user and the objective factors of the environment are taken into consideration, which affect the final parking braking force of the vehicle, thereby preventing the vehicle from rolling down the slope to the greatest extent.

[0088] Optionally, refer to Figure 6 A method step diagram for obtaining the required braking force is shown, and the steps of obtaining the required braking force specifically include the following steps: Step S21, obtaining the slope of the road on which the vehicle is located.

[0089] Step S22: determining the required braking force based on the slope.

[0090] There is a positive correlation between the slope and the required braking force.

[0091] The slope of the road can be measured by a gyroscope installed on the vehicle. When a vehicle is parked on a road with a certain slope, the downward force of the vehicle's own weight along the road surface will cause the vehicle to have a tendency to move downward along the road surface. Therefore, in order to keep the vehicle stationary, the required braking force of the vehicle should be at least greater than the downward force of the vehicle's own power along the road surface. At the same time, since the downward force of the vehicle's own weight along the road surface will increase with the increase of the slope, the greater the slope, the greater the required braking force of the vehicle should be.

[0092] This embodiment determines the required braking force based on the slope of the road on which the vehicle is located, so that the magnitude of the required braking force can change with changes in the external environment of the vehicle, thereby improving the adaptability of the required braking force to the environment and avoiding the situation where the required braking force is too large or too small.

[0093] Optionally, refer to Figure 7 A method for preventing a vehicle from rolling down a slope is shown in the step diagram. After controlling the electromagnet to cut off power to the coil in step S103, the method further includes the following steps: Step S106, obtaining the rotation speed of the wheel.

[0094] Step S107: determining whether the vehicle rolls down a slope based on the rotation speed.

[0095] Step S108, when the vehicle rolls down a slope, controlling the actual parking brake force of the vehicle to increase from the current value.

[0096] The rotation speed of the wheels can be obtained through the vehicle's wheel speed sensor. In a normal parking state, the vehicle's wheels should remain stationary and the wheel rotation speed should be zero. When the vehicle rolls down a slope, the wheels are in a rotating state and the wheel rotation speed is greater than zero. Therefore, it is possible to determine whether the vehicle rolls down a slope based on the wheel rotation speed. When the rotation speed obtained is zero, it indicates that the vehicle has not rolled down a slope; when the rotation speed obtained is greater than zero, it indicates that the vehicle has rolled down a slope.

[0097] When the vehicle rolls down a slope, it indicates that the current actual parking brake force of the vehicle cannot meet the parking demand of the vehicle. Therefore, the actual parking brake force of the vehicle can be controlled to increase from the current value to increase the actual parking brake force of the vehicle.

[0098] When the vehicle does not roll down the slope, it indicates that the current actual parking brake force of the vehicle can meet the parking demand of the vehicle, so there is no need to control the actual parking brake force of the vehicle.

[0099] After the control electromagnet cuts off the power to the coil, this embodiment determines whether the vehicle is rolling down a slope based on the rotation speed of the wheel, so that when the vehicle is rolling down a slope, the actual braking force of the vehicle is increased in time to avoid the vehicle from hitting pedestrians during the rolling process and reduce the occurrence of safety accidents.

[0100] Based on the above embodiments, reference Figure 1-Figure 2 , Figure 8 A flowchart of a method for controlling a parking brake device is shown, and Fig. 9 The position change diagram of the ratchet wheel and the pawl during the parking and unparking process is shown in the figure, and the parking brake device and the control method described in the present application are exemplarily described below: The parking brake device described in the present application includes a brake motor, an electromagnet, a pawl, a ratchet, and a coil spring. The ratchet includes a plurality of ratchet teeth, on which a self-locking structure is provided, and the ratchet is fixed to the output shaft of the brake motor. The electromagnet includes an iron rod and a coil surrounding the outside of the iron rod, and the opposite ends of the iron rod are respectively connected to a pressure plate and a pawl. The coil spring is sleeved on the iron rod and is located outside the coil, and one end of the coil spring abuts against the end of the coil, and the other end abuts against the pressure plate.

[0101] The self-locking structure includes a recessed portion arranged on the tooth surface of the ratchet, the recessed portion includes an inter-tooth space corresponding to the tooth surface inclination angle of the ratchet, the tooth surface inclination angle is greater than a preset angle, and the pawl is provided with a protrusion adapted to the recessed portion.

[0102] The coil is configured to drive the iron core to move the pawl between the teeth of the ratchet wheel; The ratchet is configured to, in response to the rotation of the output shaft in a first direction, drive the inter-tooth space corresponding to the tooth surface inclination angle to engage with the pawl to prevent the pawl from moving away from the ratchet; and, in response to the rotation of the output shaft in a second direction, drive the inter-tooth space corresponding to the tooth surface inclination angle to separate from the pawl to allow the pawl to move away from the ratchet.

[0103] The tooth surface of the ratchet includes a first tooth surface located on the clockwise side of the ratchet wheel and a second tooth surface located on the counterclockwise side of the ratchet wheel. The first direction includes the clockwise direction, and the inter-tooth space corresponding to the tooth surface inclination angle is located on the first tooth surface; or the first direction includes the counterclockwise direction, and the inter-tooth space corresponding to the tooth surface inclination angle is located on the second tooth surface.

[0104] The coil spring is configured to drive the iron core to drive the pawl to disengage between the teeth of the ratchet wheel.

[0105] The control method of the parking brake device described in the present application specifically comprises the following steps: At the beginning of the method, in response to a parking signal, the opening of the brake pedal and the slope of the road on which the vehicle is located are obtained. Then, based on the slope, the required braking force is determined; and the target braking force corresponding to the opening of the brake pedal is determined. After the target braking force and the required braking force are determined, based on the required braking force and the target braking force, a corresponding target current is applied to the brake motor so that the ratchet is located at the target position, and when the ratchet is located at the target position, the electromagnet is controlled to energize the coil to drive the iron core to drive the ratchet to move between the teeth of the ratchet.

[0106] When the pawl is located between the teeth of the ratchet wheel, the output shaft of the brake motor is controlled to rotate in a first direction to drive the inter-tooth space corresponding to the inclination angle of the tooth surface to engage with the protrusion of the pawl.

[0107] When it is detected that the inter-tooth space corresponding to the inclination angle of the tooth surface is engaged with the protrusion of the pawl, the electromagnet is controlled to cut off the power to the coil.

[0108] After the control electromagnet cuts off the power to the coil, in response to the parking release signal, the output shaft of the brake motor is controlled to rotate in the second direction to drive the inter-tooth space corresponding to the tooth surface inclination angle to separate from the protruding part of the pawl; when the inter-tooth space corresponding to the tooth surface inclination angle is separated from the protruding part of the pawl, the coil spring is controlled to drive the iron core to drive the pawl to disengage from the teeth of the ratchet wheel.

[0109] At the same time, after the electromagnet is controlled to cut off the power to the coil, the rotation speed of the wheel can also be obtained, and based on the rotation speed, it is determined whether the vehicle is rolling down the slope. In the case of the vehicle rolling down the slope, the actual parking brake force of the vehicle is controlled to increase from the current value; in the case of the vehicle not rolling down the slope, the control method described in the present application is terminated.

[0110] Based on the same inventive concept, the present application also provides a control system for a parking brake device, such as Fig.10 As shown in the structural schematic diagram of a control system of a parking brake device, the control system includes: an electromagnet control module, for controlling the electromagnet to energize the coil in response to a parking signal, so as to drive the iron core to drive the pawl to move between the teeth of the ratchet wheel; a brake motor control module, configured to control the output shaft of the brake motor to rotate in the first direction when the pawl is located between the teeth of the ratchet wheel, so as to drive the self-locking structure to engage with the pawl; The electromagnet control module is further used to control the electromagnet to cut off power to the coil when it is detected that a preset condition is met; wherein the preset condition at least includes the self-locking structure being engaged with the pawl.

[0111] Optionally, the parking brake device further comprises a return structure connected to the iron core, and the brake motor control module is further used to control the output shaft of the brake motor to rotate in the second direction in response to the parking release signal, so as to drive the self-locking structure to separate from the pawl; The control system further comprises a return control module, which is used for controlling the return structure to drive the iron core to drive the pawl to disengage from the teeth of the ratchet wheel when the self-locking structure is separated from the pawl.

[0112] Optionally, the electromagnet control module is also used to obtain the opening of the brake pedal and the required braking force of the vehicle in response to a parking signal; determine a target braking force corresponding to the opening of the brake pedal; based on the required braking force and the target braking force, apply a corresponding target current to the brake motor to locate the ratchet in a target position; and when the ratchet is in the target position, control the electromagnet to energize the coil.

[0113] Optionally, the electromagnet control module is further used to obtain the slope of the road on which the vehicle is located; based on the slope, determine the required braking force; wherein there is a positive correlation between the slope and the required braking force.

[0114] Optionally, the control system also includes a module for preventing the vehicle from rolling down a slope, which is used to obtain the rotation speed of the wheels; based on the rotation speed, determine whether the vehicle is rolling down a slope; if the vehicle is rolling down a slope, control the actual parking braking force of the vehicle to increase from a current value.

[0115] The embodiment of the present application also provides a computer-readable storage medium on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, a control method for a parking brake device as disclosed in the embodiment of the present application is implemented.

[0116] An embodiment of the present application further provides a vehicle, comprising a parking control device provided in the present application, or comprising a control module, wherein the control module is used to implement the steps of the control method of the parking brake device described in the embodiment of the present application.

[0117] The present application comprises a brake motor; an electromagnet comprising an iron core and a coil surrounding the outside of the iron core; a pawl connected to the iron core; a ratchet fixed to the output shaft of the brake motor, the ratchet comprising a plurality of ratchet teeth, and a self-locking structure is provided on the ratchet teeth; the coil is configured to drive the iron core to drive the pawl to move to between the teeth of the ratchet; the ratchet is configured to drive the self-locking structure to engage with the pawl in response to the rotation of the output shaft in a first direction to prevent the pawl from moving away from the ratchet; and, in response to the rotation of the output shaft in a second direction, drive the self-locking structure to separate from the pawl to allow the pawl to move away from the ratchet; wherein the first direction is opposite to the second direction.

[0118] The parking brake device described in the present application includes an electromagnet, a brake motor, a ratchet and a pawl, wherein a self-locking structure is provided on the ratchet teeth of the ratchet. After the coil of the electromagnet drives the iron core of the electromagnet to drive the pawl to insert into the ratchet, the ratchet will drive the self-locking structure to engage with the pawl in response to the rotation of the output shaft in the first direction, thereby preventing the pawl from moving away from the ratchet. After the pawl is inserted into the ratchet teeth, the present application fixes the position of the pawl through the self-locking structure to prevent the pawl from falling out from between the teeth, so that the position of the pawl after being inserted into the teeth no longer needs to be fixed by the output end of the hydraulic cylinder and the bistable electromagnet, thereby avoiding the use of the hydraulic cylinder and the bistable electromagnet, and reducing the cost consumed by the vehicle to realize the parking brake function.

[0119] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0120] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, systems, electronic devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0121] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0123] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0124] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0125] The above is a detailed introduction to a parking brake device, a control method and a vehicle provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for a person skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and the scope of application. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A parking brake device, characterized in that: The parking brake device comprises: Brake motor; An electromagnet, comprising an iron core and a coil surrounding the outer side of the iron core; A pawl connected to the iron core; A ratchet wheel fixed on the output shaft of the brake motor, the ratchet wheel comprising a plurality of ratchet teeth, and a self-locking structure is provided on the ratchet teeth; The coil is configured to drive the iron core to drive the pawl to move between the teeth of the ratchet wheel; The ratchet is configured to, in response to the rotation of the output shaft in a first direction, drive the self-locking structure to engage with the pawl to prevent the pawl from moving away from the ratchet; and, in response to the rotation of the output shaft in a second direction, drive the self-locking structure to separate from the pawl to allow the pawl to move away from the ratchet; The first direction is opposite to the second direction.

2. The parking brake device according to claim 1, characterized in that: The self-locking structure includes a recessed portion arranged on the tooth surface of the ratchet; The pawl is provided with a protrusion adapted to the recess; The ratchet is specifically configured to drive the recessed portion to engage with the raised portion in response to the rotation of the output shaft in the first direction.

3. The parking brake device according to claim 2, characterized in that: The recessed portion includes an inter-tooth space corresponding to an inclination angle of a tooth surface of the ratchet tooth, and the inclination angle of the tooth surface is greater than a preset angle; The ratchet wheel is specifically configured to drive the inter-tooth space corresponding to the tooth surface inclination angle of the ratchet teeth to engage with the protrusion in response to the rotation of the output shaft in the first direction.

4. The parking brake device according to claim 2, characterized in that: The tooth surface of the ratchet comprises a first tooth surface located on the clockwise side of the ratchet wheel and a second tooth surface located on the counterclockwise side of the ratchet wheel; The first direction includes a clockwise direction, and the recessed portion is located on the first tooth surface; Alternatively, the first direction includes a counterclockwise direction, and the recessed portion is located on the second tooth surface.

5. The parking brake device according to claim 1, characterized in that: The electromagnet further comprises a return structure connected to the iron core, and the return structure is configured to drive the iron core to drive the pawl to disengage from between the teeth of the ratchet wheel.

6. The parking brake device according to claim 5, characterized in that: The iron core comprises an iron rod, and opposite ends of the iron rod are respectively connected to the pawl and the pressure plate, wherein the pressure plate extends out of the coil; The return structure comprises a coil spring, and the coil spring is sleeved on the iron rod; one end of the coil spring abuts against the end of the coil, and the other end abuts against the pressure plate.

7. A method for controlling a parking brake device, characterized in that: The method is applied to the parking brake device according to any one of claims 1 to 6, and the method comprises: In response to a parking signal, the electromagnet is controlled to energize the coil, so as to drive the iron core to drive the pawl to move between the teeth of the ratchet wheel; When the pawl is located between the teeth of the ratchet wheel, controlling the output shaft of the brake motor to rotate in the first direction to drive the self-locking structure to engage with the pawl; When it is detected that a preset condition is met, the electromagnet is controlled to cut off power to the coil; wherein the preset condition at least includes the self-locking structure being engaged with the pawl.

8. The control method of the parking brake device according to claim 7, characterized in that: The parking brake device further includes a return structure connected to the iron core. After controlling the electromagnet to cut off power to the coil, the method further includes: In response to a parking release signal, controlling the output shaft of the brake motor to rotate in the second direction to drive the self-locking structure to separate from the pawl; When the self-locking structure is separated from the pawl, the return structure is controlled to drive the iron core to drive the pawl to disengage from the teeth of the ratchet wheel.

9. The control method of the parking brake device according to claim 7, characterized in that: In response to the parking signal, controlling the electromagnet to energize the coil includes: In response to a parking signal, obtaining an opening degree of a brake pedal and a required braking force of the vehicle; determining a target braking force corresponding to the opening degree of the brake pedal; Based on the required braking force and the target braking force, applying a corresponding target current to the brake motor so that the ratchet is located at a target position; When the ratchet wheel is located at the target position, the electromagnet is controlled to energize the coil.

10. The control method of the parking brake device according to claim 9, characterized in that: The step of obtaining the required braking force comprises: Obtaining the slope of the road on which the vehicle is located; determining the required braking force based on the slope; There is a positive correlation between the slope and the required braking force.

11. The control method of the parking brake device according to claim 7, characterized in that: After controlling the electromagnet to de-energize the coil, the method further includes: Get the rotation speed of the wheel; Based on the rotation speed, determining whether the vehicle is sliding down a slope; When the vehicle rolls down the slope, the actual parking brake force of the vehicle is controlled to increase from a current value.

12. A vehicle, characterized in that: The invention comprises a parking brake device as described in any one of claims 1 to 6, or comprises a control module, wherein the control module is used to implement the steps of the control method of the parking brake device as described in any one of claims 7 to 11.

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