Control method and system for rolling reclamping closed-loop control and related equipment

Abstract

The invention relates to the technical field of automobile parking control, and discloses a control method and system for rolling re-clamping closed-loop control and related equipment.The method comprises the steps that when an automobile is in a static state, whether EPB parking force is abnormal or not is detected through a wheel speed pulse variable; if the EPB parking force is abnormal, the hydraulic pressure is adjusted to the target hydraulic pressure according to the wheel speed pulse variable; calculating a mechanical execution clamping force according to the target hydraulic force; and the actual mechanical clamping force is obtained in real time, when the actual mechanical clamping force reaches the mechanical execution clamping force, driving of the parking motor is stopped, the target hydraulic force is released, and the rolling re-clamping process is ended. When the rolling of the vehicle is identified, the vehicle can be quickly controlled from a dynamic state to a static state by using hydraulic force, and the problems of the mechanical characteristic of slow response of mechanical parking and the mechanical defect that closed-loop control cannot be used can be effectively avoided.

Description

Background Art

[0002] In the current parking control field on the market, when the EPB (Electronic Parking Brake) controller detects that the vehicle is rolling while parked, the EPB controller usually controls the parking motor to perform secondary mechanical clamping again, and the control process ends after the secondary clamping.

[0003] However, this method has defects: the control is an open-loop control, and there is no closed-loop control of the controlled wheel speed pulse signal. The vehicle may still be in a slipping state after the second clamping. Based on the mechanical characteristics of the EPB parking system itself, it is impossible to quickly and effectively perform closed-loop control. Summary of the invention

[0004] In order to overcome the problem that there is no closed-loop control of the controlled wheel speed pulse signal, the vehicle may still be in a slipping state after the second re-clamping, and based on the mechanical characteristics of the EPB parking system itself, the closed-loop control cannot be quickly and effectively performed, the present invention provides a control method, system and related equipment for rolling re-clamping closed-loop control.

[0005] In a first aspect, in order to solve the above technical problems, the present invention provides a control method for rolling re-clamping closed-loop control, an EPB controller, comprising:

[0006] When the vehicle is stationary, the wheel speed pulse variable is used to detect whether the EPB parking force is abnormal;

[0007] If the EPB parking force is abnormal, the hydraulic pressure is adjusted to the target hydraulic pressure according to the wheel speed pulse variable;

[0008] Calculate the mechanical clamping force according to the target hydraulic pressure;

[0009] The actual mechanical clamping force is obtained in real time. When the actual mechanical clamping force reaches the mechanical execution clamping force, the parking motor is stopped and the target hydraulic pressure is released to end the rolling re-clamping process.

[0010] In a second aspect, the present invention provides a control system for rolling re-clamping closed-loop control, comprising:

[0011] The EPB parking force detection module is used to detect whether the EPB parking force is abnormal through the wheel speed pulse variable when the vehicle is stationary;

[0012] A hydraulic pressure adjustment module is used to adjust the hydraulic pressure to a target hydraulic pressure according to the wheel speed pulse variable if the EPB parking force is abnormal;

[0013] A mechanically executed clamping force calculation module, used to calculate the mechanically executed clamping force according to the target hydraulic pressure;

[0014] The rolling re-clamping control module is used to obtain the actual mechanical clamping force in real time. When the actual mechanical clamping force reaches the mechanical execution clamping force, the parking motor is stopped and the target hydraulic pressure is released to end the rolling re-clamping process.

[0015] In a third aspect, the present invention provides a computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein when the processor executes the program, the steps of a control method for rolling re-clamping closed-loop control as described above are implemented.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a control method for rolling re-clamping closed-loop control as described above.

[0017] The beneficial effects of the present invention are: when the EPB parking force is detected to be abnormal through the wheel speed pulse variable, the hydraulic pressure is adjusted to the target hydraulic pressure according to the wheel speed pulse variable, so that the mechanical execution clamping force can be calculated when the hydraulic pressure reaches the target hydraulic pressure, and the actual mechanical clamping force can be obtained in real time. When the actual mechanical clamping force reaches the mechanical execution clamping force, the rolling re-clamping process can be ended. When the present application identifies that the vehicle is rolling, the hydraulic pressure can be used to quickly control the vehicle from dynamic control to static state, which can effectively avoid the mechanical characteristics of slow response of mechanical parking and the mechanical defect problem of not being able to use closed-loop control. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 A schematic flow chart of a control method for rolling re-clamping closed-loop control according to an embodiment of the present invention;

[0020] Figure 2 It is a flow chart of a control method of rolling re-clamping closed-loop control according to another embodiment of the present invention;

[0021] Figure 3 The figure is a schematic structural diagram of a control system for rolling re-clamping closed-loop control according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following examples are provided to further explain and supplement the present invention and do not constitute any limitation to the present invention.

[0023] A control method, system and related equipment for rolling re-clamping closed-loop control according to an embodiment of the present invention will be described below in conjunction with the accompanying drawings.

[0024] like Figure 1As shown, an embodiment of the present invention provides a control method for rolling re-clamping closed-loop control, which is applied to an EPB controller, comprising:

[0025] S1. When the vehicle is stationary, the wheel speed pulse variable is used to detect whether the EPB parking force is abnormal.

[0026] In this embodiment, when the vehicle is stationary, after the EPB controller controls the parking motor to clamp, the EPB controller and the EPB controller control the ESC (Electronic Stability Control) controller not to enter the sleep state within the rated time, and the rated time can be set according to actual conditions.

[0027] S2. If the EPB parking force is abnormal, the hydraulic pressure is adjusted to the target hydraulic pressure according to the wheel speed pulse variable.

[0028] S3. Calculate the mechanical clamping force according to the target hydraulic pressure.

[0029] S4. The actual mechanical clamping force is obtained in real time. When the actual mechanical clamping force reaches the mechanical execution clamping force, the parking motor is stopped from being driven, and the target hydraulic pressure is released, thereby ending the rolling re-clamping process.

[0030] In this embodiment, when the actual mechanical clamping force reaches the mechanical execution clamping force, the EPB controller requests the ESC controller to release the auxiliary fluid pressure from the target fluid pressure to 0. After the ESC controller releases the auxiliary fluid pressure to 0, the EPB controller believes that the parking motor is in a clamping state and the vehicle is stationary, and can enter the rolling re-clamping end process.

[0031] In addition, after allowing the rolling re-clamping process to end, the EPB controller believes that there is no subsequent rolling re-clamping demand, and the EPB controller allows itself and the ESC controller to enter the sleep state. The EPB controller no longer keeps the EPB controller and the ESC controller awake, and the rolling re-clamping control process ends.

[0032] In this embodiment, when the EPB parking force is abnormally detected by the wheel speed pulse variable, the hydraulic pressure is adjusted to the target hydraulic pressure according to the wheel speed pulse variable, so that the mechanical execution clamping force can be calculated when the hydraulic pressure reaches the target hydraulic pressure, and the actual mechanical clamping force can be obtained in real time. When the actual mechanical clamping force reaches the mechanical execution clamping force, the rolling re-clamping process ends. When the present application identifies that the vehicle is rolling (the EPB parking force is abnormally detected by the wheel speed pulse variable), the hydraulic pressure can be used to quickly control the vehicle from dynamic control to static state, which can effectively avoid the mechanical characteristics of slow response of mechanical parking and the mechanical defect problem of not being able to use closed-loop control.

[0033] In this embodiment, the advantage of hydraulic pressure for closed-loop control is utilized to perform closed-loop control on the wheel speed pulse variable. Compared with the traditional mechanical parking open-loop control, the control effect of rolling re-clamping can be improved, and the NVH (Noise, Vibration and Harshness) experience problem caused by multiple triggering of rolling re-clamping can be avoided.

[0034] In this embodiment, the function of hydraulic assisted parking is used to allow the mechanical parking force to reach the target parking force, thereby improving the product quality of parking control.

[0035] Optionally, when the vehicle is stationary, the wheel speed pulse variable is used to detect whether the EPB parking force is abnormal, including:

[0036] When the vehicle is in a stationary state, periodically detecting a first pulse signal of a left rear wheel and a second pulse signal of a right rear wheel;

[0037] If the sum of the numbers of the first pulse signal and the second pulse signal is greater than a preset value within the first preset time, it is determined that the EPB parking force is abnormal.

[0038] In this embodiment, the first preset time and the preset value can be set according to actual conditions.

[0039] For example, if the number of pulse signals of RR (first pulse signal) + RL (second pulse signal) detected within the first preset time is greater than the preset value, the EPB controller considers that the current vehicle is in a non-stationary state, and the EPB parking force is abnormal and needs to be rolled and re-clamped.

[0040] If the number of RR+RL pulse signals greater than the preset value is not detected within the first preset time, the EPB controller considers that the vehicle is continuously stationary and there is no need for rolling re-clamping. After the EPB controller works for a period of time, the EPB controller allows itself and the ESC controller to enter a sleep state, and the rolling re-clamping control process ends.

[0041] Optionally, if the EPB parking force is abnormal, adjusting the hydraulic pressure to a target hydraulic pressure according to the wheel speed pulse variable includes:

[0042] According to the sum of the numbers of the first pulse signal and the second pulse signal within the first preset time, the target hydraulic pressure rising slope is determined from the corresponding table; wherein the corresponding relationship between different numbers of pulse signals and different hydraulic pressure rising slopes is stored in the corresponding table;

[0043] According to the target hydraulic pressure rising slope, the hydraulic pressure is periodically adjusted, and the third pulse signal of the left rear wheel and the fourth pulse signal of the right rear wheel are obtained in real time;

[0044] If the sum of the third pulse signal and the fourth pulse signal does not change within the second preset time, the adjustment of the hydraulic pressure is stopped, and the hydraulic pressure at that moment is used as the target hydraulic pressure.

[0045] In this embodiment, the second preset time can be adjusted according to actual conditions, and the corresponding table is a corresponding table obtained based on actual modeling or experience.

[0046] In this embodiment, the hydraulic rising slope refers to the slope of the curve obtained by time and hydraulic pressure. For example, the EPB controller finds the target hydraulic rising slope Δ from the corresponding table according to the number of pulse signals of RR (third pulse signal) + RL (fourth pulse signal), and the ESC controller builds pressure according to the target hydraulic rising slope Δ input by the EPB controller. During the pressure building process, the EPB controller continuously accumulates and sums RR and RL. When the accumulated sum does not change within the second preset time, the EPB controller believes that the vehicle has changed from a non-stationary state to a stationary state, and the EPB controller requests the ESC controller to maintain the current hydraulic pressure, and the ESC controller no longer continues to increase the hydraulic pressure.

[0047] In this embodiment, the pressure building process refers to periodically increasing the hydraulic pressure according to the target hydraulic pressure rising slope Δ.

[0048] Optionally, according to the target hydraulic pressure, the mechanical execution clamping force is calculated, including:

[0049] Obtain the slope signal collected by the current slope sensor, and calculate the mechanical target clamping force according to the slope signal;

[0050] The mechanical execution clamping force is calculated according to the mechanical target clamping force, the target hydraulic pressure and the preset pressure conversion coefficient.

[0051] In this embodiment, the mechanical clamping force is calculated according to the mechanical target clamping force, the target hydraulic pressure and the preset pressure conversion coefficient, and the formula is as follows:

[0052] F T2 =F T1 -F p *α1;

[0053] Among them, F T1 Indicates the mechanical target holding force, F T2 Indicates the mechanical actuation clamping force, F p represents the target hydraulic pressure, α1 represents the preset pressure conversion coefficient, and the pressure conversion coefficient represents the conversion coefficient of the hydraulic pressure to the mechanical parking force.

[0054] Optionally, the actual mechanical clamping force is obtained in real time, including:

[0055] Collect the working current of the parking motor in real time;

[0056] The actual mechanical clamping force is calculated based on the working current, the preset current conversion coefficient and the preset offset coefficient.

[0057] In this embodiment, the actual mechanical clamping force is calculated according to the working current, the preset current conversion coefficient and the preset offset coefficient, and the formula is as follows:

[0058] F M =I A α2+β

[0059] Among them, F M Indicates the actual mechanical clamping force, I A represents the working current, α2 represents the preset current conversion coefficient, the current conversion coefficient represents a coefficient of current conversion to mechanical force, and β represents the preset offset coefficient.

[0060] In this embodiment, when the mechanical capacity of the parking system is insufficient, the hydraulic auxiliary parking function is used to allow the mechanical parking force to reach the target parking force, thereby improving the product quality of the parking control.

[0061] like Figure 2 As shown, another embodiment is used to illustrate a control method for rolling re-clamping closed-loop control, which is specifically as follows:

[0062] When the vehicle is stationary, the total amount of the wheel speed pulse signals RL and RR in the first preset time period reaches a preset value. If so, the EPB controller controls itself and the ESC controller not to enter the sleep state.

[0063] According to the total amount of wheel speed pulse signals RL and RR in the first preset time period, the target hydraulic pressure rising slope △ is obtained, and the ESC controller is requested to hydraulically assist and build pressure according to the slope △, and when the sum of RL and RR does not change in the second preset time period, the ESC controller is requested to maintain the current hydraulic pressure F p .

[0064] The ESC controller is based on the current hydraulic pressure F p Hydraulically tighten the caliper.

[0065] At the same time, the EPB controller is based on the slope signal θ and the hydraulic pressure F provided by the ESC controller. p Calculation of mechanically actuated parking force (mechanically actuated holding force) F T2 In addition, the EPB controller drives the parking motor to work, and the parking motor moves to clamp the brake pad through the self-locking screw mechanism.

[0066] The EPB controller obtains the working current of the parking motor in real time and calculates the actual mechanical clamping force. If the actual mechanical clamping force ≥ F T2 , the EPB controller stops driving the parking motor.

[0067] like Figure 3 As shown, the present invention provides a control system for rolling re-clamping closed-loop control, comprising:

[0068] The EPB parking force detection module is used to detect whether the EPB parking force is abnormal through the wheel speed pulse variable when the vehicle is stationary;

[0069] A hydraulic pressure adjustment module is used to adjust the hydraulic pressure to a target hydraulic pressure according to the wheel speed pulse variable if the EPB parking force is abnormal;

[0070] A mechanically executed clamping force calculation module, used to calculate the mechanically executed clamping force according to the target hydraulic pressure;

[0071] The rolling re-clamping control module is used to obtain the actual mechanical clamping force in real time. When the actual mechanical clamping force reaches the mechanical execution clamping force, the parking motor is stopped and the target hydraulic pressure is released to end the rolling re-clamping process.

[0072] Optionally, the EPB parking force detection module is specifically used for:

[0073] When the vehicle is in a stationary state, periodically detecting a first pulse signal of a left rear wheel and a second pulse signal of a right rear wheel;

[0074] If the sum of the numbers of the first pulse signal and the second pulse signal is greater than a preset value within the first preset time, it is determined that the EPB parking force is abnormal.

[0075] Optionally, the hydraulic pressure adjustment module is specifically used for:

[0076] According to the sum of the numbers of the first pulse signal and the second pulse signal within the first preset time, the target hydraulic pressure rising slope is determined from the corresponding table; wherein the corresponding relationship between different numbers of pulse signals and different hydraulic pressure rising slopes is stored in the corresponding table;

[0077] According to the target hydraulic pressure rising slope, the hydraulic pressure is periodically adjusted, and the third pulse signal of the left rear wheel and the fourth pulse signal of the right rear wheel are obtained in real time;

[0078] If the sum of the third pulse signal and the fourth pulse signal does not change within the second preset time, the adjustment of the hydraulic pressure is stopped, and the hydraulic pressure at that moment is used as the target hydraulic pressure.

[0079] Optionally, the mechanical execution clamping force calculation module is specifically used to:

[0080] Obtain the slope signal collected by the current slope sensor, and calculate the mechanical target clamping force according to the slope signal;

[0081] The mechanical execution clamping force is calculated according to the mechanical target clamping force, the target hydraulic pressure and the preset pressure conversion coefficient.

[0082] Optionally, the rolling re-clamping control module is specifically used for:

[0083] Collect the working current of the parking motor in real time;

[0084] The actual mechanical clamping force is calculated based on the working current, the preset current conversion coefficient and the preset offset coefficient.

[0085] An embodiment of the present invention also provides a computing device, including a memory, a manager, and a program stored in the memory and running on the manager. When the manager executes the program, it implements part or all of the steps of the above-mentioned rolling re-clamping closed-loop control method.

[0086] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in the computing device of the present invention can refer to the parameters and steps in the embodiment of a rolling re-clamping closed-loop control method mentioned above, and will not be repeated here.

[0087] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0089] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for rolling re-clamping closed-loop control, characterized in that: Applied to EPB controllers, including: When the vehicle is stationary, the wheel speed pulse variable is used to detect whether the EPB parking force is abnormal; If the EPB parking force is abnormal, adjusting the hydraulic pressure to the target hydraulic pressure according to the wheel speed pulse variable; Calculating the mechanical execution clamping force according to the target hydraulic pressure; The actual mechanical clamping force is acquired in real time. When the actual mechanical clamping force reaches the mechanical execution clamping force, the parking motor is stopped from being driven, and the target hydraulic pressure is released, thereby ending the rolling re-clamping process.

2. The method according to claim 1, characterized in that When the vehicle is stationary, the wheel speed pulse variable is used to detect whether the EPB parking force is abnormal, including: When the vehicle is in a stationary state, periodically detecting a first pulse signal of a left rear wheel and a second pulse signal of a right rear wheel; If the sum of the numbers of the first pulse signal and the second pulse signal is greater than a preset value within a first preset time, it is determined that the EPB parking force is abnormal.

3. The method according to claim 2, characterized in that If the EPB parking force is abnormal, adjusting the hydraulic pressure to the target hydraulic pressure according to the wheel speed pulse variable includes: According to the sum of the numbers of the first pulse signal and the second pulse signal within the first preset time, the target hydraulic pressure rising slope is determined from a corresponding table; wherein the corresponding relationship between different numbers of pulse signals and different hydraulic pressure rising slopes is stored in the corresponding table; According to the target hydraulic pressure rising slope, the hydraulic pressure is periodically adjusted, and a third pulse signal of the left rear wheel and a fourth pulse signal of the right rear wheel are acquired in real time; If the sum of the third pulse signal and the fourth pulse signal does not change within the second preset time, the adjustment of the hydraulic pressure is stopped, and the hydraulic pressure at this moment is used as the target hydraulic pressure.

4. The method according to claim 1, characterized in that: The calculating the mechanical clamping force according to the target hydraulic pressure comprises: Obtaining a slope signal collected by a current slope sensor, and calculating a mechanical target clamping force according to the slope signal; The mechanical execution clamping force is calculated according to the mechanical target clamping force, the target hydraulic pressure and a preset pressure conversion coefficient.

5. The method according to claim 1, characterized in that Get the actual mechanical clamping force in real time, including: Collect the working current of the parking motor in real time; The actual mechanical clamping force is calculated according to the working current, the preset current conversion coefficient and the preset offset coefficient.

6. A control system for rolling re-clamping closed-loop control, characterized in that: include: The EPB parking force detection module is used to detect whether the EPB parking force is abnormal through the wheel speed pulse variable when the vehicle is stationary; a hydraulic pressure adjustment module, configured to adjust the hydraulic pressure to a target hydraulic pressure according to a wheel speed pulse variable if the EPB parking force is abnormal; A mechanically executed clamping force calculation module, used to calculate the mechanically executed clamping force according to the target hydraulic pressure; The rolling re-clamping control module is used to obtain the actual mechanical clamping force in real time. When the actual mechanical clamping force reaches the mechanical execution clamping force, the parking motor is stopped from being driven, and the target hydraulic pressure is released to end the rolling re-clamping process.

7. The system according to claim 6, characterized in that EPB parking force detection module, specifically used for: When the vehicle is in a stationary state, periodically detecting a first pulse signal of a left rear wheel and a second pulse signal of a right rear wheel; If the sum of the numbers of the first pulse signal and the second pulse signal is greater than a preset value within a first preset time, it is determined that the EPB parking force is abnormal.

8. The system according to claim 7, characterized in that Hydraulic pressure adjustment module, specifically used for: According to the sum of the numbers of the first pulse signal and the second pulse signal within the first preset time, the target hydraulic pressure rising slope is determined from a corresponding table; wherein the corresponding relationship between different numbers of pulse signals and different hydraulic pressure rising slopes is stored in the corresponding table; According to the target hydraulic pressure rising slope, the hydraulic pressure is periodically adjusted, and a third pulse signal of the left rear wheel and a fourth pulse signal of the right rear wheel are acquired in real time; If the sum of the third pulse signal and the fourth pulse signal does not change within the second preset time, the adjustment of the hydraulic pressure is stopped, and the hydraulic pressure at this moment is used as the target hydraulic pressure.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the control method of rolling re-clamping closed-loop control as described in any one of claims 1-5 are implemented.

10. A computer-readable storage medium, characterized in that: Instructions are stored in the computer-readable storage medium. When the instructions are executed on the terminal device, the terminal device executes the steps of a control method for rolling re-clamping closed-loop control as described in any one of claims 1-5.

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