Parking caliper control method and system and parking caliper controller

Abstract

The invention provides a parking caliper control method. The parking caliper control method comprises the steps that a first control signal generated by a first system and used for controlling a caliper is compared with a second control signal generated by a second system and used for controlling the caliper; and under the condition that the first control signal and the second control signal are consistent, the first system and the second system send the first control signal and the second control signal to the calipers controlled by the first system and the second system respectively.

Description

Technical Field

[0001] The present application relates to vehicle braking technology, and more specifically, to parking caliper control technology. Background Art

[0002] At present, there are two ways to design parking brakes on vehicles: one is to use the electronic parking brake system EPB to independently control the parking of the vehicle; the other is to integrate the parking control function into the vehicle's electronic stability program ESP, and use ESP to control the parking of the vehicle.

[0003] At present, in vehicle design, some vehicles have removed the parking pawl lock (i.e., P lock) for the sake of simplifying the design or reducing costs. In this way, once the EPB or ESP system fails, the parking function may fail.

[0004] Therefore, the scheme that the parking calipers on both sides of the vehicle are controlled respectively is produced. For this type of scheme, it is necessary to make the parking control on both sides well coordinated. Summary of the invention

[0005] According to one aspect of the present application, a parking caliper control method is provided, including: comparing a first control signal generated by a first system for controlling the caliper with a second control signal generated by a second system for controlling the caliper; and when the first control signal and the second control signal are consistent, the first system and the second system respectively send the first control signal and the second control signal to the calipers they control.

[0006] The provided parking caliper control method, optionally, compares a first control signal generated by a first system for controlling the caliper with a second control signal generated by a second system for controlling the caliper, including the first system sending the generated first control signal for controlling the caliper to the second system; and the second system comparing the received first control signal with the second control signal.

[0007] The provided parking caliper control method, optionally, when the first control signal and the second control signal are consistent, the first system and the second system respectively send the first control signal and the second control signal to the calipers controlled by each of them, including: when the first control signal and the second control signal are consistent, the second system sends an intermediate signal to the first system; the second system sends the second control signal to the caliper controlled by the second system after an intermediate time has passed since the intermediate signal was sent; and the first system sends the first control signal to the caliper controlled by the first system after an intermediate time has passed since the second system sent the intermediate signal.

[0008] The provided parking caliper control method may optionally further include, when a comparison result is that the first control signal and the second control signal are inconsistent, the second system sending a signal to the first system that enables the first system to know the comparison result; the second system judging whether to send the second control signal to the caliper controlled by the second system within a preset time from the start of sending the signal that enables the first system to know the comparison result; and the first system sending the first control signal to the caliper controlled by the first system after a preset time has passed since the second system sent the signal that enables the first system to know the comparison result.

[0009] The provided parking caliper control method can optionally include the following steps: if the second system communicates normally with the first system within the preset time period, the second system sends the second control signal to the caliper controlled by it after the preset time period; otherwise, the second control signal is not sent to the caliper controlled by it.

[0010] In the provided parking caliper control method, optionally, the intermediate signal is the second control signal; and / or the signal enabling the first system to learn the comparison result is the second control signal.

[0011] In the parking caliper control method provided, optionally, the first system is an electronic stability system ESP and the second system is an IBoost system.

[0012] According to another aspect of the present application, a parking caliper control system is also provided, which includes: a first system, which is configured to generate a first control signal for controlling the caliper; a second system, which is configured to generate a second control signal for controlling the caliper; the first system and the second system are both configured to send the first control signal and the second control signal to the calipers respectively controlled when the first control signal and the second control signal are consistent.

[0013] A parking caliper controller is also provided, which may include a processor and a memory, wherein the memory stores instructions, and the processor may be configured to, when executing the instructions: send a first control signal for controlling the caliper to another controller; receive an intermediate signal from the other controller; and send a first control signal to the caliper controlled by the parking caliper controller after a secondary intermediate time period has elapsed since the intermediate signal was received; wherein the intermediate signal indicates that the first control signal is consistent with a second control signal of the other controller.

[0014] Another parking caliper controller is also provided, the parking caliper controller includes a processor and a memory, the memory stores instructions, and the processor is configured to, when executing the instructions: receive a first control signal transmitted by another controller; compare the first control signal with a second control signal generated by the parking caliper controller; when the first control signal and the second control signal are consistent, send an intermediate signal to the other controller; and after an intermediate time has passed since the intermediate signal was sent, send a second control signal to the caliper controlled by the parking caliper controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The following will describe the embodiments of the present application in detail with reference to the accompanying drawings so that the present application can be more fully understood, wherein:

[0016] Figure 1 is a schematic diagram of the structure of an exemplary parking caliper control system;

[0017] Figure 2 is a flow chart of a parking caliper control method according to an example of the present application;

[0018] Figure 3 is a flow chart of a parking caliper control method according to some specific examples of the present application;

[0019] Figure 4 is a flow chart of a parking caliper control method according to some other specific examples of the present application;

[0020] Figure 5 is a schematic diagram of the structure of a parking caliper control system 5 according to an example of the present application;

[0021] Figure 6 is a schematic structural diagram of a parking caliper controller 6 according to an example of the present application;

[0022] Figure 7 It is a structural schematic diagram of a parking caliper controller 7 according to another example of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings to clearly and completely describe the implementation methods of the present application. It should be noted that the described implementation methods are only part of the implementation methods of the technical solution of the present application, not all. All other implementation methods obtained by ordinary technicians in this field based on the implementation methods recorded in the application documents without paying creative work are covered by the protection scope of the present application.

[0024] The terms "first", "second", etc. in the specification, claims, and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the "first", "second", etc. used in this way can be interchanged where appropriate, so that the embodiments of the invention described herein can be implemented in an order other than those illustrated or described herein. In addition, "first" and "second" are used for descriptive purposes only and are not to be understood as expressly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more.

[0025] As used hereinafter, the words “example” or “exemplarily” or “exemplarily” mean “serving as an example, embodiment, or illustration.” Any embodiment described as “example” or “exemplarily” or “exemplarily” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0026] Figure 1 It is a schematic diagram of the structure of an exemplary parking caliper control system. After the electronic stability program (ESP) 10 of the vehicle receives the parking CAN signal 100 indicating that the vehicle has shifted to the P gear (parking gear), on the one hand, it controls the parking caliper 1000 arranged on the ESP side to press the brake pads to park the vehicle. On the other hand, ESP10 sends the received parking CAN signal 100 to the electronically controlled brake booster system IBoost 12. After receiving the parking CAN signal 100, IBoost12 first confirms the validity of the received signal 100, and then controls the parking caliper 1200 arranged on the IBoost side to press the brake pads to park the vehicle.

[0027] IBoost 12 does not control the parking caliper 1200 on the IBoost side to move within the T time length after receiving the signal 100, but determines the validity of the received parking CAN signal 100 within the T time length. For example, if the communication interaction between IBoost 12 and ESP 10 within the T time length is normal, IBoost 12 determines that the received parking signal 100 is a valid signal. Subsequently, IBoost 12 controls the parking caliper 1200 on its side to press the brake pad to park. The specific value of the T time length can be determined according to the cycle of the ESP controller sending the signal. IBoost 12 verifies the parking CAN signal 100 sent by ESP 10 because ESP may mistakenly send a signal under some abnormal circumstances, such as ESP will send a parking CAN signal 100 100ms before shutdown. Therefore, IBoost will wait for another 100ms after receiving the parking CAN signal 100. If ESP is normal, it will continue to send signals to IBoost, otherwise, it will no longer send signals. Based on this, the T duration can be set to 200ms.

[0028] It should be noted that the parking CAN signal 100 indicating that the vehicle has shifted gear to the parking gear is taken as an example here. In actual applications, the signal received by ESP for controlling the parking caliper may also be other signals, such as a signal for releasing the parking function, or other signals related to parking caliper braking.

[0029] In each example of the present application, the parking caliper 1000 controlled by ESP is described as the parking caliper on the ESP side, and the parking caliper 1200 controlled by IBoost is described as the parking caliper on the IBoost side. It should be understood that this is only for the purpose of intuitive and clear description, and does not limit the actual setting position of the parking caliper.

[0030] Back to Figure 1 According to the parking caliper control system of this example, when the signal sent by ESP to IBoost is valid, the parking caliper on the IBoost side is controlled to realize the parking function. At this time, there is a delay of about T time before the parking caliper on the ESP side realizes its parking function. For users, the parking caliper clamps the brake disc twice, that is, the sound of the caliper braking is heard twice, which is a bit abrupt and the comfort experience is not good.

[0031] Figure 2 is a flow chart of a parking caliper control method according to an example of the present application. Figure 2As shown, in step S200, a first control signal generated by the first system for controlling the caliper is compared with a second control signal generated by the second system for controlling the caliper. In step S202, when the first control signal and the second control signal are consistent, the first system and the second system send the first control signal and the second control signal to the caliper controlled by each system respectively.

[0032] Figure 2 The method shown can be Figure 1 The parking caliper system shown in the figure is executed. In this case, the first system is, for example, ESP, and the second system is, for example, IBoost. In actual vehicle applications, both ESP and IBoost can receive signals related to parking control sent by the vehicle through, for example, a CAN network. Figure 2 In the method shown, ESP and IBoost will send control signals respectively according to the comparison results of the control signals generated by them for controlling the calipers, which makes the calipers receive the notification signals at almost the same time and thus act at almost the same time.

[0033] according to Figure 2 In the example method, the comparison between the first control signal and the second control signal is performed in the second system in each of the following examples. However, this is only an example and not a limitation, and the comparison can also be performed in a controller independent of the first system and the second system.

[0034] As mentioned above, "first" and "second" are only used to distinguish the objects described. The first system and the second system are only used to distinguish the systems that can implement parking brakes in this article, and are not used to limit other meanings. The same is true for the first control signal and the second control signal.

[0035] Figure 3 is a flow chart of a parking caliper control method according to some specific examples of the present application. Figure 3 As shown, the first system 30 receives a signal related to parking control and generates a first control signal accordingly. For example, after the first system 30 receives a gear change signal, it can generate a first control signal for controlling the caliper according to the gear change signal, wherein the signal received by the first system 30 may also include other signals such as a vehicle speed signal. The second system 32 receives a signal related to parking control and generates a second control signal accordingly. For example, after the second system 32 receives a gear change signal, it can generate a second control signal for controlling the caliper according to the gear change signal, which may also include a vehicle speed signal, etc.

[0036] The first system 30 sends the generated first control signal to the second system 32 in step S300. The communication method between the first system 30 and the second system 32 may be CAN communication, LIN communication or other communication methods used by the vehicle.

[0037] After receiving the first control signal sent by the first system 30, the second system 32 compares the first control signal with the second control signal generated by the second system 32 itself, as shown in step S302. If the comparison result shows that the first control signal and the second control signal are consistent, that is, the control operations on the caliper are the same, the second system 32 sends an intermediate signal to the first system 30, as shown in step S304.

[0038] The second system 32 starts to send the intermediate signal and after the intermediate time T1, sends the second control signal to the caliper controlled by the second system 32, as shown in step S308. After receiving the second control signal, the caliper controlled by the second system 32 (hereinafter referred to as the second caliper) performs the operation indicated by the control signal. For example, the timer set in the second system 32 starts counting from the moment the second system 32 sends the intermediate signal, and the second system 32 sends the second control signal to the caliper when the timer reaches T1.

[0039] The first system 30 receives the intermediate signal sent by the second system 32, and after the intermediate signal is sent from the first system 32 and the intermediate time T1 has passed, the first control signal is sent to the caliper controlled by the first system 30 (hereinafter referred to as the first caliper), as shown in step S306. It can be seen that the first system 30 and the second system 32 both wait for the time T1 from the time the first system 30 sends the intermediate signal, and then send control signals to the calipers they control, respectively, so that the second caliper and the first caliper can be operated at the same time. For the occupants on the vehicle, the calipers of the vehicle act at the same time, avoiding the problem of poor feeling caused by the sequential actions, such as hearing noise twice.

[0040] A timer can also be set for the first system 30. Generally speaking, the time taken for signal transmission between the first system 30 and the second system is known, that is, the time T0 taken for the signal to be sent from the second system 32 to reach the first system 30 is known. Therefore, the timer set in the first system 30 starts timing from the moment when the first system 30 receives the intermediate signal, and when the timing time reaches (T1-T0), the first system 30 sends the first control signal to the first caliper.

[0041] The intermediate time length T1 is settable. As an example, T1 can be set to be equal to T0 or slightly greater than T0. According to the example of the present application, T1 is set to be substantially equal to the transmission time T0 of the intermediate signal from the second system 31 to the first system 30. After sending the intermediate signal to the first system 30, the second system 32 waits for the T0 time length and sends the second control signal to the second caliper; after receiving the intermediate signal, the first system 30 sends the first control signal to the first caliper. In some more specific examples, the intermediate time length is 20 milliseconds.

[0042] Alternatively, T1 may be slightly greater than T0, such as T1 being greater than T0 by 1 millisecond or the like.

[0043] In some examples, the intermediate signal is, for example, a signal generated by the second system 32 when the comparison results are consistent, indicating that the first control signal and the second control signal are consistent. In other examples, the intermediate signal can directly use the second control signal, that is, the second system 32 directly sends the second control signal to the first system 30 after comparison, and does not generate an additional signal. After receiving the second control signal, the first system 30 can know that the two control signals are consistent. Flowcharts of some specific examples of parking caliper control methods. Figure 3 In contrast, these examples describe Figure 3 The processing process when the second system 32 determines that the first control signal and the second control signal are inconsistent.

[0044] like Figure 4 As shown, the first system 30 receives a signal related to parking and generates a first control signal accordingly. The second system 32 receives a signal related to parking and generates a second control signal accordingly. The first system 30 sends the generated first control signal to the second system 32 in step S400. The second system 32 compares the received first control signal with the second control signal generated by itself. The above process is similar to Figure 3 The signal generation process shown, step S300 and step S302 are the same and will not be described in detail.

[0045] When the comparison result of step S402 is that the first control signal and the second control signal are inconsistent, the second system 32 sends a signal to the first system 30 that enables the first system 30 to know the comparison result, as shown in step S404. In some examples, the signal that enables the first system 30 to know the comparison result (that is, the first control signal and the second control signal are inconsistent) is, for example, a signal generated by the second system 32 when the comparison results are inconsistent to indicate that the two signals are inconsistent. In some other examples, after the comparison, the second system 32 directly sends the second control signal to the first system 30 instead of regenerating the signal. After receiving the second control signal, the first system 30 can find that the second control signal is different from the first control signal. In the example of the present application, the second control signal will be used as the signal that enables the first system 30 to know the comparison result.

[0046] The second system 32 starts from the moment when it sends the second control signal to the first system 30 and experiences a preset time duration T3. During the time duration T3, it is determined whether to send the second control signal to the caliper of the second system 32, i.e., the second caliper, as shown in step S405.

[0047] The first system 30 starts to send the first control signal to the first caliper after receiving the second control signal sent by the second system 32, as shown in step S407 after the sub-preset time period. The sub-preset time period is the difference between the preset time period T3 and the time period T0 used for the signal to be transmitted from the second system 32 to the first system 30, that is, the value of the sub-preset time period is (T3-T0).

[0048] For example, after the second system 32 sends the second control signal to the first system 30, the first system 30 continues to communicate with the second system 32, so that the second system 32 knows whether the current vehicle is indeed going to perform the operation on the caliper as indicated by the first control signal. If yes, the second system 32 will send the second control signal to the second caliper after a preset time T3 (as shown in step S409), otherwise the second system may not perform the operation.

[0049] Figure 5 : is a structural schematic diagram of a parking caliper control system 5 according to an example of the present application. The parking caliper control system 5 includes a first system 50 and a second system 52. The first system 50 generates a first control signal for controlling the caliper. The second system generates a second control signal for controlling the caliper. When the first control signal and the second control signal are consistent, the first system 50 sends the first control signal to the caliper 5000 controlled by the first system 50, and the second system 52 sends the second control signal to the caliper 5200 controlled by the second system.

[0050] like Figure 5 The parking caliper control system 5 shown can perform the above combined Figures 2 to 4In other words, the first system 50 can be implemented as the first system 30 described above and the second system 50 can be implemented as the second system 32 described above.

[0051] The following will take the first system 50 as ESP and the second system as IBoost system as examples to explain how to generate a first control signal after receiving a signal related to parking control. For example, after receiving a gear change signal, a first control signal for controlling the first caliper is generated based on the gear change signal, which may also include a vehicle speed signal, etc. The IBoost system 52 also obtains a signal related to parking control from a CAN signal sent by the vehicle, and generates a second control signal accordingly.

[0052] The generated first control signal is sent to the IBoost system 52. The communication method with the IBoost system 52 may be CAN communication, LIN communication or other communication methods used by the vehicle.

[0053] After receiving the transmitted first control signal, the IBoost system 52 compares the first control signal with the second control signal generated by the IBoost system 52. If the comparison result shows that the first control signal and the second control signal are consistent, that is, the control operation of the caliper is the same, the IBoost system 52 sends an intermediate signal to the ESP 50.

[0054] IBoost 52 starts sending the intermediate signal, and after the intermediate time T1, it sends a second control signal to the second caliper 5200 controlled by IBoost 52. After receiving the second control signal, the second caliper 5200 controlled by IBoost 52 implements the operation indicated by the control signal. ESP 50 receives the intermediate signal sent by IBoost 52, and after the intermediate signal starts to be sent from IBoost 52, after the intermediate time T1, it sends a first control signal to the first caliper 5000 controlled by ESP 50. It can be seen that ESP 50 and IBoost 52 both wait for T1 time from the time IBoost 52 sends the intermediate signal, and then send control signals to the calipers they control, respectively, so that the second caliper 5200 and the first caliper 5000 can operate simultaneously. For the occupants on the vehicle, the calipers of the vehicle act simultaneously, avoiding the problems of two noises caused by the successive actions.

[0055] Generally speaking, the time taken for signal transmission between ESP 50 and IBoost 52 is known in advance, that is, the time T0 taken for the signal to be sent from IBoost 52 to reach ESP 50 is known. Therefore, ESP 50 starts timing from the moment when ESP 50 receives the intermediate signal, and after (T1-T0) time, ESP 50 sends the first control signal to the first caliper.

[0056] In some examples, the intermediate signal is, for example, a signal used to specifically indicate that the first control signal and the second control signal are the same. In this case, IBoost 52 generates such a signal when the comparison results are consistent. In other examples, the intermediate signal can directly use the second control signal. In this case, after the comparison, ESP 50 does not need to generate a signal but directly sends the second control signal to ESP 50. After receiving the second control signal, ESP 50 can know that the two control signals are consistent. In a further example, when the first control signal is inconsistent with the second control signal, the IBoost system sends a signal to ESP 50 that enables ESP 50 to know the comparison result. In some examples, the signal that enables ESP 50 to know the comparison result (that is, the first control signal and the second control signal are inconsistent) is, for example, a signal used to specifically indicate that the two are different. In this case, the IBoost system 52 generates such a signal when the comparison results are inconsistent. In other examples, the signal that enables ESP 50 to know the comparison result (that is, the first control signal and the second control signal are inconsistent) is the second control signal. In this case, after the comparison, the IBoost system 52 does not need to generate a signal but directly sends the second control signal to ESP 50. After receiving the second control signal, ESP 50 can find that the second control signal is different from the first control signal. In the example of the present application, the second control signal is used as a signal that enables ESP 50 to know the comparison result.

[0057] The IBoost system 52 starts from the moment when the second control signal is sent to the ESP 50 and experiences a preset time period T3, and determines whether to send the second control signal to the second caliper within the time period T3.

[0058] ESP 50 starts to send the first control signal to the first caliper after receiving the second control signal sent by IBoost system 52 and after the sub-preset time. The sub-preset time is the difference between the preset time T3 and the time T0 used for the signal to be transmitted from IBoost system 52 to ESP 50, that is, the value of the sub-preset time is (T3-T0). In practical applications, T3 can be set to be the same as T0, or slightly longer than T0.

[0059] Figure 6is a schematic diagram of the structure of a parking caliper controller 6 according to an example of the present application. Figure 6 As shown, the parking caliper controller 6 includes a memory 60 and a processor 62. The memory stores instructions for one or more programs, which can be executed by the processor 62. The processor 62 completes the following process by executing these instructions: sending a first control signal for controlling the caliper to another controller; receiving an intermediate signal from another controller; after a secondary intermediate time period has passed since the intermediate signal was received, sending the first control signal to the caliper controlled by the parking caliper controller 6. Here, the intermediate signal is consistent with the intermediate signal mentioned above, and is a signal indicating that the first control signal is consistent with the second control signal generated by another controller. In some examples, the intermediate signal is the second control signal, that is, the other controller sends the second control signal to the caliper controller 6 after comparison, and the caliper controller 6 learns that the first control signal and the second control signal are consistent. The secondary intermediate time period is the difference between the intermediate time period and the time taken for the intermediate signal to be transmitted from the other controller to the caliper controller 6.

[0060] Furthermore, when the processor of the parking caliper controller 6 executes instructions, it also implements the following process: receiving a signal sent by another controller that enables the parking caliper controller 6 to know the comparison result; after a preset time has passed since the signal sent by the other controller that enables the parking caliper controller 6 to know the comparison result, sending a first control signal to the caliper controlled by the parking caliper controller 6.

[0061] pass Figure 6 The parking caliper controller 6 shown can be used to implement the functions of the first system described above in conjunction with the accompanying drawings. In some more specific examples, the parking caliper controller 6 is implemented in an electronic stability system ESP.

[0062] Figure 7 : is a structural schematic diagram of a parking caliper controller 7 according to another example of the present application. The parking caliper controller 7 includes a memory 70 and a processor 72. The memory stores instructions for one or more programs, which can be executed by the processor 72. The processor 72 completes the following processes by executing these instructions: receiving a first control signal transmitted by another controller; comparing the first control signal with the second control signal generated by the parking caliper controller 7; sending an intermediate signal to the other controller when the first control signal and the second control signal are consistent; and sending a second control signal to the caliper of the parking caliper controller 7 after an intermediate time has passed since the intermediate signal was sent.

[0063] Furthermore, when the processor 72 of the parking caliper controller 7 executes instructions, it realizes: when the comparison result is that the first control signal and the second control signal are inconsistent, sending a signal to the other controller that can enable the other controller to know the comparison result; within a preset time from the start of sending the signal that enables the other controller to know the comparison result, judging whether to send the second control signal to the caliper of the parking caliper controller 7; when the judgment result is that the second control signal is to be sent, sending the second control signal to the caliper controlled by the parking caliper controller 7.

[0064] Combination Figure 7 The parking caliper controller 7 described can be used to implement the functions of the second system described above in conjunction with the accompanying drawings. In some more specific examples, the parking caliper controller 7 is implemented in an IBoost system.

[0065] Can Figure 6 and Figure 7 The parking caliper controllers shown are combined with each other as another controller of each other. In this way, the structure implemented by the parking caliper controller 6 and the parking caliper controller 7 can be used to execute any one of the parking caliper control methods according to the present application.

[0066] Figure 6 The parking caliper controller 6 shown can be implemented in the first system of the parking caliper control system according to the example of the present application. Figure 7 The parking caliper controller 7 shown may be implemented in the second system in the parking caliper control system according to the example of the present application.

[0067] In this application, the above Figures 2 to 4 In each example, specifically, each method example according to the present application can be executed by the controller of the first system and the controller of the second system respectively. For example, each step executed by the first system is executed by the controller of the first system, and each step executed by the second system is executed by the controller of the second system.

[0068] The first system and the second system may be other systems in the vehicle, rather than being limited to the ESP and IBoost exemplified in this application. For example, the first system may be an electronic parking control system, etc.

[0069] The parking caliper control method according to the example of the present application can be implemented by program instructions, so as to be set in, for example, ESP and IBoost systems. For example, the various examples of the parking caliper control method described above implemented by program instructions are set in the existing ESP and IBoost of the vehicle, so that the existing vehicle can implement the method described in the present application.

[0070] Although specific embodiments of the present application have been shown and described in detail to illustrate the principles of the present application, it should be understood that the present application may be implemented in other ways without departing from such principles, for example, the technical features of the various embodiments / examples / examples of the present application may be combined with each other to form new implementation methods.

Claims

1. A parking caliper control method, characterized in that: The control method comprises: comparing a first control signal generated by the first system for controlling the caliper with a second control signal generated by the second system for controlling the caliper; When the first control signal and the second control signal are consistent, the first system and the second system respectively send the first control signal and the second control signal to the calipers they control.

2. The method according to claim 1, characterized in that The comparing the first control signal generated by the first system for controlling the caliper with the second control signal generated by the second system for controlling the caliper comprises: The first system sends the generated first control signal for controlling the caliper to the second system; The second system compares the received first control signal with a generated second control signal for controlling the caliper.

3. The method according to claim 2, characterized in that When the first control signal and the second control signal are consistent, the first system and the second system respectively send the first control signal and the second control signal to the calipers controlled by them, including: When the first control signal and the second control signal are consistent, the second system sends an intermediate signal to the first system; The second system sends a second control signal to the caliper controlled by the second system after an intermediate time has passed since the second system sent the intermediate signal; and The first system sends a first control signal to a caliper controlled by the first system after an intermediate time has passed since the second system sent the intermediate signal.

4. The method according to claim 3, characterized in that The method further comprises: When the comparison result shows that the first control signal and the second control signal are inconsistent, the second system sends a signal to the first system that enables the first system to know the comparison result; The second system determines whether to send the second control signal to the caliper controlled by the second system within a preset time period from the start of sending the signal that enables the first system to know the comparison result; and the first system sends the first control signal to the caliper controlled by the first system after a preset time period has passed since the second system sends the signal that enables the first system to know the comparison result.

5. The method according to claim 4, characterized in that When the second system communicates normally with the first system within the preset time period, the second system sends the second control signal to the caliper controlled by the second system after the preset time period; Otherwise, the second control signal is not sent to the caliper controlled by it.

6. The method according to any one of claims 2 to 5, characterized in that The intermediate signal is the second control signal; and / or the signal enabling the first system to know the comparison result is the second control signal.

7. The method according to any one of claims 1 to 5, characterized in that The first system is an electronic stability system ESP and the second system is an IBoost system.

8. A parking caliper control system, characterized in that: The parking caliper control system comprises: a first system configured to generate a first control signal for controlling the caliper; a second system configured to generate a second control signal for controlling the caliper; The first system and the second system are both configured to send the first control signal and the second control signal to the calipers they control respectively when the first control signal and the second control signal are consistent.

9. The system according to claim 8, characterized in that The first system is configured to send the generated first control signal for controlling the caliper to the second system, and the second system is configured to compare the received first control signal with the second control signal.

10. The system according to claim 9, characterized in that The second system is configured as follows: sending an intermediate signal to the first system when the first control signal and the second control signal are consistent; and sending a second control signal to the caliper controlled by the second system after an intermediate time has passed since the sending of the intermediate signal; The first system is configured as follows: After an intermediate time has passed since the second system sent the intermediate signal, a first control signal is sent to the caliper controlled by the first system.

11. The system according to claim 10, characterized in that The second system is set as follows: When the comparison result shows that the first control signal and the second control signal are inconsistent, sending a signal to the first system that enables the first system to know the comparison result; and determining whether to send the second control signal to the caliper controlled by the second system within a preset time period starting from sending the signal for letting the first system know the comparison result; The first system is configured as follows: After a preset time has passed since the second system sent the signal for letting it know the comparison result, the first control signal is sent to the caliper controlled by the first system.

12. The system according to claim 11, characterized in that The second system is further configured to send the second control signal to the caliper controlled by it after the preset time period if the communication with the first system is normal within the preset time period; Otherwise, the second control signal is not sent to the caliper controlled by it.

13. The system according to any one of claims 10 to 12, characterized in that The intermediate signal is the second control signal; and / or the signal enabling the first system to know the comparison result is the second control signal.

14. The system according to any one of claims 1 to 12, characterized in that: The first system includes an electronic stability system ESP and the second system includes an iboost system.

15. A parking caliper controller, characterized in that: The parking caliper controller comprises a processor and a memory, wherein the memory stores instructions, and the processor is configured to execute the instructions: sending a first control signal for controlling the caliper to another controller; receiving an intermediate signal from the other controller; After a second intermediate time period has elapsed since the intermediate signal was received, sending a first control signal to the caliper controlled by the parking caliper controller; The intermediate signal indicates that the first control signal is consistent with the second control signal of the other controller.

16. The parking caliper controller according to claim 15, characterized in that: When the processor executes the instruction, it also: receiving a signal sent by the other controller that enables the parking caliper controller to know the comparison result; After a preset time has passed since the other controller sends the signal that enables the parking caliper controller to learn the comparison result, the first control signal is sent to the caliper controlled by the parking caliper controller.

17. The parking caliper controller according to claim 15 or 16, characterized in that: The parking caliper controller is implemented in the electronic stability system ESP of the vehicle.

18. A parking caliper controller, characterized in that: The parking caliper controller comprises a processor and a memory, wherein the memory stores instructions, and the processor is configured to execute the instructions: receiving a first control signal transmitted by another controller; comparing the first control signal with a second control signal generated by the parking caliper controller; When the first control signal and the second control signal are consistent, sending an intermediate signal to the other controller; and After an intermediate time has passed since the intermediate signal was sent, a second control signal is sent to the caliper controlled by the parking caliper controller.

19. The controller according to claim 18, characterized in that When the processor executes the instruction, it also: When the comparison result shows that the first control signal and the second control signal are inconsistent, sending a signal to the other controller that enables the other controller to know the comparison result; within a preset time period starting from the issuance of a signal for informing the other controller of the comparison result, determining whether to send the second control signal to the caliper of the parking caliper controller; When the judgment result is that the second control signal is to be sent, the second control signal is sent to the caliper controlled by the parking caliper controller.

20. The parking caliper controller according to claim 18 or 19, characterized in that: The parking caliper controller is implemented in the vehicle's IBoost system.

Images