EMB control method and device

Abstract

The invention relates to an EMB control method and device, and relates to the technical field of vehicle braking. According to the technical scheme, the EMB control method and device at least have the following beneficial effects that the current motor stroke of a driving motor of an EMB and the current clamping force fed back by a force sensor are obtained; querying a target clamping force corresponding to the current motor stroke in a pre-stored corresponding relationship between the motor stroke and the clamping force; if the difference value between the target clamping force and the current clamping force is larger than a preset clamping force verification threshold value, it is judged that the force sensor fails, and the braking force of the EMB is controlled according to the target clamping force. According to the control method and device of the EMB, the clamping force is estimated through the current and stroke data of the motor, even if the force sensor fails, the EMB can still normally control vehicle braking, and potential safety hazards caused by lack of braking force are avoided. In addition, by checking and estimating the deviation between the clamping force and the feedback value of the sensor, potential risks are detected in advance, and the possibility of accidents is remarkably reduced.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle braking, and in particular to a control method and device for EMB. Background Art

[0002] At present, EMB (Electromechanical Brake) uses a motor to drive the friction plate to brake, which has the advantages of simple structure, high transmission efficiency, no need for hydraulic pipelines and miniaturization, and has become the first choice for automotive braking technology. EMB usually performs closed-loop control of the clamping force through the clamping force fed back by the force sensor.

[0003] However, under long-term fatigue use, the strain gauge of the force sensor may break, causing the pressure sensor to fail, resulting in the EMB being unable to provide braking force, affecting the driver's safety. Summary of the invention

[0004] Based on this, it is necessary to provide a control method and device for EMB to address the above technical issues.

[0005] In a first aspect, a method for controlling an EMB is provided, the method comprising:

[0006] Get the current motor stroke of the EMB's drive motor and the current clamping force fed back by the force sensor;

[0007] In the pre-stored correspondence between the motor stroke and the clamping force, query the target clamping force corresponding to the current motor stroke;

[0008] If the difference between the target clamping force and the current clamping force is greater than a preset clamping force verification threshold, it is determined that the force sensor has failed, and the braking force of the EMB is controlled according to the target clamping force.

[0009] As an optional implementation, the method for determining the pre-stored correspondence between the motor stroke and the clamping force includes:

[0010] Controlling the clamping of the EMB caliper according to a preset clamping speed by the drive motor;

[0011] Obtain the clamping motor torque corresponding to each motor stroke during the clamping process;

[0012] Controlling the release of the caliper of the EMB by the drive motor according to a preset release speed, wherein the release speed is the same as the clamping speed;

[0013] Acquire the release motor torque corresponding to each motor stroke during the release process;

[0014] For each motor stroke, determining the clamping force corresponding to the motor stroke according to a preset gearbox transmission ratio, a clamping motor torque corresponding to the motor stroke, and a release motor torque;

[0015] The corresponding relationship between each motor stroke and the clamping force is stored.

[0016] As an optional implementation manner, obtaining the clamping motor torque corresponding to each motor stroke during the clamping process includes:

[0017] Acquire a first current corresponding to each motor stroke during the clamping process;

[0018] For each of the motor strokes, the clamping motor torque corresponding to the motor stroke is determined according to a preset motor torque constant and a first current corresponding to the motor stroke.

[0019] As an optional implementation, for each motor stroke, according to a preset motor torque constant and a first current corresponding to the motor stroke, a formula for determining the clamping motor torque corresponding to the motor stroke is:

[0020] T 夹紧电机扭矩 =I1×K t ;

[0021] Among them, T 夹紧电机扭矩 is the clamping motor torque corresponding to the motor stroke, I1 is the first current corresponding to the motor stroke, K t is the preset motor torque constant.

[0022] As an optional implementation manner, the obtaining of the release motor torque corresponding to each motor stroke in the release process includes:

[0023] Acquire a second current corresponding to each motor stroke during the release process;

[0024] For each of the motor strokes, a release motor torque corresponding to the motor stroke is determined according to a preset motor torque constant and a second current corresponding to the motor stroke.

[0025] As an optional implementation manner, for each motor stroke, according to a preset motor torque constant and a second current corresponding to the motor stroke, a formula for determining the release motor torque corresponding to the motor stroke is:

[0026] T 释放电机扭矩 =I2×K t ;

[0027] Among them, T 释放电机扭矩 is the release motor torque corresponding to the motor stroke, I2 is the second current corresponding to the motor stroke, K t is the preset motor torque constant.

[0028] As an optional implementation, for each motor stroke, according to a preset gearbox transmission ratio, a clamping motor torque corresponding to the motor stroke, and a release motor torque, a formula for determining the clamping force corresponding to the motor stroke is:

[0029] F 夹紧力 =R(T 夹紧电机扭矩 +T 释放电机扭矩 ) / 2;

[0030] Among them, F 夹紧力 is the clamping force corresponding to the motor stroke, R is the preset gearbox transmission ratio, T 夹紧电机扭矩 is the clamping motor torque corresponding to the motor stroke, T 释放电机扭矩 It is the release motor torque corresponding to the motor stroke.

[0031] In a second aspect, a control device for an EMB is provided, the control device comprising:

[0032] A data acquisition module, used to obtain the current motor stroke of the EMB drive motor and the current clamping force fed back by the force sensor;

[0033] A clamping force estimation module, used to query the target clamping force corresponding to the current motor stroke in the pre-stored correspondence between the motor stroke and the clamping force;

[0034] A control module is used to determine that the force sensor fails if the difference between the target clamping force and the current clamping force is greater than a preset clamping force verification threshold, and control the braking force of the EMB according to the target clamping force.

[0035] The present application provides a control method and device for an EMB. The technical solution provided by the embodiments of the present application brings at least the following beneficial effects: obtaining the current motor stroke of the driving motor of the EMB and the current clamping force fed back by the force sensor; querying the target clamping force corresponding to the current motor stroke in the pre-stored correspondence between the motor stroke and the clamping force; if the difference between the target clamping force and the current clamping force is greater than the preset clamping force verification threshold, the force sensor is determined to be failed, and the braking force of the EMB is controlled according to the target clamping force. The control method and device for the EMB provided by the present application estimate the clamping force by using the motor current and stroke data. Even if the force sensor fails, the EMB can still control the vehicle braking normally, avoiding the safety hazards caused by the lack of braking force. In addition, by verifying the deviation between the estimated clamping force and the sensor feedback value, it is possible to achieve real-time early warning of force sensor failure, detect potential risks in advance, and significantly reduce the possibility of accidents.

[0036] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A flow chart of a method for controlling an EMB provided in an embodiment of the present application;

[0039] Figure 2 A flow chart of a method for determining a correspondence between a motor stroke and a clamping force provided in an embodiment of the present application;

[0040] Figure 3 A flow chart of a method for determining a clamping motor torque provided in an embodiment of the present application;

[0041] Figure 4 A flow chart of a method for determining a released motor torque provided in an embodiment of the present application;

[0042] Figure 5 A schematic diagram of the structure of a control device for an EMB provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] The following will describe in detail a control method for an EMB provided in an embodiment of the present application in conjunction with a specific implementation method. Figure 1 A flow chart of a control method of an EMB provided in an embodiment of the present application, such as Figure 1 As shown, the specific steps are as follows:

[0045] Step 101, obtaining the current motor stroke of the driving motor of the EMB and the current clamping force fed back by the force sensor.

[0046] In practice, the motor stroke can reflect the current position of the caliper when the motor drives it, and is used to characterize the motion state of the caliper. The stroke information can be used to determine the specific position of the caliper during braking. The force sensor is used to measure the current clamping force applied, which is a direct reflection of the braking force.

[0047] Step 102 : querying the target clamping force corresponding to the current motor stroke in the pre-stored correspondence between the motor stroke and the clamping force.

[0048] In implementation, the correspondence between the clamping force and the motor stroke is established through experimental data during the system calibration phase, reflecting the theoretical clamping force of the clamping mechanism at different positions. By querying the target clamping force corresponding to the current motor stroke, the ideal clamping force at that position can be obtained, which is used to compare with the feedback value of the force sensor to verify its accuracy. For example: During the calibration phase, the correspondence between the motor stroke and the clamping force was recorded through multiple experiments. For example: when the motor stroke is 10mm, the target clamping force is 210N, and when the motor stroke is 15mm, the target clamping force is 250N. If the system detects that the current motor stroke is 10mm, it can query the target clamping force corresponding to the current motor stroke as 210N from the pre-stored correspondence.

[0049] Step 103: If the difference between the target clamping force and the current clamping force is greater than a preset clamping force verification threshold, it is determined that the force sensor is failed, and the braking force of the EMB is controlled according to the target clamping force.

[0050] In implementation, if the difference between the target clamping force and the current clamping force fed back by the force sensor exceeds the clamping force verification threshold, it indicates that the force sensor has failed or has decreased accuracy. In this case, the system can directly adjust the braking force according to the target clamping force, bypassing the sensor feedback to ensure the normal operation of the braking system. For example: the preset clamping force verification threshold is 15N, the current motor stroke is 10mm, the corresponding target clamping force queried is 210N, and the clamping force fed back by the force sensor is 200N. The calculated clamping force difference is 10N, and the clamping force difference is less than the clamping force verification threshold. The system determines that the force sensor is normal. For example, if the current clamping force fed back by the force sensor is 180N, the difference is greater than the clamping force verification threshold. The system determines that the sensor has failed, switches to the estimation mode, and adjusts the motor drive output according to the target clamping force (210N) to maintain stable braking force.

[0051] As an optional implementation, in unmanned transport vehicles with low safety requirements, the force sensor can be eliminated, and the clamping force can be estimated by the EMB control method of the embodiment of the present application to reduce system complexity and cost.

[0052] As an optional implementation, Figure 2 A flow chart of a method for determining a corresponding relationship between a motor stroke and a clamping force provided in an embodiment of the present application, such as Figure 2 As shown, the specific steps of the method for determining the correspondence between the motor stroke and the clamping force pre-stored in step 102 are as follows:

[0053] Step 201 , controlling the clamping of the EMB caliper according to a preset clamping speed by driving a motor.

[0054] In practice, the clamping process is completed by driving the motor at a constant speed. The preset clamping speed can avoid dynamic fluctuations when the caliper is clamped, thereby ensuring the stability of the clamping process and accurate measurement of the clamping force, and simulating the actual situation when the vehicle is braked. For example: On the test bench, the motor of the EMB system is preset to a clamping speed of 2mm / s. The motor is driven by the control signal to drive the brake caliper to gradually clamp the brake disc, and the change in the motor stroke is recorded during the process.

[0055] Step 202, obtaining the clamping motor torque corresponding to each motor stroke during the clamping process.

[0056] In practice, the current sensor and motor parameters (such as torque constant) installed on the drive motor are used to convert the real-time collected current signal into the corresponding clamping motor torque. The motor torque directly reflects the force applied to the caliper during the clamping process.

[0057] As an optional implementation, Figure 3 A flow chart of a method for determining a clamping motor torque provided in an embodiment of the present application, such as Figure 3 As shown, the specific steps of obtaining the clamping motor torque corresponding to each motor stroke in the clamping process in step 202 are as follows:

[0058] Step 301, obtaining a first current corresponding to each motor stroke during the clamping process.

[0059] In implementation, the first current corresponding to each motor stroke during the clamping process can be obtained through a current sensor on the driving motor. For example, during the clamping process, the current values ​​recorded when the motor strokes are 2 mm, 4 mm, and 6 mm are 5A, 6A, and 7A, respectively.

[0060] Step 302 : for each motor stroke, determine the clamping motor torque corresponding to the motor stroke according to a preset motor torque constant and a first current corresponding to the motor stroke.

[0061] In implementation, the system may calculate the corresponding clamping motor torque according to a preset motor torque constant and a first current corresponding to the motor stroke.

[0062] As an optional implementation, in step 302, for each motor stroke, according to a preset motor torque constant and a first current corresponding to the motor stroke, a formula for determining the clamping motor torque corresponding to the motor stroke is:

[0063] T 夹紧电机扭矩 =I1×K t ;

[0064] Among them, T 夹紧电机扭矩 is the clamping motor torque corresponding to the motor stroke, I1 is the first current corresponding to the motor stroke, K t is the preset motor torque constant.

[0065] Step 203, controlling the release of the caliper of the EMB according to a preset release speed by driving the motor, wherein the release speed is the same as the clamping speed.

[0066] In practice, the caliper release process is completed at a constant speed by driving the motor to reverse. The release speed is consistent with the clamping speed, ensuring the consistency of force measurement during clamping and release, and providing accurate data for subsequent clamping force calculation. For example: adjust the motor reverse speed to 2mm / s, drive the motor to reverse through the control signal, gradually release the caliper, and record the motor stroke change and its corresponding release state during the process.

[0067] Step 204, obtaining the release motor torque corresponding to each motor stroke during the release process.

[0068] In practice, the motor current is measured by the current sensor during the release process, and the motor torque is calculated in combination with the torque constant. The torque data during release is used to combine with the clamping torque to comprehensively evaluate the distribution of friction and clamping force. For example: during the release process, the current values ​​when the motor stroke is 8mm, 6mm, 4mm, and 2mm are recorded, and the corresponding release motor torque is calculated based on the preset motor torque constant.

[0069] As an optional implementation, Figure 4 A flow chart of a method for determining a released motor torque provided in an embodiment of the present application, such as Figure 4 As shown, the step 204 of acquiring the release motor torque corresponding to each motor stroke in the release process includes:

[0070] Step 401, obtaining a second current corresponding to each motor stroke during the release process.

[0071] In implementation, the second current corresponding to each motor stroke during the release process can be obtained through a current sensor on the drive motor. For example, during the release process, the current values ​​recorded when the motor strokes are 6 mm, 4 mm, and 2 mm are 8A, 8A, and 7A, respectively.

[0072] Step 402 : for each motor stroke, determine the release motor torque corresponding to the motor stroke according to a preset motor torque constant and a second current corresponding to the motor stroke.

[0073] In implementation, the system may calculate the corresponding release motor torque according to a preset motor torque constant and a second current corresponding to the motor stroke.

[0074] As an optional implementation, in step 402, for each motor stroke, according to a preset motor torque constant and a second current corresponding to the motor stroke, a formula for determining the release motor torque corresponding to the motor stroke is:

[0075] T 释放电机扭矩 =I2×K t ;

[0076] Among them, T 释放电机扭矩 is the release motor torque corresponding to the motor stroke, I2 is the second current corresponding to the motor stroke, K t is the preset motor torque constant.

[0077] Step 205 , for each motor stroke, according to a preset gearbox transmission ratio, a clamping motor torque corresponding to the motor stroke, and a release motor torque, determine a clamping force corresponding to the motor stroke.

[0078] In implementation, the system can determine the clamping force corresponding to each motor stroke by comprehensively considering the clamping motor torque and the releasing motor torque and eliminating the influence of friction.

[0079] As an optional implementation, in step 205, for each motor stroke, according to the preset gearbox transmission ratio, the clamping motor torque and the release motor torque corresponding to the motor stroke, the formula for determining the clamping force corresponding to the motor stroke is:

[0080] F 夹紧力 =R(T 夹紧电机扭矩 +T 释放电机扭矩 ) / 2;

[0081] Among them, F 夹紧力 is the clamping force corresponding to the motor stroke, R is the preset gearbox transmission ratio, T 夹紧电机扭矩 is the clamping motor torque corresponding to the motor stroke, T 释放电机扭矩 It is the release motor torque corresponding to the motor stroke.

[0082] In practice, when clamping, RT 夹紧电机扭矩 =F 夹紧力 -F 摩擦力 , when released, RT 释放电机扭矩 =F 夹紧力 +F 摩擦力 , we can deduce that F 夹紧力 =R(T 夹紧电机扭矩 +T 释放电机扭矩 ) / 2.

[0083] Step 206, storing the corresponding relationship between each motor stroke and the clamping force.

[0084] In implementation, the calculated clamping force corresponding to each motor stroke position is stored as a curve relationship or table for querying the target clamping force during braking. The corresponding relationship between motor stroke and clamping force supports real-time call, which improves control efficiency and verification accuracy. For example: motor stroke: 2mm, clamping force: 40N; motor stroke: 4mm, clamping force: 50N; motor stroke: 6mm, clamping force: 60N; motor stroke: 8mm, clamping force: 70N. After the data is stored, it can be directly queried and called by the control module during real-time braking.

[0085] The embodiment of the present application provides a control method for an EMB. The technical solution provided by the embodiment of the present application at least brings the following beneficial effects: obtaining the current motor stroke of the driving motor of the EMB and the current clamping force fed back by the force sensor; in the correspondence between the motor stroke and the clamping force stored in advance, querying the target clamping force corresponding to the current motor stroke; if the difference between the target clamping force and the current clamping force is greater than the preset clamping force verification threshold, it is determined that the force sensor is invalid, and the braking force of the EMB is controlled according to the target clamping force. The control method and device of the EMB provided by the present application estimate the clamping force by using the motor current and stroke data. Even if the force sensor fails, the EMB can still control the vehicle braking normally to avoid the safety hazards caused by the lack of braking force. In addition, by verifying the deviation between the estimated clamping force and the sensor feedback value, it is possible to realize real-time early warning of force sensor failure, detect potential risks in advance, and significantly reduce the possibility of accidents. In addition, in terms of the accuracy of braking force control, the system establishes a clamping force estimation formula through the motor current and stroke, and combines the closed-loop adjustment of the target clamping force to achieve accurate output of the braking force. In summary, the control method of the EMB in the embodiment of the present application realizes the verification of the feedback value of the force sensor and has the function of replacing the sensor after failure. At the same time, the calculation model of the clamping force is optimized, and the friction force is dynamically compensated through the bidirectional clamping / releasing process, thereby improving the accuracy of the clamping force estimation. In addition, the clamping force estimation and the force sensor fault warning are combined to improve the reliability of the EMB.

[0086] It should be understood that although Figures 1 to 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figures 1 to 4 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0087] It can be understood that the same / similar parts between the various embodiments of the above method in this specification can refer to each other, and each embodiment focuses on the differences from other embodiments. For related points, please refer to the description of other method embodiments.

[0088] The present application also provides a control device for an EMB, such as Figure 5 As shown, the device comprises:

[0089] The data acquisition module 510 is used to obtain the current motor stroke of the drive motor of the EMB and the current clamping force fed back by the force sensor.

[0090] The clamping force estimation module 520 is used to query the target clamping force corresponding to the current motor stroke in the pre-stored correspondence between the motor stroke and the clamping force.

[0091] The control module 530 is used to determine that the force sensor fails if the difference between the target clamping force and the current clamping force is greater than a preset clamping force verification threshold, and control the braking force of the EMB according to the target clamping force.

[0092] The specific definition of the control device of the EMB can be found in the definition of the control method of the EMB above, which will not be repeated here. Each module in the control device of the EMB can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0093] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0094] 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 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 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 device including the elements.

[0095] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0096] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0097] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for controlling an EMB, characterized in that: The method comprises: Get the current motor stroke of the EMB's drive motor and the current clamping force fed back by the force sensor; In the pre-stored correspondence between the motor stroke and the clamping force, query the target clamping force corresponding to the current motor stroke; If the difference between the target clamping force and the current clamping force is greater than a preset clamping force verification threshold, it is determined that the force sensor has failed, and the braking force of the EMB is controlled according to the target clamping force.

2. The method according to claim 1, characterized in that The method for determining the pre-stored correspondence between the motor stroke and the clamping force comprises: Controlling the clamping of the EMB caliper according to a preset clamping speed by the drive motor; Obtain the clamping motor torque corresponding to each motor stroke during the clamping process; Controlling the release of the caliper of the EMB by the drive motor according to a preset release speed, wherein the release speed is the same as the clamping speed; Acquire the release motor torque corresponding to each motor stroke during the release process; For each motor stroke, determining the clamping force corresponding to the motor stroke according to a preset gearbox transmission ratio, a clamping motor torque corresponding to the motor stroke, and a release motor torque; The corresponding relationship between each motor stroke and the clamping force is stored.

3. The method according to claim 2, characterized in that The obtaining of the clamping motor torque corresponding to each motor stroke during the clamping process includes: Acquire a first current corresponding to each motor stroke during the clamping process; For each of the motor strokes, the clamping motor torque corresponding to the motor stroke is determined according to a preset motor torque constant and a first current corresponding to the motor stroke.

4. The method according to claim 3, characterized in that For each motor stroke, according to a preset motor torque constant and a first current corresponding to the motor stroke, a formula for determining the clamping motor torque corresponding to the motor stroke is: T 夹紧电机扭矩 =I1×K t ; Among them, T 夹紧电机扭矩 is the clamping motor torque corresponding to the motor stroke, I1 is the first current corresponding to the motor stroke, K t is the preset motor torque constant.

5. The method according to claim 2, characterized in that: The obtaining of the release motor torque corresponding to each motor stroke in the release process includes: Acquire a second current corresponding to each motor stroke during the release process; For each of the motor strokes, a release motor torque corresponding to the motor stroke is determined according to a preset motor torque constant and a second current corresponding to the motor stroke.

6. The method according to claim 5, characterized in that For each motor stroke, according to the preset motor torque constant and the second current corresponding to the motor stroke, the formula for determining the release motor torque corresponding to the motor stroke is: T 释放电机扭矩 =I2×K t ; Among them, T 释放电机扭矩 is the release motor torque corresponding to the motor stroke, I2 is the second current corresponding to the motor stroke, K t is the preset motor torque constant.

7. The method according to claim 2, characterized in that: For each motor stroke, according to the preset gearbox transmission ratio, the clamping motor torque and the release motor torque corresponding to the motor stroke, the formula for determining the clamping force corresponding to the motor stroke is: F 夹紧力 =R(T 夹紧电机扭矩 +T 释放电机扭矩 ) / 2; Among them, F 夹紧力 is the clamping force corresponding to the motor stroke, R is the preset gearbox transmission ratio, T 夹紧电机扭矩 is the clamping motor torque corresponding to the motor stroke, T 释放电机扭矩 It is the release motor torque corresponding to the motor stroke.

8. A control device for EMB, characterized in that: The control device comprises: A data acquisition module, used to obtain the current motor stroke of the EMB drive motor and the current clamping force fed back by the force sensor; A clamping force estimation module, used to query the target clamping force corresponding to the current motor stroke in the pre-stored correspondence between the motor stroke and the clamping force; A control module is used to determine that the force sensor fails if the difference between the target clamping force and the current clamping force is greater than a preset clamping force verification threshold, and control the braking force of the EMB according to the target clamping force.

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