A control method and system for updating parameters of an electromechanical brake system and a vehicle

Abstract

The application discloses a kind of electronic mechanical brake system parameter updating control method, system and vehicle, control method includes pre-configured chassis domain controller and electronic mechanical brake system electric connection;The chassis domain controller is controlled to send the whole vehicle parameter message to the mechanical electronic brake system, and the whole vehicle parameter message includes multiple whole vehicle parameters;The electronic mechanical brake system receives the whole vehicle parameter message, and extracts the whole vehicle parameter from the whole vehicle parameter message to be used as current whole vehicle parameter;The electronic mechanical brake system is also configured to determine whether the prior whole vehicle parameter in its interior is consistent with the current whole vehicle parameter, if not consistent, then the prior whole vehicle parameter is updated to the current whole vehicle parameter.The application can improve the software updating efficiency of electronic mechanical brake system and versatility.

Description

Technical Field

[0001] This invention relates to the field of vehicle chassis technology, and in particular to a control method, system, and vehicle for updating parameters of an electromechanical braking system. Background Technology

[0002] With the popularization of autonomous driving technology, the importance of drive-by-wire chassis is becoming increasingly prominent. Among them, the Electromechanical Braking System (EMB), as an advanced direction of drive-by-wire braking, has significant technological advantages and application prospects. EMB not only supports all current complex braking functions, such as Anti-lock Braking System (ABS), Traction Control System (TRC), and Vehicle Dynamics Control (VDC), but also achieves more efficient and precise braking control through the cooperation of distributed actuators and domain controllers.

[0003] EMB actuators, also known as distributed actuators, employ complex algorithms to work in conjunction with domain controllers. The EMB contains vehicle-related parameters, which are either calibrated or stored in non-volatile memory (NVM). Currently, during vehicle pre-production debugging, production, and maintenance / replacement at the user end, software containing vehicle parameters needs to be flashed into the controller using a flashing device. Traditional flashing methods are not only time-consuming and inefficient, but also pose challenges to software platformization, preventing different projects from using the same EMB actuator and resulting in poor versatility.

[0004] The above background information is provided only to assist in understanding the inventive concept and technical solution of this invention. It does not necessarily belong to the prior art of this application, nor does it necessarily provide technical teaching. In the absence of clear evidence that the above information was disclosed before the filing date of this application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0005] The purpose of this invention is to provide a control method, system, and vehicle for updating parameters of an electromechanical braking system, which can improve the software update efficiency and versatility of the electromechanical braking system.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A control method for updating parameters of an electromechanical braking system includes the following steps:

[0008] The chassis domain controller (CDC) is pre-configured to be electrically connected to the electromechanical braking system;

[0009] The chassis domain controller is controlled to send vehicle parameter messages to the mechatronic braking system, and the vehicle parameter messages include multiple vehicle parameters.

[0010] The electromechanical braking system receives the vehicle parameter message and extracts the vehicle parameters from the vehicle parameter message as the current vehicle parameters;

[0011] The electromechanical braking system is also configured to determine whether its prior vehicle parameters are consistent with the current vehicle parameters, and if they are inconsistent, to update the prior vehicle parameters to the current vehicle parameters.

[0012] Furthermore, following any one or a combination of the aforementioned technical solutions, the control method further includes the following steps:

[0013] An initial program is pre-configured in the electromechanical braking system, and the initial program contains preset initial vehicle parameters.

[0014] The electromechanical braking system is also configured to update the initial vehicle parameters to the current vehicle parameters.

[0015] Furthermore, following any one or a combination of the aforementioned technical solutions, the method further includes the following steps:

[0016] Each of the vehicle parameters is pre-configured with a corresponding parameter range;

[0017] For each of the current vehicle parameters, the electromechanical braking system is further configured to determine whether the current vehicle parameter is within its corresponding parameter range. If it is, then it further determines whether the previous vehicle parameter is consistent with the current vehicle parameter.

[0018] Furthermore, following any one or a combination of the aforementioned technical solutions, if the electromechanical braking system determines that the current vehicle parameters are not within its corresponding parameter range, the electromechanical braking system sends a first signal to the chassis domain controller to trigger the vehicle to issue a warning signal. Upon receiving the first signal, the chassis domain controller sends a third signal to the electronic control unit; upon receiving the fourth signal, the electronic control unit triggers the warning device to issue a warning message.

[0019] Furthermore, following any one or a combination of the aforementioned technical solutions, during the vehicle commissioning and / or off-line phases, the chassis domain controller, upon receiving a power-on signal, sends a vehicle parameter message to the mechatronic braking system.

[0020] Furthermore, following any one or a combination of the aforementioned technical solutions, during vehicle application, the chassis domain controller, upon receiving a power-on signal, sends a vehicle parameter message to the mechatronic braking system; or,

[0021] During vehicle application, in response to receiving the second signal, the chassis domain controller sends a vehicle parameter message to the mechatronic braking system. The second signal is distinct from the power-on signal.

[0022] Furthermore, based on any or a combination of the aforementioned technical solutions, the mechatronic braking system includes a first EMB actuator, a second EMB actuator, a third EMB actuator, and a fourth EMB actuator;

[0023] The first EMB actuator, the second EMB actuator, the third EMB actuator, and the fourth EMB actuator are configured to synchronously receive the vehicle parameter message and determine whether to update their internal prior vehicle parameters based on the vehicle parameter message.

[0024] Furthermore, following any one or a combination of the aforementioned technical solutions, the method further includes: the electromechanical braking system being configured to determine braking parameters based on the updated current vehicle parameters; and / or,

[0025] The electromechanical braking system is configured to update the prior vehicle parameters to the current vehicle parameters while simultaneously writing the current vehicle parameters to a non-volatile memory.

[0026] Furthermore, following any one or a combination of the aforementioned technical solutions, the chassis domain controller is configured to send vehicle parameter messages to the mechatronic braking system in the following manner:

[0027] Within a preset first time period after the chassis domain controller is powered on, the vehicle parameter message is sent to the electromechanical braking system.

[0028] Furthermore, following any one or a combination of the aforementioned technical solutions, the electromechanical braking system is configured to receive the vehicle parameter message in the following manner:

[0029] Within a preset second time period after the electromechanical braking system is powered on, if the number of times the electromechanical braking system successfully receives the vehicle parameter message exceeds a preset number, the electromechanical braking system extracts the vehicle parameters from the vehicle parameter message as the current vehicle parameters.

[0030] Furthermore, following any one or a combination of the aforementioned technical solutions, the vehicle parameters include tire rolling circumference, wheel speed sensor tooth count, braking efficiency coefficient, distributed slip ratio function enabling parameters, slip ratio control parameters, slip ratio control parameters, and slip ratio control parameters; and / or,

[0031] If the prior vehicle parameters within the electromechanical braking system are consistent with the current vehicle parameters, then the prior vehicle parameters will not be updated.

[0032] According to another aspect of the present invention, the present invention provides an electromechanical braking system, wherein the internal system parameters are updated based on the control method for updating the electromechanical braking system parameters described in any one or a combination of the above technical solutions.

[0033] According to another aspect of the present invention, a vehicle is provided, including an electrically connected chassis domain controller and a mechatronic braking system;

[0034] The chassis domain controller is configured to send a vehicle parameter message to the mechatronic braking system, the vehicle parameter message including multiple vehicle parameters;

[0035] The electromechanical braking system is configured to receive the vehicle parameter message and extract the vehicle parameters from the vehicle parameter message as the current vehicle parameters;

[0036] The electromechanical braking system is also configured to determine whether its prior vehicle parameters are consistent with the current vehicle parameters, and if they are inconsistent, to update the prior vehicle parameters to the current vehicle parameters.

[0037] The beneficial effects of the technical solution provided by this invention are as follows:

[0038] a. This invention enables the mechatronic braking system to obtain the current vehicle parameters from the chassis domain controller to update its own internal vehicle parameters. This allows the EMB software to be the same for different projects and different vehicles (different vehicle models have different vehicle parameters), which can significantly reduce the number of EMB actuator program versions developed, and reduce R&D and management costs.

[0039] b. By configuring replaceable initial vehicle parameters in the electromechanical braking system, this application eliminates the need to check the vehicle model during vehicle debugging, off-line production, and application stages, regardless of changes to the vehicle or replacement of the EMB. Updating vehicle parameters does not require software changes. Therefore, it eliminates the need to repeatedly rewrite the EMB program, reducing processes, shortening the vehicle production cycle, and lowering the risk of program errors.

[0040] c. The technical solution provided in this application eliminates the need for EMB in the vehicle OTA process, thereby reducing the difficulty of OTA;

[0041] d. This application improves vehicle safety by comparing the acquired current vehicle parameters with a preset parameter range and by writing the vehicle parameters to non-volatile memory while updating the vehicle parameters. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A flowchart of a first electromechanical braking system parameter update control method provided as an exemplary embodiment of the present invention;

[0044] Figure 2 A framework diagram of an electromechanical braking system provided as an exemplary embodiment of the present invention;

[0045] Figure 3 A flowchart of an electromechanical braking system program update provided as an exemplary embodiment of the present invention;

[0046] Figure 4 A flowchart of a second electromechanical braking system parameter update control method provided as an exemplary embodiment of the present invention. Detailed Implementation

[0047] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0049] In one embodiment of the present invention, a control method for updating parameters of an electromechanical braking system is provided, see [link to relevant documentation]. Figure 1 The method includes the following steps:

[0050] The chassis domain controller is pre-configured to be electrically connected to the electromechanical braking system;

[0051] The chassis domain controller is controlled to send vehicle parameter messages to the mechatronic braking system. The vehicle parameter messages include multiple vehicle parameters, each of which has a unique ID.

[0052] The electromechanical braking system receives the vehicle parameter message and extracts the vehicle parameters from the vehicle parameter message as the current vehicle parameters;

[0053] The electromechanical braking system is also configured to determine whether its prior vehicle parameters are consistent with the current vehicle parameters, and if they are inconsistent, to update the prior vehicle parameters to the current vehicle parameters.

[0054] If the prior vehicle parameters within the electromechanical braking system are consistent with the current vehicle parameters, then the prior vehicle parameters will not be updated.

[0055] The vehicle parameters mentioned are vehicle calibration parameters, determined through vehicle testing. These typically include tire rolling circumference, wheel speed sensor tooth count, braking efficiency coefficient, distributed slip ratio function enabling parameter, slip ratio control parameter, and slip ratio control parameter. The tire rolling circumference typically ranges from 1.8 meters to 3 meters, the wheel speed sensor tooth count typically ranges from 40 to 50, the braking efficiency coefficient typically ranges from 50 to 120, the distributed slip ratio function enabling parameter typically ranges from 0 to 1, the slip ratio control parameter KP typically ranges from 0 to 10, the slip ratio control parameter KI typically ranges from 0 to 10, and the slip ratio control parameter KD typically ranges from 0 to 10.

[0056] The electromechanical braking system is configured to determine braking parameters based on the updated current vehicle parameters. For example, the EMB actuator calculates wheel speed based on the updated rolling circumference and wheel speed sensor tooth count; and determines the distribution of braking clamping force based on updated braking efficiency parameters.

[0057] The control method for updating parameters of an electromechanical braking system provided by this invention is essentially a control method for updating the program of an electromechanical braking system. Currently, the vehicle's overall parameters are directly written into the program of the vehicle's EMB actuator. Due to the large number of vehicle models, there are too many versions of the EMB actuator program, resulting in excessive management costs. Moreover, during the vehicle R&D and debugging phase at the OEM, multiple tests and parameter calibrations are required on multiple vehicles. Each time new overall vehicle parameters are obtained through calibration, the EMB actuator program needs to be rewritten and re-flashed into the EMB system, a cumbersome, time-consuming, and inefficient process. For example, the dynamic slip ratio (PID) is a key parameter for braking performance. During vehicle performance development, the dynamic slip ratio (PID) parameter is frequently modified, and engineers need to rewrite the EMB actuator program whenever the parameter changes.

[0058] During the vehicle production line phase, each EMB system requires a separate reprogramming process, resulting in a relatively long production cycle. After delivery to the user, when EMB actuators need replacement or the manufacturer needs to update vehicle parameters, this typically requires the OEM or authorized dealership to use specialized reprogramming equipment (diagnostic tools). This is not only inefficient and costly but also disrupts the user experience. While some vehicles offer OTA (Over-The-Air) updates for adjusting EMB parameters, the OTA process is complex, carries a high risk of failure, and has poor security.

[0059] It should be noted that prior to EMB, EHB actuators lacked their own software and were not complex, relying on external direct drives. In other words, EHB actuators were simply machines without a control mechanism. Now, EMB actuators have independent control and more complex internal software. Therefore, flashing the program or using OTA (Over-The-Air Technology) to update the EMB program is the default approach in this field. However, this application proposes a novel approach: sending vehicle parameter messages to the EMB via the chassis domain controller to update the EMB program / parameters.

[0060] In this embodiment, see Figure 3An initial program is pre-configured in the electromechanical braking system, containing preset initial vehicle parameters. These initial vehicle parameters can be the same or different, distinguished by an ID. After the chassis domain controller is electrically connected to the electromechanical braking system, the chassis domain controller sends a vehicle parameter message to the electromechanical braking system. The electromechanical braking system extracts the current vehicle parameters from the message and updates the initial vehicle parameters accordingly. This method allows different vehicle models to use the same EMB actuator program, significantly reducing the number of EMB actuator program versions required and lowering R&D and management costs.

[0061] Furthermore, during the vehicle's debugging and off-line production phases, there is no need to repeatedly rewrite the EMB program, such as... Figure 1 As shown, during the vehicle commissioning and / or off-line phases, the chassis domain controller, upon receiving a power-on signal, sends a vehicle parameter message to the mechatronic braking system.

[0062] More preferably, within a preset first time period after the chassis domain controller is powered on (e.g. Figure 2 Within the 5 seconds shown (but other times such as 3, 4, or 6 seconds are also possible), the vehicle parameter message is sent to the electromechanical braking system. Within a preset second time period after the electromechanical braking system is powered on (e.g., within a certain time frame), the vehicle parameter message is sent to the electromechanical braking system. Figure 2 Within the 5 seconds shown (but other times such as 3, 4, or 6 seconds are also possible), if the electromechanical braking system successfully receives the vehicle parameter message more than a preset number of times, then the electromechanical braking system extracts the vehicle parameters from the vehicle parameter message as the current vehicle parameters. For example, if an independent EMB actuator successfully receives the vehicle parameter message for two rounds, it stops receiving and extracts the current vehicle parameters from the vehicle parameter message to determine whether the vehicle parameters need to be updated. If it fails to successfully receive two rounds within 5 seconds, no further operation is performed.

[0063] In this embodiment, during vehicle application, the chassis domain controller, upon receiving the second signal, sends a vehicle parameter message to the electromechanical braking system. This second signal is distinct from the power-on signal. Specifically, when the vehicle's parameters are updated or the EMB actuator is replaced, the second signal is sent to the chassis domain controller to update the vehicle parameters in the EMB system. Of course, in other embodiments, during vehicle application, the chassis domain controller can also send a vehicle parameter message to the electromechanical braking system upon receiving the power-on signal. This approach eliminates the need to update the vehicle parameters in the EMB system in many cases.

[0064] In one embodiment of the present invention, the control method for updating the parameters of the electromechanical braking system further includes the following steps: pre-configuring a corresponding parameter range for each of the vehicle parameters; for each of the current vehicle parameters, the electromechanical braking system is further configured to determine whether the current vehicle parameter is within its corresponding parameter range, and if so, further determining whether the previous vehicle parameter is consistent with the current vehicle parameter. Preferably, the electromechanical braking system writes the current vehicle parameter into a non-volatile memory while updating the previous vehicle parameter to the current vehicle parameter.

[0065] If the electromechanical braking system determines that the current vehicle parameters are not within its corresponding parameter range, the electromechanical braking system sends a first signal to the chassis domain controller to trigger the vehicle to issue a warning signal. Specifically, in response to receiving the first signal, the chassis domain controller sends a third signal to the electronic control unit; in response to receiving the fourth signal, the electronic control unit triggers the warning device to issue a warning message.

[0066] In one embodiment of the present invention, such as Figure 2 As shown, the electromechanical braking system includes a first EMB actuator, a second EMB actuator, a third EMB actuator, and a fourth EMB actuator, namely... Figure 2 The diagram shows the EMB actuators corresponding to the left front wheel, right front wheel, left rear wheel, and right rear wheel. The first, second, third, and fourth EMB actuators are configured to synchronously receive the vehicle parameter messages and determine whether to update their internal prior vehicle parameters based on the vehicle parameter messages.

[0067] In one embodiment of the present invention, an electromechanical braking system is provided, wherein the internal system parameters are updated based on a control method for updating electromechanical braking system parameters as described in any or a combination of the above embodiments.

[0068] In one embodiment of the present invention, a vehicle is provided, including an electrically connected chassis domain controller and a mechatronic braking system;

[0069] The chassis domain controller is configured to send a vehicle parameter message to the mechatronic braking system, the vehicle parameter message including multiple vehicle parameters;

[0070] The electromechanical braking system is configured to receive the vehicle parameter message and extract the vehicle parameters from the vehicle parameter message as the current vehicle parameters;

[0071] The electromechanical braking system is also configured to determine whether its prior vehicle parameters are consistent with the current vehicle parameters, and if they are inconsistent, to update the prior vehicle parameters to the current vehicle parameters.

[0072] It should be noted that the above-described electromechanical braking system and vehicle embodiments and the control method embodiments for updating electromechanical braking system parameters are based on the same inventive concept. The entire contents of the control method embodiments for updating electromechanical braking system parameters are incorporated into the electromechanical braking system and vehicle embodiments by reference.

[0073] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0074] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control method for updating parameters of an electromechanical braking system, characterized in that, Includes the following steps: The chassis domain controller is pre-configured to be electrically connected to the electromechanical braking system; During the vehicle debugging and off-line stages, the chassis domain controller responds to receiving a power-on signal and sends a vehicle parameter message to the electromechanical braking system within a preset first time period after the chassis domain controller is powered on. The vehicle parameter message includes multiple vehicle parameters, including tire rolling circumference, wheel speed sensor tooth count, braking efficiency coefficient, distributed slip ratio function enable parameters, and slip ratio control parameters. During vehicle application, in response to receiving the second signal, the chassis domain controller sends a vehicle parameter message to the electromechanical braking system. The second signal is distinct from the power-on signal. Within a preset second time period after the electromechanical braking system is powered on, if the number of times the electromechanical braking system successfully receives the vehicle parameter message exceeds a preset number, the vehicle parameter is extracted from the vehicle parameter message as the current vehicle parameter. Each vehicle parameter is pre-configured with a corresponding parameter range. For each current vehicle parameter, the electromechanical braking system is further configured to determine whether the current vehicle parameter is within its corresponding parameter range. If it is, it determines whether the prior vehicle parameters within it are consistent with the current vehicle parameter. If they are inconsistent, it updates the prior vehicle parameters to the current vehicle parameter.

2. The control method for updating parameters of an electromechanical braking system according to claim 1, characterized in that, It also includes the following steps: An initial program is pre-configured in the electromechanical braking system, and the initial program contains preset initial vehicle parameters. The electromechanical braking system is also configured to update the initial vehicle parameters to the current vehicle parameters.

3. The control method for updating parameters of an electromechanical braking system according to claim 2, characterized in that, If the electromechanical braking system determines that the current vehicle parameters are not within its corresponding parameter range, the electromechanical braking system sends a first signal to the chassis domain controller to trigger the vehicle to issue a warning signal.

4. The control method for updating parameters of an electromechanical braking system according to claim 1, characterized in that, The electromechanical braking system includes a first EMB actuator, a second EMB actuator, a third EMB actuator, and a fourth EMB actuator; The first EMB actuator, the second EMB actuator, the third EMB actuator, and the fourth EMB actuator are configured to synchronously receive the vehicle parameter message and determine whether to update their internal prior vehicle parameters based on the vehicle parameter message.

5. The control method for updating parameters of an electromechanical braking system according to claim 1, characterized in that, Also includes: The electromechanical braking system is configured to determine braking parameters based on the updated current vehicle parameters; and / or, The electromechanical braking system is configured to update the prior vehicle parameters to the current vehicle parameters while simultaneously writing the current vehicle parameters to a non-volatile memory.

6. The control method for updating parameters of an electromechanical braking system according to claim 1, characterized in that, If the prior vehicle parameters within the electromechanical braking system are consistent with the current vehicle parameters, then the prior vehicle parameters will not be updated.

7. An electromechanical braking system, characterized in that, The internal system parameters of the electromechanical braking system are updated based on the control method for updating the parameters of the electromechanical braking system according to any one of claims 1-6.

8. A vehicle, characterized in that, Includes an electrically connected chassis domain controller and the electromechanical braking system as described in claim 7; The chassis domain controller is configured to send a vehicle parameter message to the electromechanical braking system, the vehicle parameter message including multiple vehicle parameters; The electromechanical braking system is configured to receive the vehicle parameter message and extract the vehicle parameters from the vehicle parameter message as the current vehicle parameters; The electromechanical braking system is also configured to determine whether its prior vehicle parameters are consistent with the current vehicle parameters, and if they are inconsistent, to update the prior vehicle parameters to the current vehicle parameters.

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