Multi-wheel parking control system and method based on electronic mechanical braking system and vehicle

Abstract

The invention discloses a multi-wheel parking control system and method based on an electronic mechanical braking system and a vehicle, the multi-wheel parking control system comprises a first electronic parking brake and a second electronic parking brake, the first electronic parking brake is configured to brake front wheels of the vehicle, and the second electronic parking brake is configured to brake rear wheels of the vehicle. The second electronic parking brake is configured to brake rear wheels of the vehicle; when the vehicle is in a first state, the first electronic parking brake and the second electronic parking brake are configured to alternately work; when the vehicle is in the second state, the first electronic parking brake and the second electronic parking brake are configured to work at the same time; the braking force required when the vehicle is in the second state is greater than the braking force required when the vehicle is in the first state. The service life of the parking control system can be prolonged, and various parking requirements can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle chassis, and in particular to a multi-wheel parking control system, method and vehicle based on an electronic mechanical braking system. Background Art

[0002] With the popularization of autonomous driving technology, the importance of wire-controlled chassis has become increasingly prominent. Among them, the electromechanical braking system (EMB), as an advanced direction of wire-controlled braking, has significant technical 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 system (VDC), but also can achieve more efficient and precise braking control through the cooperation of distributed actuators and domain controllers.

[0003] In the vehicle's chassis domain control, the Electronic Parking Brake (EPB) system is a technology that realizes the parking brake function through an electronic control system. It replaces the traditional mechanical handbrake or foot brake and has higher convenience and safety.

[0004] The actuator of the EMB system also serves as the actuator of the EPB, which is used to realize the parking function. In traditional technology, due to cost and vehicle layout reasons, the vehicle only supports two EPB actuators, which are located at the left rear and right rear. In the event of failure, the parking ability of a single EPB actuator is poor, and continuous sliding often occurs.

[0005] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of the present application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above content has been disclosed before the filing date of the present application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0006] The object of the present invention is to provide a multi-wheel parking control system, method and vehicle based on an electronic mechanical braking system, which can improve the service life of the parking control system and meet various parking requirements.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A multi-wheel parking control system based on an electronic mechanical brake system comprises a first electronic parking brake and a second electronic parking brake, wherein the first electronic parking brake is configured to brake the front wheels of a vehicle, and the second electronic parking brake is configured to brake the rear wheels of the vehicle;

[0009] When the vehicle is in a first state, the first electronic parking brake and the second electronic parking brake are configured to work alternately;

[0010] When the vehicle is in a second state, the first electronic parking brake and the second electronic parking brake are configured to work simultaneously; and a braking force required when the vehicle is in the second state is greater than a braking force required when the vehicle is in the first state.

[0011] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, when the vehicle is in the third state, the electronic parking brake in a normal working state of the first electronic parking brake and the second electronic parking brake is configured to work;

[0012] When the vehicle is in a third state, there is a fault in one of the first electronic parking brake and the second electronic parking brake.

[0013] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, when the vehicle is in the fourth state, the first electronic parking brake and the second electronic parking brake are two electronic parking brakes, wherein the electronic parking brake with a larger braking force is configured to work, and the electronic parking brake with a smaller braking force is configured to not work;

[0014] The braking force required when the vehicle is in the fourth state is greater than the braking force required when the vehicle is in the first state and is smaller than the braking force required when the vehicle is in the second state.

[0015] Furthermore, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, the braking force required for the vehicle is determined based on the pedal braking signal, the slope recognition result and the road surface recognition result. If the braking force required for the vehicle is within a preset first braking force range, it is determined that the vehicle is in the fourth state.

[0016] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, when the vehicle is in the fifth state, the first electronic parking brake and the second electronic parking brake are two electronic parking brakes, wherein the electronic parking brake with a smaller braking force is configured to work, and the electronic parking brake with a larger braking force is configured to not work;

[0017] The braking force required when the vehicle is in the fifth state is smaller than the braking force required when the vehicle is in the first state.

[0018] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the braking force required by the vehicle is determined according to the pedal braking signal, the slope recognition result and the road surface recognition result, and if the braking force required by the vehicle is within a preset second braking force range, it is determined that the vehicle is in the fifth state;

[0019] The braking force within the second braking force range is smaller than the braking force within the first braking force range.

[0020] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the braking force required by the vehicle is determined according to the pedal braking signal, the slope recognition result and the road surface recognition result, and if the braking force required by the vehicle is within a preset third braking force range, it is determined that the vehicle is in the first state;

[0021] The braking force in the third braking force range is smaller than the braking force in the first braking force range and larger than the braking force in the second braking force range.

[0022] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the braking force required by the vehicle is determined according to the pedal braking signal, the slope recognition result and the road surface recognition result, and if the braking force required by the vehicle is within a preset fourth braking force range, it is determined that the vehicle is in the first state;

[0023] The braking force within the fourth braking force range is greater than the braking force within the first braking force range.

[0024] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, when the vehicle is in a slipping state, it is determined that the vehicle is in the second state; and / or,

[0025] The braking force provided by the first electronic parking brake when in operation is not less than the braking force provided by the second electronic parking brake when in operation, and when the first electronic parking brake is in operation and the vehicle is in a rolling state, it is determined that the vehicle is in the second state; and / or,

[0026] The braking force provided by the second electronic parking brake when in operation is not less than the braking force provided by the first electronic parking brake when in operation. When the second electronic parking brake is in operation and the vehicle is in a rolling state, it is determined that the vehicle is in the second state.

[0027] Further, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, the maximum braking force provided by the first electronic parking brake is greater than the maximum braking force provided by the second electronic parking brake.

[0028] Further, according to any one of the above technical solutions or a combination of multiple technical solutions, through road slope detection, if the slope value is greater than a preset first slope value, it is determined that the first electronic parking brake and the second electronic parking brake are working at the same time;

[0029] If the ramp value is not greater than a preset first ramp value and not less than a preset second ramp value, determining that the first electronic parking brake is in operation and the second electronic parking brake is inoperable;

[0030] If the ramp value is greater than a preset third ramp value and less than a preset second ramp value, determining that the first electronic parking brake and the second electronic parking brake are working alternately;

[0031] If the ramp value is not greater than a preset third ramp value and not less than a preset fourth ramp value, determining that the second electronic parking brake is in operation and the first electronic parking brake is inoperable;

[0032] If the ramp value is less than a preset fourth ramp value, determining that the first electronic parking brake and the second electronic parking brake are working simultaneously;

[0033] Among them, the first ramp value>the second ramp value>0>the third ramp value>the fourth ramp value.

[0034] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the first electronic parking brake and the second electronic parking brake are configured to work alternately in the following manner:

[0035] In two adjacent parking processes, the first electronic parking brake is operated in one parking process, and the second electronic parking brake is operated in the other parking process.

[0036] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the first electronic parking brake and the second electronic parking brake are configured to work alternately in the following manner:

[0037] If the duration of a single parking process is greater than a preset first duration, it is determined that the first electronic parking brake and the second electronic parking brake work alternately at a preset frequency.

[0038] According to another aspect of the present invention, the present invention provides a multi-wheel parking control method based on an electronic mechanical braking system, which is applicable to the multi-wheel parking control system described in any one of the above technical solutions or a combination of multiple technical solutions, and the multi-wheel parking control method comprises the following steps:

[0039] When the vehicle is in a first state, controlling the first electronic parking brake and the second electronic parking brake to work alternately;

[0040] When the vehicle is in a second state, the first electronic parking brake and the second electronic parking brake are controlled to work simultaneously; and the braking force required when the vehicle is in the second state is greater than the braking force required when the vehicle is in the first state.

[0041] According to another aspect of the present invention, a vehicle is provided, comprising a multi-wheel parking control system based on an electronic mechanical braking system as described in any one of the above technical solutions or a combination of multiple technical solutions.

[0042] The beneficial effects brought by the technical solution provided by the present invention are as follows:

[0043] a. The present invention configures the first electronic parking brake and the second electronic parking brake to work alternately when the vehicle is in the second state, and alternately parks the vehicle by splitting the axles, thereby effectively reducing the failure rate of the first electronic parking brake and the second electronic parking brake and increasing the life of the multi-wheel parking control system;

[0044] b. This application adopts the split-axle alternating parking mode, which can ensure the actuator self-learning and is beneficial to the service brake control of the EMB system;

[0045] c. The present application provides simultaneous parking of four wheels by setting electronic parking brakes on the front and rear wheels of the vehicle, thereby increasing the upper limit of parking capacity and ensuring parking performance when some EPB actuators fail;

[0046] d. This application controls the operation of the four-wheel parking control system through a variety of refined parking solutions, which can meet various parking requirements, provide more optional services, and support the upper layer to implement advanced functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application 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 recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1A control flow chart of a multi-wheel parking control system based on braking force provided for an exemplary embodiment of the present invention;

[0049] Figure 2 A framework diagram of a multi-wheel parking control system provided for an exemplary embodiment of the present invention;

[0050] Figure 3 A flowchart for determining whether a multi-wheel parking control system is in a second state provided by an exemplary embodiment of the present invention;

[0051] Figure 4 A control flow chart of a multi-wheel parking control system based on a road slope value is provided for an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0054] In one embodiment of the present invention, a multi-wheel parking control system based on an electromechanical braking system is provided. Figure 1 As shown, the multi-wheel parking control system includes a first electronic parking brake and a second electronic parking brake, wherein the first electronic parking brake is configured to brake the front wheels of the vehicle, and the second electronic parking brake is configured to brake the rear wheels of the vehicle;

[0055] When the vehicle is in a first state, the first electronic parking brake and the second electronic parking brake are configured to work alternately;

[0056] When the vehicle is in a second state, the first electronic parking brake and the second electronic parking brake are configured to work simultaneously; and a braking force required when the vehicle is in the second state is greater than a braking force required when the vehicle is in the first state.

[0057] Specifically, Figure 2 and Figure 4 As shown, the multi-wheel parking control system provided in this embodiment includes 4 EPBs, of which two EPBs constitute the first electronic parking brake (EBP1), EBP1 is the front axle parking brake, which is configured to brake the front wheels of the vehicle under the control of the chassis domain controller; the other two EPBs constitute the second electronic parking brake (EBP2), EBP2 is the rear axle parking brake, which is configured to brake the rear axle, i.e., the rear wheels of the vehicle under the control of the chassis domain controller. Parking in this application refers to locking the EPB locking structure. The EMB system itself is easy to arrange, without hydraulic lines, and the EPB is in the EMB actuator, which does not increase the layout space. The transmission systems of the EMB actuator and the EPB actuator are reused, and only the locking mechanism is added, and the cost is very low. The four-wheel EPB can cope with harsh parking conditions and can safely cope with the failure of some actuators.

[0058] In one embodiment of the present invention, the braking efficiency / maximum braking force Fmax1 of EBP1 in the multi-wheel parking control system is greater than the braking efficiency / maximum braking force Fmax2 of EBP2. During the operation of the multi-wheel parking control system, it is first determined whether the first electronic parking brake and the second electronic parking brake are both operating normally and without any fault. If one of them is faulty, it is determined that the vehicle is in the third state, and the electronic parking brake in the first electronic parking brake and the second electronic parking brake that is operating normally is controlled to operate.

[0059] If both the first electronic parking brake and the second electronic parking brake fail, it is determined that the vehicle is in the sixth state. When it is determined that the vehicle is in the sixth state, an alarm message is issued and the vehicle is prohibited from entering the P gear. At this time, it is difficult for the vehicle to park on a slope.

[0060] If the first electronic parking brake and the second electronic parking brake are both in normal working state, the working modes of EBP1 and EBP2 are comprehensively determined according to the steep slope and gentle slope conditions of the road and the required braking force.

[0061] First, see Figure 1 and Figure 3, if one of the following situations exists, it is determined that the vehicle is in the second state. Situation 1: When the vehicle is in a slipping state, it is determined that the vehicle is in the second state. This situation is more suitable for parking control of a stationary vehicle. If the wheel speed of the vehicle in a stationary state is continuously not 0, it is considered that slipping occurs.

[0062] In scenario 2, if the braking force provided by the first electronic parking brake when in operation is not less than the braking force provided by the second electronic parking brake when in operation, when the first electronic parking brake is in operation and the vehicle is in a rolling state, it is determined that the vehicle is in the second state.

[0063] Scenario three: if the braking force provided by the second electronic parking brake when it is working is not less than the braking force provided by the first electronic parking brake when it is working, when the second electronic parking brake is working and the vehicle is in a rolling state, it is determined that the vehicle is in the second state.

[0064] The judgment methods corresponding to Situation 2 and Situation 3 are more suitable for judging the vehicle status during parking. At present, the chassis system can identify the vehicle slipping by judging the wheel speed. Generally, it is considered to be slipping when it exceeds 0.15m / s. There are other ways to judge slipping, such as judging whether slipping occurs by receiving the measured speed of the drive motor. It should be noted that in other embodiments, the methods of Situation 2 and Situation 3 may not be adopted: if slipping occurs when the parking brake with a larger maximum braking force works alone, it is determined that the vehicle is in the second state. It is also possible to determine that the vehicle is in the second state as long as the slipping state occurs, even if slipping occurs when the parking brake with a smaller maximum braking force works alone.

[0065] Scenario 4: The braking force required by the vehicle is determined based on the pedal brake signal, the slope recognition result, and the road recognition result. If the braking force required by the vehicle is within the preset fourth braking force range F4, the vehicle is determined to be in the second state, and EPB1 and EPB2 are controlled to work simultaneously. For example, the maximum braking force of EPB1 is f1, and the maximum braking force of EPB2 is f2. The minimum value f in the fourth braking force range F4 is determined. 4min Less than Max{f1,f2} and greater than Min{f1,f2}, Max{f1,f2} represents the maximum value of f1 and f2, and Min{f1,f2} represents the minimum value of f1 and f2. Among them, slope recognition and road surface recognition are algorithms of the chassis domain controller (EPS part), which are commonly used algorithms. The slope recognition result can be analyzed by the acceleration sensor signal or laser sensor signal; the road surface recognition result can be estimated by the wheel deceleration and slip rate during acceleration or braking.

[0066] In this embodiment, when the vehicle is in the fourth state, the first electronic parking brake and the second electronic parking brake are two electronic parking brakes, wherein the electronic parking brake with a larger braking force is configured to work, and the electronic parking brake with a smaller braking force is configured not to work. The braking force required when the vehicle is in the fourth state is greater than the braking force required when the vehicle is in the first state and is less than the braking force required when the vehicle is in the second state. Specifically, the braking force required for the vehicle can be determined based on the pedal braking signal, the slope recognition result, and the road surface recognition result. If the braking force required for the vehicle is within the preset first braking force range F1, it is determined that the vehicle is in the fourth state, and F1<F4. For example, the maximum braking force of EPB1 is f1, and the maximum braking force of EPB2 is f2, then the minimum value f in the first braking force range F1 is determined. 1min is Min{αf1, αf2}, and the maximum value f in the first braking force range F1 1max Determined as Max{βf1,βf2}, where α and β are coefficients. Preferably, 0.5≤α<β<1.

[0067] When the vehicle is in the fifth state, the first electronic parking brake and the second electronic parking brake are two electronic parking brakes, wherein the electronic parking brake with smaller braking force is configured to work, and the electronic parking brake with larger braking force is configured not to work. The braking force required when the vehicle is in the fifth state is less than the braking force required when the vehicle is in the first state. Specifically, the braking force required for the vehicle is determined based on the pedal braking signal, the slope recognition result, and the road surface recognition result. If the braking force required for the vehicle is within the preset second braking force range F2, it is determined that the vehicle is in the fifth state. The braking force within the second braking force range is less than the braking force within the first braking force range, that is, F2<F1. For example, the maximum braking force of EPB1 is f1, and the maximum braking force of EPB2 is f2, then the minimum value f in the second braking force range F2 is determined. 2min is Min{γf1,γf2}, and the maximum value f in the second braking force range F2 2max Determined as Max{θf1,θf2}, where γ and θ are coefficients. Preferably, 0<γ<θ<0.5.

[0068] The braking force required for the vehicle is determined based on the pedal brake signal, the slope recognition result, and the road surface recognition result. If the braking force required for the vehicle is within the preset third braking force range F3, it is determined that the vehicle is in the first state. The braking force within the third braking force range is less than the braking force within the first braking force range and greater than the braking force within the second braking force range, that is, F2<F3<F1. In this embodiment, F2<F3<F1<F4. The braking force within the second braking force range is less than the braking force within the first braking force range, that is, F2<F1. F3 can be determined based on the already determined F2 and F1.

[0069] In this embodiment, the state of the vehicle is determined by road ramp detection to control the corresponding EPB operation. Specifically, the ramp value is obtained by road ramp detection. If the ramp value is greater than a preset first ramp value A1 (A1>0), it is determined that the first electronic parking brake and the second electronic parking brake are working at the same time. That is, when it is determined that the vehicle needs to be parked on an upward steep slope, the front and rear wheel parking brakes are started at the same time.

[0070] If the slope value is not greater than the preset first slope value A1 and not less than the preset second slope value A2 (0<A2<A1), it is determined that the first electronic parking brake is working and the second electronic parking brake is not working. That is, when it is determined that the vehicle needs to be parked on a gentle upward slope, the front wheel parking brake is started at the same time and the rear wheel parking brake is not working.

[0071] If the slope value is greater than the preset third slope value and less than the preset second slope value (A3<0<A2), it is determined that the first electronic parking brake and the second electronic parking brake work alternately. That is, when it is determined that the vehicle needs to be parked on flat ground, the front and rear wheel parking brakes work alternately.

[0072] If the slope value is not greater than the preset third slope value A3 and not less than the preset fourth slope value A4 (A4<A3<0), it is determined that the second electronic parking brake is working and the first electronic parking brake is not working. That is, when it is determined that the vehicle needs to be parked on a gentle slope downward, the rear wheel parking brake is started at the same time and the front wheel parking brake is not working.

[0073] If the slope value is less than the preset fourth slope value A4, it is determined that the first electronic parking brake and the second electronic parking brake are working at the same time. That is, when it is determined that the vehicle needs to be parked on a downward steep slope, the front and rear wheel parking brakes are started and working at the same time.

[0074] It should be noted that the state of the vehicle can be judged by combining the braking force and the ramp condition. The two can be used separately, but the better way is to use the two in combination. For example, on flat ground, when the required braking force is within the third braking force range, the EPB1 and EPB2 of the vehicle are controlled to work alternately. By determining that the vehicle is on a flat road and the braking force is not required, the EPB1 and EPB2 are configured to work alternately. This can effectively reduce the failure rate of EPB1 and EPB2 and increase the life of the multi-wheel parking control system.

[0075] In this embodiment, the first electronic parking brake and the second electronic parking brake are configured to work alternately in the following manner: in two adjacent parking processes, the first electronic parking brake works in one parking process and the second electronic parking brake works in the other parking process.

[0076] Alternatively, the first electronic parking brake and the second electronic parking brake are configured to work alternately in the following manner: if the duration of a single parking process is greater than a preset first duration, it is determined that the first electronic parking brake and the second electronic parking brake work alternately at a preset frequency.

[0077] The multi-wheel parking control system proposed in this application has the following advantages:

[0078] (1) Alternate parking of the axles can effectively reduce the failure rate of EPB1 and EPB2 and increase the life cycle of EPB;

[0079] (2) Alternating parking of the axles can ensure the self-learning of the actuator, which is beneficial to the service brake control of the EMB system;

[0080] (3) The upper limit of parking capacity is improved, and the vehicle can be parked safely even in adverse road conditions, such as steep slopes and slippery roads. For example, on asphalt roads, four-wheel parking can be parked on a maximum slope of 70%, while the existing solution can only park on a slope of 40% at most.

[0081] (4) Parking performance can be guaranteed when some EPB actuators fail;

[0082] (5) Multi-wheel EPB control and refined parking solutions can meet various parking requirements, provide more optional services, and support the upper layer to implement advanced functions. For example, it is easier to implement a compass turn, that is, parking with the tire on the inside of the front axle.

[0083] In one embodiment of the present application, a multi-wheel parking control method based on an electronic mechanical brake system is provided, which is applicable to the multi-wheel parking control system described in any one of the above embodiments or a combination of multiple embodiments, and the multi-wheel parking control method comprises the following steps:

[0084] When the vehicle is in a first state, controlling the first electronic parking brake and the second electronic parking brake to work alternately;

[0085] When the vehicle is in a second state, the first electronic parking brake and the second electronic parking brake are controlled to work simultaneously; and the braking force required when the vehicle is in the second state is greater than the braking force required when the vehicle is in the first state.

[0086] In one embodiment of the present invention, a vehicle is provided, comprising a multi-wheel parking control system based on an electronic mechanical braking system as described in any one of the above embodiments or a combination of multiple embodiments.

[0087] It should be noted that the above-mentioned multi-wheel parking control method and vehicle embodiment based on electronic mechanical braking system and the multi-wheel parking control system embodiment based on electronic mechanical braking system are based on the same inventive concept, and the entire contents of the multi-wheel parking control system embodiment based on electronic mechanical braking system are incorporated into the multi-wheel parking control method and vehicle embodiment based on electronic mechanical braking system by reference.

[0088] 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.

[0089] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A multi-wheel parking control system based on an electromechanical braking system, characterized in that: The invention comprises a first electronic parking brake and a second electronic parking brake, wherein the first electronic parking brake is configured to brake the front wheels of the vehicle, and the second electronic parking brake is configured to brake the rear wheels of the vehicle; When the vehicle is in a first state, the first electronic parking brake and the second electronic parking brake are configured to work alternately; When the vehicle is in a second state, the first electronic parking brake and the second electronic parking brake are configured to work simultaneously; and a braking force required when the vehicle is in the second state is greater than a braking force required when the vehicle is in the first state.

2. The multi-wheel parking control system based on the electronic mechanical braking system according to claim 1, characterized in that: When the vehicle is in a third state, the electronic parking brake in a normal working state of the first electronic parking brake and the second electronic parking brake is configured to work; When the vehicle is in a third state, there is a fault in one of the first electronic parking brake and the second electronic parking brake.

3. The multi-wheel parking control system based on the electromechanical brake system according to claim 1, characterized in that: When the vehicle is in a fourth state, the first electronic parking brake and the second electronic parking brake are two electronic parking brakes, wherein the electronic parking brake with a larger braking force is configured to work, and the electronic parking brake with a smaller braking force is configured to not work; The braking force required when the vehicle is in the fourth state is greater than the braking force required when the vehicle is in the first state and is smaller than the braking force required when the vehicle is in the second state.

4. The multi-wheel parking control system based on the electromechanical brake system according to claim 3, characterized in that: The braking force required by the vehicle is determined according to the pedal braking signal, the slope recognition result and the road surface recognition result. If the braking force required by the vehicle is within a preset first braking force range, it is determined that the vehicle is in the fourth state.

5. The multi-wheel parking control system based on the electromechanical brake system according to claim 4, characterized in that: When the vehicle is in a fifth state, the first electronic parking brake and the second electronic parking brake are two electronic parking brakes, wherein the electronic parking brake with a smaller braking force is configured to work, and the electronic parking brake with a larger braking force is configured to not work; The braking force required when the vehicle is in the fifth state is smaller than the braking force required when the vehicle is in the first state.

6. The multi-wheel parking control system based on the electromechanical brake system according to claim 5, characterized in that: determining the braking force required by the vehicle according to the pedal braking signal, the slope recognition result and the road recognition result, and determining that the vehicle is in the fifth state if the braking force required by the vehicle is within a preset second braking force range; The braking force within the second braking force range is smaller than the braking force within the first braking force range.

7. The multi-wheel parking control system based on the electromechanical brake system according to claim 6, characterized in that: determining a braking force required for the vehicle according to a pedal braking signal, a slope recognition result, and a road recognition result, and determining that the vehicle is in a first state if the braking force required for the vehicle is within a preset third braking force range; The braking force in the third braking force range is smaller than the braking force in the first braking force range and larger than the braking force in the second braking force range.

8. The multi-wheel parking control system based on the electromechanical brake system according to claim 4, characterized in that: determining a braking force required for the vehicle according to a pedal brake signal, a slope recognition result, and a road recognition result, and determining that the vehicle is in a first state if the braking force required for the vehicle is within a preset fourth braking force range; The braking force within the fourth braking force range is greater than the braking force within the first braking force range.

9. The multi-wheel parking control system based on the electromechanical brake system according to claim 1, characterized in that: When the vehicle is in a rolling state, it is determined that the vehicle is in the second state; and / or, The braking force provided by the first electronic parking brake when in operation is not less than the braking force provided by the second electronic parking brake when in operation, and when the first electronic parking brake is in operation and the vehicle is in a rolling state, it is determined that the vehicle is in the second state; and / or, The braking force provided by the second electronic parking brake when in operation is not less than the braking force provided by the first electronic parking brake when in operation. When the second electronic parking brake is in operation and the vehicle is in a rolling state, it is determined that the vehicle is in the second state.

10. The multi-wheel parking control system based on the electromechanical brake system according to claim 1, characterized in that: The maximum braking force provided by the first electronic parking brake is greater than the maximum braking force provided by the second electronic parking brake.

11. The multi-wheel parking control system based on the electromechanical brake system according to claim 10, characterized in that: By detecting the road slope, if the slope value is greater than a preset first slope value, it is determined that the first electronic parking brake and the second electronic parking brake are working at the same time; If the ramp value is not greater than a preset first ramp value and not less than a preset second ramp value, determining that the first electronic parking brake is in operation and the second electronic parking brake is inoperable; If the ramp value is greater than a preset third ramp value and less than a preset second ramp value, determining that the first electronic parking brake and the second electronic parking brake are working alternately; If the ramp value is not greater than a preset third ramp value and not less than a preset fourth ramp value, determining that the second electronic parking brake is in operation and the first electronic parking brake is inoperable; If the ramp value is less than a preset fourth ramp value, determining that the first electronic parking brake and the second electronic parking brake are working simultaneously; Among them, the first ramp value>the second ramp value>0>the third ramp value>the fourth ramp value.

12. The multi-wheel parking control system based on the electromechanical brake system according to claim 1, characterized in that: The first electronic parking brake and the second electronic parking brake are configured to work alternately in the following manner: In two adjacent parking processes, the first electronic parking brake is operated in one parking process, and the second electronic parking brake is operated in the other parking process.

13. The multi-wheel parking control system based on the electromechanical brake system according to claim 1, characterized in that: The first electronic parking brake and the second electronic parking brake are configured to work alternately in the following manner: If the duration of a single parking process is greater than a preset first duration, it is determined that the first electronic parking brake and the second electronic parking brake work alternately at a preset frequency.

14. A multi-wheel parking control method based on an electronic mechanical braking system, characterized in that: Applicable to the multi-wheel parking control system according to any one of claims 1 to 13, the multi-wheel parking control method comprises the following steps: When the vehicle is in a first state, controlling the first electronic parking brake and the second electronic parking brake to work alternately; When the vehicle is in a second state, the first electronic parking brake and the second electronic parking brake are controlled to work simultaneously; and the braking force required when the vehicle is in the second state is greater than the braking force required when the vehicle is in the first state.

15. A vehicle, characterized in that: It comprises a multi-wheel parking control system based on an electronic mechanical braking system as described in any one of claims 1 to 13.

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