Sticking detection method and apparatus for electronic park brake system, and device and vehicle

Abstract

A sticking detection method and apparatus for an electronic park brake system, and a device and a vehicle. The method comprises: in response to a caliper clamping instruction, controlling an electric motor of an electronic park brake system to rotate in a first direction, so as to control a caliper of the electronic park brake system to perform a clamping action; measuring a load current of the electronic park brake system during the process of the caliper performing the clamping action, so as to obtain a first load current; when the first load current reaches a first current threshold value, performing sticking detection on the caliper and the electric motor, so as to obtain a sticking detection result, wherein the sticking detection result is used for indicating whether the electronic park brake system has a clamping sticking anomaly; and when the sticking detection result indicates that the electronic park brake system has a clamping sticking anomaly, determining that the electronic park brake system is abnormal. The method effectively improves the accuracy of fault detection for electronic park brake systems.

Description

Stuck detection method, device, equipment and vehicle of electronic parking brake system TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a stuck detection method, device, equipment and vehicle of an electronic parking brake system. BACKGROUND

[0002] An electronic parking brake system (EPB) is a system for realizing parking brake by electronic control, which usually includes electronic calipers, brake discs, friction plates, motors, controllers and sensors and other components. In the electronic parking brake system, the controller and the sensor control the motor to work, and under the driving action of the motor, the caliper clamps to make the brake disc contact with the friction plate, thereby realizing parking brake. When the electronic parking brake system fails, fault diagnosis will be performed on the components of the electronic parking brake system. The related art often realizes fault diagnosis of the electronic parking brake system from aspects of power supply failure, controller failure, sensor and communication bus failure and the like, and the accuracy of fault diagnosis needs to be improved.

[0003] SUMMARY

[0004] Embodiments of the present application provide a stuck detection method, device, equipment and vehicle of an electronic parking brake system, for improving the accuracy of fault detection of the electronic parking brake system.

[0005] In one aspect, the present application provides a stuck detection method of an electronic parking brake system, the method comprising the following steps:

[0006] In response to a caliper clamping instruction, the motor of the electronic parking brake system is controlled to rotate in a first direction to control the caliper of the electronic parking brake system to perform a clamping action;

[0007] The load current of the electronic parking brake system during the clamping action of the caliper is detected to obtain a first load current;

[0008] In the case where the first load current reaches a first current threshold value, the caliper and the motor are subjected to stuck detection to obtain a stuck detection result; wherein the stuck detection result is used to represent whether the electronic parking brake system has clamping stuck abnormality;

[0009] In the case where the stuck detection result represents that the electronic parking brake system has clamping stuck abnormality, it is determined that the electronic parking brake system is abnormal.

[0010] In another aspect, the present application provides a stuck detection device of an electronic parking brake system, the device comprising:

[0011] The first processing module is configured to, in response to the caliper clamping instruction, control the motor of the electronic parking brake system to rotate in a first direction to control the caliper of the electronic parking brake system to perform a clamping action.

[0012] The second processing module is configured to detect a load current of the electronic parking brake system during the clamping action of the caliper to obtain a first load current.

[0013] The third processing module is configured to, in a case where the first load current reaches a first current threshold, perform a clamping jam detection on the caliper and the motor to obtain a clamping jam detection result, wherein the clamping jam detection result is used to represent whether the electronic parking brake system has a clamping jam abnormality.

[0014] The fourth processing module is configured to, in a case where the clamping jam detection result represents that the electronic parking brake system has the clamping jam abnormality, determine that the electronic parking brake system is abnormal.

[0015] In another aspect, an electronic device is provided, and the device comprises:

[0016] at least one processor;

[0017] at least one memory configured to store at least one program;

[0018] When the at least one program is executed by the at least one processor, the at least one processor implements the clamping jam detection method of the electronic parking brake system.

[0019] In another aspect, an electronic device is provided, and the device comprises:

[0020] The clamping jam detection method, device, equipment and vehicle of the electronic parking brake system are provided, first, in response to the caliper clamping instruction, the motor of the electronic parking brake system is controlled to rotate in a first direction to control the caliper of the electronic parking brake system to perform a clamping action; then, a load current of the electronic parking brake system during the clamping action of the caliper is detected to obtain a first load current; thereafter, in a case where the first load current reaches a first current threshold, a clamping jam detection is performed on the caliper and the motor to obtain a clamping jam detection result, and the clamping jam detection result is used to represent whether the electronic parking brake system has a clamping jam abnormality; finally, in a case where the clamping jam detection result represents that the electronic parking brake system has the clamping jam abnormality, it is determined that the electronic parking brake system is abnormal, which effectively improves the accuracy of fault detection of the electronic parking brake system, can achieve better detection effect, and thus ensures the reliability and safety of the electronic parking brake function of the vehicle, and is beneficial to improving the driving safety.

[0021] Other features and advantages of the present application will be set forth in the following specification, and in part will become apparent to those skilled in the art on examination of the specification or by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0022] Fig. 1 is a flow chart of a method for detecting a stuck condition of an electronic parking brake system according to the present application;

[0023] Fig. 2 is a schematic diagram of a stuck condition detection according to the present application;

[0024] Fig. 3 is another schematic diagram of a stuck condition detection according to the present application;

[0025] Fig. 4 is a block diagram of a stuck condition detection device for an electronic parking brake system according to the present application;

[0026] Fig. 5 is a block diagram of an electronic device according to the present application. DETAILED DESCRIPTION

[0027] In order for those skilled in the art to better understand the technical solutions of the present application, the technical solutions provided by the present application will be described in detail below with reference to the drawings.

[0028] In the following, example embodiments will be described more fully with reference to the accompanying drawings, in which example embodiments can be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided as a full and enabling disclosure of the application, and to fully convey the scope of the application to the skilled in the art. Embodiments are described and / or shown in the accompanying drawings, which are shown by way of example and thus should not be considered limiting in scope. In the drawings, like reference numerals refer to similar elements.

[0029] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0030] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0031] In the following description, reference is made to the "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or a different subset of all possible embodiments and can be combined with each other, without conflict.

[0032] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application, and will not be interpreted in an overly literal or overly formal sense unless expressly so defined herein.

[0033] An electronic parking brake system is a system for realizing parking brake by electronic control, which usually includes components such as electronic calipers, brake discs, friction plates, motors, controllers and sensors. In the electronic parking brake system, the motor is controlled to rotate forward by the controller and the sensor, and the caliper is clamped under the driving action of the motor, so that the brake disc and the friction plate are in contact, thereby realizing parking brake.

[0034] When the electronic parking brake system fails, fault diagnosis will be performed on the components of the electronic parking brake system. In the related art, when the electronic parking brake system fails, it is generally considered first whether it is a power supply fault; after excluding the power supply fault, the controller is diagnosed to determine whether the failure of the electronic parking brake system is caused by the controller fault; when the controller fault is excluded, the sensor and the Controller Area Network (CAN) bus are diagnosed, because the sensor is the signal source of the electronic parking brake system, and the bus is the channel for signal transmission, and if both of them fail, the electronic parking brake system will fail.

[0035] Therefore, the related art often realizes fault diagnosis of the electronic parking brake system from aspects of power supply fault, controller fault, sensor and communication bus fault, and the accuracy of fault diagnosis needs to be improved.

[0036] Therefore, the embodiments of the present application provide a method, device, equipment and vehicle for detecting the electronic parking brake system, which aims to detect the mechanical execution structure of the electronic parking brake system when the first load current reaches the first current threshold, so as to improve the fault diagnosis accuracy of the electronic parking brake system.

[0037] The embodiments of the present application will be further described and explained below.

[0038] First, the implementation steps of the electronic parking brake system detection method provided by the embodiments of the present application will be described in detail below.

[0039] The electronic parking brake system sticking detection method provided by the embodiments of the present application can be applied to a terminal, a server, software running in the terminal or the server, and the like. The terminal can be a tablet computer, a notebook computer, a desktop computer, and the like, but is not limited thereto. The server can be a physical server, a server cluster or a distributed system composed of multiple physical servers, a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content distribution networks (CDN), and basic cloud computing services such as big data and artificial intelligence platforms, and the like. In addition, the server can also be a node server in a blockchain network, but is not limited thereto. The blockchain is a new application mode of distributed data storage, peer-to-peer transmission, consensus mechanism, encryption algorithm, and the like.

[0040] Referring to FIG. 1, FIG. 1 is a flowchart of the electronic parking brake system sticking detection method provided by the present application. The electronic parking brake system sticking detection method mainly includes the following steps S101-S104.

[0041] S101, in response to the caliper clamping instruction, rotating the motor of the electronic parking brake system in a first direction to control the caliper of the electronic parking brake system to perform a clamping action;

[0042] S102, detecting the load current of the electronic parking brake system during the clamping action of the caliper to obtain a first load current;

[0043] S103, in the case where the first load current reaches a first current threshold value, performing sticking detection on the caliper and the motor to obtain a sticking detection result;

[0044] S104, in the case where the sticking detection result indicates that the electronic parking brake system has a clamping sticking abnormality, determining that the electronic parking brake system is abnormal.

[0045] In the embodiment of the present application, first, in response to the caliper clamping instruction, the motor of the electronic parking brake system is controlled to rotate in a first direction to control the caliper of the electronic parking brake system to perform a clamping action; then, the load current of the electronic parking brake system during the clamping action of the caliper is detected to obtain a first load current; thereafter, in the case where the first load current reaches a first current threshold value, the caliper and the motor are detected for stiction to obtain a stiction detection result, and the stiction detection result is used to indicate whether the electronic parking brake system has a clamping stiction abnormality; finally, in the case where the stiction detection result indicates that the electronic parking brake system has a clamping stiction abnormality, it is determined that the electronic parking brake system is abnormal. In this way, in the case where the first load current reaches the first current threshold value, the mechanical execution structure (i.e. the motor and the caliper) of the electronic parking brake system is detected for stiction, thereby effectively improving the accuracy of fault detection of the electronic parking brake system, achieving better detection effect, ensuring the reliability and safety of the electronic parking brake function of the vehicle, and being beneficial to improving the driving safety.

[0046] In the above step S101, first, the caliper clamping instruction is obtained, which is used to control the clamping of the caliper of the electronic parking brake system, and then in response to the caliper clamping instruction, the motor of the electronic parking brake system is controlled to rotate in a first direction to make the caliper perform a clamping action.

[0047] The configuration relationship between the above first direction and the clamping action of the caliper can be set according to actual conditions, which is not limited in the present application. The above first direction can be the clockwise direction, for example, the caliper performs a clamping action in the case where the motor rotates in the clockwise direction; or the above first direction can also be the counterclockwise direction, for example, the caliper performs a clamping action in the case where the motor rotates in the counterclockwise direction.

[0048] The above response to the caliper clamping instruction can be in response to the caliper clamping instruction in the case where the vehicle enters the parking gear or in response to the triggering instruction of the electronic parking switch of the vehicle.

[0049] For example, in the case where the vehicle enters the parking gear from the drive gear, the reverse gear or the neutral gear, the electronic parking brake function of the vehicle is triggered and the caliper clamping instruction is generated, and then the caliper clamping instruction is responded.

[0050] For another example, in the case where the electronic parking switch of the vehicle is triggered, the electronic parking brake function of the vehicle is triggered and the caliper clamping instruction is generated, and then the caliper clamping instruction is responded.

[0051] The specific structure or type of the electronic parking switch can be set according to actual conditions, and the application does not make specific limitations thereto. The electronic parking switch can be a mechanical switch arranged on the center console of the vehicle, or the electronic parking switch can also be a soft switch located on the center screen of the vehicle, and the application does not make specific limitations thereto.

[0052] For example, in the case where the electronic parking switch is a soft switch located on the center screen of the vehicle, the triggering mode of the electronic parking switch can include but is not limited to clicking, and further, the electronic parking switch can be a click-to-confirm type button, or can be other scrolling / sliding selectors, drop-down menu selection units, etc., and the application does not make specific limitations thereto.

[0053] For another example, in the case where the electronic parking switch is a mechanical switch arranged on the center console of the vehicle, the triggering mode of the electronic parking switch can include but is not limited to pressing, or can be other scrolling, sliding, etc., and the application does not make specific limitations thereto.

[0054] In step S102, during the clamping action of the caliper, the load current of the caliper at the current time is obtained as a first load current and is detected to determine whether the electronic parking brake system has the possibility of clamping jamming.

[0055] In step S103, if it is detected that the load current of the caliper during the clamping action reaches a first current threshold value, it indicates that the load of the caliper during the clamping action is too large, and the electronic parking brake system has the possibility of clamping jamming. At this time, the caliper and the motor are subjected to jamming detection to obtain a jamming detection result.

[0056] The jamming detection result is used to indicate whether the electronic parking brake system has a clamping jamming abnormality. The clamping jamming abnormality can be motor jamming, or the clamping jamming abnormality can also be other abnormalities such as current fluctuation abnormality, motor drive error, etc.

[0057] The first current threshold value can be set according to actual conditions, and the application does not make specific limitations thereto.

[0058] For example, during the clamping action of the caliper, the brake disc gradually contacts the friction plate until the clamping force between the brake disc and the friction plate reaches the maximum clamping force, and the current corresponding to the maximum clamping force is the first current threshold value.

[0059] In step S104, if the jamming detection result indicates that the electronic parking brake system has a clamping jamming abnormality, it is determined that the electronic parking brake system is abnormal, and further, the fault diagnosis of the electronic parking brake system is realized.

[0060] The specific implementation mode of each step will be introduced below.

[0061] In some embodiments, the above-mentioned stiction detection result can be used to represent whether the electronic parking brake system has at least one of the following abnormalities:

[0062] Motor stiction, the motor stiction is used to indicate that the electronic parking brake system has a phenomenon of motor stiction failure;

[0063] Current fluctuation amplitude exceeds the preset amplitude, the current fluctuation amplitude exceeding the preset amplitude is used to indicate that the electronic parking brake system has a phenomenon of current fluctuation abnormality;

[0064] Motor drive error, the motor drive error is used to indicate that the electronic parking brake system has a phenomenon of motor drive failure.

[0065] In this embodiment, the stiction detection result can be used to indicate whether the electronic parking brake system has at least one of the motor stiction, the current fluctuation amplitude exceeding the preset amplitude and the motor drive error.

[0066] The above-mentioned preset amplitude can be set according to actual conditions, which is not specifically limited in this embodiment.

[0067] In some embodiments, the above-mentioned stiction detection of the caliper and the motor to obtain the stiction detection result can include:

[0068] Sending a clamping release instruction to the motor;

[0069] According to at least one of the motor driving state, the caliper state, the motor current and the disc state after sending the clamping release instruction, the caliper and the motor are stiction detected to obtain the stiction detection result.

[0070] In this embodiment, first, a clamping release instruction is sent to the motor, aiming to drive the motor to rotate in the second direction, so as to release the caliper; then, at least one of the motor driving state, the caliper state, the motor current and the disc state after sending the clamping release instruction is obtained; then, the caliper and the motor are stiction detected according to at least one of the motor driving state, the caliper state, the motor current and the disc state after sending the clamping release instruction, so as to determine whether the electronic parking brake system has a clamping stiction abnormality.

[0071] The above-mentioned clamping release instruction is used to indicate that the motor rotates in the second direction to control the caliper to release the clamping action.

[0072] The second direction can be a clockwise direction, for example, in the case that the caliper performs the clamping action when the motor rotates in the clockwise direction, or the second direction can be an anticlockwise direction, for example, in the case that the caliper performs the clamping action when the motor rotates in the anticlockwise direction.

[0073] The second direction is opposite to the first direction.

[0074] For example, in the case that the first direction is a clockwise direction and the second direction is an anticlockwise direction, the caliper performs the clamping action when the motor rotates in the clockwise direction, and the caliper performs the clamping release action when the motor rotates in the anticlockwise direction.

[0075] For another example, in the case that the first direction is an anticlockwise direction and the second direction is a clockwise direction, the caliper performs the clamping action when the motor rotates in the anticlockwise direction, and the caliper performs the clamping release action when the motor rotates in the clockwise direction.

[0076] The disc state is used to indicate whether the friction plate and the brake disc of the electronic parking brake system are separated.

[0077] In some embodiments, the sending of the clamping release instruction to the motor can include:

[0078] sending a stop instruction to the motor;

[0079] if a second time length after the sending of the stop instruction arrives, sending a clamping release instruction to the motor.

[0080] In the embodiment, first, a stop instruction is sent to the motor, aiming to control the motor to stop working; then, a second time length after the sending of the stop instruction is waited to arrive; if the second time length after the sending of the stop instruction arrives, a clamping release instruction is sent to the motor, aiming to control the motor to rotate in the second direction, so as to release the caliper.

[0081] The second time length can be set according to actual conditions, and the embodiment is not limited in this regard.

[0082] In some embodiments, referring to FIG. 2, the obtaining of at least one of the motor driving state, the caliper state, the motor current and the disc state after the sending of the clamping release instruction, the caliper and the motor are subjected to the sticking detection, and the sticking detection result is obtained, can include:

[0083] if the motor driving state does not change in the case that a first time length after the sending of the clamping release instruction arrives, it is determined that the electronic parking brake system has a motor driving error;

[0084] Or, in the case that the first time length arrives and the caliper state is the release state, but the motor drive state is the non-release state, it is determined that the electronic parking brake system has a motor drive error;

[0085] Or, in the case that the target timer starts timing, if the motor drive state is the non-release state, it is determined that the electronic parking brake system has a motor drive error.

[0086] In the embodiment, in the case that the motor of the electronic parking brake system has no drive fault, after the motor is sent the clamping release instruction, the motor drive state and the caliper state should be the release state. It should be understood that, in the case that the motor drive state is the release state, the motor will rotate in the second direction to change the action direction of the caliper, so as to release the caliper, and the caliper state should be the release state in the case that the caliper is released.

[0087] Based on this, in the case that the first time length after the clamping release instruction is sent arrives, if the motor drive state does not change, it indicates that the motor responds to the clamping release instruction overtime, and at this time, it is determined that the electronic parking brake system has a motor drive error, that is, the electronic parking brake system has the phenomenon of motor drive fault.

[0088] Or, in the case that the first time length after the clamping release instruction is sent arrives, if the caliper state is the release state and the motor drive state changes but the motor drive state is the non-release state, it indicates that the motor responds to the clamping release instruction but the motor does not rotate in the second direction, the motor response error, and at this time, it is determined that the electronic parking brake system has a motor drive error, that is, the electronic parking brake system has the phenomenon of motor drive fault.

[0089] Or, in the case that the target timer starts timing, it is necessary to continuously diagnose whether the electronic parking brake system has the phenomenon of motor drive fault, specifically, if the motor drive state is detected to be the non-release state, it indicates that the motor does not rotate in the second direction, and at this time, it is determined that the electronic parking brake system has a motor drive error, that is, the electronic parking brake system has the phenomenon of motor drive fault.

[0090] The above first time length can be set according to actual conditions, and the embodiment does not make specific limitation thereto.

[0091] The condition that the above target timer is cleared and starts timing can be set according to actual conditions, and the embodiment does not make specific limitation thereto.

[0092] For example, the above target timer is cleared and starts timing in the case that the first time length arrives and the caliper state and the motor drive state are both the release state.

[0093] For example, the target timer mentioned above is reset to zero and starts timing when the third duration is reached and both the caliper state and the motor drive state are in the released state, and the third duration is longer than the first duration.

[0094] The aforementioned third duration can be set according to actual circumstances, and this implementation method does not impose specific limitations on it.

[0095] In some embodiments, referring to FIG2, the above-described method of obtaining at least one of the motor drive state, caliper state, motor current, and disk state after sending the clamping and releasing command, performing jam detection on the caliper and motor, and obtaining jam detection results may further include:

[0096] If the first time value is reached and the motor current is greater than the second current threshold value when the target timer starts counting, it is determined that there is motor jamming in the electronic parking brake system.

[0097] Alternatively, if the second time value is reached and the motor current is greater than the third current threshold when the target timer starts counting, it is determined that there is motor jamming in the electronic parking brake system.

[0098] In this embodiment, when the target timer starts counting, it detects whether a first time value or a second time value has been reached, and detects whether the motor current exceeds a second current threshold or a third current threshold. Based on these detection results, it diagnoses whether the electronic parking brake system has a motor jamming fault. If the first time value is reached and the motor current exceeds the second current threshold, or if the second time value is reached and the motor current exceeds the third current threshold, it indicates that the motor current is too high during caliper release. In this case, it is determined that the electronic parking brake system has a motor jamming fault.

[0099] The specific values ​​of the first time value, the second time value, the second current threshold value, and the third current threshold value can all be set according to the actual situation, and this embodiment does not impose specific limitations on them.

[0100] It should be noted that when the first time value is greater than the second time value, the second current threshold value is less than the third current threshold value; or, when the first time value is less than the second time value, the second current threshold value is greater than the third current threshold value.

[0101] In one example, with a first time value of 150 milliseconds, a second time value of 30 milliseconds, a second current threshold value of 12 amps, and a third current threshold value of 24 amps, if the second load current increases to 12 amps within 150 milliseconds or the second load current suddenly changes to 24 amps within 30 milliseconds, then it is determined that there is motor jamming in the electronic parking brake system.

[0102] In some embodiments, referring to FIG. 2, the above-mentioned acquiring at least one of the motor driving state, the caliper state, the motor current and the disc state after the clamping release instruction is sent, and performing the clamping jam detection on the caliper and the motor to obtain the clamping jam detection result, can further include:

[0103] In the case where the target timer starts timing, if the third time value arrives and the disc state is that the friction plate and the brake disc of the electronic parking brake system are not separated, it is determined that the electronic parking brake system has a current fluctuation amplitude exceeding a preset amplitude.

[0104] In the case where the target timer starts timing, if the third time value arrives and the disc state is that the friction plate and the brake disc of the electronic parking brake system are not separated, it is determined that the electronic parking brake system has a current fluctuation amplitude exceeding a preset amplitude.

[0105] The above-mentioned third time value can be set according to actual conditions, and the present embodiment does not make specific limitations thereto.

[0106] It should be noted that the above-mentioned first time value and the above-mentioned second time value are both less than the above-mentioned third time value.

[0107] In some embodiments, referring to FIG. 2, the above-mentioned acquiring at least one of the motor driving state, the caliper state, the motor current and the disc state after the clamping release instruction is sent, and performing the clamping jam detection on the caliper and the motor to obtain the clamping jam detection result, can further include:

[0108] If the disc state is that the friction plate and the brake disc of the electronic parking brake system are separated, it is determined that the clamping jam detection result represents that the electronic parking brake system does not have clamping jam abnormality.

[0109] In the present embodiment, if the disc state is that the friction plate and the brake disc of the electronic parking brake system are separated, it is determined that the caliper is successfully released in reverse, and at this time, the clamping jam detection result is determined to represent that the electronic parking brake system does not have clamping jam abnormality.

[0110] In some embodiments, the above-mentioned method can further include:

[0111] In the case where the first load current does not reach the first current threshold value, the caliper is controlled to complete the clamping action.

[0112] In the present embodiment, if it is detected that the first load current does not reach the first current threshold value, it is determined that the load of the caliper during the execution of the clamping action is normal, and there is no possibility of clamping jam, and at this time, the caliper is directly controlled to complete the clamping action.

[0113] In some embodiments, the method described above can further comprise:

[0114] In the case where the result of the detection of the stiction is indicative of the absence of the stiction abnormality of the caliper of the electronic parking brake system, returning to the step of rotating the motor of the electronic parking brake system in the first direction in response to the caliper clamping instruction.

[0115] In the present embodiment, if the result of the detection of the stiction is indicative of the presence of the stiction abnormality of the caliper of the electronic parking brake system, it means that the excessive first load current is caused by the stiction failure of the electronic parking brake system, and at least one of the motor stiction failure, the current fluctuation abnormality, and the motor drive failure of the electronic parking brake system exists. In this case, the caliper abnormality flag of the electronic parking brake system is determined to be the first value, and at least one of the motor stiction flag, the current fluctuation abnormality flag, or the motor drive abnormality flag of the electronic parking brake system is further determined to be the first value according to the type of the stiction abnormality.

[0116] In some embodiments, in order to directly determine what kind of abnormality exists in the electronic parking brake system, after the determination of the abnormality of the electronic parking brake system, the method described above can further comprise:

[0117] updating the caliper abnormality flag of the electronic parking brake system to the first value, and updating at least one of the motor stiction flag, the current fluctuation abnormality flag, or the motor drive abnormality flag of the electronic parking brake system to the first value.

[0118] In the present embodiment, if the result of the detection of the stiction is indicative of the presence of the stiction abnormality of the caliper of the electronic parking brake system, it means that the excessive first load current is caused by the stiction failure of the electronic parking brake system, and at least one of the motor stiction failure, the current fluctuation abnormality, and the motor drive failure of the electronic parking brake system exists. In this case, the caliper abnormality flag of the electronic parking brake system is determined to be the first value, and at least one of the motor stiction flag, the current fluctuation abnormality flag, or the motor drive abnormality flag of the electronic parking brake system is further determined to be the first value according to the type of the stiction abnormality.

[0119] The first value described above can be set according to actual conditions, which is not specifically limited in the present embodiment. For example, the first value described above can be true; or the first value described above can also be a specific value.

[0120] In some embodiments, the updating of at least one of the motor stiction flag, the current fluctuation abnormality flag, or the motor drive abnormality flag of the electronic parking brake system to the first value can comprise:

[0121] In the case where the motor stiction of the electronic parking brake system exists, the motor stiction flag of the electronic parking brake system is determined to be the first value;

[0122] In a case where the current fluctuation amplitude of the electronic parking brake system exceeds a preset amplitude, the current fluctuation abnormality flag of the electronic parking brake system is determined as the first value;

[0123] In a case where the motor drive error of the electronic parking brake system exists, the motor drive abnormality flag of the electronic parking brake system is determined as the first value.

[0124] In the embodiment, if the jam detection result is used to represent that the motor jam of the electronic parking brake system exists, it indicates that the motor jam fault of the electronic parking brake system exists, and in a case where the caliper abnormality flag is determined as the first value, the motor jam flag of the electronic parking brake system is further determined as the first value, so as to directly determine that the motor jam of the electronic parking brake system exists through the motor jam flag and the caliper abnormality flag.

[0125] If the jam detection result is used to represent that the current fluctuation amplitude of the electronic parking brake system exceeds the preset amplitude, it indicates that the current fluctuation abnormality of the electronic parking brake system exists, and in a case where the caliper abnormality flag is determined as the first value, the current fluctuation abnormality flag of the electronic parking brake system is further determined as the first value, so as to directly determine that the current fluctuation amplitude of the electronic parking brake system exceeds the preset amplitude through the current fluctuation abnormality flag and the caliper abnormality flag.

[0126] If the jam detection result is used to represent that the motor drive error of the electronic parking brake system exists, it indicates that the motor drive fault of the electronic parking brake system exists, and in a case where the caliper abnormality flag is determined as the first value, the motor drive abnormality flag of the electronic parking brake system is further determined as the first value, so as to directly determine that the motor drive error of the electronic parking brake system exists through the motor drive abnormality flag and the caliper abnormality flag.

[0127] In some embodiments, in order to make the passenger or driver more intuitively understand that the electronic parking brake system exists the clamping jam abnormality, after determining that the electronic parking brake system is abnormal, the first information is displayed on the central control screen or the instrument to prompt the driver or passenger to check the clamping jam fault of the electronic parking brake system.

[0128] The first information can be icon information, or the first information can also be other information such as text information, animation information, etc., which is not limited in the embodiment.

[0129] In some embodiments, in order to directly determine that the electronic parking brake system does not exist the clamping jam abnormality, in a case where the jam detection result represents that the electronic parking brake system does not exist the clamping jam abnormality, the method can further include:

[0130] The motor jam flag, the motor drive abnormal flag, the current fluctuation abnormal flag, and the caliper abnormal flag are determined as the second value.

[0131] In the embodiment, if the jam detection result indicates that the electronic parking brake system does not have the clamping jam abnormality, it indicates that the electronic parking brake system does not have the motor jam fault, the current fluctuation abnormality, and the motor drive fault phenomenon, and the first excessive load current is not caused by the jam fault of the electronic parking brake system. At this time, the motor jam flag, the motor drive abnormal flag, the current fluctuation abnormal flag, and the caliper abnormal flag are determined as the second value, so as to directly determine that the electronic parking brake system does not have the clamping jam abnormality through the motor jam flag, the motor drive abnormal flag, the current fluctuation abnormal flag, and the caliper abnormal flag.

[0132] The second value can be set according to actual conditions, and the embodiment is not specifically limited thereto. For example, the second value can be false; or the second value can also be a specific value.

[0133] In some embodiments, in order to make the passenger or driver more intuitively understand that the electronic parking brake system does not have the clamping jam abnormality, the second information is displayed on the central control screen or the instrument to prompt that the electronic parking brake system does not have the clamping jam fault when the jam detection result indicates that the electronic parking brake system does not have the clamping jam abnormality.

[0134] The second information can be icon information; or the second information can also be other information such as text information, animation information, etc., and the embodiment is not specifically limited thereto.

[0135] In order to facilitate the understanding of the above-mentioned jam detection method of the electronic parking brake system of the present application, the actual application scenario of the above-mentioned jam detection method of the electronic parking brake system of the present application is taken as an example for illustration, as shown in FIG. 3. In the present example, the electronic parking brake system is referred to as EPB, and the specific process of the jam detection of the EPB includes the following steps S201-S207.

[0136] S201, in the case that the vehicle is controlled to enter the parking gear (i.e. P gear) from the drive gear (i.e. D gear), the reverse gear (i.e. R gear), or the neutral gear (i.e. N gear), or the electronic parking switch of the vehicle is triggered, the motor of the EPB is controlled to rotate in the first direction to make the caliper of the EPB perform the clamping action in response to the caliper clamping instruction.

[0137] S202, under normal circumstances, in the process of the clamping action of the caliper, the brake disc gradually contacts the friction plate until the clamping force between the brake disc and the friction plate reaches the maximum clamping force, and the current corresponding to the maximum clamping force is the first current threshold value.

[0138] To diagnose whether the EPB has the possibility of clamping jamming, it is detected whether the load current (i.e. first load current) of the caliper when performing the clamping action reaches a first current threshold value;

[0139] If yes, it indicates that the EPB has the possibility of clamping jamming, and at this time, step S203 is entered;

[0140] If no, it indicates that the load of the caliper when performing the clamping action is normal, and there is no possibility of clamping jamming, and at this time, step S204 is entered.

[0141] S203, a stop instruction is sent to the motor to control the motor to stop working, if the time length a (i.e. second time length) after sending the stop instruction reaches, a clamping release instruction is sent to the motor to control the motor to rotate along the second direction, so as to release the caliper, and then at least one of the motor driving state, the caliper state, the motor current and the disc state after sending the clamping release instruction is obtained, the caliper and the motor are jammed, the jamming detection result is obtained, and step S205 is entered.

[0142] The above jamming detection result is used to represent whether the EPB has at least one of the motor jamming, the current fluctuation amplitude exceeding the preset amplitude and the motor driving abnormality, and again referring to FIG. 2, the determination process of at least one of the motor jamming, the current fluctuation amplitude exceeding the preset amplitude and the motor driving abnormality is mainly as follows:

[0143] ① When and only when any one of the following conditions is met, it is determined that the EPB has a motor driving error:

[0144] The time length b (i.e. first time length) after sending the clamping release instruction reaches and the motor driving state does not change;

[0145] The time length b (i.e. first time length) after sending the clamping release instruction reaches and the caliper state is the release state, but the motor driving state is the non-release state;

[0146] The motor driving state is the non-release state in the case that the target timer starts timing.

[0147] The above target timer is zeroed and starts timing in the case that the time length c (i.e. third time length) reaches and the caliper state and the motor driving state are both the release state, and the time length c is greater than the time length b.

[0148] ② When and only when any one of the following conditions is met, it is determined that the EPB has motor jamming:

[0149] In the case that the target timer starts timing, the time value d (i.e. first time value) reaches and the motor current I is greater than the current threshold value Ia (i.e. second current threshold value);

[0150] In the case that the target timer starts timing, the time value e (i.e., the second time value) arrives and the motor current I is greater than the current threshold value Ib (i.e., the third current threshold value).

[0151] In the case that the time value d is greater than the time value e, the current threshold value Ia is less than the current threshold value Ib; or, in the case that the time value d is less than the time value e, the current threshold value Ia is greater than the current threshold value Ib.

[0152] ③ When and only when the following condition is met, it is determined that the EPB has a current fluctuation amplitude exceeding a preset amplitude:

[0153] In the case that the target timer starts timing, the time value f (i.e., the third time value) arrives and the disc state is that the friction plate and the brake disc of the EPB are not separated.

[0154] The time value d and the time value e are both less than the time value f.

[0155] S204, if it is detected that the first load current does not reach the first current threshold value, it is indicated that the load of the caliper during the execution of the clamping action is normal, and there is no possibility of clamping jamming, at this time, the caliper is directly controlled to complete the clamping action.

[0156] S205, it is judged whether the jamming detection result is an abnormality indicating that the EPB has clamping jamming; if yes, step S206 is entered; otherwise, step S207 is entered.

[0157] S206, it is determined that the EPB is abnormal, and the caliper abnormality flag bit of the EPB is updated to a first value, and at least one of the motor jamming flag bit, the current fluctuation abnormality flag bit or the motor drive abnormality flag bit of the EPB is updated to true (i.e., the first value).

[0158] In the case that the EPB has motor jamming, it is determined that the motor jamming flag bit of the EPB is true;

[0159] In the case that the EPB has a current fluctuation amplitude exceeding a preset amplitude, it is determined that the current fluctuation abnormality flag bit of the EPB is true;

[0160] In the case that the EPB has motor drive error, it is determined that the motor drive abnormality flag bit of the EPB is true.

[0161] S207, it is determined that the motor jamming flag bit, the motor drive abnormality flag bit, the current fluctuation abnormality flag bit and the caliper abnormality flag bit of the EPB are false (i.e., a second value), and the process returns to step S201.

[0162] Secondly, the implementation of the jamming detection device of the electronic parking brake system provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0163] Referring to FIG. 4, FIG. 4 is a structural diagram of the device for detecting the stiction of the electronic parking brake system provided in the embodiment of the present application, and the device can include:

[0164] The first processing module 301 is mainly configured to rotate the motor of the electronic parking brake system in a first direction to control the caliper of the electronic parking brake system to perform the clamping action in response to the caliper clamping instruction.

[0165] The second processing module 302 is mainly configured to detect the load current of the electronic parking brake system during the clamping action of the caliper to obtain a first load current.

[0166] The third processing module 303 is mainly configured to detect the stiction of the caliper and the motor when the first load current reaches a first current threshold to obtain a stiction detection result, wherein the stiction detection result is used to represent whether the electronic parking brake system has the clamping stiction abnormality.

[0167] The fourth processing module 304 is mainly configured to determine that the electronic parking brake system is abnormal when the stiction detection result represents that the electronic parking brake system has the clamping stiction abnormality.

[0168] The device for detecting the stiction of the electronic parking brake system performs the stiction detection method of the electronic parking brake system as described above, and the specific limitation of the device for detecting the stiction of the electronic parking brake system can be referred to the limitation of the stiction detection method of the electronic parking brake system in the foregoing, which will not be described here again.

[0169] The modules in the device for detecting the stiction of the electronic parking brake system described above can be all or partially realized by software, hardware, and a combination thereof. The modules described above 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 in the computer device in the form of software, so as to be called and executed by the processor to perform the operations corresponding to the modules.

[0170] In addition, referring to FIG. 5, the embodiment of the present application provides an electronic device, which can include:

[0171] at least one processor 401;

[0172] at least one memory 402 configured to store at least one program;

[0173] When the at least one program is executed by the at least one processor 401, the at least one processor 401 implements the stiction detection method of the electronic parking brake system described above.

[0174] The memory 402, as a non-transitory network system, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory 402 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory 402 can optionally include a memory 402 that is remotely arranged relative to the processor 401, and the remote memory 402 can be connected to the processor 401 through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0175] The memory 402 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 402 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 402 and are called and executed by the processor 401 to implement the method of the embodiments of the present application.

[0176] The processor 401 can be implemented in the form of a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0177] In some embodiments, the electronic device further includes:

[0178] An input / output interface for realizing information input and output;

[0179] A communication interface for realizing communication interaction between the device and other devices, which can realize communication through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0180] A bus for transmitting information between various components (such as the processor 401, the memory 402, the input / output interface, and the communication interface) of the device;

[0181] The processor 401, the memory 402, the input / output interface, and the communication interface can realize communication connection between each other inside the device through the bus.

[0182] The contents in the method embodiments are applicable to the device embodiments, the device embodiments specifically implement the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0183] Finally, the vehicle provided by the embodiments of the present application includes the sticking detection device of the electronic parking brake system and the electronic device.

[0184] It can be understood that the vehicle can be a private car such as a sedan, a sport utility vehicle (SUV), a multi-purpose vehicle (MPV), or a pickup truck, or can be an operating vehicle such as a van, a bus, a small truck, or a large trailer, or can be a gasoline vehicle or a new energy vehicle such as a hybrid vehicle or a pure electric vehicle.

[0185] Similarly, the contents in the method embodiments are applicable to the vehicle embodiments, the vehicle embodiments specifically implement the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0186] As can be seen from the above, in the case that the current during the clamping action of the caliper is too large, the embodiments of the present application detect the sticking of the mechanical execution structure (i.e., the motor and the caliper) of the electronic parking brake system based on at least one of the motor driving state, the caliper state, the motor current, and the disc state, effectively improve the accuracy of fault detection of the electronic parking brake system, and can achieve better detection effect, thereby ensuring the reliability and safety of the electronic parking brake function of the vehicle, and being beneficial to improving the driving safety.

[0187] In some alternative embodiments, the functions / operations mentioned in the block diagram can not occur in the order mentioned in the operation diagram. For example, depending on the functions / operations involved, two blocks shown in succession can actually be executed substantially simultaneously with each other, or the blocks can sometimes be executed in reverse order. In addition, the embodiments presented and described in the flowcharts of the present application are provided by way of example, and the purpose is to provide a more comprehensive understanding of the technology. The disclosed method is not limited to the operations and logical flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are independently executed.

[0188] Furthermore, although the present application is described in the context of functional modules, it is to be understood that one or more of the functions and / or features can be integrated in a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It will also be appreciated that detailed discussion of the actual implementation of each module is unnecessary to an understanding of the present application. Rather, the actual implementation of the modules, in conjunction with their attributes, functions, and internal relationships, are to be understood within the context of the devices disclosed herein. Thus, those skilled in the art with access to the teachings presented herein will be able to devise suitable implementations of the present application without undue experimentation. It is also to be understood that the particular concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is defined by the appended claims and equivalents thereof.

[0189] If the functions are implemented in software, the functions can be stored in or implemented as one or more computer program products, which can be incorporated into a computer- readable medium for use by or in connection with an apparatus, method, or system as described herein. The computer-readable medium can be a computer- readable storage medium or a computer-readable transmission medium. The computer-readable storage medium can be, for example, but is not limited to, volatile memory, non-volatile memory, or a combination of the two. The computer-readable storage medium can be, for example, but is not limited to, a floppy disk, a flexible disk, hard disk, solid state drive, USB flash drive, magnetic tape, or any other magnetic data storage medium, a RRAM, a Phase Change Memory (PCM), or any other non-volatile memory, a punch card, paper tape, or any other physical data storage medium, Compact Disc Read-Only Memory (CD-ROM), Blu-ray Disc, any other optical data storage medium, a RRAM, a Phase Change Memory (PCM), or any other non-volatile memory, RAM, static RAM (SRAM), dynamic RAM (DRAM), or any other volatile memory, a cache, a register, or any other processor data storage.

[0190] Logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be embodied in computer-readable instructions, instructions that are executable by a processor, or in any other way that is deemed to be within the scope of the present disclosure. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the program execution systems, apparatus, or devices. The computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer readable medium include an electrical connection, hard-wired ROM, random access memory (RAM), non-volatile memory, magnetic or optical card, a USB memory, a flash memory, a tape, a cassette, an optical storage such as a compact disc (CD) or Blu-ray Disc, or any other medium that can be used to carry or store desired program code in any other way.

[0191] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection (electronic) having one or more wires, a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can also be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

[0192] It should be understood that various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented in hardware, and as in another embodiment, it can be implemented using any or a combination of the following technologies, which are well-known in the art: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0193] In the above description of the present specification, the description referring to the terms "one embodiment", "another embodiment", or "certain embodiments" or the like means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. The illustrative expressions of the above terms do not necessarily refer to the same embodiment or example in the present specification. Also, the specific feature, structure, material or characteristic described can be combined in any one or more embodiments or examples in a suitable manner.

[0194] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, alternatives and variations to these embodiments can be made without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

[0195] The above is a specific description of the preferred embodiments of the present application, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present application, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present application.

Claims

1. A method for detecting sticking in an electronic parking brake system, characterized in that, Includes the following steps: In response to a caliper clamping command, the motor of the electronic parking brake system is controlled to rotate in a first direction to control the caliper of the electronic parking brake system to perform a clamping action. The load current of the electronic parking brake system during the clamping action of the caliper is detected to obtain the first load current; When the first load current reaches the first current threshold, the caliper and the motor are subjected to jamming detection to obtain jamming detection results; wherein, the jamming detection results are used to characterize whether there is a clamping jamming abnormality in the electronic parking brake system; If the jamming detection result indicates that the electronic parking brake system has an abnormal clamping or jamming condition, then the electronic parking brake system is determined to be abnormal.

2. The method for detecting jamming in an electronic parking brake system according to claim 1, characterized in that, The sticking detection results are used to characterize whether the electronic parking brake system has at least one of the following abnormalities: Motor jamming; The current fluctuation exceeds the preset range; Motor drive error.

3. The method for detecting jamming in an electronic parking brake system according to claim 1, characterized in that, The process of performing jam detection on the caliper and the motor to obtain jam detection results includes: Send a clamping release command to the motor; wherein the clamping release command is used to instruct the motor to rotate along the second direction to control the caliper to release the clamping action; Based on at least one of the motor drive state, caliper state, motor current, and disc state after sending the clamping release command, the caliper and the motor are subjected to jamming detection to obtain the jamming detection result; wherein, the disc state is used to characterize whether the friction pads and brake disc of the electronic parking brake system are separated.

4. The method for detecting jamming in an electronic parking brake system according to claim 3, characterized in that, The step of acquiring at least one of the motor drive state, caliper state, motor current, and disk state after sending the clamping release command, performing jam detection on the caliper and the motor, and obtaining the jam detection result includes: If the motor drive state does not change after the first time elapsed following the sending of the clamp release command, it is determined that there is a motor drive error in the electronic parking brake system. Alternatively, if the first duration has elapsed and the caliper is in a released state, but the motor drive state is in a non-release state, it is determined that the electronic parking brake system has a motor drive error. Alternatively, if the motor drive state is in the non-release state when the target timer starts counting, then... The electronic parking brake system is found to have a motor drive error; wherein, the target timer is reset to zero and restarted when the first duration is reached and both the caliper state and the motor drive state are in the released state.

5. The method for detecting jamming in an electronic parking brake system according to claim 3, characterized in that, The step of acquiring at least one of the motor drive state, caliper state, motor current, and disk state after sending the clamping release command, performing jam detection on the caliper and the motor, and obtaining the jam detection result includes: If the first time value is reached and the motor current is greater than the second current threshold value when the target timer starts counting, it is determined that the electronic parking brake system has motor jamming. Alternatively, if the second time value is reached and the motor current is greater than the third current threshold value when the target timer starts counting, it is determined that the electronic parking brake system has motor jamming. Wherein, if the first time value is greater than the second time value, the second current threshold value is less than the third current threshold value; if the first time value is less than the second time value, the second current threshold value is greater than the third current threshold value.

6. The method for detecting jamming in an electronic parking brake system according to claim 5, characterized in that, The step of acquiring at least one of the motor drive state, caliper state, motor current, and disk state after sending the clamping release command, performing jamming detection on the caliper and the motor, and obtaining the jamming detection result, further includes: If the third time value is reached when the target timer starts counting and the disc state is that the friction pads and brake disc of the electronic parking brake system are not separated, it is determined that the electronic parking brake system has a current fluctuation amplitude exceeding the preset amplitude. Wherein, both the first time value and the second time value are less than the third time value.

7. The method for detecting jamming in an electronic parking brake system according to claim 3, characterized in that, The step of acquiring at least one of the motor drive state, caliper state, motor current, and disk state after sending the clamping release command, performing jam detection on the caliper and the motor, and obtaining the jam detection result includes: If the disc state indicates that the friction pads and brake disc of the electronic parking brake system are separated, then the sticking detection result is determined to indicate that the electronic parking brake system does not have any clamping or sticking abnormalities.

8. The method for detecting jamming in an electronic parking brake system according to claim 1, characterized in that, The method further includes the following steps: If the first load current does not reach the first current threshold, the caliper is controlled to complete the clamping action.

9. The method for detecting jamming in an electronic parking brake system according to claim 1, characterized in that, The method further includes the following steps: If the jamming detection result indicates that the electronic parking brake system does not have any clamping jamming abnormality, the process returns to the step of controlling the motor of the electronic parking brake system to rotate in the first direction in response to the caliper clamping command.

10. A device for detecting the sticking of an electronic parking brake system, characterized in that, include: The first processing module is used to respond to the caliper clamping command by controlling the motor of the electronic parking brake system to rotate in a first direction, so as to control the caliper of the electronic parking brake system to perform a clamping action. The second processing module is used to detect the load current of the electronic parking brake system during the clamping action of the caliper, and obtain the first load current. The third processing module is used to perform jamming detection on the caliper and the motor when the first load current reaches the first current threshold value, and obtain jamming detection results; wherein, the jamming detection results are used to characterize whether there is a clamping jamming abnormality in the electronic parking brake system; The fourth processing module is used to determine that the electronic parking brake system is abnormal when the jamming detection result indicates that the electronic parking brake system has a clamping jamming abnormality.

11. An electronic device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method for detecting jamming in an electronic parking brake system as described in any one of claims 1-9.

12. A vehicle, characterized in that, Includes the jamming detection device for the electronic parking brake system as described in claim 10 and / or an electronic device as described in claim 11.

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