The invention provides an EMB clamping force
estimation method. The method comprises the steps that an EMB clamping
process mechanism model is built; the method comprises the following steps: acquiring data of EMB clamping force, a motor rotation angle and a
brake disc temperature based on an EMB test
bed, and building an EMB clamping force fitting model; acquiring data of motor current, motor
voltage, motor rotating speed, motor rotating angle,
brake disc temperature, clamping force and driving mileage based on an EMB
test bench, and building an EMB clamping force
data model; a first clamping force
estimation value, a second clamping force
estimation value and a third clamping force estimation value are calculated based on real vehicle EMB data, and a clamping force fusion estimation value is calculated in combination with a
Kalman filtering algorithm; according to the clamping force estimation error, the weights of the first estimation value, the second estimation value and the third estimation value of the clamping force are adjusted in a self-adaptive mode, and the clamping force estimation precision is optimized. According to the method, the advantages of the mechanism model, the offline data and the online data can be fully combined, the fusion weight is continuously corrected according to the estimation error, and
accurate estimation of the clamping force of the EMB without the clamping
force sensor is realized.