CN115649137B - Parking brake control method, device, equipment and storage medium - Google Patents
Parking brake control method, device, equipment and storage medium Download PDFInfo
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Abstract
The application provides a parking brake control method, a device, equipment and a storage medium, wherein a gradient value of a target vehicle, a gradient change rate of the target vehicle and a wheel speed change rate of the target vehicle are calculated by acquiring a vehicle state of the target vehicle; calculating the current clamping force of the electronic calipers; generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force; correcting the current clamping force based on the re-clamping request to obtain a target clamping force; and re-clamping the target vehicle with the target clamping force to perform parking brake control on the target vehicle. According to the application, the parking brake control can be carried out on the target vehicle, and whether the target vehicle needs to be clamped again or not can be determined through a plurality of parameters in the parking brake control process, so that the dependence on gradient calculation is reduced in the parking brake control process.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a parking brake control method, a device, equipment and a storage medium.
Background
With the popularization and intelligent rapid development of the superposition effect of the electric vehicle, more and higher requirements are put on the functional requirements and performance of the vehicle, and meanwhile, the functional fusion and integration of various systems of the vehicle become a trend. Currently, the integration degree of an electronic parking system in the chassis field and a gear control system in the power field is higher and higher in the functional logic level, and higher requirements are provided for the traditional electronic parking system in the logic and performance levels.
Currently, in related schemes, an electronic parking system and a gear control system are provided with mutually independent operating mechanisms (the electronic parking system is a switch button, the gear system is a gear lever), a longer time interval (more than 2 seconds) exists between gear switching and the requirement of the electronic parking system after a vehicle stops, and a stable state is achieved in the process of the time interval, namely, a signal state and a vehicle state (such as convergence of a suspension and exit of torque). However, with the deep integration of the system, the gear and the electronic parking switch are integrated, and the gear switching and the requirement of the electronic parking system can be switched in a very short time (within 30 milliseconds), so that the difficulty of the electronic parking system in judging the signal and the vehicle state is increased.
Meanwhile, the control of the electronic parking force in the current industry is determined based on the gradient of the vehicle during parking, so that the electronic parking system has high dependence on the calculation of the gradient. For example, a conventional document (CN 114715096 a) that has a high degree of dependence on gradient calculation when controlling an electronic parking force discloses a vehicle control method, apparatus, electronic device, and storage medium.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present application provides a parking brake control method, apparatus, device and storage medium, so as to solve the above-mentioned technical problems.
The application provides a parking brake control method, which comprises the following steps:
Acquiring a vehicle state of a target vehicle;
Calculating a gradient value of the target vehicle, a gradient change rate of the target vehicle and a wheel speed change rate of the target vehicle; and
Calculating the current clamping force of the electronic calipers;
generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force;
correcting the current clamping force based on the re-clamping request to obtain a target clamping force; and
And re-clamping the target vehicle by utilizing the target clamping force so as to perform parking brake control on the target vehicle.
In one embodiment of the present application, the process of acquiring the vehicle state of the target vehicle includes:
receiving a vehicle longitudinal acceleration signal, a vehicle state signal, a whole vehicle power supply state signal and an automatic driving-off state signal from the outside of the electronic parking system; and
Receiving an electronic caliper state signal, a clamping request disabling state signal and a left and right driving state available state signal from the inside of the electronic parking system;
Combining the vehicle longitudinal acceleration signal, the vehicle status signal, the vehicle power supply status signal, the automatic drive-off status signal, the electronic caliper status signal, the clamping request disable status signal, and the left and right drive status available status signal as vehicle status input signals;
Judging the vehicle state input signal by utilizing the preset condition of the target vehicle to obtain the vehicle state of the target vehicle; wherein the vehicle state of the target vehicle includes: triggering the re-clamping request is supported and triggering the re-clamping request is not supported.
In one embodiment of the present application, the process of calculating the gradient value of the target vehicle, the gradient change rate of the target vehicle, and the wheel speed change rate of the target vehicle includes:
receiving a vehicle longitudinal acceleration signal and a four-wheel speed signal from the outside of the electronic parking system;
Filtering the vehicle longitudinal acceleration signal, and calculating to obtain a gradient value and a gradient change rate of the target vehicle; and
And filtering the four-wheel speed signal, and calculating to obtain the wheel speed change rate of the target vehicle.
In one embodiment of the present application, the process of calculating the current clamping force of the electronic caliper includes:
receiving a current signal from outside the electronic parking system;
And calculating the actual clamping force of the current electronic caliper by using the current-clamping force model as the current clamping force of the electronic caliper.
In one embodiment of the present application, the process of correcting the current clamping force based on the re-clamping request to obtain a target clamping force includes:
Receiving a grade signal from outside the electronic parking system, and
And responding to the re-clamping request, correcting the current clamping force based on the response result and the gradient signal, and taking the corrected clamping force as a target clamping force.
In one embodiment of the present application, the process of generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate, and the current clamping force includes:
determining whether the target vehicle meets a re-clamping condition according to the vehicle state; and
Determining whether the current clamping force meets a calibration threshold; and
Determining whether the grade value and the grade rate of change meet an activate reclassifying condition;
When the vehicle state meets the re-clamping condition, the current clamping force meets a calibration threshold, the gradient value and the gradient change rate meet the condition of activating re-clamping, interpolation correction is carried out according to the wheel speed change rate, and a re-clamping request for the target vehicle is generated;
And when one or more of the vehicle state does not meet the re-clamping condition, the current clamping force does not meet the calibration threshold, the gradient value and the gradient change rate do not meet the activated re-clamping condition, not generating a re-clamping request for the target vehicle.
In an embodiment of the present application, before acquiring the vehicle state of the target vehicle, the method further includes:
And preprocessing boundary signals of the target vehicle according to the signal type definition, the signal name definition and the signal initial value definition to obtain a wheel speed signal, a vehicle speed signal, a longitudinal acceleration signal, an automatic driving-away state signal, a whole vehicle power supply state signal, a vehicle state signal, an electronic caliper state signal, a clamping request forbidden state signal and a left and right driving state available state signal of the target vehicle.
The application also provides a parking brake control device, which comprises:
The vehicle state module is used for acquiring the vehicle state of the target vehicle;
The clamping force calculation module is used for calculating the current clamping force of the electronic calipers and correcting the current clamping force to obtain a target clamping force;
the gradient signal processing module is used for calculating gradient values of the target vehicle, gradient change rates of the target vehicle and wheel speed change rates of the target vehicle;
A reclamping function state module for generating a reclamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force;
and the clamping function executing module is used for clamping the target vehicle again by utilizing the target clamping force so as to carry out parking brake control on the target vehicle.
The present application also provides a parking brake control apparatus comprising:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the apparatus to implement a parking brake control method as claimed in any one of the preceding claims.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the parking brake control method as set forth in any one of the above.
As described above, the present application provides a parking brake control method, apparatus, device, and storage medium, which have the following beneficial effects:
According to the application, the gradient value of the target vehicle, the gradient change rate of the target vehicle and the wheel speed change rate of the target vehicle are calculated by acquiring the vehicle state of the target vehicle; calculating the current clamping force of the electronic calipers; generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force; correcting the current clamping force based on the re-clamping request to obtain a target clamping force; and re-clamping the target vehicle with the target clamping force to perform parking brake control on the target vehicle. Therefore, the application can carry out parking brake control on the target vehicle, and in the process of the parking brake control, a re-clamping request can be generated according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force, so that the target vehicle can be clamped again when the parking brake control is carried out on the target vehicle, and the running safety of the target vehicle is ensured. Meanwhile, when the parking brake is carried out on the target vehicle, whether the target vehicle needs to be clamped again or not can be determined through a plurality of parameters, so that the dependence on gradient calculation is reduced in the parking brake control process.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 is a schematic diagram of an exemplary system architecture to which the teachings of one or more embodiments of the present application may be applied;
FIG. 2 is a flow chart of a parking brake control method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a parking brake control apparatus according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a parking recheck module according to an embodiment of the application;
FIG. 5 is a schematic diagram illustrating gradient signal processing according to an embodiment of the present application;
fig. 6 is a schematic hardware configuration of a parking brake control apparatus suitable for implementing one or more embodiments of the present application.
Detailed Description
Further advantages and effects of the present application will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In the present application, "and/or" describing the association relationship of the association object, three relationships may exist, for example, a and/or B may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
The term "plurality" as used herein means two or more.
In the description of the present application, the words "first," "second," and the like are used solely for the purpose of distinguishing between descriptions and not necessarily for the purpose of indicating or implying a relative importance or order.
In addition, in the embodiments of the present application, the term "exemplary" is used to mean serving as an example, instance, or illustration. Any embodiment or implementation described as "exemplary" in this disclosure should not be construed as preferred or advantageous over other embodiments or implementations. Rather, the term use of an example is intended to present concepts in a concrete fashion.
In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present application, it will be apparent, however, to one skilled in the art that embodiments of the present application may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present application.
FIG. 1 illustrates a schematic diagram of an exemplary system architecture to which the teachings of one or more embodiments of the present application may be applied. As shown in fig. 1, system architecture 100 may include a terminal device 110, a network 120, and a server 130. Terminal device 110 may include various electronic devices such as smart phones, tablet computers, notebook computers, desktop computers, and the like. The server 130 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud computing services. Network 120 may be a communication medium of various connection types capable of providing a communication link between terminal device 110 and server 130, and may be, for example, a wired communication link or a wireless communication link.
The system architecture in embodiments of the present application may have any number of terminal devices, networks, and servers, as desired for implementation. For example, the server 130 may be a server group composed of a plurality of server devices. In addition, the technical solution provided in the embodiment of the present application may be applied to the terminal device 110, or may be applied to the server 130, or may be implemented by the terminal device 110 and the server 130 together, which is not limited in particular.
In one embodiment of the present application, the terminal device 110 or the server 130 of the present application may calculate a gradient value of a target vehicle, a gradient change rate of the target vehicle, and a wheel speed change rate of the target vehicle by acquiring a vehicle state of the target vehicle; calculating the current clamping force of the electronic calipers; generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force; correcting the current clamping force based on the re-clamping request to obtain a target clamping force; and re-clamping the target vehicle with the target clamping force to perform parking brake control on the target vehicle. The parking brake control method is performed by using the terminal device 110 or the server 130, so that the parking brake control can be performed on the target vehicle, and in the parking brake control process, a re-clamping request can be generated according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force, so that the target vehicle can be re-clamped when the parking brake control is performed on the target vehicle, and the running safety of the target vehicle is ensured. Meanwhile, when the parking brake is carried out on the target vehicle, whether the target vehicle needs to be clamped again or not can be determined through a plurality of parameters, so that the dependence on gradient calculation is reduced in the parking brake control process.
The foregoing describes the contents of an exemplary system architecture to which the present application is applied, and the following description continues with the parking brake control method of the present application.
Fig. 2 is a schematic flow chart of a parking brake control method according to an embodiment of the application. Specifically, in an exemplary embodiment, as shown in fig. 2, the present embodiment provides a parking brake control method, which includes the steps of:
S210, acquiring a vehicle state of a target vehicle; the target vehicle in this embodiment includes a vehicle determined in advance or in real time. As an example, the target vehicle in this embodiment may be a new energy vehicle with an electronic parking system, which is determined in advance or in real time, or may be another vehicle with an electronic parking system.
S220, calculating a gradient value of the target vehicle, a gradient change rate of the target vehicle and a wheel speed change rate of the target vehicle; and
S230, calculating the current clamping force of the electronic calipers;
S240, generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force;
S250, correcting the current clamping force based on the re-clamping request to obtain a target clamping force; and
And S260, clamping the target vehicle again by utilizing the target clamping force so as to perform parking brake control on the target vehicle.
Therefore, the embodiment can carry out parking brake control on the target vehicle, and in the parking brake control process, a re-clamping request can be generated according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force, so that the target vehicle can be clamped again when the parking brake control is carried out on the target vehicle, and the running safety of the target vehicle is ensured. Meanwhile, in the embodiment, when the parking brake is performed on the target vehicle, whether the target vehicle needs to be clamped again or not can be determined through a plurality of parameters, so that the dependence on gradient calculation is reduced in the parking brake control process.
In an exemplary embodiment, the process of acquiring the vehicle state of the target vehicle in step S210 includes:
receiving a vehicle longitudinal acceleration signal, a vehicle state signal, a whole vehicle power supply state signal and an automatic driving-off state signal from the outside of the electronic parking system; and
Receiving an electronic caliper state signal, a clamping request disabling state signal and a left and right driving state available state signal from the inside of the electronic parking system;
Combining the vehicle longitudinal acceleration signal, the vehicle status signal, the vehicle power supply status signal, the automatic drive-off status signal, the electronic caliper status signal, the clamping request disable status signal, and the left and right drive status available status signal as vehicle status input signals;
Judging the vehicle state input signal by utilizing the preset condition of the target vehicle to obtain the vehicle state of the target vehicle; wherein the vehicle state of the target vehicle includes: triggering the re-clamping request is supported and triggering the re-clamping request is not supported.
As an example, specifically, the present embodiment receives a vehicle longitudinal acceleration signal, a vehicle state signal, a vehicle power supply state signal, and an automatic drive-off state signal from outside the electronic parking system, and receives an electronic caliper state (an electronic caliper left side state and a electronic caliper right side state), a clamping request disable state signal, and a left-right drive state available state signal from inside the electronic parking system, and then uses the received signals as input signals. And judging the input signal according to preset conditions, and determining whether the current vehicle state supports triggering the re-clamping request.
In an exemplary embodiment, the process of calculating the gradient value of the target vehicle, the gradient change rate of the target vehicle, and the wheel speed change rate of the target vehicle in step S220 includes: receiving a vehicle longitudinal acceleration signal and a four-wheel speed signal from the outside of the electronic parking system; filtering the vehicle longitudinal acceleration signal, and calculating to obtain a gradient value and a gradient change rate of the target vehicle; and filtering the four-wheel speed signal, and calculating to obtain the wheel speed change rate of the target vehicle.
In an exemplary embodiment, the process of calculating the current clamping force of the electronic caliper at step S230 includes: receiving a current signal from outside the electronic parking system; and calculating the actual clamping force of the current electronic caliper by using the current-clamping force model as the current clamping force of the electronic caliper. As an example, specifically, the present embodiment may receive a current signal external to the electronic parking system as an input signal, and calculate a current clamping force of the electronic caliper according to a current-clamping force model as the current clamping force.
In an exemplary embodiment, the step S250 corrects the current clamping force based on the re-clamping request, and the process of obtaining the target clamping force includes: and receiving a gradient signal from the outside of the electronic parking system, responding to the re-clamping request, correcting the current clamping force based on a response result and the gradient signal, and taking the corrected clamping force as a target clamping force.
In an exemplary embodiment, step S240 includes generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate, and the current clamping force, including:
determining whether the target vehicle meets a re-clamping condition according to the vehicle state; and
Determining whether the current clamping force meets a calibration threshold; and
Determining whether the grade value and the grade rate of change meet an activate reclassifying condition;
When the vehicle state meets the re-clamping condition, the current clamping force meets a calibration threshold, the gradient value and the gradient change rate meet the condition of activating re-clamping, interpolation correction is carried out according to the wheel speed change rate, and a re-clamping request for the target vehicle is generated;
And when one or more of the vehicle state does not meet the re-clamping condition, the current clamping force does not meet the calibration threshold, the gradient value and the gradient change rate do not meet the activated re-clamping condition, not generating a re-clamping request for the target vehicle.
From this, the present embodiment can determine whether the vehicle state satisfies the re-clamping condition, whether the clamping force satisfies the calibration threshold, whether the gradient and the change rate thereof satisfy the activate re-clamping condition, so as to determine whether the target vehicle needs to activate the re-clamping function, and whether the re-clamping request is generated.
In an exemplary embodiment, before acquiring the vehicle state of the target vehicle, the method further includes: and preprocessing boundary signals of the target vehicle according to the signal type definition, the signal name definition and the signal initial value definition to obtain a wheel speed signal, a vehicle speed signal, a longitudinal acceleration signal, an automatic driving-away state signal, a whole vehicle power supply state signal, a vehicle state signal, an electronic caliper state signal, a clamping request forbidden state signal and a left and right driving state available state signal of the target vehicle.
In summary, the present application provides a parking brake control method, which calculates a gradient value of a target vehicle, a gradient change rate of the target vehicle, and a wheel speed change rate of the target vehicle by acquiring a vehicle state of the target vehicle; calculating the current clamping force of the electronic calipers; generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force; correcting the current clamping force based on the re-clamping request to obtain a target clamping force; and re-clamping the target vehicle with the target clamping force to perform parking brake control on the target vehicle. Therefore, the method can carry out parking brake control on the target vehicle, and in the parking brake control process, a re-clamping request can be generated according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force, so that the target vehicle can be clamped again when the parking brake control is carried out on the target vehicle, and the running safety of the target vehicle is ensured. Meanwhile, when the parking brake is carried out on the target vehicle, whether the target vehicle needs to be clamped again or not can be determined through a plurality of parameters, so that the dependence on gradient calculation is reduced in the parking brake control process.
In another exemplary embodiment of the present application, there is also provided a parking brake control apparatus including:
The vehicle state module is used for acquiring the vehicle state of the target vehicle; the target vehicle in this embodiment includes a vehicle determined in advance or in real time. As an example, the target vehicle in this embodiment may be a new energy vehicle with an electronic parking system, which is determined in advance or in real time, or may be another vehicle with an electronic parking system.
The clamping force calculation module is used for calculating the current clamping force of the electronic calipers and correcting the current clamping force to obtain a target clamping force;
the gradient signal processing module is used for calculating gradient values of the target vehicle, gradient change rates of the target vehicle and wheel speed change rates of the target vehicle;
A reclamping function state module for generating a reclamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force;
and the clamping function executing module is used for clamping the target vehicle again by utilizing the target clamping force so as to carry out parking brake control on the target vehicle.
Therefore, the embodiment can carry out parking brake control on the target vehicle, and in the parking brake control process, a re-clamping request can be generated according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force, so that the target vehicle can be clamped again when the parking brake control is carried out on the target vehicle, and the running safety of the target vehicle is ensured. Meanwhile, in the embodiment, when the parking brake is performed on the target vehicle, whether the target vehicle needs to be clamped again or not can be determined through a plurality of parameters, so that the dependence on gradient calculation is reduced in the parking brake control process.
In an exemplary embodiment, as shown in fig. 3, the present embodiment provides a parking brake control apparatus including:
The boundary signal preprocessing module 1 is used for preprocessing boundary signals of a target vehicle according to signal type definition, signal name definition and signal initial value definition to obtain a wheel speed signal, a vehicle speed signal, a longitudinal acceleration signal, an automatic driving-away state signal, a whole vehicle power supply state signal, a vehicle state signal, an electronic caliper state signal, a clamping request forbidden state signal and a left-right driving state available state signal of the target vehicle.
The parking re-clamping module 2 generates a re-clamping request according to the signals in the boundary signal preprocessing module;
and the clamping function executing module 3 is used for controlling the electronic calipers according to the re-clamping request, and re-clamping the target vehicle so as to perform parking brake control on the target vehicle.
The parking reclamping module 2 comprises: a vehicle state module 2-1, a clamping force calculation module 2-2, a gradient signal processing module 2-3, and a reclassifying function state module 2-4. The vehicle state module 2-1 is used for determining an input (such as a whole vehicle power supply state, a vehicle speed, a wheel speed and the like) outside the electronic parking system and an internal state (whether the electronic caliper is in a released state, a clamped state or unknown state, whether the electronic parking system has a function degradation or not, and the like) of the electronic parking system, so as to sequentially determine whether the re-clamping function can be activated. The clamping force calculating module 2-2 is operative to calculate the actual clamping force of the current caliper end from the sampled current during the clamping action performed by the electronic caliper. The gradient signal processing module 2-3 is operative to evaluate the longitudinal steady state of the current vehicle from dimensions such as signal values and their rates of change after filtering processing based on the sensor signals, in combination with vehicle speed, wheel speed and their rates of change. The re-clamping function status module 2-4 functions to determine from the outputs of the above three modules that there is a need to activate the re-clamping function.
Specifically, fig. 4 provides a schematic diagram of the working principle of the parking recheck module. In fig. 4, the control procedure of the parking reclock module is as follows:
The vehicle state module 2-1 receives a vehicle longitudinal acceleration signal, a vehicle state signal, a vehicle power supply state signal, and an automatic drive-off state signal, which are external to the electronic parking system, and receives a caliper state (left/right), a clamping request disable state signal, and a left/right drive state available state signal, which are internal to the electronic parking system, as input signals. And meanwhile, judging whether the current vehicle state supports triggering the re-clamping request according to the preset or real-time conditions of the vehicle state module 2-1, and outputting the re-clamping request to the re-clamping function state module 2-4 as an output signal of the vehicle state module 2-1.
The clamping force calculating module 2-2 receives a current signal outside the electronic parking system as an input signal, calculates the clamping force of the current electronic caliper according to a current-clamping force model in the module, receives a gradient signal to calculate a target clamping force with the corrected clamping force output by the re-clamping function state module 2-4, and takes a settlement result as an output signal of the clamping force calculating module 2-2 to the re-clamping function state module 2-4.
The gradient signal processing module 2-3 receives a vehicle longitudinal acceleration signal and a four-wheel speed signal which are outside the electronic parking system as input signals, performs filtering processing on the input longitudinal acceleration, calculates a gradient value and a change rate, performs filtering processing on the four-wheel speed signal, and calculates a wheel speed change rate. And the calculated result is used as an output signal of the gradient signal processing module 2-3 to the re-clamping function state module 2-4. The calculation result output by the gradient signal processing module is shown in fig. 5.
The reclamping function state module 2-4 takes output signals of the vehicle state module 2-1, the clamping force calculating module 2-2 and the gradient signal processing module 2-3 as input signals, and takes state activating zone bit and corrected clamping force as output of the reclamping function state module 2-4 according to whether the vehicle state of the module meets the reclamping condition, whether the clamping force meets the calibration threshold, whether the gradient and the change rate meet the activating reclamping condition and the clamping force required for reclamping are corrected through interpolation according to the wheel end slippage.
In summary, the present application provides a parking brake control apparatus that calculates a gradient value of a target vehicle, a gradient change rate of the target vehicle, and a wheel speed change rate of the target vehicle by acquiring a vehicle state of the target vehicle; calculating the current clamping force of the electronic calipers; generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force; correcting the current clamping force based on the re-clamping request to obtain a target clamping force; and re-clamping the target vehicle with the target clamping force to perform parking brake control on the target vehicle. Therefore, the device can carry out parking brake control on the target vehicle, and can generate a re-clamping request according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force in the parking brake control process, so that the target vehicle can be clamped again when the parking brake control is carried out on the target vehicle, and the running safety of the target vehicle is ensured. Meanwhile, when the device performs parking braking on the target vehicle, whether the target vehicle needs to be clamped again or not can be determined through a plurality of parameters, so that the dependence on gradient calculation is reduced in the parking braking control process.
It should be noted that, the parking brake control device provided in the above embodiment and the parking brake control method provided in the above embodiment belong to the same concept, and the specific manner in which each module and unit perform the operation has been described in detail in the method embodiment, which is not repeated here. In practical application, the parking brake control device provided in the above embodiment may distribute the functions to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.
An embodiment of the present application also provides a parking brake control apparatus including: one or more processors; and a storage means for storing one or more programs that, when executed by the one or more processors, cause the parking brake control apparatus to implement the parking brake control method provided in the above-described respective embodiments.
Fig. 6 shows a schematic structural diagram of a computer device suitable for use in implementing the parking brake control apparatus of the embodiment of the present application. It should be noted that, the computer system 1000 of the parking brake control apparatus shown in fig. 6 is only an example, and should not impose any limitation on the functions and the application scope of the embodiment of the present application.
As shown in fig. 6, the computer system 1000 includes a central processing unit (Central Processing Unit, CPU) 1001 that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 1002 or a program loaded from a storage portion 1008 into a random access Memory (Random Access Memory, RAM) 1003. In the RAM1003, various programs and data required for system operation are also stored. The CPU 1001, ROM 1002, and RAM1003 are connected to each other by a bus 1004. An Input/Output (I/O) interface 1005 is also connected to bus 1004.
The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output portion 1007 including a Cathode Ray Tube (CRT), a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), and a speaker, etc.; a storage portion 1008 including a hard disk or the like; and a communication section 1009 including a network interface card such as a LAN (Local AreaNetwork ) card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the internet. The drive 1010 is also connected to the I/O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is installed on the drive 1010 as needed, so that a computer program read out therefrom is installed into the storage section 1008 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 1009, and/or installed from the removable medium 1011. When executed by a Central Processing Unit (CPU) 1001, the computer program performs various functions defined in the apparatus of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
Another aspect of the application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform a parking brake control method as described above. The computer-readable storage medium may be included in the parking brake control apparatus described in the above embodiment or may exist alone without being incorporated in the parking brake control apparatus.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs the parking brake control method provided in the above-described respective embodiments.
The above embodiments are merely illustrative of the principles of the present application and its effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the application. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present application shall be covered by the appended claims.
Claims (9)
1. A parking brake control method, characterized by comprising the steps of:
acquiring a vehicle state of a target vehicle; wherein the vehicle state of the target vehicle includes: supporting triggering the re-clamping request and not supporting triggering the re-clamping request;
Calculating a gradient value of the target vehicle, a gradient change rate of the target vehicle and a wheel speed change rate of the target vehicle; and
Calculating the current clamping force of the electronic calipers;
Generating a re-clamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force; comprising the following steps: determining whether the target vehicle meets a re-clamping condition according to the vehicle state; determining whether the current clamping force meets a calibration threshold; and determining whether the grade value and the grade rate of change meet an activate re-clamping condition; when the vehicle state meets the re-clamping condition, the current clamping force meets a calibration threshold, the gradient value and the gradient change rate meet the condition of activating re-clamping, interpolation correction is carried out according to the wheel speed change rate, and a re-clamping request for the target vehicle is generated; when one or more of the vehicle state does not meet the re-clamping condition, the current clamping force does not meet a calibration threshold, the gradient value and the gradient change rate do not meet the activated re-clamping condition, a re-clamping request for the target vehicle is not generated;
correcting the current clamping force based on the re-clamping request to obtain a target clamping force; and
And re-clamping the target vehicle by utilizing the target clamping force so as to perform parking brake control on the target vehicle.
2. The parking brake control method according to claim 1, wherein the process of acquiring the vehicle state of the target vehicle includes:
receiving a vehicle longitudinal acceleration signal, a vehicle state signal, a whole vehicle power supply state signal and an automatic driving-off state signal from the outside of the electronic parking system; and
Receiving an electronic caliper state signal, a clamping request disabling state signal and a left and right driving state available state signal from the inside of the electronic parking system;
Combining the vehicle longitudinal acceleration signal, the vehicle status signal, the vehicle power supply status signal, the automatic drive-off status signal, the electronic caliper status signal, the clamping request disable status signal, and the left and right drive status available status signal as vehicle status input signals;
Judging the vehicle state input signal by utilizing the preset condition of the target vehicle to obtain the vehicle state of the target vehicle;
wherein the vehicle state signal includes a signal for determining whether the vehicle is in a stationary state, which is determined based on a vehicle speed and a wheel speed.
3. The parking brake control method according to claim 2, characterized in that the process of calculating the gradient value of the target vehicle, the gradient change rate of the target vehicle, and the wheel speed change rate of the target vehicle includes:
receiving a vehicle longitudinal acceleration signal and a four-wheel speed signal from the outside of the electronic parking system;
Filtering the vehicle longitudinal acceleration signal, and calculating to obtain a gradient value and a gradient change rate of the target vehicle; and
And filtering the four-wheel speed signal, and calculating to obtain the wheel speed change rate of the target vehicle.
4. The parking brake control method according to claim 1, wherein the process of calculating the current clamping force of the electronic caliper includes:
receiving a current signal from outside the electronic parking system;
And calculating the actual clamping force of the current electronic caliper by using the current-clamping force model as the current clamping force of the electronic caliper.
5. The parking brake control method according to claim 4, wherein correcting the current clamping force based on the re-clamping request, the process of obtaining a target clamping force includes:
Receiving a grade signal from outside the electronic parking system, and
And responding to the re-clamping request, correcting the current clamping force based on the response result and the gradient signal, and taking the corrected clamping force as a target clamping force.
6. The parking brake control method according to claim 1, characterized in that before acquiring the vehicle state of the target vehicle, the method further comprises:
And preprocessing boundary signals of the target vehicle according to the signal type definition, the signal name definition and the signal initial value definition to obtain a wheel speed signal, a vehicle speed signal, a longitudinal acceleration signal, an automatic driving-away state signal, a whole vehicle power supply state signal, a vehicle state signal, an electronic caliper state signal, a clamping request forbidden state signal and a left and right driving state available state signal of the target vehicle.
7. A parking brake control apparatus, characterized by comprising:
the vehicle state module is used for acquiring the vehicle state of the target vehicle; wherein the vehicle state of the target vehicle includes: supporting triggering the re-clamping request and not supporting triggering the re-clamping request;
The clamping force calculation module is used for calculating the current clamping force of the electronic calipers and correcting the current clamping force to obtain a target clamping force;
the gradient signal processing module is used for calculating gradient values of the target vehicle, gradient change rates of the target vehicle and wheel speed change rates of the target vehicle;
A reclamping function state module for generating a reclamping request for the target vehicle according to the vehicle state, the gradient value, the gradient change rate, the wheel speed change rate and the current clamping force; comprising the following steps: determining whether the target vehicle meets a re-clamping condition according to the vehicle state; determining whether the current clamping force meets a calibration threshold; and determining whether the grade value and the grade rate of change meet an activate re-clamping condition; when the vehicle state meets the re-clamping condition, the current clamping force meets a calibration threshold, the gradient value and the gradient change rate meet the condition of activating re-clamping, interpolation correction is carried out according to the wheel speed change rate, and a re-clamping request for the target vehicle is generated; when one or more of the vehicle state does not meet the re-clamping condition, the current clamping force does not meet a calibration threshold, the gradient value and the gradient change rate do not meet the activated re-clamping condition, a re-clamping request for the target vehicle is not generated;
and the clamping function executing module is used for clamping the target vehicle again by utilizing the target clamping force so as to carry out parking brake control on the target vehicle.
8. A parking brake control apparatus, characterized in that the apparatus comprises:
one or more processors;
Storage means for storing one or more programs that, when executed by the one or more processors, cause the apparatus to implement the park brake control method as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the parking brake control method according to any one of claims 1 to 6.
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| CN202211339894.8A CN115649137B (en) | 2022-10-29 | 2022-10-29 | Parking brake control method, device, equipment and storage medium |
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| CN106828478A (en) * | 2017-01-21 | 2017-06-13 | 广州汽车集团股份有限公司 | Vehicle, electronic brake system and its control method |
| CN110723136A (en) * | 2019-10-15 | 2020-01-24 | 重庆长安汽车股份有限公司 | Method and system for activating automatic parking function, storage medium and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR102373379B1 (en) * | 2015-09-22 | 2022-03-11 | 주식회사 만도 | Vehicle control apparatus and control method thereof |
| CN111959495B (en) * | 2020-06-29 | 2021-11-12 | 阿波罗智能技术(北京)有限公司 | Vehicle control method and device and vehicle |
| CN114013408B (en) * | 2021-09-28 | 2024-05-07 | 上海汽车制动系统有限公司 | Parking clamping force attenuation compensation method of electronic drum brake system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828478A (en) * | 2017-01-21 | 2017-06-13 | 广州汽车集团股份有限公司 | Vehicle, electronic brake system and its control method |
| CN110723136A (en) * | 2019-10-15 | 2020-01-24 | 重庆长安汽车股份有限公司 | Method and system for activating automatic parking function, storage medium and vehicle |
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