CN102729966A - Method for realizing dynamic parking in electronic parking brake system - Google Patents

Method for realizing dynamic parking in electronic parking brake system Download PDF

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Publication number
CN102729966A
CN102729966A CN2012102346630A CN201210234663A CN102729966A CN 102729966 A CN102729966 A CN 102729966A CN 2012102346630 A CN2012102346630 A CN 2012102346630A CN 201210234663 A CN201210234663 A CN 201210234663A CN 102729966 A CN102729966 A CN 102729966A
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slip rate
control unit
parking
electronic control
brake system
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CN102729966B (en
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付畅
张翼
张社民
张志勇
朱永胜
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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Abstract

The invention discloses a method for realizing dynamic parking in an electronic parking brake system. The method comprises the following steps; logging in a system; acquiring wheel speeds of four wheels; obtaining the slip rate of a left rear wheel; obtaining the slip rate of a right rear wheel; rotating an executive motor towards a parking direction; judging a dynamic parking condition, if the car speed is higher than 6km/h, carrying out dynamic parking, and if not, entering 209; if at least one of the detected slip rates is larger than 20%, entering 204, and if not, returning to 201; stopping the executive motor; if at least one slip rate is detected to be larger than 20% by an electronic control unit, entering 206, and if not, entering 207; rotating the motor towards a release direction, and entering 208; when the slip rates of the left rear wheel and the right rear wheel are both smaller than 15%, returning to 201, and if not, returning to 204; when the slip rates of the left rear wheel and the right rear wheel are both smaller than 15%, returning to 204, and if not, returning to 206; and finishing the dynamic parking. With the adoption of the method, the parking brake can be finished without increasing other controllers.

Description

In electronic brake system, realize the method for dynamic Parking
Technical field
The present invention relates to the automobile parking braking technical field, refer to a kind of method that in electronic brake system, realizes dynamic Parking particularly.
Background technology
Electronic brake system is as one of car chassis control system; Alternative traditional braking during standstill uses on automobile; Its with the provisional braking in the driving process and the long time property braking function after stopping combine, and by electronic control mode realization stopping brake.Installed in the automobile of electronic brake system and cancelled the Parking handle; Substitute with electronic button, promptly practiced thrift cab space, improved handling comfort again; Eliminated difference, guaranteed the safety of braking during standstill by the caused braking force of difference of chaufeur strength.
The structure of existing drag-line electronic brake system is as shown in Figure 1, is made up of electronic brake button, electronic control unit, actuating unit, Parking manipulation flexible axle, back Parking Brake, sensor.
Electronic brake system need satisfy the static Parking and dynamically Parking requirement of GB to parking system.Existing electronic brake system when vehicle stops or low speed (below v≤6km/h) when operation realize Parking by himself; And at a high speed (during the operation of v＞6km/h), dynamically Parking then combines other electric-control system by electronic brake system, as: ESC (electronic stability control) system accomplishes braking jointly, has so just increased the car load manufacturing cost and use cost.
Summary of the invention
The object of the invention is exactly that a kind of method that in electronic brake system, realizes dynamic Parking will be provided, and this method can obviously reduce the manufacturing cost and use cost of vehicle.
For realizing this purpose, institute of the present invention design-calculated in electronic brake system, realize dynamic Parking method, it is characterized in that: it comprises the steps:
Step 101: get into electronic brake system;
Step 102: the electronic control unit in the electronic brake system is from automobile CAN (Controller Area Network; Controller local area network) obtains the wheel speed signal of four wheels in the bus, and be defined as u1, u2, u3 and u4 respectively according to the wheel speed signal of four wheels of big young pathbreaker of wheel speed;
Step 103: in electronic control unit, utilize formula 1 to obtain reference speed y;
Figure BDA0000186650591
In the formula 1, v is the current time speed of a motor vehicle, and g is an acceleration due to gravity, and t is the program loop cycle, and k1 is the first adjustment coefficient, and k2 is the second adjustment coefficient, and v0 is the speed of a motor vehicle in previous program loop cycle,
Step 104: in electronic control unit, utilize formula 2 to obtain the slip rate s1 of left rear wheel:
s1=|(u RL-y)/y|*100% （2）
In the formula 2, u RLBe the wheel speed of the current left rear wheel of vehicle, y is the reference speed that obtains in the formula 1;
Step 105: in electronic control unit, utilize formula 3 to obtain the slip rate s2 of off hind wheel:
s2=|(u RR-y)/y|*100% （3）
In the formula 3, u RRBe the wheel speed of the current off hind wheel of vehicle, y is the reference speed that obtains in the formula 1;
Step 201: the electronic control unit controls actuating motor is to the rotation of Parking direction, i.e. Parking is handled flexible axle and clamped, and braking force increases, and gets into step 202;
Step 202, the dynamic Parking condition of judgement, if the speed of a motor vehicle is greater than 6km/h at this moment, then dynamically Parking gets into step 203, otherwise entering step 209;
Step 203: the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel and the step 105 in the electronic control unit detection step 104 this moment; If satisfy in the detected slip rate when having a slip rate at least, get into step 204 greater than 20% condition; Otherwise get back to step 201;
Step 204: the electronic control unit controls actuating motor quits work, and gets into step 205;
Step 205: the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel and the step 105 in the electronic control unit detection step 104 this moment; Have a slip rate at least greater than 20% condition if electronic control unit detects still to satisfy, then get into step 206; Otherwise get into step 207;
Step 206: the electronic control unit controls actuating motor rotates to release direction, promptly lets Parking handle flexible axle and loosens, and braking force reduces, and gets into step 208;
Step 207: if the slip rate that electronic control unit detects the slip rate that satisfies left rear wheel and off hind wheel during all less than 15% condition, is got back to step 201; Otherwise get back to step 204;
Step 208: if the slip rate that electronic control unit detects the slip rate that satisfies left rear wheel and off hind wheel during all less than 15% condition, is then got back to step 204; Otherwise get back to step 206;
Step 209: dynamically Parking is accomplished.
The program loop cycle described in the above-mentioned steps 103, t was 10 ~ 20 milliseconds.
The program loop cycle described in the above-mentioned steps 103, t was preferably 10 milliseconds.
The first adjustment coefficient k 1 is 0＜k1≤2 described in the above-mentioned steps 103.
The first adjustment coefficient k 1 is preferably 0.6 described in the above-mentioned steps 103.
The second adjustment coefficient k 2 is 0＜k2≤2 described in the above-mentioned steps 103.
The second adjustment COEFFICIENT K 2 is preferably 1.5 described in the above-mentioned steps 103.
The present invention realizes the method for Parking when dynamic through electronic brake system.Calculate the slip rate of vehicle in real time through electronic control unit; According to the just commentaries on classics of slip rate Numerical Control (NC) actuating motor, action stops, reversing; Thereby make Parking handle the flexible axle tension, stop or loosening; Realize the control of braking force size, guarantee that electronic brake system is dynamically preventing wheel lockup in the Parking.Present invention can be implemented in that vehicle stops, low speed (speed of a motor vehicle≤6km/h), (realizes Parking by electronic brake system during the speed of a motor vehicle＞6km/h) at a high speed.Like this, when the vehicle high-speed cruising, need not to increase other controllers and can accomplish dynamic Parking, reduced the lift-launch quantity of car load control panel, practice thrift cost, can ensure driving safety again.
Description of drawings
Fig. 1 is the structured flowchart of existing drag-line electronic brake system;
Fig. 2 is the FB(flow block) of method of the present invention;
Fig. 3 gets into the criterion FB(flow block) of dynamic Parking for electronic brake system among the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done further detailed description:
The method that in electronic brake system, realizes dynamic Parking as shown in Figure 2, it is characterized in that: it comprises the steps:
Step 101: get into electronic brake system;
Step 102: the electronic control unit in the electronic brake system obtains the wheel speed signal of four wheels from automobile CAN-bus; Use the bubbling method that four wheel speed signals are sorted, and be defined as u1, u2, u3 and u4 respectively according to the wheel speed signal of fast four wheels of big young pathbreaker of wheel;
Step 103: in electronic control unit, utilize formula 1 to obtain reference speed y;
Figure BDA0000186650592
In the formula 1, v is the current time speed of a motor vehicle, and g is an acceleration due to gravity, and t is the program loop cycle, and k1 is the first adjustment coefficient, and k2 is the second adjustment coefficient, and v0 is the speed of a motor vehicle in previous program loop cycle,
Step 104: in electronic control unit, utilize formula 2 to obtain the slip rate s1 of left rear wheel:
s1=|(u RL-y)/y|*100% （2）
In the formula 2, u RLBe the wheel speed of the current left rear wheel of vehicle, y is the reference speed that obtains in the formula 1;
Step 105: in electronic control unit, utilize formula 3 to obtain the slip rate s2 of off hind wheel:
s2=|(u RR-y)/y|*100% （3）
In the formula 3, u RRBe the wheel speed of the current off hind wheel of vehicle, y is the reference speed that obtains in the formula 1;
Step 201: the electronic control unit controls actuating motor is to the rotation of Parking direction, i.e. Parking is handled flexible axle and clamped, and braking force increases, and gets into step 202;
Step 202, the dynamic Parking condition of judgement, if the speed of a motor vehicle is greater than 6km/h at this moment, then dynamically Parking gets into step 203, otherwise entering step 209;
Step 203: the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel and the step 105 in the electronic control unit detection step 104 this moment; If satisfy in the detected slip rate when having a slip rate at least, get into step 204 greater than 20% condition; Otherwise get back to step 201;
Step 204: the electronic control unit controls actuating motor quits work, and gets into step 205;
Step 205: the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel and the step 105 in the electronic control unit detection step 104 this moment; Have a slip rate at least greater than 20% condition if electronic control unit detects still to satisfy, then get into step 206; Otherwise get into step 207;
Step 206: the electronic control unit controls actuating motor rotates to release direction, promptly lets Parking handle flexible axle and loosens, and braking force reduces, and gets into step 208;
Step 207: if the slip rate that electronic control unit detects the slip rate that satisfies left rear wheel and off hind wheel during all less than 15% condition, is got back to step 201; Otherwise get back to step 204;
Step 208: if the slip rate that electronic control unit detects the slip rate that satisfies left rear wheel and off hind wheel during all less than 15% condition, is then got back to step 204; Otherwise get back to step 206;
Step 209: dynamically Parking is accomplished.
In the technique scheme, program repetition period t is 10 ~ 20 milliseconds in the step 103, is preferably the t=10 millisecond.
In the technique scheme, the first adjustment coefficient k 1 is 0＜k1≤2 in the step 103, is preferably k1=0.6.
In the technique scheme, the second adjustment coefficient k 2 is 0＜k2≤2 in the step 103, is preferably K2=1.5.
Above-mentioned t, k1, k2 are scalar quantity, need demarcate according to the different automobile types configuration.
Method among the present invention is used in the electronic brake system of drag-line structure shown in Figure 1, realizes dynamic Parking.When pressing the electronic brake button; Motor movement in the actuating unit; Export certain rotating speed and moment of torsion; Deceleration through gear cluster increases to be turned round, and nut-screw mechanism will rotatablely move and convert straight-line motion to, finally obtains Parking and handles the output that flexible axle acts on the braking force on the Parking Brake of back.Dynamically the implementation of Parking is according to real time data on sensor acquisition data, the automobile CAN-bus by electronic control unit; Analyze vehicle working condition; When reaching dynamic Parking condition; Electronic control unit passes through the electric machine control in the actuating unit, thereby control brake power is big or small, not locking of wheel when guaranteeing Parking.
Introduce the step that electronic brake system gets into dynamic Parking below in conjunction with accompanying drawing 3:
Step 301, chaufeur are pressed the electronic brake button, and need long pressing, and show that driver intention is a braking during standstill, get into step 302; If length is pressed the electronic brake button, then do not respond subsequent action.
Step 302, whether judge the current GES that is sent to electronic control unit by the CAN bus,, then get into step 303, otherwise get into step 304 if greater than 6km/h greater than 6km/h.
Step 303, start dynamic Parking, get into step 305.
Step 304, conventional braking during standstill are until parking.
Step 305, in dynamic Parking process, whether chaufeur is pressed the electronic brake button to real-time judge, if chaufeur is pressed the electronic brake button, then dynamically Parking is until completion; Otherwise in dynamic Parking process, chaufeur is not pressed the electronic brake button, then gets into step 306.
Step 306, electronic brake system return to release position.
The content that this specification sheets is not done to describe in detail belongs to this area professional and technical personnel's known prior art.

Claims (7)

  1. A method that in electronic brake system, realizes dynamic Parking, it is characterized in that: it comprises the steps:
    Step 101: get into electronic brake system;
    Step 102: the electronic control unit in the electronic brake system obtains the wheel speed signal of four wheels from automobile CAN-bus, and is defined as u1, u2, u3 and u4 respectively according to the wheel speed signal of fast four wheels of big young pathbreaker of wheel;
    Step 103: in electronic control unit, utilize formula 1 to obtain reference speed y;
    Figure FDA0000186650581
    In the formula 1, v is the current time speed of a motor vehicle, and g is an acceleration due to gravity, and t is the program loop cycle, and k1 is the first adjustment coefficient, and k2 is the second adjustment coefficient, and v0 is the speed of a motor vehicle in previous program loop cycle,
    Step 104: in electronic control unit, utilize formula 2 to obtain the slip rate s1 of left rear wheel:
    s1=|(u RL-y)/y|*100% （2）
    In the formula 2, u RLBe the wheel speed of the current left rear wheel of vehicle, y is the reference speed that obtains in the formula 1;
    Step 105: in electronic control unit, utilize formula 3 to obtain the slip rate s2 of off hind wheel:
    s2=|(u RR-y)/y|*100% （3）
    In the formula 3, u RRBe the wheel speed of the current off hind wheel of vehicle, y is the reference speed that obtains in the formula 1;
    Step 201: the electronic control unit controls actuating motor is to the rotation of Parking direction, i.e. Parking is handled flexible axle and clamped, and braking force increases, and gets into step 202;
    Step 202, the dynamic Parking condition of judgement, if the speed of a motor vehicle is greater than 6km/h at this moment, then dynamically Parking gets into step 203, otherwise entering step 209;
    Step 203: the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel and the step 105 in the electronic control unit detection step 104 this moment; If satisfy in the detected slip rate when having a slip rate at least, get into step 204 greater than 20% condition; Otherwise get back to step 201;
    Step 204: the electronic control unit controls actuating motor quits work, and gets into step 205;
    Step 205: the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel and the step 105 in the electronic control unit detection step 104 this moment; Have a slip rate at least greater than 20% condition if electronic control unit detects still to satisfy, then get into step 206; Otherwise get into step 207;
    Step 206: the electronic control unit controls actuating motor rotates to release direction, promptly lets Parking handle flexible axle and loosens, and braking force reduces, and gets into step 208;
    Step 207: if the slip rate that electronic control unit detects the slip rate that satisfies left rear wheel and off hind wheel during all less than 15% condition, is got back to step 201; Otherwise get back to step 204;
    Step 208: if the slip rate that electronic control unit detects the slip rate that satisfies left rear wheel and off hind wheel during all less than 15% condition, is then got back to step 204; Otherwise get back to step 206;
    Step 209: dynamically Parking is accomplished.
  2. 2. realize in the electronic brake system according to claim 1 dynamic Parking method, it is characterized in that: the cycle t of program loop described in the step 103 is 10 ~ 20 milliseconds.
  3. 3. realize in the electronic brake system according to claim 2 dynamic Parking method, it is characterized in that: the cycle t of program loop described in the step 103 is 10 milliseconds.
  4. 4. realize in the electronic brake system according to claim 1 dynamic Parking method, it is characterized in that: the first adjustment coefficient k 1 is 0＜k1≤2 described in the step 103.
  5. 5. realize in the electronic brake system according to claim 4 dynamic Parking method, it is characterized in that: the first adjustment coefficient k 1 is 0.6 described in the said step 103.
  6. 6. realize in the electronic brake system according to claim 1 dynamic Parking method, it is characterized in that: the second adjustment coefficient k 2 is 0＜k2≤2 described in the step 103.
  7. 7. realize in the electronic brake system according to claim 6 dynamic Parking method, it is characterized in that: the second adjustment COEFFICIENT K 2 is 1.5 described in the said step 103.
CN201210234663.0A 2012-07-09 2012-07-09 Method for realizing dynamic parking in electronic parking brake system Active CN102729966B (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103419765A (en) * 2013-08-30 2013-12-04 长城汽车股份有限公司 Vehicle and automatic parking system for vehicle
CN103569076A (en) * 2013-11-06 2014-02-12 镇江长江汽车配件有限公司 Electronic parking braking system and control method thereof
CN103863293A (en) * 2013-08-12 2014-06-18 中国科学院合肥物质科学研究院 Vehicle parking braking system and control method for same
CN107697046A (en) * 2017-09-26 2018-02-16 安徽江淮汽车集团股份有限公司 Automatic emergency brake method and system
CN107725769A (en) * 2017-11-07 2018-02-23 安徽江淮汽车集团股份有限公司 Wet dual-clutch automatic transmission P keeps off parking control method and control system
CN109229081A (en) * 2018-10-24 2019-01-18 苏州齐思智行汽车***有限公司 Electronic parking system and electronic parking redundancy brake control method
CN109572814A (en) * 2018-12-27 2019-04-05 精诚工科汽车***有限公司 Vehicular turn auxiliary system, method and machine readable storage medium
CN111108027A (en) * 2017-09-19 2020-05-05 克诺尔商用车制动***有限公司 Method and device for controlling a parking brake
CN111559362A (en) * 2020-05-12 2020-08-21 格陆博科技有限公司 EPB-based anti-lock system and anti-lock method thereof
CN111559363A (en) * 2020-05-12 2020-08-21 格陆博科技有限公司 Anti-lock control system based on stay-supported EPB and control method thereof

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WO2008080825A1 (en) * 2006-12-27 2008-07-10 Continental Automotive Gmbh Method and control arrangement for estimating the wear state of at least one electric parking brake
CN101537831A (en) * 2009-04-13 2009-09-23 浙江亚太机电股份有限公司 Control method of automobile electric control parking and start assisting by manual transmission and system thereof
CN201825024U (en) * 2010-09-27 2011-05-11 奇瑞汽车股份有限公司 Electronic parking control system

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WO2008080825A1 (en) * 2006-12-27 2008-07-10 Continental Automotive Gmbh Method and control arrangement for estimating the wear state of at least one electric parking brake
CN101537831A (en) * 2009-04-13 2009-09-23 浙江亚太机电股份有限公司 Control method of automobile electric control parking and start assisting by manual transmission and system thereof
CN201825024U (en) * 2010-09-27 2011-05-11 奇瑞汽车股份有限公司 Electronic parking control system

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103863293A (en) * 2013-08-12 2014-06-18 中国科学院合肥物质科学研究院 Vehicle parking braking system and control method for same
CN103419765B (en) * 2013-08-30 2015-11-18 长城汽车股份有限公司 Vehicle and the automatic parking system for vehicle
CN103419765A (en) * 2013-08-30 2013-12-04 长城汽车股份有限公司 Vehicle and automatic parking system for vehicle
CN103569076A (en) * 2013-11-06 2014-02-12 镇江长江汽车配件有限公司 Electronic parking braking system and control method thereof
CN111108027B (en) * 2017-09-19 2022-05-27 克诺尔商用车制动***有限公司 Method and device for controlling a parking brake
US11358573B2 (en) 2017-09-19 2022-06-14 Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh Method and device for controlling a parking brake
CN111108027A (en) * 2017-09-19 2020-05-05 克诺尔商用车制动***有限公司 Method and device for controlling a parking brake
CN107697046A (en) * 2017-09-26 2018-02-16 安徽江淮汽车集团股份有限公司 Automatic emergency brake method and system
CN107725769A (en) * 2017-11-07 2018-02-23 安徽江淮汽车集团股份有限公司 Wet dual-clutch automatic transmission P keeps off parking control method and control system
CN109229081A (en) * 2018-10-24 2019-01-18 苏州齐思智行汽车***有限公司 Electronic parking system and electronic parking redundancy brake control method
CN109572814A (en) * 2018-12-27 2019-04-05 精诚工科汽车***有限公司 Vehicular turn auxiliary system, method and machine readable storage medium
CN111559363A (en) * 2020-05-12 2020-08-21 格陆博科技有限公司 Anti-lock control system based on stay-supported EPB and control method thereof
CN111559362A (en) * 2020-05-12 2020-08-21 格陆博科技有限公司 EPB-based anti-lock system and anti-lock method thereof

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