CN102729966B - 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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CN102729966B
CN102729966B CN201210234663.0A CN201210234663A CN102729966B CN 102729966 B CN102729966 B CN 102729966B CN 201210234663 A CN201210234663 A CN 201210234663A CN 102729966 B CN102729966 B CN 102729966B
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slip rate
control unit
parking
electronic control
brake system
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CN102729966A (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 automobile parking braking technical field, refer to particularly a kind of method that realizes dynamic parking in electronic brake system.
Background technology
Electronic brake system is as one of car chassis control system, alternative traditional braking during standstill is used on automobile, its long time property braking function by the provisional braking in driving process and after stopping combines, and realizes stopping brake by electronic control mode.Installed in the automobile of electronic brake system and cancelled parking handle, with electronic button, substitute, saved cab space, improved again handling comfort, eliminate the difference by the caused braking force of difference of chaufeur strength, guaranteed the safety of braking during standstill.
The structure of existing stay rope type electronic parking braking system as shown in Figure 1, is comprised of electronic brake button, electronic control unit, actuating unit, parking control flexible axle, rear Parking Brake, sensor.
Electronic brake system need meet GB to the static parking of parking system and dynamically parking requirement.Existing electronic brake system is realized parking by himself when vehicle stop or when low speed (below v≤6km/h) moves; And when (v > 6km/h) operation at a high speed, dynamically parking by electronic brake system in conjunction with other electric-control system, as: ESC(electronic stability is controlled) system completes braking jointly, so just increased car load manufacturing cost and use cost.
Summary of the invention
Object of the present invention is exactly that a kind of method that realizes dynamic parking in electronic brake system will be provided, and the method can obviously reduce the manufacturing cost and use cost of vehicle.
For realizing this object, the designed method that realizes dynamic parking in electronic brake system of the present invention, it is characterized in that: it comprises the steps:
Step 101: enter electronic brake system;
Step 102: the electronic control unit in electronic brake system is from automobile CAN (Controller Area Network, controller local area network) in bus, obtain the wheel speed signal of four wheels, and be defined as respectively u1, u2, u3 and u4 according to the wheel speed signal of four wheels of large young pathbreaker of wheel speed;
Step 103: utilize formula 1 to obtain reference speed y in electronic control unit;
In formula 1, v is the current time speed of a motor vehicle, and g is 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: utilize formula 2 to obtain the slip rate s1 of left rear wheel in electronic control unit:
s1=|(u RL-y)/y|*100% （2）
In formula 2, u rLfor the wheel speed of the current left rear wheel of vehicle, y is the reference speed obtaining in formula 1;
Step 105: utilize formula 3 to obtain the slip rate s2 of off hind wheel in electronic control unit:
s2=|(u RR-y)/y|*100% （3）
In formula 3, u rRfor the wheel speed of the current off hind wheel of vehicle, y is the reference speed obtaining in formula 1;
Step 201: electronic control unit is controlled actuating motor to parking direction rotation, and parking control flexible axle clamps, and braking force increases, and enters step 202;
Step 202, judge dynamic parking condition, if now the speed of a motor vehicle is greater than 6km/h, dynamically parking, enters step 203, otherwise enters step 209;
Step 203: electronic control unit detects the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel in step 104 now and step 105, if meet while having at least a slip rate to be greater than 20% condition in the slip rate detecting, enter step 204; Otherwise get back to step 201;
Step 204: electronic control unit is controlled actuating motor and quit work, and enters step 205;
Step 205: electronic control unit detects the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel in step 104 now and step 105, if electronic control unit detects, still meet the condition that has at least a slip rate to be greater than 20%, enter step 206; Otherwise enter step 207;
Step 206: electronic control unit is controlled actuating motor and rotated to release direction, allows parking control flexible axle loosen, and braking force reduces, and enters step 208;
Step 207: if electronic control unit detects when meeting the slip rate of left rear wheel and the slip rate of off hind wheel and being all less than 15% condition, get back to step 201; Otherwise get back to step 204;
Step 208: if electronic control unit detects when meeting the slip rate of left rear wheel and the slip rate of off hind wheel and being all less than 15% condition, get back to step 204; Otherwise get back to step 206;
Step 209: dynamically parking completes.
The program loop cycle described in above-mentioned steps 103, t was 10 ~ 20 milliseconds.
The program loop cycle described in above-mentioned steps 103, t was preferably 10 milliseconds.
Described in above-mentioned steps 103, the first adjustment coefficient k 1 is 0 < k1≤2.
Described in above-mentioned steps 103, the first adjustment coefficient k 1 is preferably 0.6.
Described in above-mentioned steps 103, the second adjustment coefficient k 2 is 0 < k2≤2.
Described in above-mentioned steps 103, the second adjustment COEFFICIENT K 2 is preferably 1.5.
The present invention realizes the method for parking when dynamic by electronic brake system.By electronic control unit, calculate in real time the slip rate of vehicle, according to the forward of slip rate Numerical Control (NC) actuating motor, action stops, reversing, thereby make the tension of parking control flexible axle, stop or loosening, realize the control of braking force size, guarantee that electronic brake system is dynamically preventing wheel lockup in parking.Present invention can be implemented in vehicle stop, low speed (speed of a motor vehicle≤6km/h), by electronic brake system, realize parking when (speed of a motor vehicle > 6km/h) at a high speed.Like this, when vehicle high-speed moves, without increasing other controllers, can complete dynamic parking, reduce the lift-launch quantity of car load control panel, cost-saving, can ensure driving safety again.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of existing stay rope type electronic parking braking system;
Fig. 2 is the FB(flow block) of method of the present invention;
Fig. 3 is the criterion FB(flow block) that in the present invention, electronic brake system enters dynamic parking.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
The method that realizes dynamic parking in electronic brake system as shown in Figure 2, it is characterized in that: it comprises the steps:
Step 101: enter electronic brake system;
Step 102: the electronic control unit in electronic brake system obtains the wheel speed signal of four wheels from automobile CAN-bus, use bubbling method to sort to four wheel speed signals, and be defined as respectively u1, u2, u3 and u4 according to the wheel speed signal of four wheels of large young pathbreaker of wheel speed;
Step 103: utilize formula 1 to obtain reference speed y in electronic control unit;
Figure BDA0000186650592
In formula 1, v is the current time speed of a motor vehicle, and g is 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: utilize formula 2 to obtain the slip rate s1 of left rear wheel in electronic control unit:
s1=|(u RL-y)/y|*100% （2）
In formula 2, u rLfor the wheel speed of the current left rear wheel of vehicle, y is the reference speed obtaining in formula 1;
Step 105: utilize formula 3 to obtain the slip rate s2 of off hind wheel in electronic control unit:
s2=|(u RR-y)/y|*100% （3）
In formula 3, u rRfor the wheel speed of the current off hind wheel of vehicle, y is the reference speed obtaining in formula 1;
Step 201: electronic control unit is controlled actuating motor to parking direction rotation, and parking control flexible axle clamps, and braking force increases, and enters step 202;
Step 202, judge dynamic parking condition, if now the speed of a motor vehicle is greater than 6km/h, dynamically parking, enters step 203, otherwise enters step 209;
Step 203: electronic control unit detects the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel in step 104 now and step 105, if meet while having at least a slip rate to be greater than 20% condition in the slip rate detecting, enter step 204; Otherwise get back to step 201;
Step 204: electronic control unit is controlled actuating motor and quit work, and enters step 205;
Step 205: electronic control unit detects the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel in step 104 now and step 105, if electronic control unit detects, still meet the condition that has at least a slip rate to be greater than 20%, enter step 206; Otherwise enter step 207;
Step 206: electronic control unit is controlled actuating motor and rotated to release direction, allows parking control flexible axle loosen, and braking force reduces, and enters step 208;
Step 207: if electronic control unit detects when meeting the slip rate of left rear wheel and the slip rate of off hind wheel and being all less than 15% condition, get back to step 201; Otherwise get back to step 204;
Step 208: if electronic control unit detects when meeting the slip rate of left rear wheel and the slip rate of off hind wheel and being all less than 15% condition, get back to step 204; Otherwise get back to step 206;
Step 209: dynamically parking completes.
In technique scheme, step 103 Program repetition period t is 10 ~ 20 milliseconds, is preferably t=10 millisecond.
In technique scheme, in step 103, the first adjustment coefficient k 1 is 0 < k1≤2, is preferably k1=0.6.
In technique scheme, in step 103, the second adjustment coefficient k 2 is 0 < k2≤2, is preferably K2=1.5.
Above-mentioned t, k1, k2 are scalar quantity, according to different automobile types configuration, need demarcate.
Method in the present invention is used in the electronic brake system of the drag-line structure shown in Fig. 1, realizes dynamic parking.When pressing electronic brake button, motor movement in actuating unit, export certain rotating speed and moment of torsion, deceleration increasing by gear cluster is turned round, and nut-screw mechanism will rotatablely move and convert straight-line motion to, finally obtain the output that parking control flexible axle acts on the braking force on rear Parking Brake.Dynamically the implementation of parking is according to real time data on sensor image data, 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 actuating unit, thereby control braking force size, not locking of wheel when guaranteeing parking.
Below in conjunction with accompanying drawing 3, introduce the step that electronic brake system enters dynamic parking:
Step 301, chaufeur are pressed electronic brake button, and need long pressing, and show that driver intention is braking during standstill, enters step 302; If long, do not press electronic brake button, do not respond subsequent action.
Step 302, judge that whether the current vehicle speed signal that is sent to electronic control unit by CAN bus is greater than 6km/h, if be greater than 6km/h, enters step 303, otherwise enters step 304.
Step 303, start dynamic parking, enter step 305.
Step 304, conventional braking during standstill, until stop.
Step 305, in dynamic parking process, whether chaufeur is pressed electronic brake button to real-time judge, if chaufeur is pressed electronic brake button, dynamically parking, until complete; Otherwise in dynamic parking process, chaufeur is not pressed electronic brake button, enters step 306.
Step 306, electronic brake system return to release position.
The content that this specification sheets is not described in detail belongs to the known prior art of professional and technical personnel in the field.

Claims (7)

  1. A method that realizes dynamic parking in electronic brake system, it is characterized in that: it comprises the steps:
    Step 101: enter electronic brake system;
    Step 102: the electronic control unit in electronic brake system obtains the wheel speed signal of four wheels from automobile CAN-bus, and be defined as respectively u1, u2, u3 and u4 according to the wheel speed signal of four wheels of large young pathbreaker of wheel speed;
    Step 103: utilize formula 1 to obtain reference speed y in electronic control unit;
    In formula 1, v is the current time speed of a motor vehicle, and g is 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: utilize formula 2 to obtain the slip rate s1 of left rear wheel in electronic control unit:
    s1=|(u RL-y)/y|*100% （2）
    In formula 2, u rLfor the wheel speed of the current left rear wheel of vehicle, y is the reference speed obtaining in formula 1;
    Step 105: utilize formula 3 to obtain the slip rate s2 of off hind wheel in electronic control unit:
    s2=|(u RR-y)/y|*100% （3）
    In formula 3, u rRfor the wheel speed of the current off hind wheel of vehicle, y is the reference speed obtaining in formula 1;
    Step 201: electronic control unit is controlled actuating motor to parking direction rotation, and parking control flexible axle clamps, and braking force increases, and enters step 202;
    Step 202, judge dynamic parking condition, if now the speed of a motor vehicle is greater than 6km/h, dynamically parking, enters step 203, otherwise enters step 209;
    Step 203: electronic control unit detects the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel in step 104 now and step 105, if meet while having at least a slip rate to be greater than 20% condition in the slip rate detecting, enter step 204; Otherwise get back to step 201;
    Step 204: electronic control unit is controlled actuating motor and quit work, and enters step 205;
    Step 205: electronic control unit detects the slip rate s2 of resulting off hind wheel in the slip rate s1 of resulting left rear wheel in step 104 now and step 105, if electronic control unit detects, still meet the condition that has at least a slip rate to be greater than 20%, enter step 206; Otherwise enter step 207;
    Step 206: electronic control unit is controlled actuating motor and rotated to release direction, allows parking control flexible axle loosen, and braking force reduces, and enters step 208;
    Step 207: if electronic control unit detects when meeting the slip rate of left rear wheel and the slip rate of off hind wheel and being all less than 15% condition, get back to step 201; Otherwise get back to step 204;
    Step 208: if electronic control unit detects when meeting the slip rate of left rear wheel and the slip rate of off hind wheel and being all less than 15% condition, get back to step 204; Otherwise get back to step 206;
    Step 209: dynamically parking completes.
  2. 2. in electronic brake system according to claim 1, realize dynamic parking method, it is characterized in that: the cycle t of program loop described in step 103 is 10 ~ 20 milliseconds.
  3. 3. in electronic brake system according to claim 2, realize dynamic parking method, it is characterized in that: the cycle t of program loop described in step 103 is 10 milliseconds.
  4. 4. in electronic brake system according to claim 1, realize dynamic parking method, it is characterized in that: described in step 103, first to adjust coefficient k 1 be 0 < k1≤2.
  5. 5. in electronic brake system according to claim 4, realize dynamic parking method, it is characterized in that: described in described step 103, first to adjust coefficient k 1 be 0.6.
  6. 6. in electronic brake system according to claim 1, realize dynamic parking method, it is characterized in that: described in step 103, second to adjust coefficient k 2 be 0 < k2≤2.
  7. 7. in electronic brake system according to claim 6, realize dynamic parking method, it is characterized in that: described in described step 103, second to adjust COEFFICIENT K 2 be 1.5.
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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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
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
DE102017121686A1 (en) * 2017-09-19 2019-03-21 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH 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
CN107725769B (en) * 2017-11-07 2019-04-16 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
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
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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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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