CN-122009221-A - Automobile electronic gear shifter control method integrating electronic parking braking function

CN122009221ACN 122009221 ACN122009221 ACN 122009221ACN-122009221-A

Abstract

The invention relates to a control method of an automobile electronic gear shifter integrating an electronic parking brake function, which belongs to the technical field of automobile electronic control and is realized by a system comprising an IPB controller, a gear shifter controller, a relay module and an EPB caliper. The method includes the steps of carrying out self-checking of the dual controllers in parallel after the system is electrified, controlling the EPB caliper by the IPB controller in a normal mode, monitoring the IPB state by the gear shifter controller in real time, verifying the safety condition when the IPB fault or the failure of the connection is detected, realizing the switching of the hardware interlocking control right through the relay, taking over the EPB control by the gear shifter controller, and returning the control right after the IPB is recovered. The method improves the fault redundancy capability and control response speed of the EPB system, reduces the hardware cost and has strong adaptability.

Inventors

ZHOU BO
ZHAO LIHAI
XU ZHAN

Assignees

宁波市智蔻科技集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. The automobile electronic gear shifter control method integrating the electronic parking braking function is characterized by being realized by virtue of a control system, wherein the control system comprises an IPB controller, a gear shifter controller, a CAN bus, a relay module, an EPB caliper, a speed detection module, a gear detection module and a P key, the IPB controller is connected with a driving motor of the EPB caliper through a normally closed end of the relay module by a first hard wire and is connected with the gear shifter controller by the CAN bus, the gear shifter controller is connected with the driving motor of the EPB caliper through a second hard wire by the relay module, the gear shifter controller is respectively connected with the IPB controller, the speed detection module and the gear detection module by the CAN bus and is connected with the P key by hard wires, the relay module is respectively connected with the first hard wire and the second hard wire, and the gear shifter controller controls on-off switching by an I/O port to realize that only the first hard wire or the second hard wire is connected with the motor of the EPB at the same moment, and the gear shifter comprises the following driving steps: After the system is powered on, performing IPB controller self-test and shifter controller self-test in parallel, entering a normal mode after the self-test passes, and entering a fault processing mode if any self-test fails; Step two, in a normal mode, the IPB controller executes parking control on the EPB caliper through the first hard wire, and simultaneously continuously monitors a heartbeat state signal with the period of 10ms and sent by the IPB controller through the CAN bus and a backup request signal sent by the IPB controller through the shifter controller; Triggering a backup take-over process when the shifter controller detects that heartbeat state signals are not received or the backup request signals are received for a plurality of continuous periods, and verifying backup take-over safety conditions through a vehicle speed detection module and the gear detection module; Step four, if the backup take-over safety condition verification is passed, the shifter controller controls the relay module to disconnect a first hard wire and connect a second hard wire through the I/O port, and the backup mode is entered; Step five, in a backup mode, the gear shifter controller executes clamping control or releasing control on the EPB calipers through the second hard wire, and simultaneously continuously monitors a self-checking passing signal sent by the IPB controller to confirm the recovery state of the IPB controller; And step six, when the gear shifter controller detects that the IPB controller is recovered to be normal and verifies that the safety condition of the return control right is passed, the relay module is controlled to be connected with the first hard wire and disconnected with the second hard wire through the I/O port, the return control right is returned to the IPB controller, and the normal mode is returned.
2. The method for controlling the automobile electronic gear shifter with the integrated electronic parking brake function according to claim 1, wherein in the first step, the content of the self-checking of the IPB controller and the self-checking of the gear shifter controller comprises motor driving circuit detection, sensor loop detection, communication interface detection and power supply loop detection, after the self-checking is passed, the IPB controller and the gear shifter controller send self-checking normal signals to an instrument panel through the CAN bus, and when the self-checking is failed, the IPB controller records corresponding fault codes and sends the fault codes to the instrument panel.
3. The method for controlling an electronic gear shifter of an automobile with integrated electronic parking brake function according to claim 1, wherein in the step one, the fault handling mode is executed in such a way that if the self-checking failure item is a recoverable fault, a fault recovery process is executed, and the normal mode is entered after the recovery is successful, and if the self-checking failure item is an unrecoverable fault, the vehicle gear shifting operation is limited and a fault prompt is sent to an instrument panel.
4. The method for controlling an electronic gear shifter of an automobile with integrated electronic parking brake function according to claim 1, wherein in the second step, the mode of monitoring the heartbeat state signal by the gear shifter controller is that the heartbeat state signal on the CAN bus is acquired every 10ms, and if the heartbeat state signal is not acquired continuously for 50 times, it is determined that the heartbeat state signal is not received continuously for 50 periods.
5. The method for controlling an electronic gear shifter of an automobile with an integrated electronic parking brake function according to claim 1, wherein in the third step, the backup connection safety condition is that a real-time speed corresponding to a speed signal acquired by the speed detection module is less than 3km/h, and a vehicle gear corresponding to a gear signal acquired by the gear detection module is a P gear.
6. The method for controlling an electronic gear shifter of an automobile with integrated electronic parking brake function according to claim 1, wherein in the fourth step, the shifter controller controls the relay module to switch and sends a backup mode activation prompt signal to an instrument panel through the CAN bus.
7. The method for controlling an electronic gear shifter for an automobile with integrated electronic parking brake function according to claim 1, wherein in the fifth step, the step of the shifter controller performing clamping control on the EPB caliper in the backup mode is: step A, when the fact that the vehicle is hung into a P gear or a driver triggers a P key operation is detected, a gear shifter controller controls a driving motor of an EPB caliper to be started at maximum current, and the driving motor lasts for 30-100ms to overcome static friction force; step B, regulating PWM duty ratio by PID algorithm, stabilizing the working current of the driving motor within 17 A+ -1A, and executing uniform clamping action; and C, maintaining the working current of 17A for 500ms, switching to a small current holding mode of 1A after establishing the target clamping force, and simultaneously, lighting an indicator lamp of the P key to feed back the parking completion state.
8. The method for controlling an electronic gear shifter for an automobile with integrated electronic parking brake function according to claim 1, wherein in the fifth step, in the backup mode, the step of the shifter controller performing release control on the EPB caliper is: Step A, when detecting that the vehicle moves out of the P gear or the driver triggers the release operation of the P key, controlling the driving motor of the EPB caliper to reversely rotate, and rapidly releasing the safety distance of 0.7-1.5mm, wherein the time consumption is not more than 200ms; Step B, the gear shifter controller reduces the rotating speed of the driving motor to execute slow release action, and the total release time is not longer than 1.5s; And C, monitoring the working current of the driving motor in real time in the releasing process of the gear shifter controller, if the instantaneous current exceeds 16A or the current is collected for 1 time every 150ms, and the current sampling value obtained after the average value of 3 times exceeds 10A, immediately stopping the releasing action, recording the corresponding fault code and sending the fault code to an instrument panel.
9. The method for controlling an electronic gear shifter of an automobile with integrated electronic parking brake function according to claim 1, wherein in the fifth step, in the backup mode, the gear shifter controller performs linkage control of gear shifting and EPB, wherein when the fact that a vehicle is hung into a P gear and the real-time speed is smaller than 3km/h is detected, clamping control of an EPB caliper is automatically triggered, and when the fact that the vehicle is moved out of the P gear is detected, release control of the EPB caliper is automatically triggered.
10. The method for controlling an electronic gear shifter of an automobile with an integrated electronic parking brake function according to claim 1, wherein in the sixth step, the return control right safety condition is that a real-time automobile speed corresponding to an automobile speed signal acquired by the automobile speed detection module is less than 3km/h, and the EPB caliper is in a stable clamping state.

Description

Automobile electronic gear shifter control method integrating electronic parking braking function Technical Field The invention relates to an automobile electronic gear shifter control method, in particular to an automobile electronic gear shifter control method integrating an electronic parking brake function. Background With the rapid development of automobile drive-by-wire chassis technology, an electronic parking brake system (EPB) and an electronic shifter have become standard core components of passenger vehicles. Currently, the conventional technology is to integrate the two technologies, so as to simplify the layout of the operating components in the vehicle. However, the prior art only realizes the physical integration of the operation interface, does not relate to the integration of the EPB control logic and the execution driving capability, and still cannot realize the redundant backup of the EPB function when the vehicle IPB main controller fails, so that the safety risk of failure of the parking function exists. Meanwhile, for redundant control of the EPB system, various solutions are also proposed in the prior art, for example, when the EPB controller fails, the whole vehicle controller VCU is used as a redundant unit to take over the scheme of the EPB control, so that the operation reliability of the EPB system can be improved to a certain extent. The redundant architecture of the main MCU and the auxiliary MCU is adopted in the single electric control unit, so that the backup control of EPB and P gear functions is realized. However, in the above scheme, the former relies on the calculation power and hardware resources of the whole vehicle VCU, so that the control load of the VCU is additionally increased, and the control loop of the hardware level is not set for interlocking, so that the problem of hardware damage caused by two paths of control signal conflict is easy to occur. The latter is only the redundant design inside a single electric control unit, and when the electric control unit is wholly powered and has communication faults, the parking and P-gear backup functions are still caused to be invalid at the same time, and the physical isolation type independent redundancy protection of the cross-unit cannot be realized. In summary, in the prior art, aiming at the integrated design of the EPB and the electronic gear shifter, most of the integrated design stays at the level of a structure and an operation interface, and the EPB redundancy control scheme has the problems of overhigh load of a control unit and missing of a hardware interlocking mechanism, or can not realize the cross-unit independent redundancy protection of physical isolation, and is difficult to consider the integration level, the response speed and the fault redundancy capability of the EPB system on the premise of controlling the cost of the whole vehicle. When the vehicle IPB main controller has faults such as communication interruption, hardware failure and the like, the parking function is easy to break down, and certain driving safety hidden trouble exists, which is also the core technical problem to be solved by the invention. In view of the above-mentioned drawbacks, the present inventors have actively studied and innovated to create a control method for an electronic gear shifter of an automobile that integrates an electronic parking brake function, so as to have a more industrial utility value. Disclosure of Invention In order to solve the technical problems, the invention aims to provide a control method of an automobile electronic gear shifter integrating an electronic parking brake function. The invention discloses an automobile electronic gear shifter control method integrating an electronic parking brake function, which is realized by virtue of a control system, wherein the control system comprises an IPB controller (IPB, INTEGRATED POWER BRAKE, integrated power brake), a gear shifter controller, a CAN bus, a relay module, an EPB caliper, a vehicle speed detection module, a gear detection module and a P key, the IPB controller is connected with a driving motor of the EPB caliper through a first hard wire by a normally closed end of the relay module and is connected with the gear shifter controller through the CAN bus, the gear shifter controller is connected with the driving motor of the EPB caliper through a second hard wire by the relay module and is respectively connected with the IPB controller, the vehicle speed detection module and the gear detection module through the CAN bus and is connected with the P key through hard wires, the relay module is a single-pole double-relay module and is respectively connected with the first hard wire and the second hard wire, and the gear shifter controller is connected with the first hard wire or the second hard wire through an I/O port to realize on-off switching, and the first hard wire or the second hard wire is only switched on and off at the same moment, and t