Electronic parking brake system and control method thereof
View Patent ↗Disclosed herein are an electronic parking brake system and a control method thereof. The electronic parking brake system includes a parking brake apparatus with a parking cable, a force sensing unit to sense tension of the parking cable, and an electronic control unit to measure braking force of the parking brake apparatus based on the tension, to estimate braking force of a fuzzy model, and to judge malfunction of the parking brake apparatus based on the measured braking force and the estimated braking force. Tension is estimated using the fuzzy model and is compared with the measured braking force, thereby effectively detecting malfunction of the electronic parking brake system and thus raising stability and safety of a vehicle. Further, if a residual exceeds a reference value, it is judged that the electronic parking brake apparatus malfunctions and a warning is given to a driver, thereby preventing accidents.
1. An electronic parking brake system, comprising:
a parking brake apparatus with a parking cable;
a force sensing unit configured to sense a tension of the parking cable; and
an electronic control unit configured to measure a first braking force of the parking brake apparatus based on the sensed tension, estimate a second braking force of the parking brake apparatus with a fuzzy model, and judge malfunction of the parking brake apparatus based on the measured first braking force and the estimated second braking force,
wherein the electronic control unit includes:
a residual calculation unit configured to calculate a residual by comparing the measured first braking force and the estimated second braking force with each other, the residual representing a difference between the measured first braking force and the estimated second braking force; and
a judgement unit configured to judge the malfunction of the parking brake apparatus by comparing the residual with a reference value.
2. The electronic parking brake system according to claim 1 , further comprising:
a motor to apply a tension to the parking cable;
a current sensing unit to sense a current of the motor; and
a voltage sensing unit to sense a voltage of a battery supplying operating power to the motor,
wherein the electronic control unit includes a fuzzy model unit:
to calculate a power based on the sensed current and the sensed voltage,
to estimate a temperature based on the sensed current,
to count operating time of the parking brake apparatus, and
to estimate the second braking force of the parking brake apparatus with the fuzzy model based on the calculated power, the estimated temperature, and the counted operating time.
3. The electronic parking brake system according to claim 1 , wherein the electronic control unit further includes an adaptability reference value storage unit to store reference values defined as adaptability reference values.
4. The electronic parking brake system according to claim 1 , further comprising a display unit to display the malfunction of the parking brake apparatus.
5. A control method of an electronic parking brake system, comprising:
measuring, with a force sensing unit, a first braking force of a parking brake apparatus with a motor and estimating a second braking force of the parking brake apparatus with a fuzzy model, when the parking brake apparatus is operated; and
judging malfunction of the parking brake apparatus based on the measured first braking force and the estimated second braking force,
wherein the judgment of the malfunction of the parking brake apparatus includes:
calculating a residual by comparing the measured first braking force with the estimated second braking force, the residual representing a difference between the measured first braking force and the estimated second braking force; and
comparing the residual with a reference value, and
judging, when the residual exceeds the reference value, that the parking brake apparatus malfunctions and operating a display unit to display the malfunction of the parking brake apparatus.
6. A control method of an electronic parking brake system, comprising:
measuring, with a force sensing unit, a first braking force of a parking brake apparatus with a motor and estimating a second braking force of the parking brake apparatus with a fuzzy model, when the parking brake apparatus is operated; and
judging malfunction of the parking brake apparatus based on the measured first braking force and the estimated second braking force,
wherein the estimation of the second braking force of the parking brake apparatus includes:
calculating a current flowing in the motor and a voltage of a battery applying operating power to the motor;
counting operating time of the parking brake apparatus;
estimating a temperature based on the calculated current of the motor; and
estimating the second braking force of the parking brake apparatus based on a calculated power, the counted operating time, and the estimated temperature.