Method for controlling an electromechanical brake system
A method of controlling an electromechanical brake system. The method comprises measuring a voltage of a motor, measuring a current of the motor, and estimating a position of a component of the electromechanical brake system based on the voltage and the current. The method comprises estimating a force imposed by the component based on the voltage and the current, and estimating a hydraulic pressure associated with a hydraulic brake system. In an apply operation, the force of the component is corrected based on the hydraulic pressure. In a release operation, the position of the component is corrected based on the hydraulic pressure.
1. A method of controlling an electromechanical brake system, the method comprising:
measuring a voltage of a motor;
measuring a current of the motor;
estimating a position of a component of the electromechanical brake system based on the voltage and the current;
estimating a force imposed by the component based on the voltage and the current; and
estimating a hydraulic pressure associated with a hydraulic brake system;
wherein in an apply operation, the estimated force of the component is corrected based on the hydraulic pressure; and
wherein in a release operation, the estimated position of the component is corrected based on the hydraulic pressure.
2. The method according to claim 1 , wherein the hydraulic pressure is estimated from a sensor input; and wherein the sensor input is determined based upon a logic table, accounting for fault or degraded conditions.
3. The method according to claim 2 , wherein the hydraulic pressure is estimated from a first pressure associated with a left wheel cylinder, a second pressure associated with a right wheel cylinder, a third pressure associated with a master cylinder, or any combination thereof; and wherein the first, second, and/or third pressures are obtained from respective pressure sensors associated with the left wheel cylinder, the right wheel cylinder, and/or the master cylinder; or the first, second, and/or third pressures are estimated from another sensor input.
4. The method according to claim 3 , wherein if both the first pressure sensed at the left wheel cylinder and the second pressure sensed at the right wheel cylinder are available, the estimated hydraulic pressure is an average of both;
wherein if only one of the first pressure sensed at the left wheel cylinder and the second pressure sensed at the right wheel cylinder is available, the estimated hydraulic pressure is the first pressure or the second pressure, whichever is available;
wherein if neither the first pressure sensed at the left wheel cylinder nor the second pressure sensed at the right wheel cylinder are available, the estimated hydraulic pressure is the third pressure sensed at the master cylinder; and
wherein if none of the first pressure sensed at the left wheel cylinder, the second pressure sensed at the right wheel cylinder, and the third pressure sensed at the master cylinder are available, the estimated hydraulic pressure is set to a default value.
5. The method according to claim 1 , wherein the component is a spindle nut, a spindle, a component of a motor assembly, or any combination thereof.
6. The method according to claim 5 , wherein the component is the spindle.
7. The method according to claim 6 , wherein the method further comprises:
rotating the spindle about an axis with the motor in a first direction so that the spindle nut moves one or more brake pads against a braking surface; and/or
rotating the spindle about the axis with the motor in a second direction so that the one or more brake pads move away from the braking surface.
8. The method according to claim 1 , wherein in the apply operation, said correction mitigates and/or prevents damage arising from a load superposition of the electromechanical brake system with the hydraulic brake system; and wherein in the release operation, said correction mitigates and/or prevents damage arising from residual caliper drag.
9. The method according to claim 1 , wherein control of the electromechanical brake system is closed loop.
10. The method according to claim 1 , wherein the method further comprises:
estimating a vehicle grade; and
regulating the electromechanical brake system to an applied force imposed by the component based on the vehicle grade.
11. The method according to claim 10 , wherein the method further comprises obtaining a longitudinal acceleration of a vehicle; wherein the vehicle grade is estimated based on the longitudinal acceleration.
12. The method according to claim 11 , wherein in the event of fault or degraded conditions, the applied force is set to a default force; and wherein the fault or degraded conditions include no longitudinal acceleration being available, the longitudinal acceleration exceeding a maximum value, the longitudinal acceleration falling below a minimum value, or any combination thereof.
13. The method according to claim 11 , wherein the method further comprises obtaining a wheel speed; wherein the wheel speed determines if the vehicle is static or dynamic; and wherein the vehicle grade is only estimated if the vehicle is static.
14. The method according to claim 13 , wherein the wheel speed is a minimum value of a maximum wheel speed of a first diagonal wheel set, including a front left wheel and a rear right wheel, and a maximum wheel speed of a second diagonal wheel set, including a front right wheel and a rear left wheel.
15. The method according to claim 14 , wherein in the event of fault or degraded conditions for the front left wheel or the front right wheel, a wheel speed of a corresponding rear wheel in the first diagonal wheel set or the second diagonal wheel set is considered in determining the minimum value;
wherein in the event of fault or degraded conditions for both of the front left wheel and the front right wheel, the wheel speed is set to a default value; and
wherein in the event of fault or degraded conditions for either of the rear left wheel or the rear right wheel, the wheel speed is set to the default value.
16. The method according to claim 13 , wherein if the wheel speed is below a static threshold for a pre-determined duration, the vehicle is assumed static; and wherein if the wheel speed is above a dynamic threshold for the pre-determined duration, the vehicle is assumed dynamic.
17. The method according to claim 11 , wherein the applied force is determined based upon the vehicle grade.
18. The method according to claim 17 , wherein the applied force is determined by the vehicle grade falling within discrete ranges of vehicle grades and/or the applied force is modelled as a function of the vehicle grade; and wherein the function is linear, non-linear, or piecewise.
19. The method according to claim 1 , wherein the method further comprises:
detecting, by a first controller, a fault or degraded condition associated with a first brake caliper to which the first controller is assigned;
communicating, by the first controller, the fault or degraded condition to a second controller assigned to a second brake caliper; and
setting a force associated with the second brake caliper to a default force.
20. The method according to claim 19 , wherein the first controller and the first brake caliper are located on a passenger side of a vehicle; and the second controller and the second brake caliper are located on a driver side of the vehicle, or vice versa.