Method for controlling a parking brake system

Abstract

A method that includes steps of measuring voltage and current of the parking brake system during creation of a parking brake apply or release of the parking brake apply. The method includes estimating motor position, motor speed, and a current draw of the motor using the measured voltage and the measured current. The method includes estimating a parking brake force with the estimated motor position. The method includes correcting the estimated motor position, motor speed, and the current draw of the motor with the measured current, and/or correcting the estimated parking brake force with the corrected estimated motor position, corrected motor, and the corrected current draw of the motor. The method includes determining the creation of the parking brake apply with the corrected parking brake force and/or determining release of the parking brake apply with the corrected estimated motor position.

1 ) A method comprising:
 measuring voltage of a motor;   measuring current of the motor;   estimating one or more characteristics of the motor using the measured voltage and the measured current;   estimating a brake force with the one or more characteristics of the motor;   correcting the one or more characteristics of the motor with the measured currents;   correcting the estimated brake force with the corrected one or more characteristics of the motor; and   determining creation of a brake apply with the corrected estimated brake force.   
     
     
         2 ) The method of  claim 1 , wherein during the creation of the brake apply, a position of a spindle is estimated using the measured voltage and the measured current. 
     
     
         3 ) (canceled) 
     
     
         4 ) (canceled) 
     
     
         5 ) (canceled) 
     
     
         6 ) The method of  claim 1 , wherein the method includes calculating degradation of the brake system. 
     
     
         7 ) (canceled) 
     
     
         8 ) (canceled) 
     
     
         9 ) (canceled) 
     
     
         10 ) (canceled) 
     
     
         11 ) (canceled) 
     
     
         12 ) (canceled) 
     
     
         13 ) (canceled) 
     
     
         14 ) (canceled) 
     
     
         15 ) (canceled) 
     
     
         16 ) (canceled) 
     
     
         17 ) (canceled) 
     
     
         18 ) (canceled) 
     
     
         19 ) (canceled) 
     
     
         20 ) The method of  claim 1 , wherein one of the one or more characteristics of the motor that are estimated is: a rotational angle of the motor. 
     
     
         21 ) The method of  claim 1 , wherein one of the one or more characteristics of the motor that are estimated is: a speed of the motor. 
     
     
         22 ) The method of  claim 1 , wherein one of the one or more characteristics of the motor that are estimated is: a current draw of the motor. 
     
     
         23 ) The method of  claim 1 , wherein one of the one or more characteristics of the motor that are corrected is: an estimated position of the motor. 
     
     
         24 ) The method of  claim 1 , wherein one of the one or more characteristics of the motor that are corrected is: an estimated speed of the motor. 
     
     
         25 ) The method of  claim 1 , wherein one of the one or more characteristics of the motor that are corrected is: an estimated current draw of the motor. 
     
     
         26 ) The method of  claim 6 , wherein calculating the degradation includes: considering one or more parameters that are lumped into a spindle factor, the one or more parameters including: spindle friction, effective spindle diameter, spindle lead, gear efficiency, and spindle flank angle. 
     
     
         27 ) The method of  claim 1 , wherein the method comprises: determining an error correction. 
     
     
         28 ) The method of  claim 1 , wherein the method comprises: comparing an estimated current to the measured current. 
     
     
         29 ) The method of  claim 1 , wherein the method comprises comparing the estimated one or more characteristics of the motor to a subsequently estimated one or more characteristics of the motor to determine an error correction. 
     
     
         30 ) A method comprising:
 measuring voltage of a motor;   measuring current of the motor;   estimating one or more characteristics of the motor using the measured voltage and the measured current;   estimating a brake force with the one or more characteristics of the motor;   correcting the one or more characteristics of the motor with the measured current;   correcting the estimated brake force with the corrected one or more characteristics of the motor;   determining creation of a brake apply with the corrected brake force, and determining an error correction.   
     
     
         31 ) The method according to  claim 30 , wherein the step of determining the error correction includes: comparing the estimated one or more characteristics of the motor to a subsequently estimated one or more characteristics of the motor. 
     
     
         32 ) The method of  claim 31 , wherein one of the one or more characteristics of the motor that are estimated is: a rotational angle of the motor. 
     
     
         33 ) The method of  claim 31 , wherein one of the one or more characteristics of the motor that are estimated is: a speed of the motor. 
     
     
         34 ) The method of  claim 31 , wherein one of the one or more characteristics of the motor that are estimated is: a current draw of the motor. 
     
     
         35 ) The method of  claim 30 , wherein the method includes: calculating degradation of the brake system. 
     
     
         36 ) The method of  claim 35 , wherein the degradation is calculated by considering one or more parameters that are lumped into a spindle factor, the one or more parameters including: spindle friction, effective spindle diameter, spindle lead, gear efficiency, and spindle flank angle.