Apparatus and method for controlling parking lock system

Abstract

A parking lock system control device and method are disclosed. A parking lock system control device according to an embodiment of the present invention is characterized by comprising a motor position sensor configured to detect the position of a motor, a driving module configured to rotate the motor, an actuator configured to move a parking cam, and a processor that determines whether a parking lock operating condition is satisfied, and if the parking lock operating condition is satisfied, moves the parking cam through the actuator so that the parking pawl engages with the parking gear, determines the rotational direction of the motor through the motor position sensor, and generates a reverse torque in the opposite direction of the rotational direction of the motor through the driving module.

Description

Technology Field

[0001] The present invention relates to a parking lock system control device and method, and more specifically, to a parking lock system control device and method capable of minimizing vibrations caused by vehicle movement occurring during the operation of a parking lock system. Background Technology

[0003] The parking lock system is a device that prevents the vehicle from moving when parked or stopped, and it operates when the driver selects the gear lever to the P position. This parking lock system consists of a parking gear, a parking pawl capable of locking into a groove provided in the parking gear, a parking cam for moving the parking pawl, and an actuator for moving the parking cam.

[0004] During the process of the parking pawl engaging with the parking gear, depending on the last stopped position of the motor, the parking pawl may not engage correctly with the parking gear; that is, the parking pawl may end up resting on the teeth of the parking gear. In this case, the vehicle will continue to move until the parking pawl engages with the parking gear, and this movement can cause discomfort to the driver.

[0005] The background technology of the present invention is disclosed in Korean Registered Patent Publication No. 10-1766609 (August 2, 2017). The problem to be solved

[0007] An objective according to one aspect of the present invention is to provide a parking lock system control device and method capable of minimizing vibrations caused by vehicle movement during the operation of the parking lock system (the process of the parking pawl being engaged with the parking gear).

[0008] However, the technical problems that the present invention aims to solve are not limited to those described above, and other unmentioned problems can be clearly understood by those skilled in the art from the description of the invention below. means of solving the problem

[0010] A parking lock system control device according to an embodiment of the present invention comprises: a motor position sensor configured to detect the position of a motor; a driving module configured to rotate the motor; an actuator configured to move a parking cam; and a processor that determines whether a parking lock operating condition is satisfied, and if the parking lock operating condition is satisfied, moves the parking cam through the actuator so that a parking pawl engages with a parking gear, determines the rotational direction of the motor through the motor position sensor, and generates a reverse torque in the opposite direction of the rotational direction of the motor through the driving module.

[0011] In the present invention, the processor is characterized by determining that the parking lock operating condition is satisfied when the position of the shift lever is P and the brake pedal is released.

[0012] In the present invention, the processor is characterized by generating the reverse torque with a magnitude smaller than the torque acting in the rotational direction of the motor.

[0013] In the present invention, the processor is characterized by generating the reverse torque until the parking pawl engages with the parking gear.

[0014] In the present invention, the processor is characterized by rotating the motor through the drive module until the parking pawl engages with the parking gear after moving the parking cam through the actuator.

[0015] A parking lock system control device according to an embodiment of the present invention is characterized by comprising: an actuator configured to move a parking cam; a disconnector configured to disconnect the connection between a motor and a wheel; and a processor that determines whether a parking lock operating condition is satisfied, and if the parking lock operating condition is satisfied, activates the disconnector to disconnect the connection between the motor and the wheel, and then moves the parking cam through the actuator so that the parking pawl engages with the parking gear.

[0016] In the present invention, the processor is characterized by determining that the parking lock operating condition is satisfied when the position of the shift lever is in the P position.

[0017] A parking lock system control device according to an embodiment of the present invention further includes a driving module configured to rotate a motor, and the processor is characterized by rotating the motor through the driving module until the parking pawl engages with the parking gear after moving the parking cam through the actuator.

[0018] In the present invention, the processor is characterized by deactivating the disconnecter when the parking pawl is engaged with the parking gear to connect the motor and the wheel.

[0019] In the present invention, the processor is characterized by operating the parking brake when the parking lock operating condition is satisfied.

[0020] A parking lock system control method according to an embodiment of the present invention is a parking lock system control method performed on a computing device including a processor, and is characterized by comprising: a step of determining whether a parking lock operating condition is satisfied; a step of moving a parking cam through an actuator so that a parking pawl engages with a parking gear when the parking lock operating condition is satisfied; a step of determining the rotational direction of a motor through a motor position sensor; and a step of generating a reverse torque in the opposite direction of the rotational direction of the motor through a driving module. Effects of the invention

[0022] According to the present invention, the discomfort experienced by the driver can be alleviated by minimizing vibrations caused by vehicle movement during the operation of the parking lock system (the process in which the parking pawl is engaged with the parking gear).

[0023] However, the effects obtainable through the present invention are not limited to those described above, and other unmentioned technical effects will be clearly understood by those skilled in the art from the description of the invention below. Brief explanation of the drawing

[0025] Figure 1 is an example diagram illustrating a parking lock system. FIG. 2 is a block diagram showing a parking lock system control device according to a first embodiment of the present invention. Figure 3 is an example diagram to explain why vehicle movement occurs during the process of operating the parking lock system. FIG. 4 is a flowchart showing the operation process of a parking lock system control device according to the first embodiment of the present invention. FIG. 5 is a block diagram showing a parking lock system control device according to a second embodiment of the present invention. Figure 6 is an example diagram illustrating a disconnecter. FIG. 7 is a flowchart showing the operation process of a parking lock system control device according to a second embodiment of the present invention. Specific details for implementing the invention

[0026] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. Prior to this, terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings. Instead, based on the principle that the inventor may appropriately define the concepts of terms to best describe his invention, they should be interpreted in a meaning and concept consistent with the technical spirit of the present invention. Therefore, it should be understood that the embodiments described in this specification and the configurations illustrated in the drawings are merely some of the most preferred embodiments of the present invention and do not represent all of the technical spirit of the present invention; thus, various equivalents and modifications that can replace them may exist at the time of filing this application. Furthermore, as used in this specification, "comprise" or "include" and / or "comprising" or "including" specify the presence of the mentioned features, numbers, steps, actions, parts, elements, and / or groups thereof, and do not exclude the presence or addition of one or more other features, numbers, actions, parts, elements, and / or groups. In addition, when describing embodiments of the present invention, "may" and "may be" may include "one or more embodiments of the present invention."

[0027] Additionally, to aid in understanding the invention, the attached drawings are not drawn to actual scale, and the dimensions of some components may be exaggerated. Furthermore, the same reference numerals may be assigned to identical components in different embodiments.

[0028] The statement that two subjects of comparison are 'identical' means that they are 'substantially identical.' Therefore, substantial identity may include deviations considered low in the industry, for example, deviations within 5%. Additionally, the statement that a parameter is uniform in a given area may mean that it is uniform from an average perspective.

[0029] Although terms such as "first," "second," etc., are used to describe various components, it goes without saying that these components are not limited by these terms. These terms are used merely to distinguish one component from another, and unless specifically stated otherwise, the first component may also be the second component.

[0030] Throughout the specification, unless specifically stated otherwise, each component may be singular or plural.

[0031] The fact that any configuration is placed on the "upper (or lower)" of a component or on the "upper (or lower)" of a component may mean not only that any configuration is placed in contact with the upper (or lower) surface of said component, but also that another configuration may be interposed between said component and any configuration placed on (or below) said component.

[0032] Furthermore, where it is stated that one component is "connected," "coupled," or "connected" to another component, it should be understood that while said components may be directly connected or connected to each other, another component may be "interposed" between each component, or that each component may be "connected," "coupled," or "connected" through another component. Additionally, when it is stated that a part is electrically coupled with another part, this includes not only cases where they are directly connected but also cases where they are connected with another component in between.

[0033] Throughout the specification, "A and / or B" means A, B, or A and B unless specifically stated otherwise. That is, "and / or" includes any combination or any combination of the enumerated items. "C to D" means C or more and D or less, unless specifically stated otherwise.

[0035] Figure 1 is an example diagram illustrating a parking lock system.

[0036] As illustrated in FIG. 1, the parking lock system may include a parking gear (101), a parking pawl (102), a parking cam (103), an actuator (104), and a return spring (105).

[0037] The parking gear (101) can be installed on the output shaft of the motor. A plurality of grooves may be provided on the circumferential surface of the parking gear (101).

[0038] The parking pawl (102) can move perpendicularly to the rotation axis of the parking gear (101). The parking pawl (102) can engage with the parking gear (101) to block the rotation of the parking gear (101).

[0039] The return spring (105) can elastically support the parking pawl (102).

[0040] The actuator (104) can move the parking cam (103). The actuator (104) can move the parking cam (103) toward the parking pole or move the parking cam (103) toward the opposite direction of the parking pole.

[0041] The actuator (104) can move the parking cam (103) in the direction of the parking pawl when the position of the shift lever is in the P position. When the parking cam (103) is moved in the direction of the parking pawl, as shown in FIG. 1a, the parking pawl (102) engages with the parking gear (101) and the rotation of the parking gear (101) can be blocked.

[0042] The actuator (104) can move the parking cam (103) in the opposite direction of the parking pawl when the position of the shift lever is in a position other than the P position. When the parking cam (103) is moved in the opposite direction of the parking pawl, the parking pawl (102) can be separated from the parking gear (101) by the return spring (105) as shown in FIG. 1b, and thus the parking gear (101) can rotate.

[0044] FIG. 2 is a block diagram showing a parking lock system control device according to a first embodiment of the present invention, and FIG. 3 is an example diagram explaining the reason why vehicle movement occurs during the process of operating the parking lock system.

[0045] Referring to FIG. 2, a parking lock system control device (200) according to a first embodiment of the present invention may include a motor position sensor (210), a driving module (220), an actuator (230), a communication module (240), a memory (250), and a processor (260). The parking lock system control device (200) according to a first embodiment of the present invention may include various additional components in addition to the components shown in FIG. 1.

[0046] The motor position sensor (210) can detect the position of the motor under the control of the processor (260) and output information about the detected motor position to the processor (260). The motor position detected by the motor position sensor (210) can be used to determine whether the motor is rotating and the direction of rotation of the motor.

[0047] The drive module (220) can rotate the motor under the control of the processor (260). The drive module (220) may include an inverter configured to drive the motor.

[0048] The actuator (230) can move the parking cam under the control of the processor (260). The actuator (230) can move the parking cam toward the parking pawl so that the parking pawl engages with the parking gear, or move the parking cam toward the opposite direction of the parking pawl so that the parking pawl does not engage with the parking gear.

[0049] The communication module (240) can communicate with external devices. The communication module (240) can communicate with various types of external devices. The communication module (240) can receive various information required by the processor (260) during the process of controlling the parking lock system from various sensors and devices equipped in the vehicle. The communication module (240) can receive information regarding the position of the gear lever and information regarding the state of the brake pedal.

[0050] The memory (250) may store at least one instruction that is executed during the process of the processor (260), described later, controlling the parking lock system. The memory (250) may store basic data required to control the parking lock system or data generated during the process of controlling the parking lock system by the processor (260), and the processor (260) may access the data stored in the memory (250) to perform the operation of controlling the parking lock system. The memory (250) may be implemented as a computer-readable recording medium and may operate so that the processor (260) can access it. Specifically, the memory (250) may be implemented as an optical data storage device such as a hard drive, magnetic tape, memory card, ROM (Read-Only Memory), RAM (Random-Access Memory), DVD (Digital Video Disc), or optical disc.

[0051] The processor (260) is the entity that performs the operation of controlling the parking lock system and may be implemented as an ASIC (Application Specific Integrated Circuit), DSP (Digital Signal Processor), PLD (Programmable Logic Devices), FPGAs (Field Programmable Gate Arrays), CPU (Central Processing unit), microcontrollers and / or microprocessors, and may run an operating system or application and control multiple hardware or software components. The processor (260) may be configured to execute at least one instruction stored in memory (250) and store the execution result data in memory (250).

[0052] The processor (260) determines whether the parking lock operation condition is satisfied, and if the parking lock operation condition is satisfied, it can move the parking cam through the actuator (230) so that the parking pawl engages with the parking gear. The processor (260) can determine that the parking lock operation condition is satisfied when the position of the gear shift lever is in the P position and the brake pedal is released. In this embodiment, the case where the brake pedal is released may mean that the driver has taken their foot off the brake pedal. The processor (260) can check the position of the gear shift lever and the state of the brake pedal through the communication module (240).

[0053] After moving the parking cam through the actuator (230), the processor (260) can determine whether the motor is rotating through the motor position sensor (210). When the parking cam is not engaged with the parking gear, the motor may rotate due to vehicle movement caused by gravity, etc., and the processor (260) can determine whether the motor is rotating based on the position of the motor detected through the motor position sensor (210). In some cases, the processor (260) may rotate the motor through the drive module (220) after moving the parking cam through the actuator (230).

[0054] When the motor rotates, the processor (260) determines the direction of rotation of the motor through the motor position sensor (210) and can generate reverse torque in the opposite direction of the motor's rotation through the drive module (220). That is, when the motor rotates, the processor (260) determines that the parking cam is not engaged with the parking gear and can generate reverse torque to the motor to cause the vehicle to move slowly during the process of the parking cam engaging with the parking gear. At this time, the processor (260) can generate reverse torque with a magnitude smaller than the torque acting in the direction of rotation of the motor. The reverse torque acts in the opposite direction to the torque acting in the direction of rotation of the motor, and its magnitude can be set to a level necessary for reducing the motor's rotational speed. The processor (260) can determine the direction of rotation of the motor based on the position of the motor detected through the motor position sensor (210).

[0055] In various embodiments, the processor (260) may perform a series of processes including rotating the motor via the drive module (220) after the driver has disembarked, determining the direction of rotation of the motor via the motor position sensor (210), and generating reverse torque in the opposite direction of rotation of the motor via the drive module (220). The processor (260) may receive information regarding whether the driver has disembarked via the communication module (240).

[0056] The processor (260) may not cut off power to the motor until the parking cam engages with the parking gear, even if the vehicle is turned off, and may cut off power to the motor after the parking pawl engages with the parking gear.

[0057] After generating reverse torque, the processor (260) can determine again whether the motor is rotating. If the motor is rotating, the processor (260) determines the direction of rotation of the motor and can generate reverse torque in the opposite direction of rotation through the drive module (220). The processor (260) can generate reverse torque until the motor no longer rotates (i.e., when the parking pawl engages with the parking gear).

[0058] As shown in FIG. 3, depending on the position of the motor, the parking pawl moved by the parking cam may come onto the teeth of the parking gear, and the vehicle moves by a distance a during the process of the parking pawl engaging with the parking gear. At this time, when located on a flat surface or a road with a low slope, the vehicle moves at a relatively low speed, but when located on a road with a high slope, the vehicle may move at a relatively high speed, which may cause large vibrations.

[0059] This embodiment can prevent the vehicle from moving rapidly during the process of the parking pawl engaging with the parking gear by generating reverse torque in the motor, and thus can alleviate the driver's discomfort caused by the rapid movement (vibration) of the vehicle.

[0061] FIG. 4 is a flowchart showing the operation process of a parking lock system control device according to the first embodiment of the present invention.

[0062] Hereinafter, with reference to FIG. 4, the operation process of a parking lock system control device (200) according to the first embodiment of the present invention will be described. Some of the steps described below may be performed in a different order than the order described below or may be omitted.

[0063] First, the processor (260) can determine whether the parking lock operation condition is satisfied (S401). In step S401, the processor (260) can determine that the parking lock operation condition is satisfied if the position of the gear lever is P and the brake pedal is released.

[0064] When the parking lock operation condition is satisfied, the processor (260) can operate the actuator (230) to move the parking cam (S403). In step S403, the processor (260) can move the parking cam in the direction of the parking pole.

[0065] Next, the processor (260) can determine whether the motor is rotating through the motor position sensor (210) (S405). In step S405, the processor (260) can determine whether the motor is rotating based on the position of the motor detected through the motor position sensor (210).

[0066] If the motor does not rotate, the process can be terminated. In some cases, the processor (260) can turn off the power to the vehicle.

[0067] When the motor rotates, the processor (260) can determine the direction of rotation of the motor through the motor position sensor (210) (S407). In step S407, the processor (260) can determine the direction of rotation of the motor based on the position of the motor detected through the motor position sensor (210).

[0068] Next, the processor (260) can generate a reverse torque in the opposite direction to the rotation direction of the motor (S409). In step S409, the processor (260) can generate a reverse torque with a smaller magnitude than the torque acting in the rotation direction of the motor.

[0069] Next, the processor (260) can determine again whether the motor is rotating through the motor position sensor (210) (S411).

[0070] If the motor rotates, the processor (260) may repeat step S407. On the other hand, if the motor does not rotate, the process may be terminated. In this case, depending on the situation, the processor may turn off the power to the vehicle.

[0072] FIG. 5 is a block diagram showing a parking lock system control device according to a second embodiment of the present invention, and FIG. 6 is an example diagram for explaining a disconnecter.

[0073] Referring to FIG. 5, a parking lock system control device (500) according to a second embodiment of the present invention may include a motor position sensor (510), a driving module (520), an actuator (530), a disconnecter (540), a communication module (550), a memory (560), and a processor (570). The parking lock system control device (500) according to a second embodiment of the present invention may include various additional components in addition to the components shown in FIG. 5.

[0074] The motor position sensor (510) can detect the position of the motor under the control of the processor (570) and output information about the detected position of the motor to the processor (570). The position of the motor detected through the motor position sensor (510) can be used to determine whether the motor is rotating and the direction of rotation of the motor.

[0075] The drive module (520) can rotate the motor under the control of the processor (570). The drive module (520) may include an inverter configured to drive the motor.

[0076] The actuator (530) can move the parking cam under the control of the processor (570). The actuator (530) can move the parking cam toward the parking pawl so that the parking pawl engages with the parking gear, or move the parking cam toward the opposite direction of the parking pawl so that the parking pawl does not engage with the parking gear.

[0077] The disconnecter (540) can disconnect the connection between the motor and the wheel under the control of the processor (570). The disconnecter (540) can perform the function of preventing the motor and the wheel from being directly connected. The disconnecter (540) can be installed in an electric vehicle to prevent losses caused by back EMF generated in a no-load state while driving. The disconnecter (540) can be installed at the rear end of the reduction gear, as shown in FIG. 6.

[0078] The communication module (550) can communicate with external devices. The communication module (550) can communicate with various types of external devices. The communication module (550) can receive various information required by the processor (570) during the process of controlling the parking lock system from various sensors and devices equipped in the vehicle. The communication module (550) can receive information regarding the position of the gear lever and information regarding the state of the brake pedal.

[0079] The memory (560) may store at least one instruction that is executed during the process of the processor (570), described later, controlling the parking lock system. The memory (560) may store basic data required to control the parking lock system or data generated during the process of controlling the parking lock system by the processor (570), and the processor (570) may access the data stored in the memory (560) to perform the operation of controlling the parking lock system. The memory (560) may be implemented as a computer-readable recording medium and may operate so that the processor (570) can access it. Specifically, the memory (560) may be implemented as an optical data storage device such as a hard drive, magnetic tape, memory card, ROM (Read-Only Memory), RAM (Random-Access Memory), DVD (Digital Video Disc), or optical disc.

[0080] The processor (570) is the entity that performs the operation of controlling the parking lock system and may be implemented as an ASIC (Application Specific Integrated Circuit), DSP (Digital Signal Processor), PLD (Programmable Logic Devices), FPGAs (Field Programmable Gate Arrays), CPU (Central Processing unit), microcontrollers and / or microprocessors, and may run an operating system or application and control multiple hardware or software components. The processor (570) may be configured to execute at least one instruction stored in memory (560) and store the execution result data in memory (560).

[0081] The processor (570) determines whether the parking lock operation condition is satisfied, and if the parking lock operation condition is satisfied, it can activate the disconnecter (540) to disconnect the connection between the motor and the wheel. The processor (570) can determine that the parking lock operation condition is satisfied when the position of the shift lever is in the P position. The processor (570) can check the position of the shift lever through the communication module (550). In this embodiment, activating the disconnecter (540) may mean disconnecting the connection between the wheel and the motor through the disconnecter (540).

[0082] When the parking lock operation condition is satisfied, the processor (570) can activate the parking brake. When an external force (e.g., gravity) is applied to the vehicle while the disconnecter (540) is activated, the vehicle may move. In this embodiment, by activating the disconnecter (540) and simultaneously activating the parking brake, the vehicle may be prevented from moving while the disconnecter (540) is activated.

[0083] After activating the disconnecter (540), the processor (570) can move the parking cam via the actuator (530) so that the parking pawl engages with the parking gear. The processor (570) can move the parking cam toward the parking pawl.

[0084] After moving the parking cam through the actuator (530), the processor (570) can rotate the motor through the drive module (520). The processor (570) can rotate the motor through the drive module (520) until the parking pawl engages with the parking gear.

[0085] The processor (570) can connect the motor and the wheel by deactivating the disconnecter (540) when the parking pawl is engaged with the parking gear. The processor (570) can check the rotational state of the motor through the motor position sensor (510) and, based on the result, determine whether the parking pawl is engaged with the parking gear.

[0087] FIG. 7 is a flowchart showing the operation process of a parking lock system control device according to a second embodiment of the present invention.

[0088] Hereinafter, with reference to FIG. 7, the operation process of a parking lock system control device (500) according to a second embodiment of the present invention will be described. Some of the steps described below may be performed in a different order than the order described below or may be omitted.

[0089] First, the processor (570) can determine whether the parking lock operation condition is satisfied (S701). In step S701, the processor (570) can determine that the parking lock operation condition is satisfied if the position of the shift lever is in the P position.

[0090] When the parking lock operation condition is satisfied, the processor (570) can operate the parking brake (S703).

[0091] Next, the processor (570) can activate the disconnecter (540) (S705). In step S705, the processor (570) can disconnect the connection between the wheel and the motor through the disconnecter (540).

[0092] Next, the processor (570) can move the parking cam by operating the actuator (530) (S707). In step S707, the processor (570) can move the parking cam toward the parking pole.

[0093] Next, the processor (570) can rotate the motor through the drive module (520) (S709). In step S709, the processor (570) can rotate the motor so that the parking pawl engages with the parking gear.

[0094] Next, the processor (570) can determine whether the rotation of the motor has stopped (S711). In step S711, the processor (570) can determine whether the rotation of the motor has stopped in order to check whether the parking pawl is engaged with the parking gear. In step S711, the processor (570) can check whether the rotation of the motor has stopped through the motor position sensor (510).

[0095] If the motor rotates, the processor (570) can repeat step S709. On the other hand, if the motor does not rotate, the processor (570) can disable the disconnecter (540) (S713) and terminate the process. In this case, depending on the situation, the processor (570) can turn off the power to the vehicle.

[0097] As such, according to the present invention, the discomfort experienced by the driver can be alleviated by minimizing vibrations caused by vehicle movement during the operation of the parking lock system (the process in which the parking pawl is engaged with the parking gear).

[0098] As used herein, the terms “part” and “module” may include units implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. “Part” and “module” may be a component formed integrally, or a minimum unit of said component or a part thereof that performs one or more functions. For example, according to one embodiment, “part” and “module” may be implemented in the form of an Application-Specific Integrated Circuit (ASIC).

[0099] The implementations described herein may be implemented, for example, as methods or processes, devices, software programs, data streams, or signals. Even if discussed only in the context of a single form of implementation (e.g., discussed only as a method), the implementation of the discussed features may also be implemented in other forms (e.g., devices or programs). Devices may be implemented in appropriate hardware, software, and firmware, etc. Methods may be implemented in devices such as processors, which generally refer to processing devices including, for example, computers, microprocessors, integrated circuits, or programmable logic devices. Processors also include communication devices such as computers, cell phones, portable / personal digital assistants ("PDAs"), and other devices that facilitate the communication of information between end-users.

[0100] Although the present invention has been described above by limited embodiments and drawings, the present invention is not limited thereto, and it is obvious that various modifications and variations are possible within the scope of the technical spirit of the present invention and the equivalent scope of the claims described below by those skilled in the art to which the present invention belongs. Explanation of the symbols

[0102] 101: Parking gear 102: Parking Pole 103: Parking Cam 104: Actuator 105: Return Spring 200: Parking lock system control unit 210: Motor position sensor 220: Drive module 230: Actuator 240: Communication module 250: Memory 260: Processor 500: Parking lock system control unit 510: Motor position sensor 520: Drive module 530: Actuator 540: Disconnector 550: Communication module 560: Memory 570: Processor

Claims

Claim 1 A parking lock system control device comprising: a motor position sensor configured to detect the position of a motor; a drive module configured to rotate the motor; an actuator configured to move a parking cam; and a processor that determines whether a parking lock operating condition is satisfied, and if the parking lock operating condition is satisfied, moves the parking cam through the actuator so that a parking pawl engages with a parking gear, determines the rotational direction of the motor through the motor position sensor, and generates a reverse torque in the opposite direction of the rotational direction of the motor through the drive module. Claim 2 A parking lock system control device according to claim 1, wherein the processor determines that the parking lock operating condition is satisfied when the position of the gear shift lever is P and the brake pedal is released. Claim 3 In claim 1, the processor is a parking lock system control device that generates the reverse torque with a magnitude smaller than the torque acting in the rotational direction of the motor. Claim 4 In claim 1, the processor is a parking lock system control device that generates the reverse torque until the parking pawl engages with the parking gear. Claim 5 A parking lock system control device according to claim 1, wherein the processor rotates the motor through the drive module until the parking pawl engages with the parking gear after moving the parking cam through the actuator. Claim 6 A parking lock system control device comprising: an actuator configured to move a parking cam; a disconnector configured to disconnect the connection between a motor and a wheel; and a processor that determines whether a parking lock operating condition is satisfied, and if the parking lock operating condition is satisfied, activates the disconnector to disconnect the connection between the motor and the wheel, and then moves the parking cam through the actuator so that a parking pawl engages with a parking gear. Claim 7 In claim 6, the above processor determines that the parking lock operating condition is satisfied when the position of the shift lever is P., a parking lock system control device. Claim 8 A parking lock system control device according to claim 6, further comprising a drive module configured to rotate a motor, wherein the processor rotates the motor through the drive module until the parking pawl engages with the parking gear after moving the parking cam through the actuator. Claim 9 In claim 8, the processor is a parking lock system control device that deactivates the disconnecter to connect the motor and the wheel when the parking pawl is engaged with the parking gear. Claim 10 In claim 6, the processor is a parking lock system control device that operates a parking brake when a parking lock operating condition is satisfied. Claim 11 A parking lock system control method performed in a computing device including a processor, comprising: a step of determining whether a parking lock operating condition is satisfied; a step of moving a parking cam through an actuator so that a parking pawl engages with a parking gear when the parking lock operating condition is satisfied; a step of determining the rotational direction of a motor through a motor position sensor; and a step of generating a reverse torque in the opposite direction of the rotational direction of the motor through a drive module. Claim 12 In claim 11, the step of determining whether the above parking lock operating condition is satisfied is a parking lock system control method in which the above parking lock operating condition is determined to be satisfied when the position of the gear shift lever is P and the brake pedal is released. Claim 13 In claim 11, the step of generating the reverse torque is a parking lock system control method in which the reverse torque is generated with a magnitude smaller than the torque acting in the rotational direction of the motor. Claim 14 In claim 11, the step of generating the reverse torque is a parking lock system control method in which the reverse torque is generated until the parking pawl engages with the parking gear. Claim 15 A parking lock system control method according to claim 11, further comprising the step of rotating the motor through the drive module until the parking pawl engages with the parking gear after the step of moving the parking cam.

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