A vehicle parking system with redundant backup function and failure processing method thereof

Abstract

The present invention relates to a car parking system with redundant backup function and a failure processing method thereof, wherein the system comprises: a vehicle speed acquisition module; a slope acquisition module; a P gear module; a parking execution module, comprising a first parking actuator and a second parking actuator that are independent of each other; a parking control module, comprising a first control module and a second control module that are independent of each other, the first control module is electrically connected to the vehicle CAN bus, the vehicle speed acquisition module, the slope acquisition module, the P gear module and the first parking actuator respectively, the second control module is electrically connected to the vehicle CAN bus, the vehicle speed acquisition module, the slope acquisition module, the P gear module and the second parking actuator respectively, and the first control module communicates with the second control module. Thus, system-level redundant backup can be achieved, and when any point of the system fails, it can be ensured that the vehicle can park or release the parking normally, meeting the regulatory requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle parking, and in particular to an automobile parking system with a redundant backup function and a failure processing method thereof. Background Art

[0002] Traditional vehicles usually have a P-gear locking mechanism (this structure can ensure that the driver locks the gearbox when shifting into P gear, thereby achieving parking) and a parking system. The vehicle is parked through these two systems. However, based on considerations such as vehicle layout and cost, many new energy vehicles currently have the P-gear locking mechanism cancelled. In this way, the vehicle is left with only one parking system to achieve parking, which cannot meet the requirements of 4.2.19.2 in GB21670 and poses a safety hazard.

[0003] From the current development trend of parking systems, one way to solve the above problems is to design a backup system for the parking controller to improve the safety performance of the parking controller. However, the original P gear lock mechanism and parking system are two completely independent systems with completely different external inputs. Improving the safety performance of the parking controller from the inside is not enough to completely solve the safety hazards of the system. Summary of the invention

[0004] Based on this, it is necessary to provide a car parking system with redundant backup function and its failure handling method to address the problem that only improving the safety performance of the parking controller from the inside is not enough to completely solve the potential safety hazards in the system.

[0005] A vehicle parking system with a redundant backup function, comprising:

[0006] Vehicle speed collection module;

[0007] Slope acquisition module;

[0008] P gear module;

[0009] A parking execution module, comprising a first parking actuator and a second parking actuator which are independent of each other;

[0010] The parking control module includes a first control module and a second control module which are independent of each other. The first control module is electrically connected to the vehicle CAN bus, the vehicle speed collection module, the slope collection module, the P gear module and the first parking actuator respectively. The second control module is electrically connected to the vehicle CAN bus, the vehicle speed collection module, the slope collection module, the P gear module and the second parking actuator respectively, and the first control module communicates with the second control module.

[0011] A method for handling failure of a vehicle parking system with a redundant backup function, comprising:

[0012] When any one or more of the first processor, the first power supply unit, the first storage unit, and the communication line between the first processor and the first motor control unit fails, the second control signal switching unit will park or release the vehicle through the first motor control unit and the second motor control unit according to the control signal output by the second processor;

[0013] When any one or more of the second processor, the second power supply unit, the second storage unit, the second processor and the communication line between the second motor control unit fail, the first control signal switching unit will park or release the vehicle through the first motor control unit and the second motor control unit according to the control signal output by the first processor;

[0014] When neither the first processor nor the second processor receives a CAN bus signal from the vehicle CAN network, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the speed information, slope information, P gear signal, parking switch signal and ignition switch signal from the vehicle speed acquisition module, the slope acquisition module, the P gear module, the parking switch and the ignition switch, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals;

[0015] When the first processor or the second processor fails to communicate with any one or more of the vehicle speed acquisition module, the slope acquisition module and the P gear module, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the CAN bus signal and the parking switch signal, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals;

[0016] When the communication between the first processor or the second processor and the parking switch fails, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the CAN bus signal, the P gear signal and the ignition switch signal, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals;

[0017] When the first processor or the second processor fails to communicate with the vehicle CAN bus, the P gear module and the parking switch, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and second control signal switching unit according to the ignition switch signal, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals.

[0018] The above-mentioned automobile parking system with redundant backup function and failure handling method thereof can realize system-level redundant backup, and can ensure that the vehicle can be parked or released normally when any point of the system fails, thus meeting regulatory requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of a vehicle parking system with a redundant backup function in one embodiment;

[0020] Figure 2 A schematic diagram of the structure of a vehicle parking system with a redundant backup function in another embodiment;

[0021] Figure 3 FIG. 4 is a schematic diagram of the structure of a vehicle parking system with a redundant backup function in yet another embodiment. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The various technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0024] Figure 1 FIG. 1 is a schematic diagram of the structure of a car parking system with a redundant backup function in one embodiment. Figure 1As shown, the automobile parking system with redundant backup function includes: a vehicle speed acquisition module 10, a slope acquisition module 20, a P gear module 30, a parking execution module 40 and a parking control module 50. Among them, the parking execution module 40 includes a first parking actuator 41 and a second parking actuator 42 which are independent of each other. The parking control module 50 includes a first control module 51 and a second control module 52 which are independent of each other. The first control module 51 is electrically connected to the vehicle CAN bus 60, the vehicle speed acquisition module 10, the slope acquisition module 20, the P gear module 30 and the first parking actuator 41 respectively, and the second control module 52 is electrically connected to the vehicle CAN bus 60, the vehicle speed acquisition module 10, the slope acquisition module 20, the P gear module 30 and the second parking actuator 42 respectively, and the first control module 51 communicates with the second control module 52.

[0025] During the driving process of the vehicle, the vehicle speed acquisition module 10 acquires the vehicle speed information in real time and sends it to the first control module 51 and the second control module 52, the slope acquisition module 20 acquires the slope information of the road where the vehicle is located in real time and sends it to the first control module 51 and the second control module 52, and the P gear module 30 receives the driver's P gear signal and sends it to the first control module 51 and the second control module 52. The first control module 51 and the second control module 52 respectively receive the vehicle speed information, the slope information, the P gear signal and the CAN bus signal (information) from the vehicle CAN bus 60 (i.e., the vehicle CAN network), and according to the vehicle speed information, the slope information, the P gear signal and the CAN bus signal, the first parking actuator 41 and the second parking actuator 42 park or release the vehicle, and at the same time, the first control module 51 also performs two-way communication with the second control module 52, so that when one of the control modules fails, the other control module is used to park or release the vehicle, thereby realizing system-level redundant backup.

[0026] Specifically, the vehicle CAN bus 60 provides the parking control module 50 with information sent by other controllers on the vehicle (such as a transmission controller, a vehicle stability system controller, etc.). According to different control strategies, the parking control module 50 can realize parking or releasing parking by receiving information on the vehicle CAN bus 60. For example, in general, the parking control module 50 can obtain the vehicle speed information, the slope information of the road on which the vehicle is located, and the gear information from the vehicle CAN bus 60, judge the running state of the vehicle according to the speed information, judge whether the vehicle is in a stationary state according to the slope information, and judge the driver's parking request according to the gear information, and then determine whether to execute parking or release parking. However, when the vehicle CAN bus 60 fails, it will be impossible to accurately judge the running state of the vehicle, whether the vehicle is in a stationary state, and the driver's parking request, which will lead to the occurrence of erroneous triggering of parking or failure to park.

[0027] In the present application, external input units such as a vehicle speed acquisition module 10, a slope acquisition module 20 and a P gear module 30 are added. The vehicle speed information is collected in real time by the vehicle speed acquisition module 10 and sent to the parking control module 50. The slope information of the road on which the vehicle is located is collected in real time by the slope acquisition module 20 and sent to the parking control module 50. The signal of the driver shifting into P gear is received by the P gear module 30 and sent to the parking control module 50. At this time, the parking control module 50 can determine the running state of the vehicle according to the collected vehicle speed information, determine whether the vehicle is in a stationary state according to the collected slope information, and determine the driver's parking request according to the P gear signal, and then determine whether to execute parking or release parking. In this way, even if the CAN network of the entire vehicle is paralyzed, parking can still be achieved through the P gear module 30, thereby realizing redundant backup of the system from the outside.

[0028] In practical applications, the vehicle speed acquisition module 10 may include a speed sensor 11. The P gear module 30 may include a P gear button 31 and an electronic shift mechanism 32. The P gear button 31 is arranged on the electronic shift mechanism 32. When the driver presses the P gear button 31, the vehicle may be engaged in the P gear (or the parking gear). For a vehicle that does not actually have a P gear locking mechanism for parking, when the P gear button is pressed, parking may be achieved through the parking control module 50. It is understandable that the P gear module 30 is a mechanical operating mechanism that can be operated by the driver to engage the vehicle in the P gear (or the parking gear). Its structural composition is not limited to the electronic shift mechanism 32 and the P gear button 31. It may be a trigger switch of any structure and shape. As long as it is a functional module that can engage the vehicle in the P gear (or the parking gear), it may be considered as the P gear module 30.

[0029] Further, the parking control module 50 includes a signal processing module 53, and the signal processing module 53 may include a speed sensor signal processing unit 531 and a P gear button signal processing unit 532, wherein the speed sensor signal processing unit 531 is connected to the speed sensor 11 through a physical hard line, and is used to receive and process the signal from the speed sensor 11, and transmit it to the parking control module 50. The P gear button signal processing unit 532 is connected to the P gear button 31 through a physical hard line, and is used to receive and process the signal from the P gear button 31, and transmit it to the parking control module 50. Among them, when the signal processing module 53 fails, the parking control module 50 can realize parking or releasing parking by receiving the CAN bus signal, thereby realizing a two-way redundant backup of the external input.

[0030] Furthermore, the parking control module 50 includes a first control module 51 and a second control module 52, the two control modules are independent of each other, and the two control modules respectively control the corresponding parking actuators to achieve parking or release. For example, under normal circumstances, the first control module 51 will park or release the parking through the first parking actuator 41 according to the above-mentioned vehicle speed information, slope information, P gear signal and CAN bus signal, and the second control module 52 will park or release the parking through the second parking actuator 42 according to the above-mentioned vehicle speed information, slope information, P gear signal and CAN bus signal.

[0031] When the first control module 51 fails, the second control module 52 will control the first parking actuator 41 and the second parking actuator 42 to park or release the vehicle according to the above-mentioned vehicle speed information, slope information, P gear signal and CAN bus signal; when the second control module 52 fails, the first control module 51 will control the first parking actuator 41 and the second parking actuator 42 to park or release the vehicle according to the above-mentioned vehicle speed information, slope information, P gear signal and CAN bus signal, thereby realizing redundant backup of the system internally.

[0032] In this embodiment, system-level redundant backup can be implemented, including redundant backup inside the system and redundant backup outside the system. When any point in the system fails, it can be ensured that the vehicle can park or unpark normally, meeting regulatory requirements.

[0033] In one embodiment, Figure 2 As shown, the first control module 51 includes: a first processor 511, a first control signal switching unit 512 and a first motor control unit 513 electrically connected in sequence; the second control module 52 includes: a second processor 521, a second control signal switching unit 522 and a second motor control unit 523 electrically connected in sequence, and the second processor 521 also communicates with the first processor 511, the second control signal switching unit 522 is electrically connected to the first motor control unit 513, and the first control signal switching unit 512 is electrically connected to the second motor control unit 523. Among them, the first motor control unit 513 and the second motor control unit 523 are independent of each other.

[0034] Specifically, the first processor 511 is directly electrically connected to the vehicle speed acquisition module 10, the slope acquisition module 20, the P gear module 30 and the vehicle CAN bus 60 or is electrically connected through a corresponding signal processing module to output a control signal according to the vehicle speed information, slope information, the P gear signal and the CAN bus signal. The first control signal switching unit 512 determines the direction of the control signal output by the first processor 511, that is, the first control signal switching unit 512 can switch the working mode so that the signal can be transmitted only to the first motor control unit 513, or it can be transmitted to the first motor control unit 513 and the second motor control unit 523 at the same time. Specifically, the mode can be automatically switched according to the failure state of the system. At the same time, the second processor 521 is directly electrically connected to the vehicle speed acquisition module 10, the slope acquisition module 20, the P gear module 30 and the vehicle CAN bus 60 or is electrically connected through a corresponding signal processing module to output a control signal according to the vehicle speed information, slope information, P gear signal and CAN bus signal. The second control signal switching unit 522 determines the direction of the control signal output by the second processor 521. The second control signal switching unit 522 can switch the working mode so that the signal can be transmitted only to the second motor control unit 523, or it can be transmitted to the first motor control unit 513 and the second motor control unit 523 at the same time. Specifically, the mode can be automatically switched according to the failure state of the system.

[0035] For example, when neither the first control module 51 nor the second control module 52 fails, the first processor 511 outputs a control signal to the first control signal switching unit 512 according to the received information, the first control signal switching unit 512 transmits the control signal to the first motor control unit 513, the first motor control unit 513 controls the first parking actuator 41 to perform parking or release parking according to the control signal, and at the same time, the second processor 521 outputs a control signal to the second control signal switching unit 522 according to the received information, the second control signal switching unit 522 transmits the control signal to the second motor control unit 523, the second motor control unit 523 controls the second parking actuator 42 to perform parking or release parking according to the control signal.

[0036] When any one or more of the first processor 511 or the communication line between the first processor 511 and the first motor control unit 513 fails, the second control signal switching unit 522 switches the working mode to transmit the control signal from the second processor 521 to the first motor control unit 513 and the second motor control unit 523 at the same time, and the first motor control unit 513 and the second motor control unit 523 respectively drive the first parking actuator 41 and the second parking actuator 42 to work to park or release the parking. At the same time, the first control signal switching unit 512 automatically cuts off all communications.

[0037] Similarly, when any one or more of the communication lines between the second processor 521 and the second motor control unit 523 fail, the first control signal switching unit 512 switches the working mode to transmit the control signal from the first processor 511 to the first motor control unit 513 and the second motor control unit 523 at the same time, and the first motor control unit 513 and the second motor control unit 523 respectively drive the first parking actuator 41 and the second parking actuator 42 to work to park or release the parking. At the same time, the second control signal switching unit 522 automatically cuts off all communications.

[0038] It should be noted that the first processor 511 will perform a self-check on the control line from the first processor 511 to the first parking actuator 41 in real time. If there is a fault in the above-mentioned line, it will be detected immediately. The first processor 511 transmits the fault information to the second processor 521 through the CAN bus 541. At this time, the second processor 521 controls the second control signal switching unit 522 to switch the working mode, so as to simultaneously transmit the control signal from the second processor 521 to the first motor control unit 513 and the second motor control unit 523. Similarly, the second processor 521 will perform a self-check on the control line from the second processor 521 to the second parking actuator 42 in real time. If there is a fault in the above-mentioned line, it will be detected immediately. The second processor 521 transmits the fault information to the first processor 511 through the CAN bus 541. At this time, the first processor 511 controls the first control signal switching unit 512 to switch the working mode, so as to simultaneously transmit the control signal from the first processor 511 to the first motor control unit 513 and the second motor control unit 523.

[0039] In this embodiment, the first control module and the second control module back up each other and supervise each other, so that when one of the control modules fails, the other control module takes over the work, thereby realizing redundant backup of the system.

[0040] In one embodiment, the second control module 52 communicates with the first control module 51 in various forms. For example, the second processor 521 in the second control module 52 communicates with the first processor 511 in the first control module 51 via various bus types including a CAN bus, a serial bus, and a parallel bus. Figure 2 As shown, the second processor 521 can communicate with the first processor 511 through the CAN bus 541 and the serial bus 542 to achieve information interaction, which not only ensures that the system control is not disordered, but also reduces safety hazards and improves the control reliability of the system compared to a single transmission line.

[0041] In one embodiment, Figure 2As shown, the first control module 51 further includes: a first CAN network unit 514, and the first processor 511 is electrically connected to the vehicle CAN bus 60 via the first CAN network unit 514; the second control module 52 further includes: a second CAN network unit 524, and the second processor 521 is electrically connected to the vehicle CAN bus 60 via the second CAN network unit 524. That is, the first control module 51 and the second control module 52 have their own independent CAN networks, and can independently receive and send CAN bus signals.

[0042] Specifically, when both the first CAN network unit 514 and the second CAN network unit 524 are not invalid, the first CAN network unit 514 and the second CAN network unit 524 simultaneously receive information on the vehicle CAN bus 60 and transmit them to the first processor 511 and the second processor 521 respectively. At the same time, the second processor 521 transmits the relevant information of the second control module 52 to the first processor 511 through the CAN bus 541. After the first processor 511 integrates the information, it feeds back the information of the parking control module 50 to the vehicle CAN bus 60 through the first CAN network unit 514. When the first CAN network unit 514 fails, the first processor 511 sends a failure signal to the second processor 521, and the second processor 521 outputs a control signal to the first processor 511 and the second control signal switching unit 522 according to the information received by the second CAN network unit 524, so as to realize parking or releasing parking through the first control signal switching unit 512 and the second control signal switching unit 522. At the same time, the first processor 511 sends the relevant information of the first control module 51 to the second processor 521. After integrating the information, the second processor 521 feeds back the information of the parking control module 50 to the vehicle CAN bus 60 through the second CAN network unit 524. Similarly, when the second CAN network unit 524 fails, the processing method is the same as that when the first CAN network unit 514 fails, which will not be repeated here.

[0043] In this embodiment, the first control module and the second control module receive and send CAN bus signals through two independent CAN network units, so that when one CAN network unit fails, the other CAN network unit takes over the work, thereby achieving redundant backup of the system.

[0044] In one embodiment, Figure 2 As shown, the first control module 51 further includes: a first storage unit 515, which is electrically connected to the first processor 511; the second control module 52 further includes: a second storage unit 525, which is electrically connected to the second processor 521. That is, the first control module 51 and the second control module 52 have their own independent information storage units to achieve independent storage of information.

[0045] Specifically, when the first storage unit 515 is not invalid, the first storage unit 515 communicates with the first processor 511 in real time to store system information; when the second storage unit 525 is not invalid, the second storage unit 525 communicates with the second processor 521 in real time to store system information.

[0046] In one embodiment, Figure 3 As shown, the automobile parking system with redundant backup function also includes: a parking switch 70, and the parking switch 70 is electrically connected to the first processor 511 and the second processor 521. Further, the signal processing module 53 may include a parking switch signal processing unit 533, and the parking switch signal processing unit 533 is connected to the parking switch 70 through a physical hard line, and is used to receive and process the signal from the parking switch 70, and transmit it to the first processor 511 and the second processor 521. The first processor 511 and the second processor 521 can judge the driver's parking request according to the parking switch signal, and then determine whether to execute parking or release parking.

[0047] Specifically, the parking switch 70 is a control switch for parking, and parking or releasing the parking can be achieved by actuating the parking switch 70. For example, in normal cases, pulling up the parking switch 70 can achieve parking, and pressing down the parking switch 70 can release the parking. If the parking switch signal processing unit 533 fails, the parking control module 50 can achieve parking or releasing the parking by receiving information on the vehicle CAN bus 60, thereby achieving a redundant backup of the system.

[0048] In one embodiment, Figure 3 As shown, the automobile parking system with redundant backup function also includes: an ignition switch 80, and the ignition switch 80 is electrically connected to the vehicle power supply 90, the first processor 511 and the second processor 521 respectively. Among them, the vehicle power supply 90 is a power supply element, which provides low-voltage direct current (such as 12V, 24V, etc.) to the parking control module 50, and the vehicle power supply 90 is connected to the ignition switch 80 through a physical hard line. Further, according to the actual design of the vehicle, the number of vehicle power supplies 90 is not limited to 1. In order to ensure the reliability of the system power supply, the best solution is to use two independent vehicle power supplies 90 to power the system respectively.

[0049] In one embodiment, Figure 3As shown, the first control module 51 further includes: a first power supply unit 516, which is electrically connected to the vehicle power supply 90, the ignition switch 70, the first processor 511, the first CAN network unit 514, the first storage unit 515 and the slope acquisition module 20; the second control module 52 further includes: a second power supply unit 526, which is electrically connected to the vehicle power supply 90, the ignition switch 70, the second processor 521, the second CAN network unit 524, the second storage unit 525 and the slope acquisition module 20. The vehicle power supply 90 is also electrically connected to the first motor control unit 513, and at the same time, the vehicle power supply 90 is also electrically connected to the second motor control unit 523.

[0050] Specifically, the first control module 51 and the second control module 52 have their own independent power supply units, which are powered by the vehicle power supply 90 and input through two independent power lines. Among them, the first power supply unit 516 is used to power the slope acquisition module 20, the first processor 511, the first CAN network unit 514 and the first storage unit 515; the second power supply unit 526 is used to power the slope acquisition module 20, the second processor 521, the second CAN network unit 524 and the second storage unit 525. The first motor control unit 513 and the second motor control unit 523 are independently powered by the vehicle power supply 90 and have two independent power line inputs.

[0051] The ignition switch 80 is connected to the first power supply unit 516, the first processor 511, the second power supply unit 526 and the second processor 521 through a physical hard line. When the vehicle power supply 90 is powered normally, when the vehicle is ignited, the ignition switch 80 is closed, the first power supply unit 516 and the second power supply unit 526 receive a voltage signal from the vehicle power supply 90, the first power supply unit 516 starts to supply power to the first processor 511, and the second power supply unit 526 starts to supply power to the second processor 521. At the same time, the first processor 511 and the second processor 521 receive a voltage signal from the vehicle power supply 90. The first processor 511 and the second processor 521 are in working state, that is, the parking control module 50 is in working state; when the vehicle is turned off, the ignition switch 80 is disconnected, and the first power supply unit 516, the first processor 511, the second power supply unit 526 and the second processor 521 cannot receive the voltage signal from the vehicle power supply 90. At this time, the first power supply unit 516 will delay for a period of time to stop supplying power to the first processor 511, and the second power supply unit 526 will delay for the same period of time to stop supplying power to the second processor 521, and the parking control module 50 is in a dormant state.

[0052] In addition to the above examples, when the parking control module 50 is in a dormant state, the parking switch 70 may be actuated to generate a parking switch signal, and then the parking control module 50 may be awakened according to the parking switch signal. Specifically, after the parking switch 70 is actuated, the parking switch signal processing unit 533 receives and processes the signal from the parking switch 70, and transmits it to the first power supply unit 516, the first processor 511, the second power supply unit 526, and the second processor 521. At this time, the first power supply unit 516 starts to supply power to the first processor 511, and the second power supply unit 526 starts to supply power to the second processor 521. The first processor 511 and the second processor 521 are in a working state, that is, the parking control module 50 is in a working state.

[0053] In addition, since the first control module 51 and the second control module 52 have their own independent power supply units, when a control module has a problem with power supply, the other control module can take over the work. Specifically, when the first power supply unit 516 fails, the second control signal switching unit 522 will switch the working mode to transmit the control signal from the second processor 521 to the first motor control unit 513 and the second motor control unit 523 at the same time, and the first motor control unit 513 and the second motor control unit 523 respectively drive the first parking actuator 41 and the second parking actuator 42 to work, so as to park or release the parking; when the second power supply unit 526 fails, the first control signal switching unit 512 will switch the working mode to transmit the control signal from the first processor 511 to the first motor control unit 513 and the second motor control unit 523 at the same time, and the first motor control unit 513 and the second motor control unit 523 respectively drive the first parking actuator 41 and the second parking actuator 42 to work, so as to park or release the parking. In this way, the redundant backup of the system is realized.

[0054] In order to make those skilled in the art understand the present invention more clearly, the following Figure 3 To describe in detail how a car parking system with redundant backup function can achieve normal parking or release parking.

[0055] refer to Figure 3As shown, when the parking control module 50 has not failed and the CAN bus signal on the vehicle CAN bus 60 is normal, the first processor 511 receives the trigger signal from the signal processing module 53 and the first CAN network unit 514, and after the first processor 511 determines that the trigger signal meets the preset condition, it outputs a control signal to the first control signal switching unit 512, and the first control signal switching unit 512 transmits the control signal to the first motor control unit 513, and the first motor control unit 513 controls the first parking actuator 41 to work according to the control signal; at the same time, the second processor 521 receives the trigger signal from the signal processing module 53 and the second CAN network unit 524, and after the second processor 521 determines that the trigger signal meets the preset condition, it outputs a control signal to the second control signal switching unit 522, and the second control signal switching unit 522 transmits the control signal to the second motor control unit 523, and the second motor control unit 523 controls the second parking actuator 42 to work according to the control signal. Wherein, the trigger signal of the signal processing module 53 can be generated by actuating the parking switch 70 and the P gear button 31.

[0056] When any one or more of the first processor 511, the first storage unit 515, the first power supply unit 516 and the communication line between the first processor 511 and the first motor control unit 513 fails, the second control signal switching unit 522 switches the working mode to simultaneously transmit the control signal from the second processor 521 to the first motor control unit 513 and the second motor control unit 523, and the first motor control unit 513 and the second motor control unit 523 respectively drive the first parking actuator 41 and the second parking actuator 42 to operate, and the first control signal switching unit 512 automatically cuts off all communications.

[0057] When any one or more of the second processor 521, the second storage unit 525, the second power supply unit 526 and the communication lines between the second processor 521 and the second motor control unit 523 fail, the first control signal switching unit 512 will switch the working mode to simultaneously transmit the control signal from the first processor 511 to the first motor control unit 513 and the second motor control unit 523, and the first motor control unit 513 and the second motor control unit 523 respectively drive the first parking actuator 41 and the second parking actuator 42 to operate, and the second control signal switching unit 522 will automatically cut off all communications.

[0058] When the first processor 511 cannot receive the CAN signal from the first CAN network unit 514, and the second processor 521 cannot receive the CAN signal from the second CAN network unit 524, the first processor 511 and the second processor 521 will receive the vehicle speed information and slope information from the speed sensor signal processing unit 531 and the slope acquisition module 20 respectively, and judge the running state of the vehicle according to the vehicle speed information and slope information. At this time, the vehicle can be parked normally or released by actuating the parking switch 70 or the P gear button 31. If it is determined that the vehicle is in a stationary state, the vehicle can also be parked by turning off the vehicle (the ignition switch 80 is disconnected).

[0059] When communication failure occurs between the first processor 511 and the second processor 521 and one or more of the speed sensor signal processing unit 531, the slope acquisition module 20 and the P gear button 31, the first processor 511 and the second processor 521 can receive a CAN bus signal from the vehicle CAN bus 60, at which time the vehicle can be parked or released by actuating the parking switch 70.

[0060] When the communication between the first processor 511 and the second processor 521 and the parking switch signal processing unit 533 fails, the vehicle can be parked or released by actuating the P gear button 31, or the vehicle can be parked by turning off the vehicle.

[0061] When the first processor 511 and the second processor 521 simultaneously fail to communicate with the vehicle CAN bus 60, the parking switch signal processing unit 533 and the P gear button signal processing unit 53, the vehicle can be parked by turning off the vehicle.

[0062] The above-mentioned automobile parking system with redundant backup function, its control module components back up each other. When any single point fails, the normal operation of the system can still be guaranteed. At the same time, external inputs such as speed sensors and P gear buttons are added. In this way, even if the CAN network of the entire vehicle is paralyzed, parking can be achieved by shifting into P gear, actuating the parking switch and turning off the vehicle. It has system-level safety redundant backup, and the entire vehicle only needs to install this system to meet relevant regulatory requirements.

[0063] In addition, the whole system design is based on the driver's operating habits. When any point of the system fails, the driver can still park or release the parking according to the normal operating habits. For example, when the vehicle is stationary on a flat ground, the normal operation of the driver is to pull up the parking switch 70 for about 1 second to achieve parking. If the vehicle CAN bus 60 fails at this time, if the parking system does not have a speed sensor 11, then the parking control module 50 will not be able to determine the motion state of the vehicle. For safety reasons, the driver must pull up the parking switch 70 for a long time to achieve parking, in order to give the driver a time to confirm parking. If the parking system has a speed sensor 11, then the parking control module 50 can determine the motion state of the vehicle, so that the driver can still pull up the parking switch 70 for about 1 second to achieve parking. Thus, without changing the driver's operating habits, parking can still be achieved. For other situations, it can also be achieved, and specific examples will not be given here.

[0064] In one embodiment, a failure handling method for a parking system with a redundant backup function is also provided, wherein the parking system with a redundant backup function can be referred to above and will not be described in detail here. The failure handling method includes:

[0065] When any one or more of the first processor, the first power supply unit, the first storage unit, and the communication line between the first processor and the first motor control unit fails, the second control signal switching unit will park or release the vehicle through the first motor control unit and the second motor control unit according to the control signal output by the second processor;

[0066] When any one or more of the second processor, the second power supply unit, the second storage unit, the second processor and the communication line between the second motor control unit fail, the first control signal switching unit will park or release the vehicle through the first motor control unit and the second motor control unit according to the control signal output by the first processor;

[0067] When neither the first processor nor the second processor receives a CAN bus signal from the vehicle CAN network, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the speed information, slope information, P gear signal, parking switch signal and ignition switch signal from the vehicle speed acquisition module, the slope acquisition module, the P gear module, the parking switch and the ignition switch, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals;

[0068] When the first processor and the second processor fail to communicate with any one or more of the vehicle speed acquisition module, the slope acquisition module and the P gear module, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the CAN bus signal and the parking switch signal, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals;

[0069] When the first processor and the second processor fail to communicate with the parking switch, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the CAN bus signal, the P gear signal and the ignition switch signal, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals;

[0070] When the first processor and the second processor fail to communicate with the vehicle CAN bus, the P gear module and the parking switch, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the ignition switch signal, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals.

[0071] The failure handling method of the automobile parking system with redundant backup function can also be referred to above, which will not be repeated here.

[0072] The failure handling method of the automobile parking system with redundant backup function of this embodiment can realize system-level redundant backup, and when any point of the system fails, it can ensure that the vehicle can park or release the parking normally, meeting the regulatory requirements.

[0073] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A car parking system with redundant backup function, characterized in that: include: Vehicle speed collection module; the vehicle speed collection module includes a speed sensor; Slope acquisition module; P gear module; The P gear module includes a P gear button; A parking execution module, comprising a first parking actuator and a second parking actuator which are independent of each other; The parking control module comprises a first control module and a second control module which are independent of each other, wherein the first control module is electrically connected to the vehicle CAN bus, the vehicle speed acquisition module, the slope acquisition module, the P gear module and the first parking actuator respectively, and the second control module is electrically connected to the vehicle CAN bus, the vehicle speed acquisition module, the slope acquisition module, the P gear module and the second parking actuator respectively, and the first control module communicates with the second control module; The parking control module also includes a signal processing module, which includes at least one of the following: a speed sensor signal processing unit and a P gear button signal processing unit; the speed sensor signal processing unit is connected to the speed sensor through a physical hard wire, and is used to receive and process the signal from the speed sensor; the P gear button signal processing unit is connected to the P gear button through a physical hard wire, and is used to receive and process the signal from the P gear button.

2. The system according to claim 1, characterized in that The P gear module includes an electronic gear shift mechanism, and the P gear button is arranged on the electronic gear shift mechanism.

3. The system according to claim 1 or 2, characterized in that: The first control module comprises: a first processor, a first control signal switching unit and a first motor control unit which are electrically connected in sequence; The second control module includes: a second processor, a second control signal switching unit and a second motor control unit electrically connected in sequence, and the second processor also communicates with the first processor, the second control signal switching unit is electrically connected to the first motor control unit, and the first control signal switching unit is electrically connected to the second motor control unit.

4. The system according to claim 3, characterized in that The second processor communicates with the first processor via multiple busses including a CAN bus, a serial bus, and a parallel bus.

5. The system according to claim 3, characterized in that The first control module further includes: a first CAN network unit, the first processor being electrically connected to the vehicle CAN bus via the first CAN network unit; The second control module also includes: a second CAN network unit, and the second processor is electrically connected to the vehicle CAN bus through the second CAN network unit.

6. The system according to claim 3, characterized in that The first control module further includes: a first storage unit, the first storage unit being electrically connected to the first processor; The second control module further includes: a second storage unit, and the second storage unit is electrically connected to the second processor.

7. The system according to claim 3, characterized in that The system further comprises: a parking switch, the parking switch being electrically connected to the first processor and the second processor respectively; An ignition switch is electrically connected to a vehicle power supply, the first processor, and the second processor, respectively.

8. The system according to claim 7, characterized in that The first control module further includes: a first power supply unit, the first power supply unit is electrically connected to the vehicle power supply, the ignition switch, the first processor, the first CAN network unit of the first control module and the slope acquisition module, respectively, and the vehicle power supply is also electrically connected to the first motor control unit; The second control module also includes: a second power supply unit, which is electrically connected to the vehicle power supply, the ignition switch, the second processor, the second CAN network unit of the second control module and the slope acquisition module respectively, and the vehicle power supply is also electrically connected to the second motor control unit.

9. A method for handling failure of a parking system with redundant backup function according to any one of claims 1 to 8, characterized in that: include: When any one or more of the first processor, the first power supply unit, the first storage unit and the communication line between the first processor and the first motor control unit fails, the second control signal switching unit will park or release the vehicle through the first motor control unit and the second motor control unit according to the control signal output by the second processor; When any one or more of the second processor, the second power supply unit, the second storage unit and the communication line between the second processor and the second motor control unit fails, the first control signal switching unit will park or release the vehicle through the first motor control unit and the second motor control unit according to the control signal output by the first processor; When neither the first processor nor the second processor receives a CAN bus signal from the vehicle CAN network, the first processor and the second processor output control signals to the corresponding first control signal switching unit and the second control signal switching unit respectively according to the speed information, slope information, P gear signal, parking switch signal and ignition switch signal from the vehicle speed acquisition module, the slope acquisition module, the P gear module, the parking switch and the ignition switch, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals; When the first processor and the second processor fail to communicate with any one or more of the vehicle speed acquisition module, the slope acquisition module and the P gear module, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the CAN bus signal and the parking switch signal, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals; When the first processor and the second processor fail to communicate with the parking switch, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the CAN bus signal, the P gear signal and the ignition switch signal, and the first control signal switching unit and the second control signal switching unit respectively park or release the vehicle through the first motor control unit and the second motor control unit according to the control signals; When the first processor and the second processor fail to communicate with the vehicle CAN bus, the P gear module and the parking switch, the first processor and the second processor respectively output control signals to the corresponding first control signal switching unit and the second control signal switching unit according to the ignition switch signal, and the first control signal switching unit and the second control signal switching unit respectively park or unpark the vehicle through the first motor control unit and the second motor control unit according to the control signal.

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