A method, device, storage medium and vehicle for controlling vehicle parking

Abstract

The present invention provides a control method, device, storage medium and vehicle for parking a vehicle. A parking mechanism is installed on the vehicle, wherein the parking mechanism includes a motor, a ratchet and a parking push rod, and the method includes: after receiving a parking signal, obtaining the slope information of the current location of the vehicle; determining the parking clamping force according to the slope information, and then determining the parking clamping current of the motor, and driving the motor to rotate forward with the parking clamping current as the driving current; obtaining the actual parking angle and the parking calibration angle of the ratchet, and determining whether the absolute value of the difference between the actual parking angle and the parking calibration angle is less than a first angle; when the absolute value is less than the first angle, driving the parking push rod to push out so that the parking push rod and the tooth gap of the ratchet are engaged.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, storage medium and vehicle for controlling vehicle parking. Background Art

[0002] Parking control is a vehicle braking control process based on an electronic mechanical parking motor. In the process of implementing parking control, ball screw transmission is usually used, which has high transmission efficiency and motor torque transmission efficiency, and can effectively reduce motor heating. However, the ball screw mechanism cannot achieve self-locking, and an additional ratchet push rod locking structure is required to prevent the release of the braking force after the parking motor applies braking force to the wheel, thereby achieving parking control after braking. In actual application, the ratchet push rod locking structure needs to determine the position of the ratchet teeth before locking to prevent the push rod from being insufficiently engaged with the ratchet after it is pushed out, and the push rod from falling off between the ratchet teeth, causing safety accidents such as slipping.

[0003] In the prior art, the position of the ratchet teeth is usually determined by measuring the actual parking current of the parking motor. Specifically, by comparing the actual parking current of the parking motor with the parking target current, it is determined whether the actual parking current reaches the parking target current, that is, the parking clamping current. When the actual parking current reaches the parking target current, it can be considered that the current position of the ratchet tooth gap can be engaged with the push rod. However, in actual applications, technicians have found that due to factors such as wear and looseness during the use of the ratchet push rod locking structure, the corresponding relationship between the ratchet tooth gap position and the actual parking current changes, and the actual parking current cannot effectively reflect the position of the ratchet teeth. As a result, when the actual parking current reaches the parking target current, the position of the ratchet tooth gap cannot be engaged with the push rod. Summary of the invention

[0004] Based on this, the present application provides a vehicle parking control method, device, storage medium and vehicle.

[0005] A first aspect of an embodiment of the present invention provides a method for controlling vehicle parking, wherein a parking mechanism is installed on the vehicle, wherein the parking mechanism includes a motor, a ratchet wheel and a parking push rod, and the method includes:

[0006] After receiving the parking signal, obtaining the slope information of the current location of the vehicle;

[0007] Determining a parking clamping force according to the slope information, thereby determining a parking clamping current of the motor, and driving the motor to rotate forward using the parking clamping current as a driving current;

[0008] Acquiring an actual parking angle and a calibrated parking angle of the ratchet, and determining whether an absolute value of a difference between the actual parking angle and the calibrated parking angle is less than a first angle;

[0009] When the absolute value is smaller than the first angle, the parking push rod is driven to be pushed out so that the parking push rod is engaged with the tooth gap of the ratchet wheel.

[0010] Optionally, before obtaining the actual parking angle and the calibrated parking angle of the ratchet, the method further includes:

[0011] Obtaining the number of parking calibration times, and determining whether the number of parking calibration times is greater than 0;

[0012] When the parking calibration times is greater than 0, the actual parking angle and the parking calibration angle of the ratchet are obtained.

[0013] Optionally, obtaining the number of parking calibration times and determining whether the number of parking calibration times is greater than 0 includes:

[0014] When the parking calibration times is not greater than 0, parking calibration is performed on the ratchet to obtain the parking calibration angle, and the parking calibration step includes:

[0015] After the parking clamping current is provided to the motor to drive the motor to rotate forward, the parking push rod is driven to be pushed out;

[0016] After the parking push rod is pushed out, the motor is driven to rotate in reverse until the parking push rod is fully engaged with the tooth gap of the ratchet wheel;

[0017] When the parking push rod is fully engaged with the tooth gap of the ratchet, the angle of the ratchet is determined as the parking calibration angle, and the parking calibration angle is stored in the vehicle brake information storage system.

[0018] Optionally, driving the motor to reverse until the parking push rod engages with the tooth gap of the ratchet wheel comprises:

[0019] When driving the motor to reverse, obtaining an actual driving current of the motor and comparing the actual driving current with the first current;

[0020] When the actual driving current is greater than the first current, it is determined that the backlash between the parking push rod and the ratchet wheel is engaged.

[0021] Optionally, comparing the actual drive current with the first current, and when the actual drive current is not greater than the first current, repeating the following steps in sequence until the actual drive current is greater than the first current, includes:

[0022] Step 1: driving the parking push rod to be retracted, and driving the motor to rotate forwardly by a second angle;

[0023] Driving the parking push rod to be pushed out again, and driving the motor to be reversed;

[0024] Step 2: Obtain the actual driving current when the motor is reversed and compare the actual driving current with the first current.

[0025] Optionally, determining whether an absolute value of a difference between the actual parking angle and the calibrated parking angle is less than a first angle includes:

[0026] When the absolute value is not less than the first angle, the motor is driven to rotate a third angle.

[0027] Optionally, when the absolute value is greater than or equal to the first angle, driving the motor to rotate a third angle includes:

[0028] When the absolute value is greater than or equal to the first angle, determining the direction of rotation of the motor according to the positive or negative value of the difference;

[0029] When the difference is positive, driving the motor to reverse the third angle;

[0030] When the difference is negative, the motor is driven to rotate forward by the third angle.

[0031] A second aspect of an embodiment of the present invention provides a control device for parking a vehicle, wherein a parking mechanism is installed on the vehicle, wherein the parking mechanism includes a motor, a ratchet and a parking push rod, and the device includes:

[0032] A slope information acquisition module, used to acquire the slope information of the current location of the vehicle after receiving the parking signal;

[0033] a driving current determining module, used to determine the parking clamping force according to the slope information, thereby determining the parking clamping current of the motor, and driving the motor to rotate forward using the parking clamping current as the driving current;

[0034] An angle acquisition module, used for acquiring an actual parking angle and a calibrated parking angle of the ratchet, and determining whether an absolute value of a difference between the actual parking angle and the calibrated parking angle is less than a first angle;

[0035] The parking execution module is used for driving the parking push rod to be pushed out so that the parking push rod is engaged with the tooth gap of the ratchet wheel when the absolute value is smaller than the first angle.

[0036] According to a third aspect of an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the vehicle charging method according to the first aspect of the embodiment of the present invention are implemented.

[0037] A fourth aspect of the embodiments of the present invention provides a vehicle, comprising the vehicle parking control device according to the second aspect of the embodiments of the present invention.

[0038] The present invention directly measures the actual parking angle of the ratchet and compares the actual parking angle with the calibrated parking angle. When the absolute value of the difference between the actual parking angle and the calibrated parking angle is smaller than the first angle, the parking push rod is pushed out to make the parking push rod engage with the tooth gap of the ratchet, thereby ensuring the accuracy of the relative position of the ratchet and the parking push rod, eliminating the influence of other factors such as wear and looseness on the correct engagement of the ratchet and the parking push rod, and ensuring the reliability of the vehicle parking control to a great extent, and preventing the occurrence of vehicle sliding down a slope. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0040] Figure 1 is a schematic diagram of a ratchet push rod locking structure provided by an embodiment of the present invention;

[0041] Figure 2 is a schematic diagram of a single tooth angle, a parking calibration angle, and an actual parking angle provided by an embodiment of the present invention;

[0042] Figure 3 is a step diagram of a vehicle parking control method provided by an embodiment of the present invention;

[0043] Figure 4 is a step diagram of another vehicle parking control method provided by an embodiment of the present invention;

[0044] Figure 5 is a step diagram of a method for driving a motor to rotate provided by an embodiment of the present invention;

[0045] Figure 6 is a step diagram of a parking calibration angle acquisition method provided by an embodiment of the present invention;

[0046] Figure 7 is a scenario flow chart of a vehicle parking control method provided by an embodiment of the present invention;

[0047] Figure 8 It is a structural schematic diagram of a vehicle parking control device provided by an embodiment of the present invention.

[0048] Reference numerals:

[0049] 1-motor, 2-ratchet, 3-parking push rod. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] like Figure 1 A schematic diagram of a ratchet push rod locking structure is shown, which includes a motor 1, a ratchet 2 and a parking push rod 3.

[0052] The ratchet 2 is fixedly connected to the rotating shaft of the motor 1, and the two are relatively stationary. During the parking process, the parking push rod 3 can be driven out to engage with the ratchet 2, thereby realizing the locking of the ratchet push rod locking structure.

[0053] like Figure 2 A schematic diagram of a single tooth angle, a parking calibration angle and an actual parking angle is shown, wherein the single tooth angle refers to the angle between the lines connecting two adjacent tooth tops of the ratchet and their centers respectively, the parking calibration angle refers to the angle between the line connecting the tooth top of the ratchet that interacts with the parking push rod in the ratchet and the center of the ratchet and the horizontal line after the parking calibration is completed, and the actual parking angle refers to the angle between the line connecting the tooth top of the ratchet that interacts with the parking push rod in the ratchet and the center of the ratchet and the horizontal line during the parking process.

[0054] The first aspect of the present invention provides an embodiment, such as Figure 3 A control method for parking a vehicle is shown in the following steps, which is applied to a vehicle braking system and specifically includes:

[0055] Step S101, after receiving a parking signal, obtaining the slope information of the current location of the vehicle.

[0056] When the user sends a parking signal through the central control system or other control terminals, the vehicle braking system receives the parking signal and obtains the slope information of the vehicle's current position through the posture sensor or the vehicle inclination sensor.

[0057] Step S102 , determining a parking clamping force according to the slope information, and then determining a parking clamping current of the motor, and driving the motor to rotate forward using the parking clamping current as a driving current.

[0058] The vehicle braking system can calculate the parking clamping force based on the slope information and the weight of the vehicle body. Specifically, when a vehicle is parked on a slope, the vehicle will tend to move downward due to the component force of its gravity along the slope surface. At this time, in order to offset the tendency of the vehicle to move downward, the motor can apply an external force of the same magnitude and opposite direction to the component force to the vehicle through the brake device, where the force applied by the motor to the brake device is the parking clamping force. In addition, in order to ensure the reliability of vehicle parking, redundancy processing can be appropriately performed when determining the parking clamping force.

[0059] Correspondingly, the vehicle braking system controls the vehicle power supply system to provide a driving current to the motor that can drive the motor to generate the parking clamping force, namely, the parking clamping current.

[0060] After determining the parking current, the vehicle braking system controls the vehicle power supply system to provide the motor with a driving current having the same magnitude as the parking clamping current to drive the motor to rotate forward.

[0061] Step S103, obtaining the actual parking angle and the calibrated parking angle of the ratchet, and determining whether the absolute value of the difference between the actual parking angle and the calibrated parking angle is less than a first angle.

[0062] After the motor rotates with the parking clamping current as the driving current, the actual parking angle of the ratchet wheel fixedly connected to the motor shaft is obtained, wherein the actual parking angle can be obtained by a position angle sensor installed on the ratchet wheel. At the same time, the parking calibration angle is obtained from the vehicle brake information storage system, and the absolute value of the difference between the actual parking angle and the parking calibration angle is determined to be less than the first angle. It can be further clarified that the difference between the actual parking angle and the parking calibration angle refers to the value obtained by subtracting the parking calibration angle from the actual parking angle.

[0063] Step S104: when the absolute value is smaller than the first angle, the parking push rod is driven to be pushed out so that the parking push rod is engaged with the tooth gap of the ratchet wheel.

[0064] When the absolute value of the difference between the actual parking angle and the calibrated parking angle is smaller than the first angle, it indicates that after the parking push rod is pushed out, the parking push rod can engage with the tooth gap of the gear, and during the parking process, the parking push rod is not easy to slip out of the tooth gap.

[0065] The first angle may be an angle obtained through experiments or other methods and will not affect the parking performance of the vehicle.

[0066] The second aspect of the present invention provides an embodiment, such as Figure 4 Another control method for parking a vehicle is shown in the following steps, which specifically includes:

[0067] Step S201, after receiving the parking signal, obtaining the slope information of the current location of the vehicle.

[0068] The specific implementation of step S201 is the same as that of step S101, and reference may be made to the relevant description of the implementation of step S101.

[0069] Step S202 , determining the parking clamping force according to the slope information, further determining the parking clamping current of the motor, and driving the motor to rotate forward using the parking clamping current as the driving current.

[0070] The specific implementation of step S202 is the same as that of step S102, and reference may be made to the relevant description of the implementation of step S102.

[0071] Step S203, obtaining the parking calibration times, and determining whether the parking calibration times is greater than 0.

[0072] The number of parking calibrations refers to the number of times the ratchet position is in full engagement with the wheel gap of the vehicle calibration push rod and the ratchet. The technicians can determine whether the parking calibration angle is stored in the vehicle brake information storage system based on the number of parking calibrations.

[0073] When the number of parking calibration times is greater than 0, it indicates that the vehicle has obtained the ratchet position when the push rod and the wheel gap of the ratchet are fully engaged, that is, the parking calibration angle, and the step S204 can be jumped directly; when the number of parking calibration times is not greater than 0, it indicates that the vehicle has not yet been calibrated for parking, and the step S207 should be jumped to perform parking calibration on the vehicle.

[0074] Step S204, obtaining the actual parking angle and the calibrated parking angle of the ratchet, and determining whether the absolute value of the difference between the actual parking angle and the calibrated parking angle is less than the first angle.

[0075] When the number of parking calibration times of the vehicle is greater than 0, the parking calibration angle is obtained from the vehicle brake information storage system, and the actual parking angle is obtained through the position angle sensor installed on the ratchet. According to the obtained actual parking angle and the parking calibration angle, it is determined whether the absolute value of the difference between the actual parking angle and the parking calibration angle is less than the first angle.

[0076] When its absolute value is less than the first angle, jump to step S205; when its absolute value is not less than the first angle, jump to step S206.

[0077] Step S205: When the absolute value is smaller than the first angle, the parking push rod is driven to be pushed out so that the parking push rod engages with the tooth gap of the ratchet wheel.

[0078] When the absolute value is less than the first angle, it indicates that the actual parking angle is slightly different from the calibrated parking angle. At this time, after the parking push rod is pushed out, the push rod can engage well with the tooth gap of the ratchet wheel, and the current engagement state of the two can effectively achieve parking lock.

[0079] Step S206: when the absolute value is not less than the first angle, drive the motor to rotate a third angle, wherein the third angle is equal to the absolute value.

[0080] When the absolute value is not less than the first angle, it indicates that the actual parking angle is significantly different from the calibrated parking angle. At this time, after the parking push rod is pushed out, the push rod may fall off from the ratchet tooth gap during the parking process due to insufficient engagement between the push rod and the ratchet tooth gap, resulting in parking failure.

[0081] in, Figure 5 A step diagram of a method for driving a motor to rotate is shown, such as Figure 5 As shown, step S206 also includes:

[0082] Step S2061: When the absolute value is greater than or equal to the first angle, the direction of rotation of the motor is determined according to the positive or negative sign of the difference.

[0083] When the absolute value is not less than the first angle, the current actual parking angle needs to be corrected to make it closer to the calibrated parking angle. During the correction process, the magnitude relationship between the actual parking angle and the calibrated parking angle needs to be determined first according to the positive or negative value of the difference, so as to further determine the rotation direction of the motor.

[0084] When the sign of the difference is positive, jump to step S2062; when the sign of the difference is negative, jump to step S2063.

[0085] Step S2062: When the sign of the difference is positive, drive the motor to reverse the third angle.

[0086] When the difference is positive, it indicates that the actual parking angle is greater than the calibrated parking angle, and the actual parking angle needs to be adjusted to a smaller direction. At this time, the motor should rotate in the opposite direction to when the parking clamping force is applied, thereby reducing the actual parking angle to reduce the absolute value of the difference between the two.

[0087] Step S2063: When the positive or negative sign of the difference is negative, drive the motor to rotate forward by the third angle.

[0088] When the positive or negative sign of the difference is negative, it indicates that the actual parking angle is smaller than the calibrated parking angle, and the actual parking angle needs to be adjusted in a larger direction. At this time, the motor should rotate in the same direction as when the parking clamping force is applied, thereby increasing the actual parking angle to reduce the absolute value of the difference between the two.

[0089] After the actual parking angle is adjusted through step S2062 or step S2063, the parking push rod is pushed out to make the push rod engage with the tooth gap of the ratchet wheel.

[0090] Step S207, when the number of parking calibrations is not greater than 0, the ratchet is subjected to parking calibration to obtain the parking calibration angle, and the parking calibration steps include: after providing the parking clamping current to the motor to drive the motor to rotate forward, driving the parking push rod to be pushed out; after the parking push rod is pushed out, driving the motor to be reversed until the parking push rod and the tooth gap of the ratchet are fully engaged; when the parking push rod and the tooth gap of the ratchet are fully engaged, the angle of the ratchet is determined as the parking calibration angle, and the parking calibration angle is stored in the vehicle brake information storage system.

[0091] When the parking calibration times is not greater than 0, it indicates that the vehicle has not been calibrated yet and needs to be calibrated first to obtain the parking calibration angle. The specific calibration steps are as follows:

[0092] First, after the motor is driven to rotate forward with the parking clamping current as the driving current, the parking push rod is driven to be pushed out so that the parking push rod contacts the ratchet wheel.

[0093] Afterwards, after the parking push rod contacts the ratchet, the driving motor is reversed so that the top of the parking push rod contacts the bottom of the ratchet tooth gap, that is, the parking push rod is fully engaged with the ratchet tooth gap.

[0094] Finally, the angle of the ratchet when the parking push rod and the tooth gap of the ratchet are fully engaged is obtained through the position angle sensor installed on the ratchet. The angle of the ratchet at this time is the parking calibration angle.

[0095] in, Figure 6 A step diagram of a parking calibration angle acquisition method is shown, such as Figure 6 As shown, step S207 also includes:

[0096] Step S2071, when driving the motor to reverse, obtaining the actual driving current of the motor and comparing the actual driving current with the first current.

[0097] The motor can be driven to reverse by providing a driving current whose current value increases with time to the motor. During the process of driving the motor to reverse, the actual driving current of the motor is obtained through an ammeter or other sensors, and the actual driving current is compared with the first current.

[0098] When the actual driving current is greater than the first current, jump to step S2072; when the actual driving current is not greater than the first current, jump to step S2073.

[0099] Step S2072: When the actual driving current is greater than the first current, it is determined that the backlash between the parking push rod and the ratchet wheel is engaged.

[0100] When the actual driving current is greater than the first current, it indicates that the top of the parking push rod has contacted the bottom of the ratchet tooth gap, and the force applied by the motor to the ratchet cannot move the parking push rod in the ratchet tooth gap. It can be determined that the parking push rod is fully engaged with the ratchet tooth gap and the parking calibration is completed.

[0101] After completing a parking calibration, a new parking calibration number is obtained by adding one to the original parking calibration number, and the new parking calibration number and the parking calibration angle obtained in this parking calibration are stored in the vehicle brake information storage system.

[0102] Step S2073, when the actual driving current is not greater than the first current, repeat the following steps in sequence until the actual driving current is greater than the first current, including: Step 1: drive the parking push rod to retract, and drive the motor to rotate forward by a second angle; drive the parking push rod to push out again, and drive the motor to reverse; Step 2: obtain the actual driving current when the motor reverses and compare the actual driving current with the first current.

[0103] When the actual driving current is not greater than the first current, it indicates that the parking push rod and the tooth gap of the ratchet wheel are not fully engaged, and the force applied by the motor to the ratchet wheel causes the parking push rod to fall off from the tooth gap of the ratchet wheel. The position of the ratchet wheel needs to be further adjusted to make the two fully engaged. The specific steps are as follows:

[0104] Step 1: retract the parking push rod to provide space for the ratchet to adjust its position. After the parking push rod is retracted, the drive motor is rotated forward by a second angle, wherein the second angle can be determined according to the angle of a single tooth of the ratchet. After the drive motor is rotated forward by the second angle, the parking push rod is pushed out again, and the drive motor is reversed.

[0105] Step 2, obtaining the actual driving current during the motor reversal process and comparing the actual driving current with the first current.

[0106] When the actual driving current is greater than the first current, jump to step S2072; when the actual driving current is not greater than the first current, loop through steps 1 and 2 in sequence.

[0107] The third aspect of the present invention provides an embodiment, such as Figure 7 A scenario flow chart of a vehicle parking control method is shown, which specifically includes:

[0108] When a parking signal is received, the vehicle braking system obtains the slope information of the vehicle's current position through the vehicle inclination sensor.

[0109] The vehicle braking system calculates the parking clamping force of the vehicle according to the acquired slope information, calculates the parking clamping current of the motor according to the obtained parking clamping force, and drives the motor to rotate forward using the parking clamping current as the driving current.

[0110] Afterwards, the vehicle braking system obtains the parking calibration times from the vehicle braking information storage system, and determines whether the parking calibration times is greater than 0.

[0111] When the number of parking calibration times is greater than 0, the parking calibration angle θ1 is obtained from the vehicle brake information storage system, and the actual parking angle θ2 of the ratchet is obtained, and based on the obtained θ1 and θ2, it is determined whether |θ2-θ1| is less than θ / 6, where θ is the single tooth angle of the ratchet.

[0112] When |θ2-θ1| is less than θ / 6, the vehicle braking system drives the parking push rod to be pushed out, causing the parking push rod to engage with the tooth gap of the ratchet wheel, and parking is successful.

[0113] When |θ2-θ1| is not less than θ / 6, the driving motor rotates |θ2-θ1| to make the rotated θ2 equal to θ1. After the driving motor rotates |θ2-θ1|, the vehicle braking system drives the parking push rod to push out, so that the parking push rod and the ratchet wheel have a tooth gap engagement, and the parking is successful.

[0114] When the parking calibration times are greater than 0, the parking push rod is driven to be pushed out so that the parking push rod contacts the ratchet wheel, and when the parking push rod contacts the ratchet wheel, a driving current is provided to the motor to drive the motor to reverse, and the actual driving current of the motor is obtained through the ammeter during the motor reversal process. It is determined whether the actual driving current is greater than the first current.

[0115] When the actual driving current is greater than the first current, parking is successful. The current position of the ratchet is obtained through the position angle sensor to obtain the parking calibration angle θ1, and at the same time, one is added to the original parking calibration times.

[0116] When the actual driving current is not greater than the first current, the parking push rod is driven to be retracted, and the motor is controlled to rotate forward by θ / 3, where θ is the single tooth angle of the ratchet, and the number of rotations of the motor is recorded at the same time.

[0117] When the number of rotations is not greater than 3 times, the parking push rod is driven out again, the driving motor is reversed and it is determined whether the actual driving current is greater than the first current.

[0118] When the number of rotations is greater than 3, an error is reported to the user through the user interaction interface or other terminals.

[0119] The fourth aspect of the present invention also provides an embodiment, Figure 8 A schematic structural diagram of a vehicle parking control device is shown, which specifically includes:

[0120] A slope information acquisition module, used to acquire the slope information of the current location of the vehicle after receiving the parking signal;

[0121] a driving current determining module, used to determine the parking clamping force according to the slope information, thereby determining the parking clamping current of the motor, and driving the motor to rotate forward using the parking clamping current as the driving current;

[0122] An angle acquisition module, used for acquiring an actual parking angle and a calibrated parking angle of the ratchet, and determining whether an absolute value of a difference between the actual parking angle and the calibrated parking angle is less than a first angle;

[0123] The parking execution module is used for driving the parking push rod to be pushed out so that the parking push rod is engaged with the tooth gap of the ratchet wheel when the absolute value is smaller than the first angle.

[0124] Optionally, the device further comprises:

[0125] The parking calibration times acquisition module is used to acquire the parking calibration times and determine whether the parking calibration times is greater than 0; when the parking calibration times is greater than 0, the actual parking angle and the parking calibration angle of the ratchet are acquired.

[0126] A parking calibration module is used to perform parking calibration on the ratchet to obtain the parking calibration angle when the number of parking calibrations is not greater than 0, and the steps of the parking calibration include: after providing the parking clamping current to the motor to drive the motor to rotate forward, driving the parking push rod to be pushed out; after the parking push rod is pushed out, driving the motor to reverse until the parking push rod and the tooth gap of the ratchet are fully engaged; when the parking push rod and the tooth gap of the ratchet are fully engaged, the angle of the ratchet is determined as the parking calibration angle, and the parking calibration angle is stored in the vehicle brake information storage system.

[0127] The parking calibration module is also used to obtain the actual driving current of the motor and compare the actual driving current with the first current when driving the motor to reverse; when the actual driving current is greater than the first current, it is determined that the tooth gap between the parking push rod and the ratchet has been engaged.

[0128] The parking calibration module is also used to compare the actual driving current with the first current. When the actual driving current is not greater than the first current, the following steps are repeated in sequence until the actual driving current is greater than the first current, including: Step 1: driving the parking push rod to retract and driving the motor to rotate forward by a second angle; driving the parking push rod to be pushed out again and driving the motor to reverse; Step 2: obtaining the actual driving current when the motor reverses and comparing the actual driving current with the first current.

[0129] The parking angle adjustment module is used to drive the motor to rotate a third angle when the absolute value is not less than the first angle, wherein the third angle is equal to the absolute value. When the absolute value is greater than or equal to the first angle, the direction of rotation of the motor is determined according to the positive or negative value of the difference; when the positive or negative value of the difference is positive, the motor is driven to reverse the third angle; when the positive or negative value of the difference is negative, the motor is driven to rotate forward the third angle.

[0130] An embodiment of the present invention further provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, a vehicle parking control method as disclosed in an embodiment of the present application is implemented.

[0131] An embodiment of the present invention further provides a vehicle, comprising a vehicle parking control device provided by the present invention.

[0132] The vehicle parking control method, device, storage medium and vehicle provided by the embodiments of the present invention directly measure the actual parking angle of the ratchet and compare the actual parking angle with the calibrated parking angle. When the actual parking angle and the calibrated parking angle are less than the first angle, the parking push rod is pushed out to make the parking push rod engage with the tooth gap of the ratchet, thereby ensuring the accuracy of the relative position of the ratchet and the parking push rod, eliminating the influence of other factors such as wear and looseness on the correct engagement of the ratchet and the parking push rod, and greatly ensuring the reliability of the vehicle parking control and preventing the occurrence of vehicle sliding downhill accidents.

[0133] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0134] The embodiments of the present invention are described with reference to the step diagrams and / or block diagrams of the methods, apparatuses, electronic devices, and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the step diagrams and / or block diagrams, as well as the combination of the processes and / or blocks in the step diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the steps in the step diagrams and / or block diagrams. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0135] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a product including an instruction device, which implements the steps of Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0136] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for implementing the steps executed on the computer or other programmable terminal device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0137] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0138] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0139] The above is a detailed introduction to a vehicle parking control method, device, storage medium and vehicle provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling vehicle parking, characterized in that: The vehicle is equipped with a parking mechanism, wherein the parking mechanism comprises a motor, a ratchet and a parking push rod, and the method comprises: After receiving the parking signal, obtaining the slope information of the current location of the vehicle; Determining a parking clamping force according to the slope information, thereby determining a parking clamping current of the motor, and driving the motor to rotate forward using the parking clamping current as a driving current; Obtaining an actual parking angle and a parking calibration angle of the ratchet, and determining whether an absolute value of a difference between the actual parking angle and the parking calibration angle is less than a first angle; wherein the actual parking angle is obtained by a position angle sensor installed on the ratchet, and the parking calibration angle is an angle of the ratchet when the parking push rod and the tooth gap of the ratchet are fully engaged; When the absolute value is smaller than the first angle, the parking push rod is driven to be pushed out so that the parking push rod is engaged with the tooth gap of the ratchet wheel; Before obtaining the actual parking angle and the calibrated parking angle of the ratchet, the method further includes: Obtaining the number of parking calibration times, and determining whether the number of parking calibration times is greater than 0; When the parking calibration times is not greater than 0, parking calibration is performed on the ratchet to obtain the parking calibration angle, and the parking calibration step includes: After the parking clamping current is provided to the motor to drive the motor to rotate forward, the parking push rod is driven to be pushed out, and after the parking push rod is pushed out, the motor is driven to rotate reversely until the parking push rod and the tooth gap of the ratchet are fully engaged, and when the parking push rod and the tooth gap of the ratchet are fully engaged, the angle of the ratchet is determined as the parking calibration angle, and the parking calibration angle is stored in the vehicle brake information storage system; Wherein, driving the motor to reverse until the parking push rod and the tooth gap of the ratchet wheel are fully engaged includes: When the motor is driven to reverse, an actual driving current of the motor is obtained and the actual driving current is compared with a first current. When the actual driving current is greater than the first current, it is determined that the tooth gap between the parking push rod and the ratchet wheel is engaged.

2. The method according to claim 1, characterized in that The method further comprises: When the parking calibration times is greater than 0, the actual parking angle and the parking calibration angle of the ratchet are obtained.

3. The method according to claim 1, characterized in that Comparing the actual driving current with the first current, and when the actual driving current is not greater than the first current, repeating the following steps in sequence until the actual driving current is greater than the first current, including: Step 1: driving the parking push rod to be retracted, and driving the motor to rotate forwardly by a second angle; Driving the parking push rod to be pushed out again, and driving the motor to be reversed; Step 2: Obtain the actual driving current when the motor is reversed and compare the actual driving current with the first current.

4. The method according to claim 1, characterized in that Determining whether an absolute value of a difference between the actual parking angle and the calibrated parking angle is less than a first angle includes: When the absolute value is not less than the first angle, the motor is driven to rotate a third angle.

5. The method according to claim 4, characterized in that When the absolute value is greater than or equal to the first angle, driving the motor to rotate a third angle includes: When the absolute value is greater than or equal to the first angle, determining the direction of rotation of the motor according to the positive or negative value of the difference; When the difference is positive, driving the motor to reverse the third angle; When the difference is negative, the motor is driven to rotate forward by the third angle.

6. A vehicle parking control device, characterized in that: The vehicle is equipped with a parking mechanism, wherein the parking mechanism comprises a motor, a ratchet and a parking push rod, and the device comprises: A slope information acquisition module, used to acquire the slope information of the current location of the vehicle after receiving the parking signal; a driving current determining module, used to determine the parking clamping force according to the slope information, thereby determining the parking clamping current of the motor, and driving the motor to rotate forward using the parking clamping current as the driving current; an angle acquisition module, used to acquire the actual parking angle and the parking calibration angle of the ratchet, and determine whether the absolute value of the difference between the actual parking angle and the parking calibration angle is less than a first angle; wherein the actual parking angle is obtained by a position angle sensor installed on the ratchet, and the parking calibration angle is the angle of the ratchet when the parking push rod and the tooth gap of the ratchet are fully engaged; a parking execution module, configured to drive the parking push rod to be pushed out so that the parking push rod engages with the tooth gap of the ratchet wheel when the absolute value is smaller than the first angle; The device also includes: A parking calibration times acquisition module, used to acquire the parking calibration times and determine whether the parking calibration times is greater than 0; A parking calibration module is used to perform parking calibration on the ratchet wheel to obtain the parking calibration angle when the number of parking calibrations is not greater than 0, wherein the parking calibration step includes: After the parking clamping current is provided to the motor to drive the motor to rotate forward, the parking push rod is driven to be pushed out, and after the parking push rod is pushed out, the motor is driven to rotate reversely until the parking push rod and the tooth gap of the ratchet are fully engaged, and when the parking push rod and the tooth gap of the ratchet are fully engaged, the angle of the ratchet is determined as the parking calibration angle, and the parking calibration angle is stored in the vehicle brake information storage system; Among them, the parking calibration module is also used to obtain the actual driving current of the motor and compare the actual driving current with the first current when driving the motor to reverse, and when the actual driving current is greater than the first current, determine that the tooth gap between the parking push rod and the ratchet has been engaged.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle parking control method according to any one of claims 1 to 5 are implemented.

8. A vehicle, characterized in that: A control device for parking a vehicle comprising the device described in claim 6.

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