Parking start method and device, vehicle terminal and medium

Abstract

The embodiment of the application is suitable for the technical field of vehicles, and provides a parking starting method and device, a vehicle-mounted terminal and a medium. The method comprises the following steps: after an automatic parking function of a vehicle is activated, the state of the vehicle is determined; if the vehicle is in a stationary state, a preset torque request is executed on a driving motor, so that the driving motor is controlled not to be in a torque zero-crossing interval when the vehicle is parked and started. Through the above method, the abnormal sound and vibration of the vehicle during parking and starting can be reduced.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and in particular relates to a parking start method, device, vehicle terminal and medium. Background Technology

[0002] When the motor's operating mode changes, it involves zero-crossing. Zero-crossing adjusts the magnitude and direction of the current in the energized coil. When the current direction changes, the motor's rotation direction changes, and the meshing surface between the drive motor and the axle changes accordingly. Because there is a gap between the drive motor and the axle, a sudden change in motor rotation can cause the meshing surfaces to collide violently, resulting in abnormal noise.

[0003] When starting from a parked position, the vehicle's motor is prone to crossing zero, which can cause abnormal noises. This not only affects the driver's experience but also increases the risk of wear and tear on vehicle parts. Summary of the Invention

[0004] In view of this, embodiments of this application provide a parking start method, device, vehicle terminal, and medium to improve and reduce abnormal noise and vibration during the parking start phase.

[0005] The first aspect of this application provides a parking start method, including:

[0006] Once the vehicle's automatic parking function is activated, the vehicle's status is determined.

[0007] If the vehicle is stationary, the drive motor is controlled to execute a preset torque request so as to prevent the drive motor from being in the torque zero-crossing range when the vehicle starts from parking.

[0008] A second aspect of this application provides a parking start device, comprising:

[0009] The determination module is used to determine the status of the vehicle when the vehicle's automatic parking function is activated;

[0010] The control module is used to control the drive motor to execute a preset torque request when the vehicle is stationary, so as to prevent the drive motor from being in the torque zero-crossing range when the vehicle starts from parking.

[0011] A third aspect of this application provides a parking system, including: a parking controller, a brake controller, a power controller, and a drive motor, wherein:

[0012] The parking controller is used to send an acceleration request to the brake controller during parking, the acceleration request being used to instruct the torque of the drive motor to be changed;

[0013] The braking controller is configured to determine a torque request for the drive motor based on the acceleration request and the received motor desired torque request; and to send the torque request to the drive motor via the power controller; wherein the motor desired torque request is generated by the drive motor and sent to the braking controller via the power controller;

[0014] The drive motor is used to drive the vehicle to the target parking space according to the torque request.

[0015] A fourth aspect of this application provides an in-vehicle terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect above.

[0016] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0017] A sixth aspect of this application provides a vehicle that achieves parking start-up using the method described in the first aspect above.

[0018] A seventh aspect of this application provides a computer program product that, when run on an in-vehicle terminal, causes the in-vehicle terminal to execute the method described in the first aspect above.

[0019] Compared with the prior art, the embodiments of this application have the following advantages:

[0020] In this embodiment, after the automatic parking function of the vehicle is activated, it can be determined whether the vehicle is currently stationary. If the vehicle is stationary, it indicates that the vehicle may be in the torque zero-crossing range when starting parking. Therefore, the vehicle can be controlled to execute a preset torque request, so that the drive motor rotates to a certain extent, thereby eliminating the gear backlash between the axle and the rotor, ensuring that the vehicle is not in the torque zero-crossing range when starting parking, and ensuring that the vehicle does not vibrate or make abnormal noises due to the existence of the torque zero-crossing range when starting parking, thus improving the user's driving experience. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0022] Figure 1 This is a schematic diagram of the operation of an automatic parking system provided in an embodiment of this application;

[0023] Figure 2This is a schematic flowchart of a parking and starting method provided in an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the parking start process of a parking system provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the parking start process of another parking system provided in this application embodiment;

[0026] Figure 5 This is a schematic diagram of a parking start device provided in an embodiment of this application;

[0027] Figure 6 This is a schematic diagram of an in-vehicle terminal provided in an embodiment of this application. Detailed Implementation

[0028] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0029] With the development of the automotive industry, cars are increasingly integrated into our daily lives and work. To better serve users, cars can provide intelligent services to meet various scenarios and needs. Among these, the Auto Parking Assist (APA) system is an intelligent function designed to serve users.

[0030] Once the vehicle's automatic parking system is activated, the vehicle uses ultrasonic sensors and cameras to scan for parking spaces on both sides and obstacles around the vehicle. When a suitable parking space is found, the automatic parking system uses internal algorithms to automatically plan a parking path. After the driver confirms the parking, the vehicle automatically parks itself. Based on the automatic parking system, the entire parking process can be completed without driver intervention, whether the driver is inside or outside the vehicle. The automatic parking system can interact directly or indirectly with the steering, powertrain, and braking systems, allowing control of steering via the steering system, gear shifting and acceleration via the powertrain, braking via the braking system, and parking via the Electronic Park Brake (EPB) system and the Park (P) gear.

[0031] Figure 1 A schematic diagram illustrating the operation of an automatic parking system provided in an embodiment of this application is shown. Figure 1 As shown, the parking perception system can sense external environmental information. Based on this information, the parking planning system can determine a parking scheme and send acceleration requests, parking gear requests, and EPB requests to the brake controller. The brake controller may include an EPB, a deceleration module, a gear selection module, and an acceleration module. The gear selection module can send parking gear requests to the power controller, and the acceleration module can send acceleration requests to the power controller. The power controller can respond to the received requests, thereby driving the motor to move and enabling the vehicle to park.

[0032] The aforementioned parking perception system and parking planning system can form a parking controller. The parking controller can combine the vehicle's surrounding environment information and parking space information collected by the sensors to send acceleration / deceleration requests, gear requests, P gear and EPB requests to the brake controller, thereby performing longitudinal control of the vehicle. The longitudinal control of the vehicle can include vehicle acceleration, deceleration, leaving, parking, etc.

[0033] The aforementioned vehicle brake controller can respond to acceleration / deceleration requests, gear selection requests, and EPB requests from the parking domain controller. Acceleration requests can include both positive and negative acceleration requests. The brake controller can convert positive acceleration requests into positive torque for the power controller to accelerate the vehicle. The brake controller can convert negative acceleration requests into braking torque for its own hydraulic module to decelerate the vehicle. The brake controller can relay gear selection requests to the power controller for gear changes. The brake controller can relay EPB requests to its own EPB module for vehicle EPB control. The vehicle powertrain can respond to the brake controller's acceleration and gear selection requests.

[0034] During automatic parking control, after receiving the acceleration request from the parking controller, the brake controller performs a combination of depressurization and positive torque drive power controller operation. When the power controller receives the positive torque request, it forwards it to the drive motor. When the drive motor receives the positive torque request during the start-up phase, it drives the vehicle.

[0035] Vehicles may include motors. Taking the permanent magnet synchronous motor commonly used in new energy vehicles as an example, the motor has two magnetic fields: a rotor magnetic field and a stator magnetic field. The rotor may include permanent magnets to form a stable magnetic field, which rotates with the rotor. The stator may include windings, which can be wires. Current can flow through the wires, and an induced magnetic field will be generated in the surrounding space. If alternating current is passed through the wires, a rotating induced magnetic field will be generated in the surrounding space.

[0036] When an electric motor is working, the rotating induction magnetic field generated by the stator and the permanent magnet magnetic field of the rotor are like two children holding hands and walking in step. With the stator in front and the rotor behind, the motor is in driving mode when the stator pulls the rotor forward. When the stator pulls the rotor backward due to inertia, both the stator and rotor will gradually slow down until they stop; at this point, the motor is in regenerative braking mode. The force exerted by the stator pulling the rotor, multiplied by the motor radius, equals the torque, which is the intensity of energy recovery.

[0037] Based on the stator and rotor, the motor can include two operating modes: drive or regenerative braking. Switching between these two modes indicates that the motor has crossed zero. The zero-crossing process adjusts the magnitude and direction of the current in the energized coils; this process does not involve changes to the physical structure or hardware limitations. However, the vehicle's drive structure is a rigid connection between a microcontroller and the drive shaft and wheels, requiring a transition time in scenarios involving changes in speed; otherwise, abnormal noise and vibration may occur. Therefore, how to reasonably control motor noise and vibration during the parking start-up phase in automatic parking control is an important issue. Based on this, this application provides a motor drive method during parking, aiming to reduce motor noise and vibration during parking.

[0038] The technical solution of this application will be described below through specific embodiments.

[0039] Reference Figure 2 The diagram illustrates a step-by-step flowchart of a parking and starting method provided in an embodiment of this application, which may specifically include the following steps:

[0040] S201, when the vehicle's automatic parking function is activated, determine the vehicle's status.

[0041] The method in this embodiment can be applied to a vehicle, which may include a parking controller, a brake controller, a power controller, a hydraulic controller, and a drive motor. The brake controller is connected to the parking controller, the power controller is connected to the hydraulic brake controller, and the power controller is connected to the drive motor. The parking controller is used for planning parking routes. Specifically, the implementing entity of this application can be the brake controller in the vehicle.

[0042] Once the vehicle's automatic parking function is activated, the parking controller can begin operating. When operating, the parking controller sends a signal to the brake controller indicating that the automatic parking function is activated. The brake controller receives this signal and thus confirms that the automatic parking function is engaged. At this point, the brake controller can determine the vehicle's status.

[0043] The vehicle's status can be determined based on its current gear. The brake controller can request the vehicle's current gear from the vehicle's overall controller; if the vehicle is in park, then the vehicle is considered stationary.

[0044] In another possible implementation, the vehicle's state can be determined based on the state of the drive motor. The brake controller can obtain the drive motor's state from the power controller; if the drive motor is not currently operating, the vehicle can be determined to be stationary.

[0045] S202, if the vehicle is stationary, control the drive motor to execute a preset torque request so as to control the drive motor to not be in the torque zero-crossing range when the vehicle starts from parking.

[0046] When a vehicle starts parking from a standstill, the drive motor may be in the torque zero-crossing range. The torque zero-crossing range is the transitional range of motor speed changes. When the drive motor is in this range, it indicates that the drive motor needs to eliminate gear backlash and engage the gears. If the speed is too high at this time, a strong collision will occur during gear engagement. To avoid this strong collision, the speed within this range can be kept at a low level, thus achieving smooth gear engagement and avoiding strong motor collisions, thereby preventing abnormal noises during parking control.

[0047] In one possible implementation, if the vehicle is stationary, the brake controller can control the drive motor to execute a preset torque request. For example, the vehicle can send a torque request to the power controller via the brake controller; upon receiving the torque request, the power controller can send it to the drive motor; upon receiving the torque request, the drive motor can respond to it, outputting the corresponding torque and rotating to eliminate gear backlash, thereby preventing vibration and abnormal noise caused by gear backlash during vehicle startup. For example, the torque request could be a positive torque of 3nm, ensuring that the drive motor is not in the zero-torque range when the vehicle starts.

[0048] In one possible implementation, if the vehicle is stationary, the power controller can control the drive motor to execute a preset torque request. For example, the brake controller can send information indicating the vehicle is stationary to the power controller, which can then send a torque request to the drive motor. Upon receiving the torque request, the drive motor can respond by outputting the corresponding torque and rotating, eliminating gear backlash and preventing vibration and noise caused by gear backlash during vehicle startup. After responding to the torque request, the drive motor can send a response signal to the power controller, which can then feed back the information about the drive motor executing the torque request to the brake controller.

[0049] When responding to a torque request, the drive motor can adjust according to a certain torque adjustment rate. The drive motor has a relatively small torque adjustment rate within the torque zero-crossing range, allowing it to smoothly and slowly adjust the torque. This results in a slower rotation speed, gradually eliminating gear backlash and minimizing collisions caused by it. Therefore, when responding to a torque request, the drive motor can determine the torque adjustment rate and then adjust its torque to the requested torque level. The drive motor operates at this requested torque for a preset time, thereby eliminating gear backlash between the axle and the rotor.

[0050] During the period when the drive motor executes the torque request, the vehicle is stationary. In order to keep the vehicle stationary, the brake controller can control the hydraulic brake to compensate the brake fluid according to the torque request, so as to keep the vehicle stationary.

[0051] When the vehicle's automatic parking function is activated, the parking controller can determine the parking space and plan a parking route based on the perceived external environment. Based on the parking route and space, the parking controller can determine a parking plan. The parking controller can display the parking plan on the central control screen for user confirmation. After user confirmation, the parking controller sends an acceleration request to the brake controller to drive the vehicle. Upon receiving the acceleration request, the brake controller can send a torque request to the drive motor through the power controller. The drive motor controls the vehicle's output torque; by controlling the vehicle's output torque, the controller can control the vehicle's gear shifting, braking, and driving.

[0052] When the brake controller receives an acceleration request from the parking controller, it can obtain the executable torque range of the drive motor based on the acceleration request. Then, based on the acceleration request and the executable torque range, it sends an acceleration torque request to the power controller, so that the power controller can control and adjust the torque of the drive motor to perform the parking operation of the vehicle.

[0053] The brake controller can determine the target torque corresponding to the acceleration request; if the target torque is within the executable torque range, it can control the drive motor to output the target torque; if the target torque is not within the executable torque range, it can control the drive motor to output the maximum torque within the executable torque range.

[0054] In this embodiment, the automatic parking system can utilize the time during which the vehicle is in a static handshake situation to control the drive motor to execute a certain torque request, thereby enabling the drive motor to smoothly pass through the torque zero-crossing range and preventing a strong collision when the vehicle starts.

[0055] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0056] Figure 3 This is a schematic diagram of the parking start process of a parking system provided in an embodiment of this application. Figure 3 The system includes a parking system, which may include a parking control system, including a parking controller, a brake controller, a power controller, and a drive motor. The parking controller can detect when the automatic parking function is activated and send a signal to the brake controller indicating that the automatic parking function is activated.

[0057] The brake controller can determine the state of the vehicle when the automatic parking function is activated; if the vehicle is stationary, it controls the drive motor to execute a preset torque request so as to prevent the drive motor from being in the torque zero-crossing range when the vehicle starts from parking.

[0058] The drive motor can respond to preset torque requests after the vehicle's automatic parking function is activated.

[0059] In addition, the parking controller is also used to send an acceleration request to the brake controller during parking, the acceleration request being used to instruct the drive motor to change its torque;

[0060] The brake controller is used to determine the torque request for the drive motor based on the acceleration request and the received motor desired torque request; and to send the torque request to the drive motor through the power controller; wherein the motor desired torque request is generated by the drive motor and sent to the brake controller through the power controller.

[0061] A drive motor is used to drive the vehicle to the target parking space based on torque requests.

[0062] In this embodiment, the brake controller can send information about the vehicle being stationary to the power controller, which can then send a torque request to the drive motor. Upon receiving the torque request, the drive motor can respond to it, outputting the corresponding torque and rotating to eliminate gear backlash, thereby preventing vibration and abnormal noise caused by gear backlash when the vehicle starts.

[0063] Figure 4 This is a schematic diagram of the parking start process of another parking system provided in the embodiments of this application. Figure 4 The parking system in the middle Figure 3 They are the same, but the starting methods are different. Figure 4In this system, the brake controller sends information about the vehicle being stationary to the power controller, which then sends a torque request to the drive motor. Upon receiving the torque request, the drive motor responds by outputting the corresponding torque and rotating, eliminating gear backlash and preventing vibrations and noises caused by gear backlash during vehicle startup. After responding to the torque request, the drive motor sends a response signal to the power controller, which then feeds back the information about the drive motor's torque request to the brake controller.

[0064] Figure 3 and Figure 4 The two parking start methods can control the drive motor to execute the default positive torque when the vehicle's automatic parking function is activated, when the vehicle is in P gear or in a stopped state. This ensures that the drive motor is never in the torque zero range during the vehicle's parking start range, avoiding vibration and abnormal noise when the vehicle starts parking, and improving the driving experience.

[0065] Reference Figure 5 The diagram illustrates a parking start device according to an embodiment of this application, which may specifically include a determining module 51 and a control module 52, wherein:

[0066] The determination module 51 is used to determine the state of the vehicle when the automatic parking function of the vehicle is activated;

[0067] The control module 52 is used to control the drive motor to execute a preset torque request when the vehicle is stationary, so as to control the drive motor to not be in the torque zero-crossing range when the vehicle starts from parking.

[0068] In one possible implementation, the vehicle includes a brake controller and a power controller, the brake controller and the power controller being connected together, and the power controller being connected to the drive motor. The control module 52 includes:

[0069] The first judgment submodule is used to determine that the vehicle is stationary if the vehicle is in the parking gear.

[0070] The sending submodule is used to send the torque request to the power controller through the brake controller. The power controller is used to send the torque request to the drive motor to control the drive motor to respond to the torque request.

[0071] In one possible implementation, the vehicle includes a brake controller and a power controller, the brake controller and the power controller being connected together, and the power controller being connected to the drive motor. The control module 52 includes:

[0072] The second judgment submodule is used to determine that the vehicle is stationary if the vehicle is in the parking gear.

[0073] A control submodule is used to control the power controller to send the torque request to the drive motor, so as to control the drive motor to respond to the torque request;

[0074] The feedback submodule is used to control the power controller to feed back the information of the drive motor executing the torque request to the brake controller.

[0075] In one possible implementation, the control module 52 described above:

[0076] The determination submodule is used to determine the torque adjustment rate;

[0077] An adjustment submodule is used to adjust the torque of the drive motor to the torque corresponding to the torque request according to the torque adjustment rate.

[0078] The control submodule is used to control the drive motor to operate for a preset time at the torque corresponding to the torque request, so as to eliminate gear backlash between the axle and the rotor.

[0079] In one possible implementation, the above-mentioned device further includes:

[0080] The acquisition module is used to acquire the executable torque range of the drive motor after receiving an acceleration request from the parking controller;

[0081] An adjustment module is used to control and adjust the torque of the drive motor according to the acceleration request and the executable torque range to perform the parking operation of the vehicle.

[0082] In one possible implementation, the aforementioned adjustment module includes:

[0083] The target torque determination submodule is used to determine the target torque corresponding to the acceleration request;

[0084] The first control submodule is used to control the drive motor to output the target torque if the target torque is within the range of the executable torque.

[0085] The control submodule is used to control the drive motor to output the maximum torque within the executable torque range if the target torque is not within the executable torque range.

[0086] In one possible implementation, the vehicle includes a hydraulic brake, and the aforementioned device further includes:

[0087] The compensating braking module is used to control the hydraulic brake to compensate the braking hydraulic pressure according to the torque request, so as to keep the vehicle in the stationary state.

[0088] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0089] Figure 6 This is a schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of this application. Figure 6 As shown, the vehicle-mounted terminal 6 in this embodiment includes: at least one processor 60 ( Figure 6 (Only one is shown) a processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein the processor 60 executes the computer program 62 to implement the steps in any of the above method embodiments.

[0090] The vehicle-mounted terminal may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 6 This is merely an example of vehicle terminal 6 and does not constitute a limitation on vehicle terminal 6. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0091] The processor 60 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0092] In some embodiments, the memory 61 may be an internal storage unit of the vehicle terminal 6, such as a hard drive or memory of the vehicle terminal 6. In other embodiments, the memory 61 may be an external storage device of the vehicle terminal 6, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the vehicle terminal 6. Furthermore, the memory 61 may include both internal storage units and external storage devices of the vehicle terminal 6. The memory 61 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0093] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0094] This application provides a computer program product that, when run on an in-vehicle terminal, enables the in-vehicle terminal to execute the steps described in the above-described method embodiments.

[0095] This application provides a vehicle that achieves parking start-up through the steps in the above-described method embodiments.

[0096] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A parking start method, characterized in that, Applied to a brake controller, the method includes: When the automatic parking function of the vehicle is activated, the state of the vehicle is determined. The vehicle includes a parking controller, which is used to send a signal that the automatic parking function is activated to the brake controller. The state of the vehicle is determined according to the current gear of the vehicle. When the vehicle is in the parking gear, the state of the vehicle is stationary. The brake controller is connected to the power controller and the hydraulic brake controller. The power controller is connected to the drive motor. If the vehicle is stationary, the drive motor is controlled to execute a preset torque request to prevent the drive motor from being in the torque zero-crossing range when the vehicle starts from a parking position. The brake controller sends the torque request to the power controller, which in turn sends the torque request to the drive motor. The drive motor responds to the torque request. During the period when the drive motor executes the torque request, the brake controller controls the hydraulic brake controller to compensate the brake fluid pressure according to the torque request, so that the vehicle remains stationary. The power controller feeds back the information about the drive motor executing the torque request to the brake controller.

2. The method as described in claim 1, characterized in that, The control of the drive motor to respond to the torque request includes: Determine the torque adjustment rate; According to the torque adjustment rate, the torque of the drive motor is adjusted to the torque corresponding to the torque request; The drive motor is controlled to operate for a preset duration at the torque corresponding to the torque request in order to eliminate gear backlash between the axle and the rotor.

3. The method as described in claim 1 or 2, characterized in that, The method further includes: Upon receiving an acceleration request from the parking controller, the executable torque range of the drive motor is obtained; Based on the acceleration request and the executable torque range, the torque of the drive motor is controlled and adjusted to perform the parking operation of the vehicle.

4. The method as described in claim 3, characterized in that, The step of controlling the drive motor to respond based on the acceleration request and the executable torque range includes: Determine the target torque corresponding to the acceleration request; If the target torque is within the executable torque range, then control the drive motor to output the target torque; If the target torque is not within the executable torque range, then control the drive motor to output the maximum torque within the executable torque range.

5. A parking start device, characterized in that, Applied to a brake controller, the device includes: The determination module is used to determine the state of the vehicle when the automatic parking function of the vehicle is activated. The vehicle includes a parking controller, which is used to send a signal that the automatic parking function is activated to the brake controller. The state of the vehicle is determined according to the current gear of the vehicle. When the vehicle is in the parking gear, the state of the vehicle is stationary. The brake controller is connected to the power controller and the hydraulic brake controller. The power controller is connected to the drive motor. The control module is used to control the drive motor to execute a preset torque request when the vehicle is stationary, so as to prevent the drive motor from being in the torque zero-crossing range when the vehicle starts from parking; the brake controller is used to send the torque request to the power controller, the power controller is used to send the torque request to the drive motor, the drive motor is used to respond to the torque request, and during the period when the drive motor executes the torque request, the brake controller controls the hydraulic brake controller to compensate the brake hydraulic pressure according to the torque request so that the vehicle is stationary, and the power controller is used to feed back the information of the drive motor executing the torque request to the brake controller.

6. A vehicle-mounted terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1-4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-4.

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