Braking control method and device for remote-controlled parking of a vehicle and vehicle

Abstract

The application discloses a brake control method and device for remote control parking of a vehicle and the vehicle, and the method comprises the following steps: if the BCM and the VCU are in abnormal communication, or the BCM and the VCU are in normal communication and the BCM has hydraulic brake failure and EPB brake failure, the VCU controls the second EPB caliper to brake the vehicle based on a vehicle braking request. Thus, when the vehicle is in remote control parking, if the BCM and the VCU are in abnormal communication, or the BCM and the VCU are in normal communication and the BCM has hydraulic brake failure and EPB brake failure, the vehicle controller VCU is used to control the second EPB caliper to brake the vehicle, that is, the vehicle controller VCU is used as a backup brake controller during remote parking of the vehicle, so that the brake function of remote control parking is met, and a backup brake controller does not need to be additionally configured, thereby saving the cost.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a braking control method, device, and vehicle for remote-controlled parking of a vehicle. Background Technology

[0002] With the rapid development of intelligent driving technology, more and more cars are being equipped with remote parking functions. Since the driver is not in the car when remote parking is used, according to functional safety analysis, a backup of the driving brake is required. That is, if one brake fails, the other can take over to ensure that the vehicle can automatically stop.

[0003] In related technologies, a BCM (Brake Control Module) is usually configured. To achieve remote parking, the conventional solution is to configure an additional RBCM (Redundancy Brake Control Module) as a backup brake for remote parking. When the main brake controller BCM fails, it switches to the backup brake controller RBCM to stop the vehicle. However, configuring an additional backup brake controller RBCM is more expensive. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to propose a braking control method for remote-controlled parking of a vehicle. In this method, if communication between the BCM and VCU is abnormal during remote-controlled parking, or if communication between the BCM and VCU is normal but the BCM has hydraulic braking and EPB braking faults, the method utilizes the vehicle's own vehicle controller (VCU) to control a second EPB caliper to achieve braking of the vehicle. In other words, the vehicle controller (VCU) serves as a backup brake controller during remote parking, thus satisfying the braking function of remote-controlled parking without requiring an additional backup brake controller, saving costs.

[0005] A second objective of this invention is to provide a computer-readable storage medium.

[0006] The third objective of this invention is to provide a vehicle.

[0007] The fourth objective of this invention is to provide a braking control device for remote-controlled parking of a vehicle.

[0008] To achieve the above objectives, a first aspect of the present invention provides a braking control method for remote-controlled parking of a vehicle. The vehicle includes a main brake controller (BCM), a vehicle control unit (VCU), a hydraulic braking unit controlled by the BCM, a first EPB caliper, and a second EPB caliper controlled by the VCU. The method includes: when the remote-controlled parking function of the vehicle is activated, if the communication between the BCM and the VCU is abnormal, or if the communication between the BCM and the VCU is normal but the BCM has a hydraulic braking fault and an EPB braking fault, then the VCU controls the second EPB caliper to brake the vehicle based on the vehicle braking request.

[0009] According to the braking control method for remote parking of a vehicle according to an embodiment of the present invention, when the remote parking function of the vehicle is activated, if the communication between the BCM and VCU is abnormal, or if the communication between the BCM and VCU is normal but the BCM has a hydraulic braking fault and an EPB braking fault, the VCU controls the second EPB caliper to brake the vehicle based on the vehicle's braking request. Therefore, when the vehicle is remotely parked, if the communication between the BCM and VCU is abnormal, or if the communication between the BCM and VCU is normal but the BCM has a hydraulic braking fault and an EPB braking fault, the vehicle's own vehicle controller (VCU) controls the second EPB caliper to brake the vehicle. In other words, the vehicle controller (VCU) is used as a backup brake controller during remote parking, thus satisfying the braking function of remote parking without requiring an additional backup brake controller, saving costs.

[0010] According to one embodiment of the present invention, the method further includes: if the BCM communicates normally with the VCU and there is no hydraulic braking fault or EPB braking fault in the BCM, then the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on the vehicle braking request.

[0011] According to one embodiment of the present invention, in the event of communication failure between the BCM and the VCU, the method further includes: if the VCU does not have an EPB braking fault, the VCU controls the second EPB caliper to brake the vehicle based on the vehicle braking request; if the VCU has an EPB braking fault, the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on the vehicle braking request.

[0012] According to one embodiment of the present invention, the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on a vehicle braking request, including: when there is no hydraulic braking fault in the BCM, the BCM controls the hydraulic braking unit to brake the vehicle based on a vehicle braking request; when there is a hydraulic braking fault in the BCM and no EPB braking fault, the BCM controls the first EPB caliper to brake the vehicle based on a vehicle braking request.

[0013] According to one embodiment of the present invention, the method further includes: in response to a remote parking handshake request from the vehicle, the BCM and VCU perform a handshake to determine whether the BCM and VCU have entered the remote parking state; if both the BCM and VCU have entered the remote parking state and the vehicle meets the driving requirements, lateral control requirements and longitudinal control requirements, it is determined that the remote parking function of the vehicle is activated.

[0014] According to one embodiment of the present invention, when the remote parking function of the vehicle is activated, the method further includes: the BCM communicating with the VCU to exchange fault information.

[0015] According to one embodiment of the present invention, the vehicle is a One-Box type vehicle.

[0016] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the braking control method for remote parking of a vehicle as described in the first aspect embodiment.

[0017] According to the computer-readable storage medium of the present invention, through the above-described braking control method for remote parking of a vehicle, if the communication between the BCM and VCU is abnormal during remote parking of the vehicle, or if the communication between the BCM and VCU is normal but the BCM has hydraulic braking faults and EPB braking faults, the vehicle's own vehicle controller VCU controls the second EPB caliper to achieve braking of the vehicle. That is, the vehicle controller VCU is used as a backup brake controller during remote parking of the vehicle, thereby satisfying the braking function of remote parking without the need for additional backup brake controller configuration, saving costs.

[0018] To achieve the above objectives, a third aspect of the present invention provides a vehicle, comprising: a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the braking control method for remote parking of a vehicle as described in the first aspect embodiment.

[0019] According to the vehicle of the present invention, through the above-described braking control method for remote parking of the vehicle, if the communication between the BCM and VCU is abnormal during remote parking, or if the communication between the BCM and VCU is normal but the BCM has hydraulic braking faults and EPB braking faults, the vehicle's own vehicle controller VCU controls the second EPB caliper to achieve braking of the vehicle. That is, the vehicle controller VCU is used as a backup brake controller during remote parking, thereby satisfying the braking function of remote parking without the need for additional backup brake controller configuration, saving costs.

[0020] To achieve the above objectives, a fourth aspect of the present invention provides a braking control device for remote-controlled parking of a vehicle, characterized in that it includes: a hydraulic braking unit and a first EPB caliper; a second EPB caliper; a main brake controller (BCM) for controlling the hydraulic braking unit and the first EPB caliper; and a vehicle control unit (VCU) for controlling the second EPB caliper, wherein the BCM communicates with the VCU. When the remote-controlled parking function of the vehicle is activated, if the communication between the BCM and the VCU is abnormal, or if the communication between the BCM and the VCU is normal but the BCM has both hydraulic and EPB braking faults, the VCU controls the second EPB caliper to brake the vehicle based on the vehicle's braking request.

[0021] According to an embodiment of the present invention, a braking control device for remote parking of a vehicle includes a main brake controller (BCM) for controlling a hydraulic braking unit and a first EPB caliper, and a vehicle control unit (VCU) for controlling a second EPB caliper. The BCM communicates with the VCU. When the remote parking function is activated, if the communication between the BCM and VCU is abnormal, or if the communication is normal but the BCM has both hydraulic and EPB braking faults, the VCU controls the second EPB caliper to brake the vehicle based on a braking request. Therefore, during remote parking, if the communication between the BCM and VCU is abnormal, or if the communication is normal but the BCM has both hydraulic and EPB braking faults, the vehicle's own VCU controls the second EPB caliper to brake the vehicle. In other words, the VCU acts as a backup brake controller for remote parking, thus satisfying the braking function of remote parking without requiring an additional backup brake controller, saving costs.

[0022] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a braking control method for remote parking of a vehicle according to an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of the structure of a vehicle for performing a braking control method for remote parking of a vehicle according to an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of the structure of a vehicle for performing a braking control method for remote parking of a vehicle according to another embodiment of the present invention;

[0026] Figure 4This is a schematic diagram of a braking control device for remote parking of a vehicle according to an embodiment of the present invention.

[0027] Figure 5 This is a schematic block diagram of a vehicle according to another embodiment of the present invention. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0029] It should be noted that with the rapid development of intelligent driving technology, more and more cars are being equipped with remote parking functions. Since the driver is not in the car when remote parking is used, according to functional safety analysis, a backup of the driving brake is required. That is, if one brake fails, the other can take over to ensure that the vehicle can automatically stop.

[0030] In related technologies, a main brake controller (BCM) is usually configured. To achieve remote parking, the conventional solution is to configure a backup brake controller (RBCM) as a backup for remote parking. When the main brake controller (BCM) fails, it switches to the backup brake controller (RBCM) to stop the vehicle. However, configuring an additional backup brake controller (RBCM) is costly.

[0031] To address the problems in the prior art, the braking control method for remote-controlled parking of a vehicle proposed in this application addresses the following issues: If communication between the BCM and VCU is abnormal during remote-controlled parking, or if communication between the BCM and VCU is normal but the BCM has hydraulic braking and EPB braking faults, the vehicle's own vehicle controller (VCU) controls the second EPB caliper to achieve braking of the vehicle. In other words, the vehicle controller (VCU) serves as a backup brake controller during remote parking, thus satisfying the braking function of remote-controlled parking without requiring an additional backup brake controller, saving costs.

[0032] The braking control method for remote parking of a vehicle proposed in the embodiments of the present invention is described below with reference to the accompanying drawings.

[0033] Figure 1 This is a schematic diagram of a braking control method for remote parking of a vehicle according to an embodiment of the present invention.

[0034] As an example, execution Figure 1 The vehicle structure shown in the braking control method for remote parking of a vehicle can be as follows: Figure 2 As shown, Figure 2 This is a schematic diagram of a vehicle structure for implementing a braking control method for remote-controlled parking according to an embodiment of the present invention. The vehicle includes a main brake controller (BCM), a vehicle control unit (VCU), a hydraulic braking unit controlled by the BCM, a first EPB (Electronic Parking Brake) caliper, and a second EPB caliper controlled by the VCU. That is, during remote-controlled parking, the main brake controller (BCM) can control the hydraulic braking unit to perform braking, or the main brake controller (BCM) can control the first EPB caliper to perform braking, or the vehicle control unit (VCU) can control the second EPB caliper to perform braking.

[0035] Furthermore, the main brake controller (BCM) includes an information receiving module and a first interactive control module, and the vehicle control unit (VCU) includes a second interactive control module. The information receiving module is used to receive external information, such as remote parking requests. The first and second interactive control modules can communicate with each other. The first interactive control module is also used to control the hydraulic braking unit to perform braking, or to control the first EPB caliper to perform braking. The second interactive control module is used to control the second EPB caliper to perform braking. Optionally, the first and second EPB calipers can be the left rear EPB caliper and the right rear EPB caliper of the vehicle, respectively.

[0036] like Figure 1 As shown, the braking control method for remote parking of a vehicle includes the following steps:

[0037] In step S101, if the remote parking function of the vehicle is activated, and the communication between the BCM and VCU is abnormal, or if the communication between the BCM and VCU is normal but the BCM has a hydraulic braking fault and an EPB braking fault, then the VCU controls the second EPB caliper to brake the vehicle based on the vehicle braking request.

[0038] Specifically, when the vehicle's remote parking function is activated, i.e., when the vehicle enters remote parking mode, both the BCM and VCU enter operation. Under normal conditions, the BCM can communicate with the VCU. If the communication between the BCM and VCU is abnormal, in order to ensure that the vehicle can brake normally during remote parking, the VCU actively takes over the vehicle and controls the second EPB caliper to clamp the vehicle based on the vehicle's braking request. If the communication between the BCM and VCU is normal, but the BCM cannot control the vehicle to brake through the hydraulic braking unit and the first EPB caliper, that is, the BCM itself determines that it cannot control the hydraulic braking unit to brake or the first EPB caliper to brake, then the BCM will send a vehicle braking request to the VCU, using the VCU as a backup brake controller during remote parking and taking over the vehicle. Based on the vehicle braking request, the VCU will control the second EPB caliper to brake the vehicle. It should be noted that since the vehicle speed is low during remote parking, usually not exceeding 8 km / h, controlling the second EPB caliper to clamp the vehicle through the VCU can bring the vehicle to a stop according to the deceleration safety requirements.

[0039] Therefore, when the vehicle enters remote parking, if the communication between the BCM and VCU is abnormal, or if the communication between the BCM and VCU is normal but the BCM has hydraulic braking and EPB braking faults, the vehicle's own vehicle controller VCU controls the second EPB caliper to achieve braking of the vehicle. In other words, the vehicle controller VCU is used as a backup brake controller when the vehicle is remotely parked. This satisfies the braking function of remote parking without the need for an additional backup brake controller, thus saving costs.

[0040] In some embodiments, the above-described braking control method for remote parking of a vehicle further includes: if the BCM communicates normally with the VCU and the BCM does not have a hydraulic braking fault or an EPB braking fault, the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on the vehicle braking request.

[0041] Specifically, when the vehicle enters remote parking mode, if the BCM and VCU can communicate normally, and the BCM has neither hydraulic braking faults nor EPB braking faults (i.e., the BCM is in normal working condition), then the BCM can control the hydraulic braking unit to brake the vehicle according to the vehicle's braking request. Alternatively, the BCM can control the first EPB caliper to brake the vehicle according to the vehicle's braking request. Therefore, when the BCM and VCU communicate normally and the BCM is in normal working condition, the BCM is used preferentially for braking the vehicle. This not only meets the braking requirements during remote parking but also provides double protection for vehicle braking due to the BCM's dual braking modules.

[0042] In some embodiments, when communication between the BCM and VCU is abnormal, the above-described braking control method for remote parking of a vehicle further includes: if the VCU does not have an EPB braking fault, the VCU controls the second EPB caliper to brake the vehicle based on the vehicle braking request; if the VCU has an EPB braking fault, the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on the vehicle braking request.

[0043] Specifically, when the vehicle enters remote parking mode, if a communication anomaly occurs between the BCM and VCU, and the VCU does not have an EPB braking fault (meaning the second EPB caliper controlled by the VCU can function normally), then the VCU acts as a backup brake controller for remote parking and takes over the vehicle, controlling the second EPB caliper to brake the vehicle based on the vehicle's braking request. If the VCU has an EPB braking fault (meaning it cannot brake the vehicle by controlling the second EPB caliper), then the BCM controls the hydraulic braking unit to brake the vehicle based on the vehicle's braking request, or the BCM controls the first EPB caliper to brake the vehicle based on the vehicle's braking request, ultimately bringing the vehicle to a stop. In other words, when the VCU has an EPB braking fault, the BCM acts as a backup brake controller for remote parking. Therefore, when a communication anomaly occurs between the BCM and VCU, depending on whether the VCU has an EPB braking fault, either the VCU or the BCM is selected to brake the vehicle in remote parking mode, thus allowing the BCM and VCU to act as backup brake controllers for each other, helping to avoid braking failure.

[0044] In some embodiments, the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on a vehicle braking request, including: when there is no hydraulic braking fault in the BCM, the BCM controls the hydraulic braking unit to brake the vehicle based on a vehicle braking request; when there is a hydraulic braking fault in the BCM and no EPB braking fault, the BCM controls the first EPB caliper to brake the vehicle based on a vehicle braking request.

[0045] Specifically, when using the BCM to brake the vehicle in remote parking mode, if the BCM does not have a hydraulic braking fault, regardless of whether the BCM has an EPB braking fault, the BCM controls the hydraulic braking unit to brake the vehicle based on the vehicle's braking request. If the BCM has a hydraulic braking fault but no EPB braking fault, the BCM controls the first EPB caliper to brake the vehicle based on the vehicle's braking request. In other words, when using the BCM to brake the vehicle, if the BCM does not have a hydraulic braking fault, the BCM is prioritized to control the hydraulic braking unit to brake the vehicle. If the BCM has a hydraulic braking fault, under the condition that the BCM does not have an EPB braking fault, the BCM controls the first EPB caliper to brake the vehicle. If the BCM has both a hydraulic braking fault and an EPB braking fault, then as mentioned above, the VCU actively takes over the vehicle and controls the second EPB caliper to clamp the vehicle based on the vehicle's braking request to brake the vehicle.

[0046] In some embodiments, the above-described braking control method for remote parking of a vehicle further includes: in response to a remote parking handshake request from the vehicle, the BCM and VCU perform a handshake to determine whether the BCM and VCU have entered the remote parking state; and if both the BCM and VCU have entered the remote parking state and the vehicle meets the driving requirements, lateral control requirements, and longitudinal control requirements, it is determined that the remote parking function of the vehicle is activated.

[0047] Specifically, the BCM has an information receiving module that receives remote parking handshake requests from the vehicle. These requests originate from the Driver Assistance System (ADAS). Upon receiving the request, the BCM initiates a handshake with the Vehicle Control Unit (VCU). If the handshake is successful, the VCU sends a signal indicating that it has entered remote parking mode. The BCM then acquires its own remote parking mode signal and downstream signal status, including drive and braking states. If both the BCM and VCU are in remote parking mode, this information is sent to the ADAS. Simultaneously, the ADAS acquires the vehicle's drive, lateral, and longitudinal control requirements. Only after the ADAS confirms that both the BCM and VCU are in remote parking mode and that these requirements are met will the remote parking function be activated, allowing the vehicle to enter remote parking mode.

[0048] In some embodiments, when the vehicle's remote parking function is activated, the above-described braking control method for remote parking of the vehicle further includes: the BCM communicating with the VCU to exchange fault information.

[0049] Specifically, when the vehicle's remote parking function is activated, the BCM acquires the operating status of the hydraulic braking unit and the first EPB caliper, determining whether they are malfunctioning—that is, whether the hydraulic braking unit is capable of supporting hydraulic braking and whether the first EPB caliper can be engaged. The BCM then sends this status information to the VCU. The VCU also collects information about the second EPB caliper, such as the second EPB caliper's engagement / disengagement logic module and whether engagement / disengagement is normal, and sends this information back to the BCM. In other words, the BCM and VCU communicate and inform each other of their respective fault statuses. Therefore, after remote parking is activated, the BCM and VCU can inform each other of their fault statuses, which helps the vehicle select an appropriate braking scheme during remote parking.

[0050] In some embodiments, the vehicle is a One-Box type vehicle. That is, the braking control method for remote parking can be applied to One-Box type vehicles, where One-Box is a brake controller that integrates ESC (electronic stability controller) and Ibooster (electronic brake assist system). One-Box type vehicles typically have BCM and VCU to control the left and right EPB calipers respectively. For One-Box models, since there is only one BCM, if remote parking function is to be configured, the general solution is to configure an additional backup brake controller as a backup for the service brake, which is costly. Compared to configuring an additional backup brake controller, this application utilizes the vehicle's own VCU to realize the vehicle's remote parking braking, that is, the VCU is used as a backup brake controller when the vehicle is remotely parked, which satisfies the braking function of remote parking without the need to configure an additional backup brake controller, thus saving costs.

[0051] As a concrete example, such as Figure 3 As shown, Figure 3This is a schematic diagram of the structure of a vehicle for executing a braking control method for remote parking of a vehicle according to another embodiment of the present invention. The vehicle includes a main brake controller (BCM) and a vehicle control unit (VCU). The BCM includes an information receiving module, a first interactive control module, a hydraulic braking unit, and a first EPB strategy module. The VCU includes a second interactive control module, a second EPB strategy module, a pull-up release module, and an EPB caliper drive control module. The first interactive control module and the second interactive control module can communicate with each other.

[0052] It should be noted that the information receiving module is used to receive external remote parking handshake requests, the first interactive control module shakes hands with the VCU and determines whether the BCM can enter the remote parking state, the hydraulic braking unit is used for hydraulic braking, the first EPB strategy module is the module in the BCM that controls the EPB pull-up and release strategy, the second interactive control module shakes hands with the BCM and determines whether the VCU can enter the remote parking state, the second EPB strategy module is the module in the VCU that controls the EPB pull-up and release strategy, and the pull-up and release module is the module on the VCU side that executes the EPB caliper pull-up and release.

[0053] Specifically, when a vehicle needs to perform remote parking, the information receiving module receives a remote parking handshake request from the ADAS. After receiving the request, the information receiving module requests a handshake with the first interactive control module. Subsequently, the first interactive control module requests a handshake with the second interactive control module. Once the handshake between the first and second interactive control modules is successful, the second interactive control module sends a signal indicating that it has entered remote parking mode to the first interactive control module. The first interactive control module also acquires its own signal indicating that it has entered remote parking mode, as well as the status of downstream signals, including drive status and braking status. If both the BCM and VCU have entered remote parking mode, the system sends this information back to the ADAS. Simultaneously, the ADAS acquires the vehicle's drive requirements, lateral control requirements, and longitudinal control requirements. Once the ADAS determines that both the BCM and VCU have entered remote parking mode and that the vehicle meets these requirements, it activates the vehicle's remote parking function, thus putting the vehicle into remote parking mode.

[0054] Furthermore, the second interactive control module will also collect the status information of the second EPB strategy module, the pull-up release module, and the EPB caliper drive control, and determine whether there is a fault in the EPB on the VCU side, and send the status information to the first interactive control module. At the same time, the first interactive control module will determine whether the BCM is capable of supporting hydraulic braking and pull-up release of the EPB, and send the status information to the second interactive control module. That is, the first interactive control module and the second interactive control module will inform each other of their own fault status.

[0055] When the vehicle's remote parking function is activated, if communication is lost between the first and second interactive control modules (i.e., BCM and VCU communication is abnormal), the VCU will actively take over the vehicle and use the VCU to execute EPB caliper drive control to stop the vehicle. Specifically, the second interactive control module sends an EPB pull-up request, and the second EPB strategy module and pull-up / release module execute EPB caliper drive control to stop the vehicle. Conversely, if communication between the first and second interactive control modules is normal (i.e., BCM and VCU communication is fine), but the BCM determines that it cannot support hydraulic braking to stop the vehicle or control EPB to stop the vehicle, the BCM will request the VCU to take over the vehicle. The VCU will then take over the vehicle and use the VCU to execute EPB caliper drive control to stop the vehicle.

[0056] Therefore, when remotely controlling the vehicle for parking, the vehicle control unit (VCU) can be used as a backup brake controller, which satisfies the braking function of remote parking without requiring an additional backup brake controller, thus saving costs.

[0057] In summary, according to the above-described braking control method for remote parking of a vehicle based on embodiments of the present invention, when the remote parking function of the vehicle is activated, if the communication between the BCM and VCU is abnormal, or if the communication between the BCM and VCU is normal but the BCM has a hydraulic braking fault and an EPB braking fault, the VCU controls the second EPB caliper to brake the vehicle based on the vehicle's braking request. Therefore, when the vehicle is remotely parked, if the communication between the BCM and VCU is abnormal, or if the communication between the BCM and VCU is normal but the BCM has a hydraulic braking fault and an EPB braking fault, the vehicle's own vehicle controller (VCU) controls the second EPB caliper to achieve braking of the vehicle. That is, the vehicle controller (VCU) is used as a backup brake controller during remote parking, thus satisfying the braking function of remote parking without requiring an additional backup brake controller, saving costs.

[0058] Figure 4 This is a schematic diagram of a braking control device for remote parking of a vehicle according to an embodiment of the present invention. Figure 4As shown, the braking control device 100 for remote parking of a vehicle includes: a hydraulic braking unit, a first EPB caliper, a second EPB caliper, a main brake controller (BCM), and a vehicle control unit (VCU).

[0059] The BCM controls the hydraulic braking unit and the first EPB caliper, while the VCU controls the second EPB caliper. The BCM communicates with the VCU. When the vehicle's remote parking function is activated, if the communication between the BCM and the VCU is abnormal, or if the communication between the BCM and the VCU is normal but the BCM has a hydraulic braking fault and an EPB braking fault, the VCU will control the second EPB caliper to brake the vehicle based on the vehicle's braking request.

[0060] In some embodiments, if the BCM communicates normally with the VCU and there is no hydraulic braking fault or EPB braking fault in the BCM, the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on the vehicle braking request.

[0061] In some embodiments, if there is an abnormal communication between the BCM and the VCU, and the VCU does not have an EPB braking fault, the VCU controls the second EPB caliper to brake the vehicle based on the vehicle braking request; if the VCU has an EPB braking fault, the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on the vehicle braking request.

[0062] In some embodiments, the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on a vehicle braking request, including: when there is no hydraulic braking fault in the BCM, the BCM controls the hydraulic braking unit to brake the vehicle based on a vehicle braking request; when there is a hydraulic braking fault in the BCM and no EPB braking fault, the BCM controls the first EPB caliper to brake the vehicle based on a vehicle braking request.

[0063] In some embodiments, in response to a remote parking handshake request from the vehicle, the BCM and VCU handshake to determine whether the BCM and VCU have entered the remote parking state; if both the BCM and VCU have entered the remote parking state and the vehicle meets the driving requirements, lateral control requirements and longitudinal control requirements, it is determined that the vehicle's remote parking function is activated.

[0064] In some embodiments, when the vehicle's remote parking function is activated, the BCM communicates with the VCU to exchange fault information.

[0065] In some embodiments, the vehicle is a One-Box type vehicle.

[0066] It should be noted that the description of the braking control device for remote-controlled parking of a vehicle in this application is the same as the description of the braking control method for remote-controlled parking of a vehicle in this application, and will not be repeated here.

[0067] According to an embodiment of the present invention, a braking control device for remote parking of a vehicle includes a main brake controller (BCM) for controlling a hydraulic braking unit and a first EPB caliper, and a vehicle control unit (VCU) for controlling a second EPB caliper. The BCM communicates with the VCU. When the remote parking function is activated, if the communication between the BCM and VCU is abnormal, or if the communication is normal but the BCM has both hydraulic and EPB braking faults, the VCU controls the second EPB caliper to brake the vehicle based on a braking request. Therefore, during remote parking, if the communication between the BCM and VCU is abnormal, or if the communication is normal but the BCM has both hydraulic and EPB braking faults, the vehicle's own VCU controls the second EPB caliper to brake the vehicle. In other words, the VCU acts as a backup brake controller for remote parking, thus satisfying the braking function of remote parking without requiring an additional backup brake controller, saving costs.

[0068] Figure 5 This is a schematic block diagram of a vehicle according to an embodiment of the present invention. Figure 5 As shown, the vehicle 200 includes a memory 210 and a processor 220, wherein a braking control program for remote parking of the vehicle is stored in the memory 210 and can be run on the processor 220. When the processor 220 executes the program, it implements the above-described braking control method for remote parking of the vehicle.

[0069] According to the vehicle of the present invention, through the above-described braking control method for remote parking of the vehicle, if the communication between the BCM and VCU is abnormal during remote parking, or if the communication between the BCM and VCU is normal but the BCM has hydraulic braking faults and EPB braking faults, the vehicle's own vehicle controller VCU controls the second EPB caliper to achieve braking of the vehicle. That is, the vehicle controller VCU is used as a backup brake controller during remote parking, thereby satisfying the braking function of remote parking without the need for additional backup brake controller configuration, saving costs.

[0070] In addition, embodiments of the present invention provide a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the braking control method for remote parking of a vehicle as described above.

[0071] According to the computer-readable storage medium of the present invention, through the above-described braking control method for remote parking of a vehicle, if the communication between the BCM and VCU is abnormal during remote parking of the vehicle, or if the communication between the BCM and VCU is normal but the BCM has hydraulic braking faults and EPB braking faults, the vehicle's own vehicle controller VCU controls the second EPB caliper to achieve braking of the vehicle. That is, the vehicle controller VCU is used as a backup brake controller during remote parking of the vehicle, thereby satisfying the braking function of remote parking without the need for additional backup brake controller configuration, saving costs.

[0072] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0073] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0074] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0075] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0076] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0077] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A braking control method for remote-controlled parking of a vehicle, characterized in that, The vehicle includes a main brake controller (BCM), a vehicle control unit (VCU), a hydraulic braking unit and a first EPB caliper controlled by the BCM, and a second EPB caliper controlled by the VCU. The method includes: In response to the vehicle's remote parking handshake request, the BCM and the VCU handshake to determine whether the BCM and the VCU have entered the remote parking state; if both the BCM and the VCU have entered the remote parking state and the vehicle meets the driving requirements, lateral control requirements and longitudinal control requirements, it is determined that the vehicle's remote parking function is activated. When the remote parking function of the vehicle is activated, the method further includes: the BCM communicating with the VCU to exchange fault information; The BCM acquires the operating status of the hydraulic braking unit and the first EPB caliper, determines whether the hydraulic braking unit and the first EPB caliper have malfunctioned, and then sends the status information of the hydraulic braking unit and the first EPB caliper to the VCU; the VCU collects the information of the second EPB caliper and sends the information of the second EPB caliper to the BCM. When the remote parking function of the vehicle is activated, if the communication between the BCM and the VCU is abnormal, or if the communication between the BCM and the VCU is normal and the BCM has a hydraulic braking fault and an EPB braking fault, then the VCU controls the second EPB caliper to brake the vehicle based on the vehicle braking request. The method further includes: if the BCM communicates normally with the VCU and the BCM does not have a hydraulic braking fault or an EPB braking fault, then the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on the vehicle braking request; In the event of communication failure between the BCM and the VCU, the method further includes: the VCU actively taking over the vehicle; if the VCU does not have an EPB braking fault, the VCU controls the second EPB caliper to brake the vehicle based on the vehicle braking request; and the VCU controls the second EPB caliper to clamp and stop the vehicle according to deceleration safety requirements; if the VCU has an EPB braking fault, the BCM controls the hydraulic braking unit or the first EPB caliper to brake the vehicle based on the vehicle braking request; if the BCM and the VCU communicate normally, and the BCM has both a hydraulic braking fault and an EPB braking fault, the BCM sends a vehicle braking request to the VCU, uses the VCU as a backup brake controller for remote parking of the vehicle and takes over the vehicle, and the VCU controls the second EPB caliper to brake the vehicle based on the vehicle braking request, and the VCU controls the second EPB caliper to clamp and stop the vehicle according to deceleration safety requirements. The step of the BCM controlling the hydraulic braking unit or the first EPB caliper to brake the vehicle based on a vehicle braking request includes: when there is no hydraulic braking fault in the BCM, the BCM controlling the hydraulic braking unit to brake the vehicle based on a vehicle braking request; and when there is a hydraulic braking fault in the BCM and no EPB braking fault, the BCM controlling the first EPB caliper to brake the vehicle based on a vehicle braking request.

2. The method according to claim 1, characterized in that, The vehicle in question is a One-Box type vehicle.

3. A computer-readable storage medium, characterized in that, It stores a program that, when executed by a processor, implements the braking control method for remote parking of a vehicle according to any one of claims 1-2.

4. A vehicle, characterized in that, include: The system includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the braking control method for remote parking of a vehicle according to any one of claims 1-2.

5. A braking control device for remote-controlled parking of a vehicle, characterized in that, For implementing the method as described in any one of claims 1-2, comprising: Hydraulic braking unit and first EPB caliper; Second EPB caliper; A main brake controller (BCM) is used to control the hydraulic braking unit and the first EPB caliper. The vehicle control unit (VCU) controls the second EPB caliper, and the vehicle brake motor (BCM) communicates with the VCU. When the remote parking function of the vehicle is activated, if the communication between the BCM and the VCU is abnormal, or if the communication between the BCM and the VCU is normal but the BCM has a hydraulic braking fault and an EPB braking fault, then the VCU controls the second EPB caliper to brake the vehicle based on the vehicle braking request.

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