Vehicle control method, device and vehicle

Abstract

The application provides a vehicle control method and device and a vehicle, and relates to the technical field of vehicle control. The method applies a parking brake system of the vehicle, and realizes multi-point control of rear wheel calipers based on the parking brake system. In addition, redundancy design of the control of the rear wheel calipers is realized based on the multi-point control of the rear wheel calipers, that is, a plurality of caliper control circuits for the control of the rear wheel calipers are formed based on hardware modules participating in the control of the rear wheel calipers in the parking brake system. When a fault occurs in the parking brake system, a caliper control circuit not including the fault source is selected from the plurality of caliper control circuits based on the determined fault source, so as to control the rear wheel calipers, thereby realizing vehicle parking or unparking, and improving the reliability of the control of the rear wheel calipers and the parking safety of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, device and vehicle in the field of vehicle control technology. Background Art

[0002] Some current vehicle models have eliminated the P-lock mechanism, leaving the only mechanism for parking the vehicle behind the wheel: the Electric Parking Brake (EPB). If the EPB malfunctions, the vehicle becomes unparkable, for example, on a slope, causing the vehicle to roll away, potentially posing a safety hazard. Therefore, ensuring safe parking in the event of an EPB malfunction becomes a pressing issue. Summary of the Invention

[0003] The present application provides a vehicle control method, device and vehicle. The present application realizes multi-point control of the rear wheel caliper, and also realizes redundant design of the rear wheel caliper control based on the multi-point control of the rear wheel caliper, that is, based on the hardware modules participating in the rear wheel caliper control in the parking brake system, multiple caliper control circuits for rear wheel caliper control are formed. When a failure occurs in the parking brake system, a caliper control circuit that does not include the fault source is selected from the multiple caliper control circuits based on the determined fault source to control the rear wheel caliper, thereby realizing parking or releasing the vehicle, which is beneficial to improving the reliability of the rear wheel caliper control and improving the parking safety of the vehicle.

[0004] In a first aspect, a vehicle control method is provided, which is applied to a parking brake system, wherein the parking brake system includes: a parking switch, a brake system controller, a caliper assembly and three caliper control circuits for controlling the caliper assembly; the caliper assembly includes two rear wheel calipers, the brake system controller includes at least two communication modules, a control module, at least two drive modules and an H-bridge assembly, the H-bridge assembly includes at least two H-bridge modules, the first H-bridge module is connected to the first rear wheel caliper, and the second H-bridge module is connected to the second rear wheel caliper; each caliper control circuit includes a single drive module, the H-bridge assembly and the caliper assembly connected in sequence, the drive module in each caliper control circuit is used to output a drive signal to the H-bridge assembly when receiving a caliper control signal, and the H-bridge assembly controls the caliper assembly connected to the H assembly according to the drive signal to execute the target corresponding to the caliper control signal. action; wherein, if the caliper control signal is a signal generated by the parking switch being triggered, the caliper control signal is sent to the driving module in the first caliper control circuit through a first transmission path, or the caliper control signal is sent to the driving module in the second caliper control circuit through a second transmission path; the first transmission path includes the parking switch and the driving module in the first caliper control circuit connected in sequence, and the second transmission path includes the parking switch, the control module and the driving module in the second caliper control circuit connected in sequence; if the caliper control signal is a signal received by a single communication module from a CAN network, the caliper control signal is sent to the driving module in the third caliper control circuit through a third transmission path, and the third transmission path includes the single communication module, the control module and the driving module in the third caliper control circuit connected in sequence.The vehicle control method includes: in the event that a fault occurs in the parking brake system, determining a fault source in the parking brake system; wherein the fault source does not include the parking switch; filtering the caliper control circuit including the fault source among the three caliper control circuits to obtain an alternative caliper control circuit; determining a target strategy from a first strategy and a second strategy according to the fault source; wherein the first strategy is, in the event that the fault source includes the control module, prompting the user to generate the caliper control signal by triggering the parking switch; the second strategy is, in the event that the fault source does not include the control module, prompting the user to generate the caliper control signal by triggering the parking switch and instructing the parking brake system to monitor the single communication module to receive the caliper control signal from the CAN network; in the event that the caliper control signal is received, determining a target transmission path for transmitting the caliper control signal; determining a target caliper control circuit from the alternative caliper control circuits according to the target transmission path and the target strategy; and using the target caliper control circuit to control the caliper assembly to perform the target action.

[0005] Based on the above technical solution provided by the present application, not only multi-point control of the rear wheel caliper is realized, but also redundant design of the rear wheel caliper control is realized on the basis of the multi-point control of the rear wheel caliper, that is, multiple caliper control circuits for rear wheel caliper control are formed based on the hardware modules involved in the rear wheel caliper control in the parking brake system. When a failure occurs in the parking brake system, a caliper control circuit that does not include the fault source is selected from the multiple caliper control circuits based on the determined fault source to control the rear wheel caliper, thereby realizing parking or releasing the vehicle, which is beneficial to improving the reliability of the rear wheel caliper control and improving the parking safety of the vehicle.

[0006] In conjunction with the first aspect, in some possible implementations, filtering the caliper control circuit including the fault source among the three caliper control circuits to obtain an alternative caliper control circuit includes:

[0007] If the fault source is the control module, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the first caliper control circuit is determined as the alternative caliper control circuit; determining the target caliper control circuit from the alternative caliper control circuit according to the target transmission path and the target strategy includes: if the target strategy is the first strategy and the target transmission path is the first transmission path, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0008] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, the filtering of the caliper control circuit including the fault source in the three caliper control circuits to obtain the alternative caliper control circuit includes: if the fault source is one of the communication modules, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the first caliper control circuit, the caliper control circuit formed by the parking switch, the control module, the single drive module, the H-bridge assembly and the caliper assembly connected in sequence in the second caliper control circuit, and the caliper control circuit formed by another communication module, the control module, the single drive module, the H-bridge assembly and the caliper assembly connected in sequence in the third caliper control circuit are determined as the alternative caliper control circuit; the caliper control circuit is obtained from the alternative caliper control circuit according to the target transmission path and the target strategy. Determining the target caliper control circuit in the control circuit includes: if the target strategy is the first strategy and the target transmission path is the first transmission path, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the second transmission path, any one of the second type of caliper control circuits included in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by another communication module, the control module, the single drive module, the H-bridge assembly and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0009] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, the filtering of the caliper control circuit including the fault source among the three caliper control circuits to obtain an alternative caliper control circuit includes: if the fault source is the connecting line between the control module and the first drive module, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the first caliper control circuit, the caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly and the caliper assembly connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge assembly and the caliper assembly connected in sequence in the third caliper control circuit are determined as the alternative caliper control circuit; the determining of the alternative caliper control circuit from the alternative caliper control circuit according to the target transmission path and the target strategy. The target caliper control circuit includes: if the target strategy is the first strategy and the target transmission path is the first transmission path, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the second transmission path, the caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge assembly and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0010] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, the filtering of the caliper control circuit including the fault source in the three caliper control circuits to obtain the alternative caliper control circuit includes: if the fault source is the first drive module, the caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge component and the caliper component connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge component and the caliper component connected in sequence in the third caliper control circuit are determined as the alternative caliper control circuit; the filtering according to the target transmission path and the target Strategy, determining the target caliper control circuit from the alternative caliper control circuit includes: if the target strategy is the second strategy and the target transmission path is the second transmission path, the caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge component and the caliper component connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge component and the caliper component connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0011] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, the filtering of the caliper control circuit including the fault source in the three caliper control circuits to obtain an alternative caliper control circuit includes: if the fault source is the second drive module, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the first caliper control circuit, the caliper control circuit formed by the parking switch, the control module, the first drive module, the H-bridge assembly and the caliper assembly connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the first drive module, the H-bridge assembly and the caliper assembly connected in sequence in the third caliper control circuit are determined as the alternative caliper control circuit; the target caliper control circuit is determined from the alternative caliper control circuits according to the target transmission path and the target strategy. The circuit includes: if the target strategy is the first strategy and the target transmission path is the first transmission path, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the second transmission path, the caliper control circuit formed by the parking switch, the control module, the first drive module, the H-bridge assembly and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the first drive module, the H-bridge assembly and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0012] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, the filtering of the caliper control circuit including the fault source in the three caliper control circuits to obtain the alternative caliper control circuit includes: if the fault source is the first H-bridge module and / or the first rear wheel caliper, the caliper control circuit of the parking switch, the control module, the second drive module, the second H-bridge module and the second rear wheel caliper connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the second drive module, the second H-bridge module and the second rear wheel caliper connected in sequence in the third caliper control circuit are determined as the alternative caliper control circuit; the filtering according to the target transmission path and the The target strategy, determining the target caliper control circuit from the alternative caliper control circuit includes: if the target strategy is the second strategy and the target transmission path is the second transmission path, the caliper control circuit formed by the parking switch, the control module, the second drive module, the second H-bridge module and the second rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the second H-bridge module and the second rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle control method also includes: in the event of a failure in the parking brake system, if it is detected that the fault light of the parking brake system is on, a prompt message is output; wherein, the prompt message reminds the user that the vehicle has enabled an alternative caliper control circuit that does not include the fault source to control the rear axle wheel caliper, and the vehicle can perform parking operations normally.

[0014] In a second aspect, a vehicle control device is provided, which is configured in a parking brake system, wherein the parking brake system includes: a parking switch, a brake system controller, a caliper assembly and three caliper control circuits for controlling the caliper assembly; the caliper assembly includes two rear wheel calipers, the brake system controller includes at least two communication modules, a control module, at least two drive modules and an H-bridge assembly, the H-bridge assembly includes at least two H-bridge modules, the first H-bridge module is connected to the first rear wheel caliper, and the second H-bridge module is connected to the second rear wheel caliper; each caliper control circuit includes a single drive module, the H-bridge assembly and the caliper assembly connected in sequence, the drive module in each caliper control circuit is used to output a drive signal to the H-bridge assembly when receiving a caliper control signal, and the H-bridge assembly controls the caliper assembly connected to the H assembly according to the drive signal to execute the target corresponding to the caliper control signal. action; wherein, if the caliper control signal is a signal generated by the parking switch being triggered, the caliper control signal is sent to the driving module in the first caliper control circuit through a first transmission path, or the caliper control signal is sent to the driving module in the second caliper control circuit through a second transmission path; the first transmission path includes the parking switch and the driving module in the first caliper control circuit connected in sequence, and the second transmission path includes the parking switch, the control module and the driving module in the second caliper control circuit connected in sequence; if the caliper control signal is a signal received by a single communication module from a CAN network, the caliper control signal is sent to the driving module in the third caliper control circuit through a third transmission path, and the third transmission path includes the single communication module, the control module and the driving module in the third caliper control circuit connected in sequence.

[0015] The vehicle control device comprises:

[0016] a fault determination module, configured to determine a fault source in the parking brake system when a fault occurs in the parking brake system; wherein the fault source does not include the parking switch;

[0017] a circuit screening module, configured to filter the caliper control circuit including the fault source among the three caliper control circuits to obtain an alternative caliper control circuit;

[0018] a strategy selection module, configured to determine a target strategy from a first strategy and a second strategy based on the fault source; wherein the first strategy is to prompt a user to generate the caliper control signal by triggering the parking switch when the fault source includes the control module; and the second strategy is to prompt a user to generate the caliper control signal by triggering the parking switch and instruct the parking brake system to monitor the caliper control signal received by the single communication module from the CAN network when the fault source does not include the control module.

[0019] a path determination module, configured to determine a target transmission path for transmitting the caliper control signal upon receiving the caliper control signal;

[0020] a circuit determination module, configured to determine a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy;

[0021] The caliper execution module is used to control the caliper assembly to execute the target action by adopting the target caliper control circuit.

[0022] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the vehicle control method of the first aspect or any possible implementation of the first aspect.

[0023] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 An exemplary system block diagram of a parking brake system provided by an embodiment of the present application is shown;

[0025] Figure 2 A schematic flow chart of a vehicle control method provided in an embodiment of the present application is shown;

[0026] Figure 3 An exemplary system block diagram of a control module failure in a parking brake system provided by the present application is shown;

[0027] Figure 4 An exemplary system block diagram of a single communication module failure in the parking brake system provided by the present application is shown;

[0028] Figure 5An exemplary system block diagram of a connection line fault in the parking brake system provided in the present application is shown.

[0029] Figure 6 An exemplary system block diagram of a first drive module fault in the parking brake system provided in the present application is shown.

[0030] Figure 7 An exemplary system block diagram of a second drive module fault in the parking brake system provided in the present application is shown.

[0031] Figure 8 An exemplary system block diagram of a first H-bridge module and / or the first rear wheel caliper fault in the parking brake system provided in the present application is shown.

[0032] Figure 9 An exemplary system block diagram of a second H-bridge module and / or the second rear wheel caliper fault in the parking brake system provided in the present application is shown.

[0033] Figure 10 An exemplary structure diagram of a vehicle control device provided in an embodiment of the present application is shown.

[0034] Figure 11 An exemplary structure diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0035] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0036] Hereinafter, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features.

[0037] In the current vehicle field, some models have canceled the P lock, and the only mechanism on the vehicle that can achieve parking is the electronic parking brake system. When the electronic parking brake system fails, the vehicle will not be able to achieve parking through the electronic parking brake system, thereby easily causing safety hazards.

[0038] Based on the problems existing in the above-mentioned related technologies, the embodiments of the present application provide a vehicle control method, device, and vehicle. This application not only implements a redundant design of the drive module of the rear wheel caliper, but also implements multi-point control of the rear wheel caliper. The multi-point control includes user-active control of vehicle parking and vehicle-automatic control of vehicle parking, thereby ensuring parking reliability. In addition, the multi-point control of the rear wheel caliper is combined with the redundant design of the drive module to form multiple control circuits for rear wheel caliper control. When a single hardware module involved in rear wheel caliper control in the parking brake system fails, the rear wheel caliper can be controlled by using a control circuit that does not include the failed single hardware module to achieve parking or release, which is beneficial to improving parking safety.

[0039] Figure 1 An exemplary system block diagram of a parking brake system provided by an embodiment of the present application is shown in FIG. Figure 1 As shown, the parking brake system 10 includes: a parking switch 200, a brake system controller 100, a caliper assembly, and three caliper control circuits for controlling the caliper assembly. The parking switch 200 includes a physical parking switch and / or a virtual parking switch (soft switch). The two rear wheel calipers are a first rear wheel caliper 301 and a second rear wheel caliper 302. The first rear wheel caliper 301 can be referred to as the first rear wheel EPB caliper, and the second rear wheel caliper 302 can be referred to as the second rear wheel EPB caliper. The first caliper control circuit is a single circuit for controlling the rear wheel caliper, while the second caliper control circuit and the second caliper control circuit each include multiple circuits for controlling the rear wheel calipers. The difference between the first caliper control circuit and the second caliper control circuit is that the two include different numbers of hardware modules, but the sources of the caliper control signals for rear wheel caliper control are the same, that is, both come from the parking switch 200; the difference between the second caliper control circuit and the third caliper control circuit is that the sources of the caliper control signals for rear wheel caliper control are different, the caliper control signal of the second caliper control circuit comes from the parking switch 200, and the caliper control signal of the third caliper control circuit comes from the communication module in the brake system controller 100, and the second caliper control circuit and the third caliper control circuit include the same number of hardware modules.

[0040] The caliper control signal includes a caliper clamping request or a caliper release request, and the target action includes a caliper clamping action or a caliper release action. That is, when the caliper control signal is a caliper clamping request, the target action is a caliper clamping action; when the caliper control signal is a caliper release request, the target action is a caliper release action. The caliper control signal can be actively triggered by the user or automatically triggered by the vehicle. For example, the user-triggered scenario is when the user triggers Figure 1The physical parking switch in the vehicle generates a caliper control signal. The vehicle automatically triggers the caliper control signal when the vehicle needs to park after completing automatic parking. The vehicle issues a parking completion request signal after completing automatic parking. The parking completion request signal is equivalent to generating a caliper control signal. Since parking is generally required after completing parking, the caliper control signal here is specifically a caliper clamping request.

[0041] The brake system controller 100 includes at least two communication modules, a control module 101 , at least two drive modules and an H-bridge assembly, where the H-bridge assembly includes at least two H-bridge modules.

[0042] This application uses a communication module, a drive module, and an H-bridge module as two examples for explanation. The first H-bridge module 103 is connected to the first rear wheel caliper 301, and the second H-bridge module 203 is connected to the second rear wheel caliper 302. The two communication modules 104 are each other's backup modules. The two communication modules are the first communication module 1041 and the second communication module 1042. The first communication module 1041 and the second communication module 1042 are connected to each other. The first communication module 1041 and the second communication module 1042 can detect each other whether the other has a fault, that is, the first communication module 1041 and the second communication module 1042 send a fault detection signal to each other. If both receive the feedback signal from the other, the two will send a signal to the control module 101 indicating that the communication module to which they are connected is not faulty. If one of the two does not receive the feedback signal from the other, it will send a signal to the control module 101 indicating that the other has a fault. If the control module 101 can receive a signal from any communication module, it indicates that the communication module is not faulty. For example, if it only receives a signal from the first communication module 1041 and does not receive a signal from the second communication module 1042 within a preset time period, it is considered that the second communication module 1042 has failed. Both the first communication module 1041 and the second communication module 1042 can receive caliper control signals from the CAN network. When both the first communication module 1041 and the second communication module 1042 are not faulty, either one of them is used to receive the caliper control signal from the CAN network. For example, the first communication module 1041 is used by default to receive the caliper control signal from the CAN network. When the first communication module 1041 fails, the second communication module 1042 is used to receive the caliper control signal from the CAN network. Specifically, the first communication module 1041 receives the caliper control signal from CAN network 1, and the second communication module 1042 receives the caliper control signal from CAN network 2.

[0043] The parking brake system 10 also includes a vehicle power supply 105, and the brake system controller 100 also includes a power management module 106. The vehicle power supply 105 is connected to the power management module 106 and the parking switch 200, that is, the vehicle power supply 105 supplies power to the power management module 106 and the parking switch 200, and the power management module 106 is connected to at least two communication modules, the control module 101, at least two drive modules and the H-bridge component, that is, the power management module 106 supplies power to the first communication module 1041, the second communication module 1042, the control module 101, at least two drive modules and the H-bridge component.

[0044] The control principles of the caliper assembly by the above three caliper control circuits are the same. Each caliper control circuit includes a single drive module, an H-bridge assembly and a caliper assembly connected in sequence. The control principle of the caliper assembly by each caliper control circuit is as follows: the drive module in each caliper control circuit is used to output a drive signal to the H-bridge assembly when it receives a caliper control signal. The H-bridge assembly controls the caliper assembly connected to the H-bridge module according to the drive signal to perform the target action corresponding to the caliper control signal, so as to realize parking or releasing the vehicle.

[0045] Among them, if the caliper control signal is a signal generated by the parking switch being triggered (which can be understood as the caliper control signal generated by the parking switch 200 after the user triggers the parking switch 200), the caliper control signal is sent to the driver module in the first caliper control circuit via a first transmission path, or the caliper control signal is sent to the driver module in the second caliper control circuit via a second transmission path; the first transmission path includes the parking switch 200 and the driver module in the first caliper control circuit connected in sequence, and the second transmission path includes the parking switch 200, the control module 101, and the driver module in the second caliper control circuit connected in sequence. If the caliper control signal is a signal received by a single communication module from a CAN network, the caliper control signal is sent to the driver module in the third caliper control circuit via a third transmission path, and the third transmission path includes the single communication module, the control module 101, and the driver module in the third caliper control circuit connected in sequence.

[0046] The parking brake system provided in the embodiment of the present application is designed with redundant drive modules. On the one hand, when one of the drive modules fails, the other drive module is not affected and can still work normally, thereby ensuring the parking ability of the vehicle. On the other hand, the dual drive modules can enable the parking brake system to respond quickly to the caliper control signal and quickly achieve parking. Since the two drive modules work at the same time, the parking brake system can process the braking request more quickly and control the braking force more accurately, which enables the vehicle to slow down and stop more quickly in emergency braking situations. The use of the parking brake system has a faster response speed and higher braking efficiency, thereby improving driving safety. On the other hand, the parking brake system with dual drive modules can be seamlessly integrated with other intelligent systems of the vehicle (such as adaptive cruise control system, automatic parking system, etc.). By working in conjunction with these systems, a higher level of automatic driving and intelligent braking functions can be achieved, thereby improving the convenience and comfort of driving.

[0047] The following is an embodiment of a vehicle control method provided in an embodiment of the present application.

[0048] Figure 2 A schematic flow chart of a vehicle control method provided in an embodiment of the present application is shown. Figure 2 As shown, the vehicle control method provided in the embodiment of the present application is applied to the above-mentioned parking brake system, and the vehicle control method includes the following schemes:

[0049] S110: When a fault occurs in the parking brake system, determine a fault source in the parking brake system.

[0050] The causes of parking brake system failure include hardware module failure and / or circuit failure in the parking brake system. In an exemplary embodiment of the present application, the causes of parking brake system failure include hardware module failure or circuit failure, and the failed hardware module is not the parking switch, vehicle power supply, or power management module. In other words, the present application addresses the situation where the parking brake system fails when the cause of the failure is not the parking switch, vehicle power supply, or power management module (hereinafter referred to as "parking brake system failure"). If a parking brake system failure is detected, the source of the failure in the parking brake system is determined, wherein the source of the failure does not include the parking switch, vehicle power supply, or power management module.

[0051] S120: Filter the caliper control circuit including the fault source among the three caliper control circuits to obtain an alternative caliper control circuit.

[0052] After determining the source of the fault, if the caliper control circuit including the fault source among the three caliper control circuits cannot control the rear wheel caliper, it is necessary to filter the caliper control circuit including the fault source to obtain an alternative caliper control circuit, that is, the caliper control circuit included in the alternative caliper control circuit can control the rear wheel caliper.

[0053] S130: Determine a target strategy from the first strategy and the second strategy according to the fault source.

[0054] Because two-point control settings have been made in advance for the control of the rear wheel calipers, namely, the user actively controls the rear wheel calipers through the parking switch and the vehicle automatically controls the rear wheel calipers, that is, the user actively controls the vehicle to park or release the park, and the vehicle automatically parks or releases the park. Therefore, two strategies are set for the case where the fault source includes the control module (the vehicle cannot automatically control the rear wheel calipers and the user cannot actively control the rear wheel calipers) and the case where the fault source does not include the control module (the vehicle cannot automatically control the rear wheel calipers but the user can actively control the rear wheel calipers). The two strategies are used to decide whether to control the vehicle to park or release the park only by actively controlling the rear wheel calipers, or whether to control the vehicle to park or release the park both by actively controlling the rear wheel calipers by the user and by automatically controlling the rear wheel calipers by the vehicle.

[0055] Among them, the first strategy is to prompt the user to generate a caliper control signal by triggering the parking switch when the fault source includes the control module, that is, the vehicle parking or unparking is controlled only by the user's active control of the rear wheel caliper; the second strategy is to prompt the user to generate a caliper control signal by triggering the parking switch and instruct the parking brake system to monitor a single communication module to receive the caliper control signal from the CAN network when the fault source does not include the control module, that is, the vehicle parking or unparking can be controlled both by the user's active control of the rear wheel caliper and by the vehicle's automatic control of the rear wheel caliper.

[0056] S140: When the caliper control signal is received, determine a target transmission path for transmitting the caliper control signal.

[0057] If the caliper control signal is received, a target transmission path for transmitting the caliper control signal is determined, and the target transmission path is any one of the first, second and third transmission paths.

[0058] S150: Determine a target caliper control circuit from candidate caliper control circuits according to the target transmission path and the target strategy.

[0059] After obtaining the target transmission path and target strategy, based on the determined fault source and in combination with the target transmission path and target strategy, a caliper control circuit ultimately used for rear wheel caliper control is determined from the alternative caliper control circuits to obtain the target caliper control circuit.

[0060] S160: Using the target caliper control circuit to control the caliper assembly to perform the target action.

[0061] After obtaining the target caliper control circuit, the target caliper control circuit is used to control the rear wheel calipers to execute the target action, and the other caliper control circuits in the alternative caliper control circuit are disabled. If the caliper control signal includes a caliper clamping request, the target caliper control circuit is used to control the rear wheel calipers to clamp the calipers, thereby parking the vehicle. If the caliper control signal includes a caliper release request, the target caliper control circuit is used to control the rear wheel calipers to release the calipers, thereby releasing the vehicle from the parked state. If the target caliper control circuit controls a single rear wheel caliper, parking requirements on slopes of 8% can be met. If the target caliper control circuit controls two rear wheel calipers, parking requirements on slopes of 30% can be met. This means that even if the parking brake system fails, parking requirements can still be met, thereby improving vehicle parking safety.

[0062] Based on the above technical solution provided by the present application, not only multi-point control of the rear wheel caliper is realized, but also redundant design of the rear wheel caliper control is realized on the basis of the multi-point control of the rear wheel caliper, that is, multiple caliper control circuits for rear wheel caliper control are formed based on the hardware modules involved in the rear wheel caliper control in the parking brake system. When a failure occurs in the parking brake system, a caliper control circuit that does not include the fault source is selected from the multiple caliper control circuits based on the determined fault source to control the rear wheel caliper, thereby realizing parking or releasing the vehicle, which is beneficial to improving the reliability of the rear wheel caliper control and improving the parking safety of the vehicle.

[0063] The following Figure 1 The specific implementation of each step in the embodiment shown is described, wherein: Figures 3-9 The “★” in the middle indicates the source of the fault.

[0064] In one possible implementation, Figure 3 An exemplary system block diagram of a control module failure in the parking brake system provided by the present application is shown in FIG. Figure 3 As shown, the above S120 includes the following solutions:

[0065] If the fault source is the control module, it means that the second caliper control circuit and the third caliper control circuit cannot be used to control the rear wheel calipers, and it also means that the vehicle cannot automatically park or release the parking position. The caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the first caliper control circuit is determined as the alternative caliper control circuit, that is, the first caliper control circuit includes a caliper control circuit, that is, the first caliper control circuit is used as the alternative caliper control circuit.

[0066] If the fault source is the control module, the above S150 includes the following solutions:

[0067] If the target strategy is the first strategy and the target transmission path is the first transmission path, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0068] In the event that a control module fails and causes a parking brake system failure, the user can actively control the rear wheel calipers to park or release the vehicle, which is beneficial to improving the reliability and safety of vehicle parking.

[0069] In one possible implementation, Figure 4 An exemplary system block diagram of a single communication module failure in the parking brake system provided by the present application is shown in FIG. Figure 4 As shown, the above S120 includes the following solutions:

[0070] If the fault source is one of the communication modules, that is, a single communication module fails, it means that the other communication module is not faulty. The first caliper control circuit, the second caliper control circuit, and the third caliper control circuit including the caliper control circuit of the other communication module can be used to control the rear wheel calipers. The vehicle can automatically park or release the parking position, and the user can also actively control the vehicle to park or release the parking position. Therefore, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the first caliper control circuit; the caliper control circuit formed by the parking switch, the control module, the single drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the second caliper control circuit; and the caliper control circuit formed by the other communication module, the control module, the single drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the third caliper control circuit are determined as alternative caliper control circuits.

[0071] For example, if one of the communication modules is the first communication module, then the other communication module is the second communication module, that is, the caliper control circuit formed by the second communication module, control module, single driver module, H-bridge assembly, and caliper assembly connected in sequence in the third caliper control circuit is determined as the alternative caliper control circuit. The caliper control circuit formed by the second communication module, control module, single driver module, H-bridge assembly, and caliper assembly connected in sequence in the third caliper control circuit includes: the caliper control circuit formed by the second communication module, control module, first driver module, H-bridge assembly, and caliper assembly connected in sequence, and the caliper control circuit formed by the second communication module, control module, second driver module, H-bridge assembly, and caliper assembly connected in sequence.

[0072] If the fault source is one of the communication modules, the above S150 includes the following solutions:

[0073] If the target strategy is the first strategy and the target transmission path is the first transmission path, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the second transmission path, any one of the second type of caliper control circuits included in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by another communication module, control module, single drive module, H-bridge assembly and caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0074] In the event that a single communication module fails, resulting in a parking brake system failure, the technical solution based on selecting the target caliper control circuit can not only enable the user to actively control the rear wheel calipers to park or unpark the vehicle, but also enable the vehicle to automatically park or unpark, which is beneficial to improving the reliability and safety of vehicle parking.

[0075] In one possible implementation, Figure 5 An exemplary system block diagram of a connection line failure in the parking brake system provided by the present application is shown. Figure 5 As shown, the above S120 includes the following solutions:

[0076] If the fault source is the connection line between the control module and the first drive module, it means that the first caliper control circuit, the caliper control circuit including the second drive module in the second caliper control circuit, and the third caliper control circuit can be used to control the rear wheel calipers. The vehicle can automatically park or release the vehicle, and the user can also actively control the vehicle to park or release the vehicle. Therefore, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the first caliper control circuit, the caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the third caliper control circuit are determined as alternative caliper control circuits.

[0077] Among them, the caliper control circuit formed by a single communication module, a control module, a second drive module, an H-bridge assembly and a caliper assembly connected in sequence in the third caliper control circuit includes: a caliper control circuit formed by a first communication module, a control module, a second drive module, an H-bridge assembly and a caliper assembly connected in sequence, and a caliper control circuit formed by a second communication module, a control module, a second drive module, an H-bridge assembly and a caliper assembly connected in sequence.

[0078] If the fault source is the connection line between the control module and the first drive module, the above S150 includes the following solutions:

[0079] If the target strategy is the first strategy and the target transmission path is the first transmission path, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the second transmission path, the caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge assembly and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0080] In the event that the connection line between the control module and the first drive module fails, resulting in a parking brake system failure, not only can the user actively control the rear wheel calipers to park or unpark the vehicle, but the vehicle can also automatically park or unpark, which is beneficial to improving the reliability and safety of vehicle parking.

[0081] In addition, when a failure occurs in the connection line between the control module and the second drive module, the method for determining the alternative caliper control circuit and the target caliper control circuit is the same as the method for determining the alternative caliper control circuit and the target caliper control circuit when a failure occurs in the connection line between the above-mentioned control module and the first drive module, and this application will not repeat it.

[0082] In one possible implementation, Figure 6 An exemplary system block diagram of a first drive module failure in the parking brake system provided by the present application is shown as follows: Figure 6 As shown, the above S120 includes the following solutions:

[0083] If the fault source is the first drive module, it means that the first caliper control circuit and the caliper control circuit including the first drive module in the second caliper control circuit cannot be used to control the rear wheel calipers. However, the caliper control circuit including the second drive module in the second caliper control circuit and the third caliper control circuit can be used to control the rear wheel calipers. The vehicle can automatically park or release the parking position, and the user can also actively control the vehicle to park or release the parking position. Therefore, the caliper control circuit formed by the parking switch, control module, second drive module, H-bridge assembly and caliper assembly connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, control module, second drive module, H-bridge assembly and caliper assembly connected in sequence in the third caliper control circuit are determined as alternative caliper control circuits. Among them, the caliper control circuit formed by a single communication module, a control module, a second drive module, an H-bridge assembly and a caliper assembly connected in sequence in the third caliper control circuit includes: a caliper control circuit formed by a first communication module, a control module, a second drive module, an H-bridge assembly and a caliper assembly connected in sequence, and a caliper control circuit formed by a second communication module, a control module, a second drive module, an H-bridge assembly and a caliper assembly connected in sequence.

[0084] If the fault source is the first drive module, the above S150 includes the following solutions:

[0085] If the target strategy is the second strategy and the target transmission path is the second transmission path, the caliper control circuit formed by the parking switch, control module, second drive module, H-bridge assembly and caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, control module, second drive module, H-bridge assembly and caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0086] In the event that the first drive module fails, resulting in a parking brake system failure, based on the above-mentioned technical solution of selecting the target caliper control circuit, not only can the user actively control the rear wheel calipers to park or release the vehicle, but the vehicle can also automatically park or release the vehicle, which is beneficial to improving the reliability and safety of vehicle parking.

[0087] In one possible implementation, Figure 7 An exemplary system block diagram of a second drive module failure in the parking brake system provided by the present application is shown in FIG. Figure 7 As shown, the above S120 includes the following solutions:

[0088] If the fault source is the second drive module, it means that the first caliper control circuit, the caliper control circuit including the first drive module in the second caliper control circuit, and the third caliper control circuit can be used to control the rear wheel calipers. The vehicle can automatically park or release the parking position, and the user can also actively control the vehicle to park or release the parking position. Therefore, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the first caliper control circuit, the caliper control circuit formed by the parking switch, the control module, the first drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the first drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the third caliper control circuit are determined as alternative caliper control circuits.

[0089] Among them, the caliper control circuit formed by a single communication module, a control module, a first drive module, an H-bridge assembly and a caliper assembly connected in sequence in the third caliper control circuit includes: a caliper control circuit formed by a first communication module, a control module, a second drive module, an H-bridge assembly and a caliper assembly connected in sequence, and a caliper control circuit formed by a second communication module, a control module, a first drive module, an H-bridge assembly and a caliper assembly connected in sequence.

[0090] If the fault source is the first drive module, the above S150 includes the following solutions:

[0091] If the target strategy is the second strategy and the target transmission path is the second transmission path, the caliper control circuit formed by the parking switch, control module, second drive module, H-bridge assembly and caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, control module, second drive module, H-bridge assembly and caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0092] In the event that the second drive module fails, resulting in a parking brake system failure, based on the above-mentioned technical solution of selecting the target caliper control circuit, not only can the user actively control the rear wheel calipers to park or release the vehicle, but the vehicle can also automatically park or release the vehicle, which is beneficial to improving the reliability and safety of vehicle parking.

[0093] In one possible implementation, Figure 8 An exemplary system block diagram of a first H-bridge module and / or first rear wheel caliper failure in the parking brake system provided by the present application is shown. Figure 8 As shown, the above S120 includes the following solutions:

[0094] If the fault source is the first H-bridge module and / or the first rear wheel caliper, it means that the first caliper control circuit cannot be used to control the rear wheel caliper. The second caliper control circuit including the second drive module and the caliper control circuit of the second rear wheel caliper, and the third caliper control circuit including the second drive module and the caliper control circuit of the second rear wheel caliper can be used to control the second rear wheel caliper. The vehicle can automatically park or release the parking, and the user can also actively control the vehicle to park or release the parking. Therefore, the parking switch, control module, second drive module, second H-bridge module and caliper control circuit of the second rear wheel caliper connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, control module, second drive module, second H-bridge module and second rear wheel caliper connected in sequence in the third caliper control circuit are determined as alternative caliper control circuits.

[0095] Among them, the caliper control circuit formed by a single communication module, a control module, a second drive module, a second H-bridge module and a second rear wheel caliper connected in sequence in the third caliper control circuit includes: a caliper control circuit formed by a first communication module, a control module, a second drive module, a second H-bridge module and a second rear wheel caliper connected in sequence, and a caliper control circuit formed by a second communication module, a control module, a second drive module, a second H-bridge module and a second rear wheel caliper.

[0096] If the fault source is the first H-bridge module and / or the first rear wheel caliper, the above S150 includes the following solutions:

[0097] If the target strategy is the second strategy and the target transmission path is the second transmission path, the caliper control circuit formed by the parking switch, control module, second drive module, second H-bridge module and second rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, control module, second drive module, second H-bridge module and second rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0098] In the event that the first H-bridge module and / or the first rear wheel caliper fails, resulting in a parking brake system failure, based on the above-mentioned technical solution of selecting the target caliper control circuit, not only can the user actively control the rear wheel caliper to park or release the vehicle, but the vehicle can also automatically park or release the vehicle, which is beneficial to improving the reliability and safety of vehicle parking.

[0099] In one possible implementation, Figure 9 FIG. 1 shows an exemplary system block diagram of a second H-bridge module and / or a second rear wheel caliper failure in the parking brake system provided by the present application. Figure 9 As shown, the above S120 includes the following solutions:

[0100] If the fault source is the second H-bridge module and / or the second rear wheel caliper, it means that the first caliper control circuit can be used. The second caliper control circuit includes the first drive module and the caliper control circuit of the first rear wheel caliper, and the third caliper control circuit includes the first drive module and the caliper control circuit of the first rear wheel caliper to control the first rear wheel caliper. The vehicle can automatically park or release the vehicle, and the user can also actively control the vehicle to park or release the vehicle. Therefore, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the first rear wheel caliper connected in sequence in the first caliper control circuit; the parking switch, the control module, the second drive module, the first drive module, and the caliper control circuit of the first rear wheel caliper connected in sequence in the second caliper control circuit; and the caliper control circuit formed by the single communication module, the control module, the second drive module, the first drive module, and the first rear wheel caliper connected in sequence in the third caliper control circuit are determined as alternative caliper control circuits.

[0101] Among them, the caliper control circuit formed by a single communication module, a control module, a second drive module, a first drive module and a first rear wheel caliper connected in sequence in the third caliper control circuit includes: a caliper control circuit formed by the first communication module, the control module, the second drive module, the first drive module and the first rear wheel caliper connected in sequence, and a caliper control circuit formed by the second communication module, the control module, the second drive module, the first drive module and the first rear wheel caliper.

[0102] If the fault source is the first H-bridge module and / or the first rear wheel caliper, the above S150 includes the following solutions:

[0103] If the target strategy is the first strategy and the target transmission path is the first transmission path, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the first rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the second transmission path, the caliper control circuit formed by the parking switch, the control module, the second drive module, the first H-bridge module and the first rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the first H-bridge module and the first rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0104] In the event that the second H-bridge module and / or the second rear wheel caliper fails, resulting in a parking brake system failure, based on the above-mentioned technical solution of selecting the target caliper control circuit, not only can the user actively control the rear wheel caliper to park or release the vehicle, but the vehicle can also automatically park or release the vehicle, which is beneficial to improving the reliability and safety of vehicle parking.

[0105] Based on the target caliper control circuit selection scheme corresponding to the above-mentioned different fault points, if the parking brake system fails due to a failure of any of the control module, the connection line between the control module and the first drive module, or a single communication module, the vehicle can achieve 30% slope parking; if the parking brake system fails due to a failure of a single H-bridge module and / or a single rear wheel caliper, the vehicle can achieve 8% slope parking. In this way, even if the parking brake system fails, the vehicle can still be parked or contact parked, thereby improving the reliability and safety of vehicle parking.

[0106] In one possible implementation, the vehicle control method further includes:

[0107] In the event of a parking brake system failure, if it is detected that the parking brake system fault light is on, a prompt message is output; wherein, the prompt message reminds the user that the vehicle has enabled the alternative caliper control circuit that does not include the fault source to control the rear axle wheel caliper, and the vehicle can perform the parking operation normally.

[0108] Usually, once a parking brake system fails, a parking brake system failure signal will be displayed on the vehicle's display screen, that is, the parking brake system fault light will be turned on. Considering that the user sees that the parking brake system fault light is on, and thus worries that the vehicle cannot be parked and panics, if the parking brake system fails, if it is detected that the parking brake system fault light is on, a prompt message will be output, reminding the user that the vehicle has enabled an alternative caliper control circuit that does not include the fault source to control the rear axle wheel caliper, and the vehicle can perform the parking operation normally. In other words, the user is informed that the hardware module in the parking brake system is redundantly designed, and there are many caliper control circuits for controlling the rear wheel calipers. After the parking brake system fails, the redundant control circuit has been enabled, and the vehicle can still be parked normally, thereby eliminating the user's worries.

[0109] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0110] Figure 10A structural schematic diagram of a vehicle control device provided by an embodiment of the present application is shown. As shown in Figure 1000, the vehicle control device 1000 is configured in a parking brake system, and the parking brake system includes: a parking switch, a brake system controller, a caliper assembly and three caliper control circuits for controlling the caliper assembly; the caliper assembly includes two rear wheel calipers, and the brake system controller includes at least two communication modules, a control module, at least two drive modules and an H-bridge assembly. The H-bridge assembly includes at least two H-bridge modules, the first H-bridge module is connected to the first rear wheel caliper, and the second H-bridge module is connected to the second rear wheel caliper; each caliper control circuit includes a single drive module, the H-bridge assembly and the caliper assembly connected in sequence, and the drive module in each caliper control circuit is used to output a drive signal to the H-bridge assembly when receiving a caliper control signal, and the H-bridge assembly controls the caliper assembly connected to the H assembly according to the drive signal. Execute the target action corresponding to the caliper control signal; wherein, if the caliper control signal is a signal generated by the parking switch being triggered, the caliper control signal is sent to the driving module in the first caliper control circuit through a first transmission path, or the caliper control signal is sent to the driving module in the second caliper control circuit through a second transmission path; the first transmission path includes the parking switch and the driving module in the first caliper control circuit connected in sequence, and the second transmission path includes the parking switch, the control module and the driving module in the second caliper control circuit connected in sequence; if the caliper control signal is a signal received by a single communication module from a CAN network, the caliper control signal is sent to the driving module in the third caliper control circuit through a third transmission path, and the third transmission path includes the single communication module, the control module and the driving module in the third caliper control circuit connected in sequence.

[0111] The vehicle control device 1000 includes:

[0112] a fault determination module 1010, configured to determine a fault source in the parking brake system when a fault occurs in the parking brake system; wherein the fault source does not include the parking switch;

[0113] a circuit screening module 1020 for filtering the caliper control circuit including the fault source among the three caliper control circuits to obtain an alternative caliper control circuit;

[0114] a strategy selection module 1030, configured to determine a target strategy from a first strategy and a second strategy based on the fault source; wherein the first strategy is to prompt a user to generate the caliper control signal by triggering the parking switch when the fault source includes the control module; and the second strategy is to prompt a user to generate the caliper control signal by triggering the parking switch and instruct the parking brake system to monitor the caliper control signal received by the single communication module from the CAN network when the fault source does not include the control module.

[0115] a path determination module 1040, configured to determine a target transmission path for transmitting the caliper control signal upon receiving the caliper control signal;

[0116] a circuit determination module 1050 for determining a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy;

[0117] The caliper execution module 1060 is configured to control the caliper assembly to execute the target action by using the target caliper control circuit.

[0118] In one possible implementation, the circuit screening module 1020 includes:

[0119] a first screening unit, configured to, if the fault source is the control module, determine a caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the first caliper control circuit as the candidate caliper control circuit;

[0120] The circuit determination module 1050 includes:

[0121] The first determination unit is used to determine the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit as the target caliper control circuit if the target strategy is the first strategy and the target transmission path is the first transmission path.

[0122] In one possible implementation, the circuit screening module 1020 includes:

[0123] a second screening unit, configured to, if the fault source is one of the communication modules, determine as the candidate caliper control circuits a caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the first type of caliper control circuit; a caliper control circuit formed by the parking switch, the control module, the single drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the second type of caliper control circuit; and a caliper control circuit formed by another communication module, the control module, the single drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the third type of caliper control circuit;

[0124] The circuit determination module 1050 includes:

[0125] The second determination unit is used to determine the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit as the target caliper control circuit if the target strategy is the first strategy and the target transmission path is the first transmission path; if the target strategy is the second strategy and the target transmission path is the second transmission path, determine any one of the second type of caliper control circuits included in the alternative caliper control circuit as the target caliper control circuit; if the target strategy is the second strategy and the target transmission path is the third transmission path, determine the caliper control circuit formed by another communication module, the control module, the single drive module, the H-bridge assembly and the caliper assembly connected in sequence in the alternative caliper control circuit as the target caliper control circuit.

[0126] In one possible implementation, the circuit screening module 1020 includes:

[0127] a third screening unit, configured to, if the fault source is the connection line between the control module and the first drive module, determine as the candidate caliper control circuits a caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the first caliper control circuit; a caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the second caliper control circuit; and a caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the third caliper control circuit;

[0128] The circuit determination module 1050 includes:

[0129] a third determining unit, configured to determine, if the target strategy is the first strategy and the target transmission path is the first transmission path, a caliper control circuit formed by the parking switch, the first driving module, the first H-bridge module, and the caliper assembly sequentially connected in the alternative caliper control circuit as the target caliper control circuit;

[0130] If the target strategy is the second strategy and the target transmission path is the second transmission path, a caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly, and the caliper assembly sequentially connected in the alternative caliper control circuit is determined as the target caliper control circuit;

[0131] If the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge component and the caliper component connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0132] In one possible implementation, the circuit screening module 1020 includes:

[0133] a fourth screening unit, configured to, if the fault source is the first drive module, determine a caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the second caliper control circuit, and a caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the third caliper control circuit as the alternative caliper control circuits;

[0134] The circuit determination module 1050 includes:

[0135] a fourth determining unit, configured to determine, if the target strategy is the second strategy and the target transmission path is the second transmission path, a caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly, and the caliper assembly sequentially connected in the alternative caliper control circuit as the target caliper control circuit;

[0136] If the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge component and the caliper component connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0137] In one possible implementation, the circuit screening module 1020 includes:

[0138] a fifth screening unit, configured to, if the fault source is the second drive module, determine as the alternative caliper control circuits a caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the first type of caliper control circuit; a caliper control circuit formed by the parking switch, the control module, the first drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the second type of caliper control circuit; and a caliper control circuit formed by the single communication module, the control module, the first drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the third type of caliper control circuit;

[0139] The circuit determination module 1050 includes:

[0140] a fifth determining unit, configured to determine, if the target strategy is the first strategy and the target transmission path is the first transmission path, a caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the alternative caliper control circuit as the target caliper control circuit;

[0141] If the target strategy is the second strategy and the target transmission path is the second transmission path, a caliper control circuit formed by the parking switch, the control module, the first drive module, the H-bridge assembly, and the caliper assembly sequentially connected in the alternative caliper control circuit is determined as the target caliper control circuit;

[0142] If the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the first drive module, the H-bridge component and the caliper component connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0143] In one possible implementation, the circuit screening module 1020 includes:

[0144] a sixth screening unit, configured to, if the fault source is the first H-bridge module and / or the first rear wheel caliper, determine as the candidate caliper control circuits the parking switch, the control module, the second drive module, the second H-bridge module, and the caliper control circuit of the second rear wheel caliper connected in sequence in the second type of caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the second drive module, the second H-bridge module, and the second rear wheel caliper connected in sequence in the third type of caliper control circuit;

[0145] The circuit determination module 1050 includes:

[0146] a sixth determining unit, configured to determine, if the target strategy is the second strategy and the target transmission path is the second transmission path, a caliper control circuit formed by sequentially connecting the parking switch, the control module, the second drive module, the second H-bridge module, and the second rear wheel caliper in the alternative caliper control circuit as the target caliper control circuit;

[0147] If the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the second H-bridge module and the second rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

[0148] In a possible implementation, the vehicle control device 1000 further includes:

[0149] a prompt unit for outputting a prompt message when it is detected that a fault light of the parking brake system is on in the event of a fault in the parking brake system; wherein, the prompt message reminds the user that the vehicle has enabled an alternative caliper control circuit that does not include the fault source to control the rear axle wheel caliper, and the vehicle can perform the parking operation normally.

[0150] It should be noted that the vehicle control device provided in the above embodiment, when executing the vehicle control method, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiment and the vehicle control method embodiment are of the same concept. Therefore, for details not disclosed in the device embodiment of this application, please refer to the above embodiment of the vehicle control method of this application, and no further details will be given here.

[0151] The above embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0152] Figure 11 A structural schematic diagram of a vehicle provided by an embodiment of the present application is shown, as shown in the figure, the vehicle 1100 includes a memory 1101 and a processor 1102, wherein the memory 1101 stores executable program code 11011, and the processor 1102 is configured to call and execute the executable program code 11011 to execute a vehicle control method. Figure 11

[0153] The embodiment can divide the functional modules of the vehicle according to the above method examples, for example, each functional module can be corresponded, or two or more functions can be integrated in one processing module, and the integrated module can be realized in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical function division. In actual implementation, another division mode can be used.

[0154] In the case of dividing each functional module according to each function, the vehicle can include a fault determination module, a circuit screening module, a circuit screening module, a path determination module, a circuit determination module, a caliper execution module, and the like. It should be noted that all related contents of each step involved in the above method embodiments can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0155] The vehicle provided by the embodiment is used to execute the above vehicle control method, and thus can achieve the same effect as the above implementation method.

[0156] In the case of using an integrated unit, the vehicle can include a processing module and a storage module. The processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute related program codes and data.

[0157] The processing module can be a processor or a controller, which can realize or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, digital signal processing (digital signal processing, DSP) and microprocessor combinations, etc., and the storage module can be a memory.

[0158] The embodiment also provides a computer readable storage medium, which stores computer program code, when the computer program code runs on the computer, the computer executes the above related method steps to realize the vehicle control method in the above embodiment. ​

[0159] This embodiment further provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0160] In addition, the vehicle provided in the embodiments of the present application can specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor can call and execute instructions to enable the chip to execute a vehicle control method in the above embodiment.

[0161] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0162] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0163] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0164] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: Applied to a parking brake system, the parking brake system comprises: a parking switch, a brake system controller, a caliper assembly and three caliper control circuits for controlling the caliper assembly; The caliper assembly includes two rear wheel calipers, the brake system controller includes at least two communication modules, a control module, at least two drive modules and an H-bridge assembly, the H-bridge assembly includes at least two H-bridge modules, a first H-bridge module is connected to the first rear wheel caliper, and a second H-bridge module is connected to the second rear wheel caliper; Each caliper control circuit includes a single drive module, the H-bridge component, and the caliper component connected in sequence. The drive module in each caliper control circuit is used to output a drive signal to the H-bridge component when receiving a caliper control signal. The H-bridge component controls the caliper component connected to the H-bridge component to perform a target action corresponding to the caliper control signal according to the drive signal. Wherein, if the caliper control signal is a signal generated by the parking switch being triggered, the caliper control signal is sent to the drive module in the first type of caliper control circuit via a first transmission path, or the caliper control signal is sent to the drive module in the second type of caliper control circuit via a second transmission path; the first transmission path includes the parking switch and the drive module in the first type of caliper control circuit connected in sequence, and the second transmission path includes the parking switch, the control module, and the drive module in the second type of caliper control circuit connected in sequence; If the caliper control signal is a signal received by a single communication module from a CAN network, the caliper control signal is sent to a drive module in a third caliper control circuit via a third transmission path, wherein the third transmission path includes the single communication module, the control module, and the drive module in the third caliper control circuit connected in sequence; The vehicle control method includes: In the event of a fault in the parking brake system, determining a fault source in the parking brake system; wherein the fault source does not include the parking switch; filtering the caliper control circuit including the fault source among the three caliper control circuits to obtain an alternative caliper control circuit; determining a target strategy from a first strategy and a second strategy according to the fault source; wherein the first strategy is to prompt a user to generate the caliper control signal by triggering the parking switch when the fault source includes the control module; and the second strategy is to prompt a user to generate the caliper control signal by triggering the parking switch and instruct the parking brake system to monitor the single communication module for receiving the caliper control signal from the CAN network when the fault source does not include the control module; determining a target transmission path for transmitting the caliper control signal when the caliper control signal is received; determining a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy; The target caliper control circuit is used to control the caliper assembly to perform the target action.

2. The vehicle control method according to claim 1, characterized in that: The filtering of the caliper control circuit including the fault source among the three caliper control circuits to obtain the candidate caliper control circuit includes: If the fault source is the control module, a caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the first caliper control circuit is determined as the alternative caliper control circuit; Determining a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy includes: If the target strategy is the first strategy and the target transmission path is the first transmission path, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

3. The vehicle control method according to claim 1, characterized in that: The filtering of the caliper control circuit including the fault source among the three caliper control circuits to obtain the candidate caliper control circuit includes: If the fault source is one of the communication modules, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the first type of caliper control circuit, the caliper control circuit formed by the parking switch, the control module, the single drive module, the H-bridge assembly and the caliper assembly connected in sequence in the second type of caliper control circuit, and the caliper control circuit formed by another communication module, the control module, the single drive module, the H-bridge assembly and the caliper assembly connected in sequence in the third type of caliper control circuit are determined as the alternative caliper control circuits; Determining a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy includes: If the target strategy is the first strategy and the target transmission path is the first transmission path, a caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; If the target strategy is the second strategy and the target transmission path is the second transmission path, any one of the second type of caliper control circuits included in the candidate caliper control circuits is determined as the target caliper control circuit; If the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by another communication module, the control module, the single drive module, the H-bridge component and the caliper component connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

4. The vehicle control method according to claim 1, wherein: The filtering of the caliper control circuit including the fault source among the three caliper control circuits to obtain the candidate caliper control circuit includes: If the fault source is the connection line between the control module and the first drive module, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the first type of caliper control circuit, the caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly and the caliper assembly connected in sequence in the second type of caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge assembly and the caliper assembly connected in sequence in the third type of caliper control circuit are determined as the alternative caliper control circuits; Determining a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy includes: If the target strategy is the first strategy and the target transmission path is the first transmission path, a caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; If the target strategy is the second strategy and the target transmission path is the second transmission path, a caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly, and the caliper assembly sequentially connected in the alternative caliper control circuit is determined as the target caliper control circuit; If the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge component and the caliper component connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

5. The vehicle control method according to claim 1, characterized in that: The filtering of the caliper control circuit including the fault source among the three caliper control circuits to obtain the candidate caliper control circuit includes: If the fault source is the first drive module, a caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the second caliper control circuit, and a caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge assembly, and the caliper assembly connected in sequence in the third caliper control circuit are determined as the alternative caliper control circuits; Determining a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy includes: If the target strategy is the second strategy and the target transmission path is the second transmission path, a caliper control circuit formed by the parking switch, the control module, the second drive module, the H-bridge assembly, and the caliper assembly sequentially connected in the alternative caliper control circuit is determined as the target caliper control circuit; If the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the H-bridge component and the caliper component connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

6. The vehicle control method according to claim 1, characterized in that: The filtering of the caliper control circuit including the fault source among the three caliper control circuits to obtain the candidate caliper control circuit includes: If the fault source is the second drive module, the caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module and the caliper assembly connected in sequence in the first caliper control circuit, the caliper control circuit formed by the parking switch, the control module, the first drive module, the H-bridge assembly and the caliper assembly connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the first drive module, the H-bridge assembly and the caliper assembly connected in sequence in the third caliper control circuit are determined as the alternative caliper control circuits; Determining a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy includes: If the target strategy is the first strategy and the target transmission path is the first transmission path, a caliper control circuit formed by the parking switch, the first drive module, the first H-bridge module, and the caliper assembly connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; If the target strategy is the second strategy and the target transmission path is the second transmission path, a caliper control circuit formed by the parking switch, the control module, the first drive module, the H-bridge assembly, and the caliper assembly sequentially connected in the alternative caliper control circuit is determined as the target caliper control circuit; If the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the first drive module, the H-bridge component and the caliper component connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

7. The vehicle control method according to claim 1, characterized in that: The filtering of the caliper control circuit including the fault source among the three caliper control circuits to obtain the candidate caliper control circuit includes: If the fault source is the first H-bridge module and / or the first rear wheel caliper, the parking switch, the control module, the second drive module, the second H-bridge module, and the caliper control circuit of the second rear wheel caliper connected in sequence in the second caliper control circuit, and the caliper control circuit formed by the single communication module, the control module, the second drive module, the second H-bridge module, and the second rear wheel caliper connected in sequence in the third caliper control circuit are determined as the alternative caliper control circuits; Determining a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy includes: If the target strategy is the second strategy and the target transmission path is the second transmission path, a caliper control circuit formed by the parking switch, the control module, the second drive module, the second H-bridge module, and the second rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit; If the target strategy is the second strategy and the target transmission path is the third transmission path, the caliper control circuit formed by the single communication module, the control module, the second drive module, the second H-bridge module and the second rear wheel caliper connected in sequence in the alternative caliper control circuit is determined as the target caliper control circuit.

8. The vehicle control method according to any one of claims 1 to 7, characterized in that: The vehicle control method further includes: In the event of a fault in the parking brake system, if it is detected that the fault light of the parking brake system is on, a prompt message is output; wherein, the prompt message reminds the user that the vehicle has enabled an alternative caliper control circuit that does not include the fault source to control the rear axle wheel caliper, and the vehicle can perform the parking operation normally.

9. A vehicle control device, characterized in that: Configured in a parking brake system, the parking brake system includes: a parking switch, a brake system controller, a caliper assembly, and three caliper control circuits for controlling the caliper assembly; the caliper assembly includes two rear wheel calipers, the brake system controller includes at least two communication modules, a control module, at least two drive modules, and an H-bridge assembly, the H-bridge assembly includes at least two H-bridge modules, the first H-bridge module is connected to the first rear wheel caliper, and the second H-bridge module is connected to the second rear wheel caliper; Each caliper control circuit includes a single drive module, the H-bridge component, and the caliper component connected in sequence. The drive module in each caliper control circuit is used to output a drive signal to the H-bridge component when receiving a caliper control signal. The H-bridge component controls the caliper component connected to the H-bridge component to perform a target action corresponding to the caliper control signal according to the drive signal. Wherein, if the caliper control signal is a signal generated by the parking switch being triggered, the caliper control signal is sent to the drive module in the first type of caliper control circuit through a first transmission path, or the caliper control signal is sent to the drive module in the second type of caliper control circuit through a second transmission path; the first transmission path includes the parking switch and the drive module in the first type of caliper control circuit connected in sequence, and the second transmission path includes the parking switch, the control module, and the drive module in the second type of caliper control circuit connected in sequence; if the caliper control signal is a signal received by a single communication module from a CAN network, the caliper control signal is sent to the drive module in the third type of caliper control circuit through a third transmission path, and the third transmission path includes the single communication module, the control module, and the drive module in the third type of caliper control circuit connected in sequence; The vehicle control device comprises: a fault determination module, configured to determine a fault source in the parking brake system when a fault occurs in the parking brake system; wherein the fault source does not include the parking switch; a circuit screening module, configured to filter the caliper control circuit including the fault source among the three caliper control circuits to obtain an alternative caliper control circuit; a strategy selection module, configured to determine a target strategy from a first strategy and a second strategy based on the fault source; wherein the first strategy is to prompt a user to generate the caliper control signal by triggering the parking switch when the fault source includes the control module; and the second strategy is to prompt a user to generate the caliper control signal by triggering the parking switch and instruct the parking brake system to monitor the caliper control signal received by the single communication module from the CAN network when the fault source does not include the control module. a path determination module, configured to determine a target transmission path for transmitting the caliper control signal upon receiving the caliper control signal; a circuit determination module, configured to determine a target caliper control circuit from the candidate caliper control circuits according to the target transmission path and the target strategy; The caliper execution module is used to control the caliper assembly to execute the target action by adopting the target caliper control circuit.

10. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method according to any one of claims 1 to 8.

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