Redundant parking control method and system, vehicle and storage medium

Abstract

The invention discloses a redundant parking control method and system, a vehicle and a storage medium, and the method comprises the steps that in the automatic parking process of the vehicle, if it is detected that braking is needed in an emergency situation, whether a hydraulic braking system is effective or not is judged; if the hydraulic braking system fails, an electronic parking braking system is controlled to conduct dynamic deceleration till the vehicle meets the static condition, and the electronic parking braking system is controlled to conduct static parking; wherein the static condition is determined according to the speed of the vehicle. According to the embodiment of the invention, when the hydraulic braking system fails, dynamic deceleration and static parking can be carried out through the electronic parking system, the redundant design of parking is realized, and the safety performance of the vehicle is improved. The method can be widely applied to the technical field of vehicle-mounted intelligence.

Description

Technical Field

[0001] The present application relates to the field of vehicle-mounted intelligent technology, and in particular to a redundant parking control method and system, a vehicle and a storage medium. Background Art

[0002] Electronic parking brake systems are now widely used, changing from traditional mechanical parking systems to electronic systems, which greatly facilitates the driver's operation. However, the development of autonomous driving has also increased the demand for vehicle safety performance. In related technologies, when the automatic parking process encounters an emergency and needs to park, the implementation method is single, and the failure of a single component can easily cause control failure and affect the safety performance of the vehicle. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to provide a safe redundant parking control method and system, a vehicle and a storage medium.

[0004] To achieve the above purpose, one aspect of an embodiment of the present application proposes a redundant parking control method, the method comprising: during the automatic parking process of the vehicle, if an emergency situation is detected and braking is required, determining whether the hydraulic brake system is effective; if the hydraulic brake system fails, controlling the electronic parking brake system to perform dynamic deceleration until the vehicle meets the static condition, and controlling the electronic parking brake system to perform static parking; wherein the static condition is determined according to the speed of the vehicle. In the embodiment of the present application, when the hydraulic brake system fails, the electronic parking system can be used to perform dynamic deceleration and static parking, thereby realizing a redundant parking design, which is beneficial to improving the safety performance of the vehicle.

[0005] In some embodiments, the method provided by the embodiments of the present application, wherein controlling the electronic parking brake system to perform dynamic deceleration includes:

[0006] Controlling the action of the motor to clamp the caliper; wherein the motor belongs to the electronic parking brake system; the caliper is used to slow down the wheel;

[0007] If it is determined according to the current of the motor that the disc contact point is reached, the motor is controlled to stop; and according to the speed information of the wheel, the motor is adjusted to control the state of the caliper.

[0008] In some embodiments, the method provided by the embodiment of the present application, the speed information includes acceleration and slip rate, and the adjusting the motor according to the speed information of the wheel to control the state of the caliper includes:

[0009] If the current acceleration is greater than a first acceleration threshold and the current slip rate is less than a first slip rate threshold, adjusting the motor to control the caliper to clamp;

[0010] Alternatively, if the current acceleration is less than a second acceleration threshold and the current slip rate is greater than a second slip rate threshold, the motor is adjusted to control the caliper to release; wherein the first acceleration threshold is greater than the second acceleration threshold.

[0011] In some embodiments, the method provided by the embodiment of the present application, the speed information includes acceleration and slip rate, and the adjusting the motor according to the speed information of the wheel to control the state of the caliper includes:

[0012] If the current acceleration is in the first range and the current slip rate is in the second range, the motor is controlled to maintain the current state so that the caliper is not clamped or released; wherein the lower limit value of the first range is the second acceleration threshold, and the upper limit value of the first range is the first acceleration threshold; the lower limit value of the second range is the first slip rate threshold, and the upper limit value of the second range is the second slip rate threshold.

[0013] In some embodiments, the method provided by the embodiments of the present application includes:

[0014] Set the first acceleration threshold to -3 to -1 m / s 2 , set the second acceleration threshold to -8 to -3 m / s 2 ;

[0015] The first slip ratio threshold is set to 0.04 to 0.1, and the second slip ratio threshold is set to 0.15 to 0.3.

[0016] In some embodiments, the method provided by the embodiments of the present application, wherein controlling the electronic parking brake system to perform dynamic deceleration includes:

[0017] determining whether a dynamic deceleration function of the electronic parking brake system is available;

[0018] If the dynamic deceleration function of the electronic parking brake system is available, the electronic parking brake system is controlled to perform dynamic deceleration.

[0019] In some embodiments, in the method provided by the embodiments of the present application, the dynamic deceleration function is determined by the following steps:

[0020] If the calipers on both sides are released, the vehicle is in dynamic state and the electronic parking brake systems on both sides are not faulty, it is determined that the dynamic deceleration function is available; wherein the calipers are used for wheel deceleration; and whether the vehicle is in dynamic state is determined by speed.

[0021] In some embodiments, in the method provided by the embodiments of the present application, the vehicle is determined to be in a dynamic state by the following steps:

[0022] If the current speed of the vehicle is greater than a first speed threshold, it is determined that the vehicle is in a dynamic state; wherein the first speed threshold is 3 to 6 km / h.

[0023] In some embodiments, the method provided by the embodiments of the present application, controlling the electronic parking brake system to perform static parking, includes:

[0024] determining whether a static parking function of the electronic parking brake system is available;

[0025] If the static parking function of the electronic parking brake system is available, the electronic parking brake system is controlled to perform static parking.

[0026] In some embodiments, in the method provided by the embodiments of the present application, the static parking function is determined by the following steps:

[0027] If the calipers on both sides are released, the vehicle is static and the electronic parking brake systems on both sides are not faulty, it is determined that the static parking function is available; wherein the calipers are used to decelerate the wheels; and whether the vehicle is static is determined by the speed.

[0028] In some embodiments, in the method provided by the embodiments of the present application, the vehicle is determined to be in a static state by the following steps:

[0029] If the current speed of the vehicle is less than a second speed threshold and the duration is greater than a time threshold, it is determined that the vehicle is static; wherein the duration is the duration that the speed of the vehicle is less than the second speed threshold, and the second speed threshold is 2 to 5 km / h.

[0030] In some embodiments, the method provided by the embodiments of the present application further includes:

[0031] If the hydraulic brake system is effective, the hydraulic brake system is controlled to build pressure and the vehicle is decelerated until the vehicle meets the static condition, and the electronic parking brake system is controlled to perform static parking.

[0032] In some embodiments, the method provided by the embodiments of the present application further includes:

[0033] If the vehicle meets the static condition, the hydraulic brake system is controlled to maintain pressure until the calipers on both sides are in the clamped state, and the hydraulic brake system is controlled to exit the pressure maintenance.

[0034] In some embodiments, the method provided by the embodiments of the present application further includes:

[0035] If the vehicle completes automatic parking and the vehicle meets the static condition, the electronic parking brake system is controlled to perform static parking.

[0036] To achieve the above object, another aspect of an embodiment of the present application provides a redundant parking control system, the system comprising:

[0037] The first module is used to determine whether the hydraulic brake system is effective if an emergency situation requiring braking is detected during the automatic parking process of the vehicle;

[0038] The second module is used to control the electronic parking brake system to perform dynamic deceleration if the hydraulic brake system fails, until the vehicle meets the static condition, and control the electronic parking brake system to perform static parking; wherein the static condition is determined according to the speed of the vehicle.

[0039] To achieve the above objective, another aspect of an embodiment of the present application provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the above method when executing the computer program.

[0040] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides a vehicle, comprising the above-mentioned redundant parking control system or the above-mentioned electronic device.

[0041] To achieve the above objective, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0042] The embodiments of the present application include at least the following beneficial effects: in the process of automatic parking of the vehicle, if an emergency situation requiring braking is detected, the hydraulic brake system is judged to be effective; if the hydraulic brake system fails, the electronic parking brake system is controlled to perform dynamic deceleration until the vehicle meets the static condition, and the electronic parking brake system is controlled to perform static parking; wherein the static condition is determined according to the speed of the vehicle. In the case of failure of the hydraulic brake system, the electronic parking system can be used to perform dynamic deceleration and static parking, thereby realizing a redundant design of parking and improving the safety performance of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a flow chart of an embodiment of a redundant parking control method provided by the present application;

[0044] Figure 2 is a flow chart of another embodiment of the redundant parking control method provided by the present application;

[0045] Figure 3 is a flow chart of an embodiment of the dynamic deceleration process provided by the present application;

[0046] Figure 4is a flow chart of another embodiment of the dynamic deceleration process provided by the present application;

[0047] Figure 5 is a flow chart of an embodiment of a caliper adjustment process provided by the present application;

[0048] Figure 6 is a flow chart of an embodiment of dynamic deceleration function judgment provided by the present application;

[0049] Figure 7 is a flow chart of another embodiment of dynamic deceleration function judgment provided by the present application;

[0050] Figure 8 It is a flow chart of an embodiment of static parking function judgment provided by the present application;

[0051] Fig. 9 is a schematic diagram of the structure of a redundant parking control system provided in an embodiment of the present application;

[0052] Fig.10 It is a schematic diagram of the hardware structure of an electronic device in a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0054] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0055] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0057] Before describing the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application are first described. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0058] Electronic Parking Brake (EPB): It realizes parking brake through electronic control. Its function is the same as that of traditional mechanical hand brake. It is mainly used to keep the vehicle braked when parking for a long time.

[0059] Electronic parking brake systems are now widely used, changing from traditional mechanical parking systems to electronic systems, which greatly facilitates the driver's operation. However, the development of autonomous driving has also increased the demand for vehicle safety performance. In related technologies, during the automatic parking process, when an emergency situation occurs and the vehicle needs to be parked, the implementation method is single, and the failure of a single component can easily cause control failure and affect the safety performance of the vehicle. At the same time, autonomous driving has a higher demand for redundant parking. The existing EPB can only realize the parking function after the vehicle has stopped normally, and cannot provide braking force when the hydraulic brake system fails during parking. In this regard, the present application proposes a redundant parking control method under automatic parking conditions. When the vehicle completes automatic parking and is in a static state, the parking system can control the EPB to perform static parking by sending instructions. If the vehicle detects an emergency situation during automatic parking and needs to stop the vehicle, the parking system will determine whether the hydraulic brake system is effective. If the hydraulic brake system is effective, it will send instructions to control the hydraulic brake system to build pressure and stop the vehicle. When the vehicle speed decreases until the static conditions of the vehicle are met, it will send static parking instructions to control the EPB to park. If the hydraulic brake system fails, the parking system will directly send a dynamic deceleration instruction to control the EPB to perform dynamic deceleration. When the vehicle meets the static conditions of the vehicle, the EPB performs static parking. The redundant parking control method under automatic parking conditions proposed in the present application can realize redundant parking under automatic parking conditions, and when the hydraulic brake system fails, the EPB can realize dynamic deceleration and stop the vehicle to ensure vehicle safety.

[0060] The redundant parking control method provided in the embodiment of the present application relates to the field of vehicle-mounted intelligent technology. The redundant parking control method provided in the embodiment of the present application can be applied to a terminal, can also be applied to a server, and can also be software running in a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and a vehicle-mounted terminal, etc., but is not limited to this; the server side can be configured as an independent physical server, or it can be configured as a server cluster or a distributed system composed of multiple physical servers, and can also be configured to provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms and other basic cloud computing services. The server can also be a node server in a blockchain network; the software can be an application that implements the redundant parking control method, etc., but is not limited to the above forms.

[0061] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0062] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0063] Figure 1 is an optional flow chart of the redundant parking control method provided in an embodiment of the present application; Figure 1The method may include but is not limited to steps S100 to S200.

[0064] Step S100, during the automatic parking process of the vehicle, if an emergency situation requiring braking is detected, determining whether the hydraulic braking system is effective;

[0065] Step S200, if the hydraulic brake system fails, the electronic parking brake system is controlled to perform dynamic deceleration until the vehicle meets the static condition, and the electronic parking brake system is controlled to perform static parking; wherein the static condition is determined according to the speed of the vehicle.

[0066] It should be noted that the embodiment of the present application can identify obstacles around the vehicle or people that require the vehicle to avoid them through the recognition system during the automatic parking process of the vehicle, and determine that it is an emergency situation. Of course, those skilled in the art can also set the judgment logic of the emergency situation according to the actual situation, and this application does not make specific limitations. When an emergency situation is detected, the embodiment of the present application mainly determines whether the braking function of the hydraulic brake system is effective. When the hydraulic brake system fails, redundant deceleration and parking functions are implemented through EPB.

[0067] In some embodiments, reference Figure 2 The figure shows the control process when an emergency situation is detected during automatic parking and the vehicle needs to be stopped. When the vehicle needs to be stopped urgently during parking, first determine whether the hydraulic brake system is effective. If the hydraulic brake system is effective, the parking system sends a command to control the hydraulic brake system to build pressure and achieve deceleration and parking. After the vehicle stops, the hydraulic brake system maintains a pressure-maintaining state. At this time, the parking system continues to determine whether the EPB static parking function is available. If it is available, it sends a command to control the EPB to perform static parking. When the calipers on both sides of the EPB are in the clamped state, the hydraulic brake system exits the pressure-maintaining state. When the vehicle needs to be stopped urgently during parking, if the hydraulic brake fails, the parking system determines whether the EPB dynamic deceleration function is available. If it is available, the parking system sends a command to control the EPB to perform dynamic deceleration. When the vehicle decelerates to meet the static conditions, the EPB enters the static parking function and achieves static parking.

[0068] The present application proposes a redundant parking control method under automatic parking conditions. After the automatic parking is completed, the EPB can be controlled to achieve static parking. When an emergency situation is detected during the automatic parking process and the vehicle needs to be stopped, the hydraulic braking system will first brake and stop the vehicle, and then the EPB will complete the static parking. If the hydraulic braking system fails during the automatic parking process, the EPB dynamic deceleration function can be used to achieve braking backup to stop the vehicle.

[0069] Therefore, the method provided in the embodiment of the present application includes: during the automatic parking process of the vehicle, if an emergency situation requiring braking is detected, determining whether the hydraulic brake system is effective; if the hydraulic brake system fails, controlling the electronic parking brake system to perform dynamic deceleration until the vehicle meets the static condition, and controlling the electronic parking brake system to perform static parking; wherein the static condition is determined according to the speed of the vehicle. In the embodiment of the present application, when the hydraulic brake system fails, the electronic parking system can be used to perform dynamic deceleration and static parking, thereby realizing a redundant design for parking, which is beneficial to improving the safety performance of the vehicle.

[0070] In some embodiments, reference Figure 3 As shown, the method provided in the embodiment of the present application controls the electronic parking brake system to perform dynamic deceleration, including:

[0071] Step S210, controlling the motor to move so that the caliper is clamped; wherein the motor belongs to the electronic parking brake system; the caliper is used to slow down the wheel;

[0072] Step S220: If it is determined according to the current of the motor that the disc contact point is reached, the motor is controlled to stop; and according to the speed information of the wheel, the motor is adjusted to control the state of the caliper.

[0073] In some possible implementations, refer to Figure 4 As shown, when dynamic deceleration is achieved through EPB, the motor is first controlled to clamp the caliper to achieve deceleration. Then, when the disc is reached, the motor is adjusted according to the speed and slip rate of the vehicle, and then the state of the caliper is adjusted to achieve the deceleration process. It can be understood that the determination of reaching the disc contact point based on the current of the motor also includes the steps of obtaining the current of the motor and determining the disc contact point based on the current of the motor. Among them, the disc contact point is the contact part between the brake disc and the brake pad, which plays a vital role in the vehicle braking system.

[0074] In some embodiments, reference Figure 5 As shown, the method provided by the embodiment of the present application, the speed information includes acceleration and slip rate, and the motor is adjusted according to the speed information of the wheel to control the state of the caliper, including:

[0075] Step S221, if the current acceleration is greater than the first acceleration threshold, and the current slip rate is less than the first slip rate threshold, adjusting the motor to control the caliper to clamp;

[0076] Alternatively, in step S222, if the current acceleration is less than the second acceleration threshold and the current slip rate is greater than the second slip rate threshold, the motor is adjusted to control the caliper to release; wherein the first acceleration threshold is greater than the second acceleration threshold.

[0077] In some possible implementations, if the current vehicle acceleration is large and the slip rate is small, the motor is adjusted to tighten the caliper and adjust the vehicle speed to decrease rapidly. Conversely, if the current vehicle acceleration is small and the slip rate is large, the motor is adjusted to release the caliper and adjust the vehicle speed to decrease slowly.

[0078] In some embodiments, reference Figure 5 In the method provided by the embodiment of the present application, the speed information includes acceleration and slip rate, and the motor is adjusted according to the speed information of the wheel to control the state of the caliper, including:

[0079] Step S223, if the current acceleration is in the first range and the current slip rate is in the second range, control the motor to maintain the current state so that the caliper is not clamped and released; wherein, the lower limit value of the first range is the second acceleration threshold, and the upper limit value of the first range is the first acceleration threshold; the lower limit value of the second range is the first slip rate threshold, and the upper limit value of the second range is the second slip rate threshold.

[0080] In some possible implementations, if the current acceleration and slip rate of the vehicle are both within an acceptable range, the state of the motor is maintained unchanged, and the vehicle is decelerated at the current speed.

[0081] In some embodiments, the method provided by the embodiments of the present application includes:

[0082] Set the first acceleration threshold to -3 to -1 m / s 2 , set the second acceleration threshold to -8 to -3 m / s 2 ;

[0083] The first slip rate threshold is set to 0.04 to 0.1, and the second slip rate threshold is set to 0.15 to 0.3.

[0084] In some possible implementations, refer to Figure 4As shown in the figure, it is the control logic of the dynamic deceleration function of EPB. After EPB starts the dynamic deceleration function, it first controls the EPB motor to clamp, and when the disc contact point is reached, the motor stops and enters the initial holding stage. Exemplarily, the disc contact point can be determined based on the EPB motor current. In some embodiments, when the current is greater than 3A (current threshold), it is considered that the disc contact point has been reached. Of course, the current threshold can be 2 to 4A. If it is determined that the wheel acceleration is greater than the threshold value a1 (first acceleration threshold) and the slip rate is less than the threshold value S1 (first slip rate threshold), then the EPB is controlled to clamp at this time. If it is determined whether the wheel acceleration is less than a2 (second acceleration threshold) or the slip rate is greater than S2 (second slip rate threshold), then the EPB is controlled to release at this time; under other conditions, the EPB maintains the current state, and the control motor does not clamp or release. In some embodiments, S1 takes a value of 0.06, which can generally be 0.04 to 0.1; S2 takes a value of 0.2, which can generally be 0.15 to 0.3. a1 takes a value of -2m / s 2 , generally -3 to -1m / s 2 ; a2 value is -4m / s 2 , generally -8 to -3m / s 2 .

[0085] In some embodiments, reference Figure 6 As shown, the method provided in the embodiment of the present application controls the electronic parking brake system to perform dynamic deceleration, including:

[0086] Step S300, determining whether the dynamic deceleration function of the electronic parking brake system is available;

[0087] Step S400: If the dynamic deceleration function of the electronic parking brake system is available, control the electronic parking brake system to perform dynamic deceleration.

[0088] In the embodiment of the present application, before the electronic parking system performs dynamic deceleration, that is, before sending a signal to control the electronic parking system to perform dynamic deceleration, it is necessary to determine whether the dynamic deceleration function of the electronic parking brake system is available.

[0089] In some embodiments, reference Figure 7 As shown, in the method provided in the embodiment of the present application, the dynamic deceleration function is judged by the following steps:

[0090] If the calipers on both sides are released, the vehicle is in dynamic state and there are no faults in the electronic parking brake systems on both sides, it is determined that the dynamic deceleration function is available; among which, the calipers are used to decelerate the wheels; whether the vehicle is in dynamic state is determined by the speed.

[0091] In some embodiments, in the method provided by the embodiments of the present application, the vehicle determines that it is in a dynamic state through the following steps:

[0092] If the current speed of the vehicle is greater than a first speed threshold, it is determined that the vehicle is in a dynamic state; wherein the first speed threshold is 3 to 6 km / h.

[0093] In the embodiment of the present application, the judgment condition of whether the EPB dynamic deceleration function is available is as follows: Figure 7 As shown, the following conditions need to be met at the same time: 1. The calipers of both rear wheels are in the released state; 2. The vehicle is in a dynamic state; 3. The EPB fault states on both sides are all fault-free. Judgment condition for the vehicle to be in a dynamic state: the vehicle speed is greater than v1 (the first speed threshold); illustratively, v1 can be 4km / h, and the value range of the first speed threshold is 3 to 6km / h. It can be understood that in the embodiment of the present application, the first speed threshold is greater than the second speed threshold.

[0094] In some embodiments, the method provided by the embodiments of the present application controls the electronic parking brake system to perform static parking, including:

[0095] Determine whether the static parking function of the electronic parking brake system is available;

[0096] If the static parking function of the electric parking brake system is available, control the electric parking brake system for static parking.

[0097] In the embodiment of the present application, before the electronic parking system performs static parking, that is, before sending a signal to control the electronic parking system to perform static parking, it is necessary to determine whether the static parking function of the electronic parking brake system is available.

[0098] In some embodiments, reference Figure 8 As shown, in the method provided in the embodiment of the present application, the static parking function is judged by the following steps:

[0099] If the calipers on both sides are released, the vehicle is static and there is no fault in the electronic parking brake systems on both sides, it is determined that the static parking function is available; among them, the calipers are used to slow down the wheels; the vehicle speed determines whether it is static.

[0100] In the embodiment of the present application, the process of controlling EPB static parking after automatic parking is completed. When the vehicle completes the automatic parking process, the parking system first determines the state of the static parking function available signal issued by EPB. If the static parking function is available, the parking system issues a command to control EPB to perform static parking. The judgment conditions for whether the EPB static parking function is available: 1. The calipers of the two rear wheels are both released; 2. The vehicle is static; 3. The fault status of EPB on both sides is no fault.

[0101] In some embodiments, in the method provided by the embodiments of the present application, the vehicle is determined to be in a static state by the following steps:

[0102] If the current speed of the vehicle is less than the second speed threshold and the duration is greater than the time threshold, it is determined that the vehicle is static; wherein the duration is the duration that the vehicle speed is less than the second speed threshold, and the second speed threshold is 2 to 5 km / h.

[0103] It is understandable that the vehicle is in a static state, that is, the vehicle meets the static condition. Figure 8 The EPB static parking function is available only when the three conditions shown are met. The judgment condition that the vehicle is in a static state: the vehicle speed is less than v0 (the second speed threshold) and lasts for t0 time (time threshold), that is, it is judged to be static. In some embodiments, v0 can be 3km / h, and the value range of the second speed threshold is 2 to 5km / h. The value of t0 is 0.1s, and the value range of the time threshold can be 0.05 to 0.3s. Of course, it can be understood that the values ​​and value ranges of the first speed threshold, the second speed threshold and the time threshold given in the embodiments of the present application are all illustrative examples, and those skilled in the art can adjust the specific values ​​according to actual needs. This application does not specifically limit the values.

[0104] In some embodiments, the method provided by the embodiments of the present application further includes:

[0105] If the hydraulic brake system is effective, the hydraulic brake system is controlled to build pressure and the vehicle is decelerated until the vehicle meets the static conditions, and the electronic parking brake system is controlled to perform static parking.

[0106] The present application proposes a redundant parking control scheme under automatic parking conditions. When the vehicle completes automatic parking, the parking system can send instructions to control the EPB to perform static parking. If the vehicle detects an emergency situation during automatic parking and needs to brake the vehicle, the parking system will send instructions to control the hydraulic brake system to build pressure and brake the vehicle, and then send static parking instructions to control the EPB to park. If the hydraulic brake system fails, the parking system directly sends a dynamic parking instruction to control the EPB to perform dynamic deceleration. When the vehicle meets the static conditions, the EPB performs static parking.

[0107] In some embodiments, the method provided by the embodiments of the present application further includes:

[0108] If the vehicle meets the static condition, the hydraulic brake system is controlled to maintain pressure until the calipers on both sides are in the clamped state, and the hydraulic brake system is controlled to exit the pressure maintenance.

[0109] When the hydraulic brake system is used to decelerate the vehicle in the embodiment of the present application, the hydraulic brake system needs to be set to be continuously in a pressure-maintaining state until the calipers on both sides are clamped.

[0110] In some embodiments, the method provided by the embodiments of the present application further includes:

[0111] If the vehicle completes automatic parking and meets the static conditions, the electronic parking brake system is controlled to perform static parking.

[0112] The following is a detailed description and explanation of the solution of the embodiment of the present invention in conjunction with a specific application example:

[0113] In some embodiments, after the vehicle completes automatic parking, the vehicle is in a static state, and the EPB feedback signal static parking function is available. At this time, the parking system sends a command to control the EPB to perform static parking.

[0114] In other embodiments, when the vehicle is in the process of automatic parking and an emergency situation is detected that requires the vehicle to be stopped, the hydraulic braking system is effective and the parking system sends a command to control the hydraulic braking system to brake. After the vehicle is stopped, the EPB feedback signal static parking function is available. At this time, the parking system sends a command to control the EPB to perform static parking, and then the hydraulic braking system exits the pressure maintaining state.

[0115] In other embodiments, when the vehicle detects an emergency situation that requires stopping the vehicle during automatic parking, the hydraulic braking system fails and the EPB feedback signal dynamic deceleration function is available. At this time, the parking system sends a command to control the EPB to perform dynamic deceleration. When the vehicle decelerates until the static conditions are met, the EPB enters the static parking function.

[0116] In the embodiment of the present application, after the vehicle completes automatic parking, the parking system can control the EPB to perform static parking by sending instructions to ensure the safety of the vehicle. In the embodiment of the present application, when an emergency situation is detected during the automatic parking process and the vehicle needs to be stopped, the hydraulic brake system is first used to decelerate the vehicle. After the vehicle is stopped, the parking system sends instructions to control the EPB to perform static parking, thereby ensuring the parking safety of the vehicle. In the embodiment of the present application, when an emergency situation is detected during the automatic parking process and the vehicle needs to be stopped, if the hydraulic brake system fails at this time, the EPB can also be controlled to perform dynamic deceleration by sending instructions. The EPB dynamically controls the EPB to clamp and release according to the slip rate and wheel deceleration conditions of the wheels, thereby achieving vehicle deceleration, and static parking is performed after the vehicle is stopped, realizing redundant braking backup and ensuring vehicle safety. In the embodiment of the present application, the EPB can feedback to the parking system whether the current static parking function and dynamic deceleration function are available based on information such as the vehicle status and caliper status, and provide judgment for the parking system to make decisions.

[0117] See also Fig. 9 The embodiment of the present application further provides a redundant parking control system, which can implement the above redundant parking control method, and the system includes:

[0118] The first module 810 is used to determine whether the hydraulic brake system is effective if an emergency situation requiring braking is detected during the automatic parking process of the vehicle;

[0119] The second module 820 is used to control the electronic parking brake system to perform dynamic deceleration if the hydraulic brake system fails, until the vehicle meets the static condition, and control the electronic parking brake system to perform static parking; wherein the static condition is determined according to the speed of the vehicle.

[0120] In some embodiments, the system provided by the embodiment of the present application further includes a third module for setting the first acceleration threshold to -3 to -1 m / s 2 , set the second acceleration threshold to -8 to -3 m / s 2 ;

[0121] The first slip rate threshold is set to 0.04 to 0.1, and the second slip rate threshold is set to 0.15 to 0.3.

[0122] In some embodiments, the system provided by the embodiments of the present application also includes a fourth module, which is used to determine that the dynamic deceleration function is available if the calipers on both sides are released, the vehicle is in dynamic state, and the electronic parking brake systems on both sides are not faulty; wherein the calipers are used to decelerate the wheels; and whether the vehicle is in dynamic state is determined by the speed.

[0123] In some embodiments, the system provided by the embodiments of the present application also includes a fifth module, which is used to determine that the vehicle is in dynamic state if the current speed of the vehicle is greater than a first speed threshold; wherein the first speed threshold is 3 to 6 km / h.

[0124] In some embodiments, the system provided by the embodiments of the present application also includes a sixth module, which is used to determine that the static parking function is available if the calipers on both sides are released, the vehicle is static and the electronic parking brake systems on both sides are not faulty; wherein the calipers are used to decelerate the wheels; and the vehicle is determined to be static by the speed.

[0125] In some embodiments, the system provided by the embodiments of the present application also includes a seventh module, which is used to determine that the vehicle is static if the current speed of the vehicle is less than a second speed threshold and the duration is greater than a time threshold; wherein the duration is the duration that the vehicle's speed is less than the second speed threshold, and the second speed threshold is 2 to 5 km / h.

[0126] In some embodiments, the system provided by the embodiments of the present application also includes an eighth module, which is used to control the hydraulic braking system to build pressure if the hydraulic braking system is effective, to decelerate the vehicle until the vehicle meets static conditions, and to control the electronic parking brake system to perform static parking.

[0127] In some embodiments, the system provided by the embodiments of the present application also includes a ninth module, which is used to control the hydraulic brake system to maintain pressure if the vehicle meets static conditions until the calipers on both sides are in a clamped state, and then control the hydraulic brake system to exit pressure maintenance.

[0128] In some embodiments, the system provided by the embodiments of the present application also includes a tenth module, which is used to control the electronic parking brake system to perform static parking if the vehicle completes automatic parking and the vehicle meets the static condition.

[0129] It can be understood that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0130] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the redundant parking control method when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a car computer, etc.

[0131] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0132] The present application also provides a vehicle, comprising the above-mentioned redundant parking control system or the above-mentioned electronic device.

[0133] It can be understood that the contents of the above method embodiments are all applicable to the present vehicle embodiment, the functions specifically implemented by the present vehicle embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0134] The embodiment of the present application also provides a vehicle, which includes the electric drive assembly of the redundant parking control system or computer device. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle can also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0135] See also Fig.10 , Fig.10 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0136] The processor 901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0137] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 902, and the processor 901 calls and executes the redundant parking control method of the embodiment of this application;

[0138] Input / output interface 903, used to implement information input and output;

[0139] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized by wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0140] A bus 905 that transmits information between various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0141] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0142] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned redundant parking control method is implemented.

[0143] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0144] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0145] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0146] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0147] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0148] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0149] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0150] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0151] In the several embodiments provided in the present 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 only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, 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.

[0152] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0153] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0154] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0155] The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the rights of the present application is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present application should be within the scope of the rights of the present application.

Claims

1. A redundant parking control method, characterized in that: The method comprises: During the automatic parking process of the vehicle, if an emergency situation requiring braking is detected, determine whether the hydraulic braking system is effective; If the hydraulic brake system fails, the electronic parking brake system is controlled to perform dynamic deceleration until the vehicle meets a static condition, and the electronic parking brake system is controlled to perform static parking; wherein the static condition is determined according to the speed of the vehicle.

2. The method according to claim 1, characterized in that The controlling the electronic parking brake system to perform dynamic deceleration comprises: Controlling the action of the motor to clamp the caliper; wherein the motor belongs to the electronic parking brake system; the caliper is used to slow down the wheel; If it is determined according to the current of the motor that the disc contact point is reached, the motor is controlled to stop; and according to the speed information of the wheel, the motor is adjusted to control the state of the caliper.

3. The method according to claim 2, characterized in that The speed information includes acceleration and slip rate, and the motor is adjusted according to the speed information of the wheel to control the state of the caliper, including: If the current acceleration is greater than a first acceleration threshold and the current slip rate is less than a first slip rate threshold, adjusting the motor to control the caliper to clamp; Alternatively, if the current acceleration is less than a second acceleration threshold and the current slip rate is greater than a second slip rate threshold, the motor is adjusted to control the caliper to release; wherein the first acceleration threshold is greater than the second acceleration threshold.

4. The method according to claim 2, characterized in that: The speed information includes acceleration and slip rate, and the motor is adjusted according to the speed information of the wheel to control the state of the caliper, including: If the current acceleration is in the first range and the current slip rate is in the second range, the motor is controlled to maintain the current state so that the caliper is not clamped or released; wherein the lower limit value of the first range is the second acceleration threshold, and the upper limit value of the first range is the first acceleration threshold; the lower limit value of the second range is the first slip rate threshold, and the upper limit value of the second range is the second slip rate threshold.

5. The method according to claim 3 or 4, characterized in that: The method further comprises: Set the first acceleration threshold to -3 to -1 m / s 2 , set the second acceleration threshold to -8 to -3 m / s 2 ; The first slip ratio threshold is set to 0.04 to 0.1, and the second slip ratio threshold is set to 0.15 to 0.

3.

6. The method according to claim 1, characterized in that The controlling the electronic parking brake system to perform dynamic deceleration comprises: determining whether a dynamic deceleration function of the electronic parking brake system is available; If the dynamic deceleration function of the electronic parking brake system is available, the electronic parking brake system is controlled to perform dynamic deceleration.

7. The method according to claim 6, characterized in that The dynamic deceleration function is judged by the following steps: If the calipers on both sides are released, the vehicle is in dynamic state and the electronic parking brake systems on both sides are not faulty, it is determined that the dynamic deceleration function is available; wherein the calipers are used for wheel deceleration; and whether the vehicle is in dynamic state is determined by speed.

8. The method according to claim 7, characterized in that The vehicle is determined to be in dynamic state by the following steps: If the current speed of the vehicle is greater than a first speed threshold, it is determined that the vehicle is in a dynamic state; wherein the first speed threshold is 3 to 6 km / h.

9. The method according to claim 1, characterized in that: The controlling the electronic parking brake system to perform static parking includes: determining whether a static parking function of the electronic parking brake system is available; If the static parking function of the electronic parking brake system is available, the electronic parking brake system is controlled to perform static parking.

10. The method according to claim 9, characterized in that The static parking function is judged by the following steps: If the calipers on both sides are released, the vehicle is static and the electronic parking brake systems on both sides are not faulty, it is determined that the static parking function is available; wherein the calipers are used to decelerate the wheels; and whether the vehicle is static is determined by the speed.

11. The method according to claim 10, characterized in that The vehicle is determined to be static by the following steps: If the current speed of the vehicle is less than a second speed threshold and the duration is greater than a time threshold, it is determined that the vehicle is static; wherein the duration is the duration that the speed of the vehicle is less than the second speed threshold, and the second speed threshold is 2 to 5 km / h.

12. The method according to claim 1, characterized in that The method further comprises: If the hydraulic brake system is effective, the hydraulic brake system is controlled to build pressure and the vehicle is decelerated until the vehicle meets the static condition, and the electronic parking brake system is controlled to perform static parking.

13. The method according to claim 12, characterized in that The method further comprises: If the vehicle meets the static condition, the hydraulic brake system is controlled to maintain pressure until the calipers on both sides are in the clamped state, and the hydraulic brake system is controlled to exit the pressure maintenance.

14. The method according to claim 1, characterized in that The method further comprises: If the vehicle completes automatic parking and the vehicle meets the static condition, the electronic parking brake system is controlled to perform static parking.

15. A redundant parking control system, characterized in that: The system comprises: The first module is used to determine whether the hydraulic brake system is effective if an emergency situation requiring braking is detected during the automatic parking process of the vehicle; The second module is used to control the electronic parking brake system to perform dynamic deceleration if the hydraulic brake system fails, until the vehicle meets the static condition, and control the electronic parking brake system to perform static parking; wherein the static condition is determined according to the speed of the vehicle.

16. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 14 when executing the computer program.

17. A vehicle, characterized in that: The vehicle comprises the redundant parking control system of claim 15 or the electronic device of claim 16.

18. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

Images