Redundant park control method and system, vehicle and storage medium

Abstract

The application discloses a redundancy parking control method and system, a vehicle and a storage medium. The method comprises the following steps: in the automatic parking process of a vehicle, if an emergency situation is detected and needs to be stopped, it is determined whether a hydraulic braking system is effective; if the hydraulic braking system is ineffective, a dynamic deceleration is controlled by an electronic parking brake system until the vehicle meets a static condition, and the electronic parking brake system is controlled to be parked statically; wherein the static condition is determined according to the speed of the vehicle. When the hydraulic braking system is ineffective, the electronic parking system can be used for dynamic deceleration and static parking, redundancy design of parking is realized, and the safety performance of the vehicle is improved. The application can be widely applied to the field of vehicle intelligent technology.

Description

Technical Field

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

[0002] Electronic parking brake systems are now widely used, replacing traditional mechanical parking systems with electronic ones, greatly simplifying driver operation. However, the development of autonomous driving has also increased the demands on vehicle safety performance. In related technologies, the automatic parking process, when encountering an emergency stop, relies on a single method; a failure of a single component can easily lead to control failure, affecting vehicle safety performance. Summary of the Invention

[0003] The main objective of this application is to propose a safe and redundant parking control method and system, vehicle, and storage medium.

[0004] To achieve the above objectives, one aspect of this application proposes a redundant parking control method. The method includes: during automatic parking, if an emergency requiring braking is detected, determining whether the hydraulic braking system is effective; if the hydraulic braking system fails, controlling the electronic parking brake system to dynamically decelerate until the vehicle meets static conditions, and then controlling the electronic parking brake system to perform static parking; wherein the static conditions are determined based on the vehicle's speed. This application embodiment, when the hydraulic braking system fails, can achieve dynamic deceleration and static parking through the electronic parking system, realizing a redundant parking design and improving vehicle safety performance.

[0005] In some embodiments, the method provided in this application, wherein controlling the electronic parking brake system to dynamically decelerate, includes:

[0006] The motor is controlled to operate so that the caliper clamps; wherein, the motor is part of the electronic parking brake system; the caliper is used for wheel deceleration;

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

[0008] In some embodiments, the method provided in this application, wherein the speed information includes acceleration and slip ratio, and the step of adjusting the motor according to the wheel speed information to control the state of the caliper includes:

[0009] If the current acceleration is greater than the first acceleration threshold and the current slip ratio is less than the first slip ratio threshold, adjust the motor to control the caliper to clamp.

[0010] Alternatively, if the current acceleration is less than the second acceleration threshold and the current slip ratio is greater than the second slip ratio 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 in this application, wherein the speed information includes acceleration and slip ratio, and the step of adjusting the motor according to the wheel speed information to control the state of the caliper includes:

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

[0013] In some embodiments, the method provided in this application includes:

[0014] The first acceleration threshold is set to -3 to -1 m / s². 2 The second acceleration threshold is set to -8 to -3 m / s². 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 in this application, wherein controlling the electronic parking brake system to dynamically decelerate, includes:

[0017] Determine whether the 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, control the electronic parking brake system to perform dynamic deceleration.

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

[0020] If both calipers are released, the vehicle is in motion, and both electronic parking brake systems are functioning correctly, the dynamic deceleration function is confirmed to be available; wherein, the calipers are used for wheel deceleration; the vehicle's speed determines whether it is in motion.

[0021] In some embodiments, the method provided in this application determines that the vehicle is in a dynamic state through the following steps:

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

[0023] In some embodiments, the method provided in this application, wherein controlling the electronic parking brake system to perform static parking includes:

[0024] Determine whether the 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, control the electronic parking brake system to perform static parking.

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

[0027] If both calipers are released, the vehicle is stationary, and both electronic parking brake systems are functioning correctly, the static parking function is confirmed to be available; wherein, the calipers are used for wheel deceleration; the vehicle's speed determines whether it is in a static state.

[0028] In some embodiments, the method provided in this application determines that the vehicle is in a static state through 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, the vehicle is determined to be in a static state; wherein, the duration is the duration during which the vehicle's speed 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 in this application further includes:

[0031] If the hydraulic braking system is effective, control the hydraulic braking system to build up pressure and decelerate the vehicle until the vehicle meets the static conditions, then control the electronic parking brake system to perform static parking.

[0032] In some embodiments, the method provided in this application further includes:

[0033] If the vehicle meets the static conditions, control the hydraulic braking system to maintain pressure until both calipers are clamped, then control the hydraulic braking system to disengage from maintaining pressure.

[0034] In some embodiments, the method provided in this application further includes:

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

[0036] To achieve the above objectives, another aspect of this application proposes a redundant parking control system, the system comprising:

[0037] The first module is used to determine whether the hydraulic braking system is effective if an emergency 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 dynamically decelerate if the hydraulic braking system fails, until the vehicle meets the static conditions, and then control the electronic parking brake system to perform static parking; wherein the static conditions are determined according to the speed of the vehicle.

[0039] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0040] To achieve the above objectives, another aspect of the embodiments of this application proposes a vehicle including the aforementioned redundant parking control system or the aforementioned electronic equipment.

[0041] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0042] The embodiments of this application include at least the following beneficial effects: During automatic parking, if an emergency requiring braking is detected, the effectiveness of the hydraulic braking system is determined. If the hydraulic braking system fails, the electronic parking brake system is controlled to dynamically decelerate until the vehicle meets static conditions, at which point the electronic parking brake system is controlled to perform static parking. The static conditions are determined based on the vehicle's speed. In the event of hydraulic braking system failure, the embodiments of this application can achieve dynamic deceleration and static parking through the electronic parking system, realizing a redundant parking design and improving vehicle safety performance. Attached Figure Description

[0043] Figure 1 This is a flowchart of one embodiment of the redundant parking control method provided in this application;

[0044] Figure 2 This is a flowchart of another embodiment of the redundant parking control method provided in this application;

[0045] Figure 3 This is a flowchart of one embodiment of the dynamic deceleration process provided in this application;

[0046] Figure 4This is a flowchart of another embodiment of the dynamic deceleration process provided in this application;

[0047] Figure 5 This is a flowchart of one embodiment of the caliper adjustment process provided in this application;

[0048] Figure 6 This is a flowchart of one embodiment of the dynamic deceleration function judgment provided in this application;

[0049] Figure 7 This is a flowchart of another embodiment of the dynamic deceleration function judgment provided in this application;

[0050] Figure 8 This is a flowchart of one embodiment of the static parking function judgment provided in this application;

[0051] Figure 9 This is a schematic diagram of the redundant parking control system provided in the embodiments of this application;

[0052] Figure 10 This is a schematic diagram of a hardware structure of an electronic device in a vehicle provided in an embodiment of this application. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying 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 those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

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

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

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

[0057] Before providing a detailed description of the embodiments of this application, some of the nouns and terms involved in the embodiments of this application will be explained first. The nouns and terms involved in the embodiments of this application are subject to the following interpretations.

[0058] Electronic Parking Brake (EPB) system. It achieves parking braking through electronic control, and its function is the same as that of a traditional mechanical handbrake. It is mainly used to keep the vehicle braked when parking for a long time.

[0059] Electronic parking brake (EPB) systems are now widely used, transforming traditional mechanical parking systems into electronic ones, greatly simplifying driver operation. However, the development of autonomous driving has also increased the demands on vehicle safety. In related technologies, the automatic parking process, when encountering an emergency stop, relies on a single method; a failure of a single component can easily lead to control failure, affecting vehicle safety. Simultaneously, autonomous driving places a higher demand on redundant parking. Existing EPB systems can only provide parking after the vehicle has come to a normal stop; they cannot provide braking force if the hydraulic braking system fails during parking. To address this issue, this application proposes a redundant parking control method for automatic parking. After the vehicle completes automatic parking and reaches a static position, the parking system can control the EPB (Electronic Parking Brake) to perform static parking by sending a command. If an emergency requiring braking is detected during automatic parking, the parking system will determine the effectiveness of the hydraulic braking system. If the hydraulic braking system is effective, a command is sent to control the hydraulic braking system to build pressure and stop the vehicle. When the vehicle speed decreases until the static conditions are met, a static parking command is sent to control the EPB to perform parking. If the hydraulic braking system fails, the parking system directly sends a dynamic deceleration command to control the EPB to perform dynamic deceleration. When the static conditions are met, the EPB performs static parking. This redundant parking control method for automatic parking can achieve redundant parking during automatic parking and, in the event of hydraulic braking system failure, dynamically decelerates and stops the vehicle via the EPB, ensuring vehicle safety.

[0060] The redundant parking control method provided in this application relates to the field of vehicle intelligent technology. The redundant parking control method provided in this application can be applied to a terminal, a server, or software running on a terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle terminal, but is not limited to these. The server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network. The software can be an application implementing the redundant parking control method, but is not limited to the above forms.

[0061] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: 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, and distributed computing environments including any of the above systems or devices. This 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. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0062] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0063] Figure 1 This is an optional flowchart of the redundant parking control method provided in the embodiments of this 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 is detected that requires braking, determine whether the hydraulic braking system is effective.

[0065] Step S200: If the hydraulic braking system fails, control the electronic parking brake system to dynamically decelerate until the vehicle meets the static conditions, and then control the electronic parking brake system to perform static parking; wherein, the static conditions are determined according to the vehicle speed.

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

[0067] In some embodiments, refer to Figure 2 The diagram illustrates the control process when an emergency braking situation is detected during automatic parking. When an emergency stop is required during parking, the system first checks the effectiveness of the hydraulic braking system. If effective, the parking system sends a command to build pressure in the hydraulic braking system and decelerate to a stop. After the vehicle stops, the hydraulic braking system maintains pressure. The parking system then checks the availability of the EPB static parking function. If available, it sends a command to the EPB to perform static parking. When both calipers on both sides of the EPB are clamped, the hydraulic braking system exits the pressure-holding state. If an emergency stop is required during parking and hydraulic braking failure is detected, the parking system checks the availability of the EPB dynamic deceleration function. If available, the parking system sends a command to the EPB to perform dynamic deceleration. When the vehicle decelerates to the point where static conditions are met, the EPB enters the static parking function and achieves static parking.

[0068] This application proposes a redundant parking control method under automatic parking conditions. After automatic parking is completed, the EPB can be controlled to achieve static parking. If an emergency is detected during automatic parking that requires stopping the vehicle, the hydraulic braking system will brake and stop the vehicle first, and then the EPB will complete static parking. If the hydraulic braking system fails during automatic parking, the EPB's dynamic deceleration function can be used to achieve braking backup and stop the vehicle.

[0069] Therefore, the method provided in this application includes: during automatic parking of the vehicle, if an emergency requiring braking is detected, determining whether the hydraulic braking system is effective; if the hydraulic braking system fails, controlling the electronic parking brake system to dynamically decelerate until the vehicle meets static conditions, and then controlling the electronic parking brake system to perform static parking; wherein, the static conditions are determined based on the vehicle's speed. This application embodiment, when the hydraulic braking system fails, can achieve dynamic deceleration and static parking through the electronic parking system, realizing a redundant design for parking and improving vehicle safety performance.

[0070] In some embodiments, refer to Figure 3 As shown in the embodiments of this application, the method for controlling the electronic parking brake system to dynamically decelerate includes:

[0071] Step S210: Control the motor to operate so that the caliper clamps; wherein, the motor belongs to the electronic parking brake system; the caliper is used for wheel deceleration;

[0072] Step S220: If the current of the motor determines that the disc contact point has been reached, control the motor to stop; and adjust the motor according to the speed information of the wheel to control the state of the caliper.

[0073] Among some possible implementations, refer to Figure 4 As shown, when achieving dynamic deceleration via EPB, the motor is first controlled to clamp the caliper, thus achieving deceleration. Then, when the brake disc is reached, the motor is adjusted according to the vehicle's speed and slip ratio, thereby adjusting the caliper's state and achieving the deceleration process. It can be understood that determining the brake disc contact point based on the motor current also includes the steps of: acquiring the motor current and determining the brake disc contact point based on the motor current. The brake disc contact point is the contact area between the brake disc and the brake pads, playing a crucial role in the vehicle's braking system.

[0074] In some embodiments, refer to Figure 5 As shown, the method provided in this application embodiment, where speed information includes acceleration and slip ratio, adjusts the motor based on the wheel speed information to control the caliper state, including:

[0075] Step S221: If the current acceleration is greater than the first acceleration threshold and the current slip ratio is less than the first slip ratio threshold, adjust 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 ratio is greater than the second slip ratio threshold, adjust the motor 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 high and the slip ratio is low, the motor is adjusted to clamp the caliper, causing the vehicle speed to decrease rapidly. Conversely, if the current vehicle acceleration is low and the slip ratio is high, the motor is adjusted to release the caliper, causing the vehicle speed to decrease slowly.

[0078] In some embodiments, refer to Figure 5 The method provided in this application embodiment, where speed information includes acceleration and slip ratio, adjusts the motor based on the wheel speed information to control the caliper state, including:

[0079] Step S223: If the current acceleration is in the first range and the current slip ratio is in the second range, control the motor to maintain the current state so that the caliper does not clamp or release; wherein, the lower limit of the first range is the second acceleration threshold, the upper limit of the first range is the first acceleration threshold; the lower limit of the second range is the first slip ratio threshold, and the upper limit of the second range is the second slip ratio threshold.

[0080] In some possible implementations, if the current vehicle's acceleration and slip ratio are both within acceptable ranges, the motor's state is kept unchanged, and the vehicle is decelerated at the current speed.

[0081] In some embodiments, the method provided in this application includes:

[0082] Set the first acceleration threshold to -3 to -1 m / s². 2 Set the second acceleration threshold to -8 to -3 m / s². 2 ;

[0083] Set the first slip ratio threshold to 0.04 to 0.1, and set the second slip ratio threshold to 0.15 to 0.3.

[0084] Among some possible implementations, refer to Figure 4The diagram shows the control logic for the EPB dynamic deceleration function. After the EPB starts the dynamic deceleration function, it first controls the EPB motor to clamp. When the disc contact point is reached, the motor stops and enters the initial holding phase. For example, the disc contact point can be determined based on the EPB motor current. In some embodiments, a current greater than 3A (current threshold) is considered to have reached the disc contact point. This current threshold can be 2 to 4A. If the wheel acceleration is greater than the threshold a1 (first acceleration threshold) and the slip ratio is less than the threshold S1 (first slip ratio threshold), then the EPB is controlled to clamp. If the wheel acceleration is less than a2 (second acceleration threshold) or the slip ratio is greater than S2 (second slip ratio threshold), then the EPB is controlled to release; under other conditions, the EPB maintains its current state, and the motor neither clamps nor releases. In some embodiments, S1 is 0.06, typically 0.04 to 0.1; S2 is 0.2, typically 0.15 to 0.3. a1 is -2 m / s². 2 Generally, a value of -3 to -1 m / s can be used. 2 a2 takes the value -4m / s 2 Generally, a value of -8 to -3 m / s can be used. 2 .

[0085] In some embodiments, refer to Figure 6 As shown in the embodiments of this application, the method for controlling the electronic parking brake system to dynamically decelerate includes:

[0086] Step S300: Determine 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 this embodiment of the application, before the electronic parking system performs dynamic deceleration, that is, before issuing the 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, refer to Figure 7 As shown in the embodiments of this application, the dynamic deceleration function is determined through the following steps:

[0090] If both calipers are released, the vehicle is in motion, and both electronic parking brake systems are functioning correctly, the dynamic deceleration function is confirmed to be available. The calipers are used for wheel deceleration; the vehicle's speed determines whether it is in motion.

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

[0092] If the vehicle's current speed is greater than a first speed threshold, the vehicle is determined to be in a dynamic state; where the first speed threshold is 3 to 6 km / h.

[0093] In this embodiment, the criteria for determining whether the EPB dynamic deceleration function is available are as follows: Figure 7 As shown, the following conditions must be met simultaneously: 1. Both rear wheel calipers are in the released state; 2. The vehicle is in motion; 3. Both EPB fault states are fault-free. The condition for determining if the vehicle is in motion is: vehicle speed greater than v1 (first speed threshold); for example, v1 can be 4 km / h, and the first speed threshold ranges from 3 to 6 km / h. It is understood that in this embodiment, the first speed threshold is greater than the second speed threshold.

[0094] In some embodiments, the method provided in this application for controlling the electronic parking brake system to perform static parking includes:

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

[0096] If the static parking function of the electronic parking brake system is available, control the electronic parking brake system to perform static parking.

[0097] In this embodiment of the application, before the electronic parking system performs static parking, that is, before issuing the 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, refer to Figure 8 As shown in the embodiments of this application, the static parking function is determined through the following steps:

[0099] If both calipers are released, the vehicle is stationary, and both electronic parking brake systems are functioning correctly, the static parking function is confirmed to be available. The calipers are used to decelerate the wheels; the vehicle's speed determines whether it is in a static state.

[0100] In this embodiment, the process of controlling the EPB to perform static parking is described after automatic parking is completed. After the vehicle completes the automatic parking process, the parking system first determines the status of the static parking function signal issued by the EPB. If the static parking function is available, the parking system issues a command to control the EPB to perform static parking. The conditions for determining whether the EPB static parking function is available are: 1. Both rear wheel calipers are in the released state; 2. The vehicle is static; 3. Both EPB fault states are in the no-fault state.

[0101] In some embodiments, the method provided in this application determines that a vehicle is in a static state through the following steps:

[0102] If the vehicle's current speed is less than the second speed threshold and the duration is greater than the time threshold, the vehicle is determined to be in a static state; where the duration is the duration during which the vehicle's speed is less than the second speed threshold, and the second speed threshold is 2 to 5 km / h.

[0103] It is understood that the vehicle is in a static state, meaning the vehicle meets the static conditions. In some embodiments, it is necessary to simultaneously meet the following conditions: Figure 8 The EPB static parking function is only available under the three conditions shown. The conditions for determining if a vehicle is static are: the vehicle speed is less than v0 (the second speed threshold) for a duration of t0 (the time threshold). In some embodiments, v0 can be 3 km / h, and the second speed threshold ranges from 2 to 5 km / h. t0 is 0.1 s, and the time threshold ranges from 0.05 to 0.3 s. It is understood that the values ​​and ranges of the first speed threshold, second speed threshold, and time threshold given in this application are illustrative examples, and those skilled in the art can adjust the specific values ​​according to actual needs. This application does not specifically limit the numerical values.

[0104] In some embodiments, the method provided in this application further includes:

[0105] If the hydraulic braking system is effective, control the hydraulic braking system to build up pressure and decelerate the vehicle until the vehicle meets the static conditions, then control the electronic parking brake system to perform static parking.

[0106] This application proposes a redundant parking control scheme under automatic parking conditions. When the vehicle completes automatic parking, the parking system can send a command to control the EPB to perform static parking. If an emergency is detected during the automatic parking process and the vehicle needs to be stopped, the parking system will send a command to control the hydraulic braking system to build up pressure and stop the vehicle, and then send a static parking command to control the EPB to perform parking. If the hydraulic braking system fails, the parking system directly sends a dynamic parking command 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 in this application further includes:

[0108] If the vehicle meets the static conditions, control the hydraulic braking system to maintain pressure until both calipers are clamped, then control the hydraulic braking system to disengage from maintaining pressure.

[0109] In this embodiment of the application, when deceleration is achieved through a hydraulic braking system, the hydraulic braking system needs to be kept in a pressure-holding state until both calipers clamp tightly.

[0110] In some embodiments, the method provided in this application further includes:

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

[0112] The following is a detailed description and explanation of the solutions in the embodiments of the present invention, using specific application examples:

[0113] In some embodiments, after the vehicle completes automatic parking, the vehicle is in a static state, and the EPB feedback signal indicates that the 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 an emergency is detected during automatic parking that requires the vehicle to stop, the hydraulic braking system becomes effective. The parking system sends a command to control the hydraulic braking system to brake. After the vehicle stops, the EPB feedback signal indicates that the 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 holding state.

[0115] In other embodiments, when an emergency is detected during automatic parking and the vehicle needs to be stopped, the hydraulic braking system fails, and the dynamic deceleration function of the EPB feedback signal becomes 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 this embodiment, after the vehicle completes automatic parking, the parking system can send a command to control the EPB to perform static parking, ensuring vehicle safety. In this embodiment, when an emergency requiring vehicle braking is detected during automatic parking, the hydraulic braking system is first used to decelerate the vehicle. After the vehicle stops, the parking system sends a command to control the EPB to perform static parking, thus ensuring vehicle parking safety. In this embodiment, if an emergency requiring vehicle braking is detected during automatic parking and the hydraulic braking system fails, the EPB can also be dynamically decelerated by sending a command. The EPB dynamically controls clamping and releasing based on wheel slip ratio and wheel deceleration conditions, thereby decelerating the vehicle and performing static parking after the vehicle stops, achieving redundant braking backup and ensuring vehicle safety. In this embodiment, the EPB can provide feedback to the parking system on the availability of the current static parking and dynamic deceleration functions based on vehicle status, caliper status, and other information, providing judgment for the parking system to make decisions.

[0117] Please see Figure 9 This application also provides a redundant parking control system that can implement the above-mentioned redundant parking control method. The system includes:

[0118] The first module 810 is used to determine whether the hydraulic braking system is effective if an emergency stop 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 dynamically decelerate if the hydraulic braking system fails, until the vehicle meets the static conditions, and then control the electronic parking brake system to perform static parking; wherein, the static conditions are determined according to the vehicle speed.

[0120] In some embodiments, the system provided in this application further includes a third module for setting a first acceleration threshold of -3 to -1 m / s². 2 Set the second acceleration threshold to -8 to -3 m / s². 2 ;

[0121] Set the first slip ratio threshold to 0.04 to 0.1, and set the second slip ratio threshold to 0.15 to 0.3.

[0122] In some embodiments, the system provided in this application further includes a fourth module, used to determine that the dynamic deceleration function is available if both calipers are released, the vehicle is in motion, and both electronic parking brake systems are functioning properly; wherein, the calipers are used for wheel deceleration; and the vehicle speed determines whether it is in motion.

[0123] In some embodiments, the system provided in this application further includes a fifth module, used to determine that the vehicle is in a 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 in this application further includes a sixth module, used to determine that the static parking function is available if both calipers are released, the vehicle is static, and both electronic parking brake systems are functioning properly; wherein the calipers are used for wheel deceleration; and the vehicle speed determines whether it is static.

[0125] In some embodiments, the system provided in this application further includes a seventh module, used to determine that the vehicle is in a static state 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 during which 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 in this application further includes an eighth module, which, if the hydraulic braking system is effective, controls the hydraulic braking system to build up pressure, decelerates the vehicle, and controls the electronic parking brake system to perform static parking until the vehicle meets the static conditions.

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

[0128] In some embodiments, the system provided in this application further includes a tenth module, used to control the electronic parking brake system to perform static parking if the vehicle completes automatic parking and the vehicle meets static conditions.

[0129] It is understood that the content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0130] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned redundant parking control method. This electronic device can be any smart terminal, including a tablet computer, an in-vehicle computer, or similar device.

[0131] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device 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.

[0132] This application also provides a vehicle including the aforementioned redundant parking control system or the aforementioned electronic equipment.

[0133] It is understood that the content of the above method embodiments is applicable to this vehicle embodiment. The specific functions implemented in this vehicle embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0134] This application also provides a vehicle, which includes an electric drive assembly comprising the aforementioned 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 a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle can be a gasoline-powered 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] Please see Figure 10 , Figure 10 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0136] The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, 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 this application.

[0137] The memory 902 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 using the redundant parking control method of the embodiments of this application.

[0138] The input / output interface 903 is used to implement information input and output;

[0139] The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

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

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

[0142] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned redundant parking control method.

[0143] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

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

[0145] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

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

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

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

[0149] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0150] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0151] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

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

[0153] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0154] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0155] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A redundant park control method, characterized by, The method comprises: In the automatic parking process of a vehicle, if an emergency situation requiring stopping is detected, it is determined whether a hydraulic braking system is effective; If the hydraulic braking system is ineffective, a dynamic deceleration is controlled by an electronic parking brake system until the vehicle meets a static condition, and a static parking is controlled by the electronic parking brake system; wherein the static condition is determined according to the speed of the vehicle; The control of the electronic parking brake system for dynamic deceleration comprises: A motor is controlled to act to make a caliper clamp; wherein the motor belongs to the electronic parking brake system; and the caliper is used for wheel deceleration; If a disc contact point is determined according to the current of the motor, the motor is controlled to stop; and the motor is adjusted according to the speed information of the wheel to control the state of the caliper; The speed information comprises acceleration and slip rate, and the adjustment of the motor according to the speed information of the wheel to control the state of the caliper comprises: If the current acceleration is greater than a first acceleration threshold value and the current slip rate is less than a first slip rate threshold value, the motor is adjusted to control the caliper to clamp; If the current acceleration is less than a second acceleration threshold value and the current slip rate is greater than a second slip rate threshold value, the motor is adjusted to control the caliper to release; wherein the first acceleration threshold value is greater than the second acceleration threshold value; If the current acceleration is in a first range and the current slip rate is in a second range, the motor is controlled to maintain the current state to make the caliper not clamp and not release; wherein the lower limit value of the first range is the second acceleration threshold value, and the upper limit value of the first range is the first acceleration threshold value; the lower limit value of the second range is the first slip rate threshold value, and the upper limit value of the second range is the second slip rate threshold value; The control of the electronic parking brake system for dynamic deceleration comprises: It is determined 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 for dynamic deceleration; The control of the electronic parking brake system for static parking comprises: It is determined 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 for static parking.

2. The method of claim 1, wherein, The method further comprises: setting the first acceleration threshold to -3 to -1 , setting the second acceleration threshold to -8 to -3 ; The first slip rate threshold value is set to 0.04 to 0.1, and the second slip rate threshold value is set to 0.15 to 0.

3.

3. The method of claim 1, wherein, The dynamic deceleration function is determined by the following steps: If both sides of the caliper are released, the vehicle is in dynamic, and both sides of the electronic parking brake system are fault-free, it is determined that the dynamic deceleration function is available; wherein the caliper is used for wheel deceleration; and whether the vehicle is in dynamic is determined by speed.

4. The method of claim 3, wherein, The vehicle is determined to be in dynamic by the following steps: if the current speed of the vehicle is greater than a first speed threshold, determining that the vehicle is in motion; wherein the first speed threshold is 3 to 6 .

5. The method of claim 1, wherein, The static parking function is determined by the following steps: If both sides of the caliper are released, the vehicle is in static, and both sides of the electronic parking brake system are fault-free, it is determined that the static parking function is available; wherein the caliper is used for wheel deceleration; and whether the vehicle is in static is determined by speed.

6. The method of claim 5, wherein, The vehicle is determined to be in static by the following steps: if a current speed of the vehicle is less than a second speed threshold and a duration is greater than a time threshold, determining that the vehicle is static; wherein the duration is a time duration that the speed of the vehicle is less than the second speed threshold, the second speed threshold being 2 to 5 .

7. The method of claim 1, wherein, The method further comprises: If the hydraulic brake system is effective, controlling the hydraulic brake system to build pressure, and controlling the vehicle to decelerate until the vehicle meets a static condition, and controlling the electronic parking brake system to perform static parking.

8. The method of claim 7, wherein, The method further comprises: If the vehicle meets the static condition, controlling the hydraulic brake system to maintain pressure until both sides of the caliper are in a clamped state, and controlling the hydraulic brake system to exit pressure maintenance.

9. The method of claim 1, wherein, The method further comprises: If the vehicle completes automatic parking and the vehicle meets the static condition, controlling the electronic parking brake system to perform static parking.

10. A redundant park control system, characterized by, The system comprises: A first module configured to, during automatic parking of a vehicle, determine whether a hydraulic brake system is effective if an emergency situation requiring stopping is detected; A second module configured to, if the hydraulic brake system is ineffective, control an electronic parking brake system to perform dynamic deceleration until the vehicle meets a static condition, and control the electronic parking brake system to perform static parking, wherein the static condition is determined according to a speed of the vehicle. The control of the electronic parking brake system to perform dynamic deceleration comprises: Controlling a motor to actuate a caliper to clamp, wherein the motor belongs to the electronic parking brake system, and the caliper is used for wheel deceleration; If it is determined that a disc contact point is reached according to a current of the motor, controlling the motor to stop, and adjusting the motor according to speed information of the wheel to control a state of the caliper; The speed information comprises acceleration and slip rate, and the adjustment of the motor according to the speed information of the wheel to control the state of the caliper comprises: If a current acceleration is greater than a first acceleration threshold value and a current slip rate is less than a first slip rate threshold value, adjusting the motor to control the caliper to clamp; If the current acceleration is less than a second acceleration threshold value and the current slip rate is greater than a second slip rate threshold value, adjusting the motor to control the caliper to release, wherein the first acceleration threshold value is greater than the second acceleration threshold value; If the current acceleration is in a first range and the current slip rate is in a second range, controlling the motor to maintain a current state to make the caliper not clamp and not release, wherein a lower limit value of the first range is the second acceleration threshold value, and an upper limit value of the first range is the first acceleration threshold value, a lower limit value of the second range is the first slip rate threshold value, and an upper limit value of the second range is the second slip rate threshold value; The control of 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, controlling the electronic parking brake system to perform dynamic deceleration. The control of the electronic parking brake system to perform static parking comprises: 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, controlling the electronic parking brake system to perform static parking.

11. An electronic device, comprising: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method in any one of claims 1 to 9 when executing the computer program.

12. A vehicle characterized by comprising: The vehicle comprises a redundant parking control system as claimed in claim 10 or an electronic device as claimed in claim 11.

13. A computer-readable storage medium, the computer-readable storage medium storing a computer program, characterized in that, The computer program, when executed by a processor, implements the method of any one of claims 1 to 9.

Images