P-gear parking mechanism response control method, system and device and storage medium

Abstract

The invention discloses a P-gear parking mechanism response control method, system and device and a storage medium, and the method comprises the steps: responding to a P-gear control operation, generating a corresponding P-gear control instruction through a vehicle control unit, and sending the P-gear control instruction to a motor controller; obtaining a first vehicle speed and a first motor rotating speed of the current vehicle through a motor controller, and judging whether to respond to the P-gear control instruction or not according to the first vehicle speed and the first motor rotating speed; and when the P-gear control instruction is responded, the motor is locked / unlocked through the P-gear parking mechanism according to the P-gear control instruction. The method improves the safety of the vehicle, and can be widely applied to the technical field of vehicle control.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a P-gear parking mechanism response control method, system, device and storage medium. Background Art

[0002] P gear is the most common gear in automatic transmission models. It is usually located at the front of the gear operation panel, in front of R gear. The purpose is to lock the axle through the gear when the car is stationary on a slope. In the prior art, most BASE models directly determine the unlocking and locking of P gear based on the speed feedback from the motor through the vehicle controller (VCU). The motor controller (MCU) responds immediately after receiving the request from the vehicle controller. This method has the following problems:

[0003] 1) When the motor speed is abnormal, responding to the locking command of the vehicle controller will directly damage the gear of the P gear parking mechanism;

[0004] 2) When the vehicle controller is in an abnormal state or the vehicle is attacked abnormally, the motor controller will still directly respond to the unlocking command of the vehicle controller, which may cause dangerous conditions such as sliding on a slope and abnormal acceleration, affecting the safety of the vehicle. Summary of the invention

[0005] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0006] To this end, an object of an embodiment of the present invention is to provide a P-position parking mechanism response control method, which improves the safety of the vehicle.

[0007] Another object of an embodiment of the present invention is to provide a P-position parking mechanism response control system.

[0008] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0009] In a first aspect, an embodiment of the present invention provides a P-gear parking mechanism response control method, comprising the following steps:

[0010] In response to the P gear control operation, a corresponding P gear control instruction is generated by the vehicle controller, and the P gear control instruction is sent to the motor controller;

[0011] Acquiring a first vehicle speed and a first motor speed of the current vehicle through the motor controller, and determining whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed;

[0012] When responding to the P-position control command, the motor is locked / unlocked by the P-position parking mechanism according to the P-position control command.

[0013] Further, in one embodiment of the present invention, judging whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed specifically includes:

[0014] Determining whether the first vehicle speed matches the first motor speed normally, and determining whether the first motor speed is less than a preset first threshold;

[0015] When the first vehicle speed matches the first motor speed normally and the first motor speed is less than the first threshold, the P gear control instruction is responded to.

[0016] Further, in one embodiment of the present invention, the determining whether the first vehicle speed matches the first motor speed normally specifically includes:

[0017] Obtaining a preset motor speed-vehicle speed mapping relationship, determining a second vehicle speed corresponding to the first motor speed according to the motor speed-vehicle speed mapping relationship, and determining whether a difference between the first vehicle speed and the second vehicle speed is less than a preset second threshold value;

[0018] When the difference between the first vehicle speed and the second vehicle speed is less than the second threshold, it is determined that the first vehicle speed matches the first motor speed normally.

[0019] Further, in one embodiment of the present invention, in response to the P gear control operation, the vehicle controller generates a corresponding P gear control instruction, which specifically includes:

[0020] In response to the P gear control operation, obtaining the second motor speed of the current vehicle through the vehicle controller, and determining whether the second motor speed is less than a preset third threshold;

[0021] When the speed of the second motor is less than the third threshold, the P gear control instruction is generated by the vehicle controller.

[0022] Further, in one embodiment of the present invention, the P-gear parking mechanism includes a P-gear mechanical unit and a P-gear control unit, and the P-gear parking mechanism locks / unlocks the motor according to the P-gear control instruction, which specifically includes:

[0023] Sending the P gear control instruction to the P gear control unit through the motor controller;

[0024] The P gear control unit controls the P gear mechanical unit to lock / unlock the motor according to the P gear control instruction.

[0025] In a second aspect, an embodiment of the present invention provides a P-position parking mechanism response control system, comprising:

[0026] A control instruction generation module, for generating a corresponding P gear control instruction through a vehicle controller in response to a P gear control operation, and sending the P gear control instruction to a motor controller;

[0027] a response judgment module, used for obtaining a first vehicle speed and a first motor speed of the current vehicle through the motor controller, and judging whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed;

[0028] The motor locking / unlocking control module is used to lock / unlock the motor according to the P gear control instruction through the P gear parking mechanism when responding to the P gear control instruction.

[0029] Further, in one embodiment of the present invention, judging whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed specifically includes:

[0030] Determining whether the first vehicle speed matches the first motor speed normally, and determining whether the first motor speed is less than a preset first threshold;

[0031] When the first vehicle speed matches the first motor speed normally and the first motor speed is less than the first threshold, the P gear control instruction is responded to.

[0032] Further, in one embodiment of the present invention, the determining whether the first vehicle speed matches the first motor speed normally specifically includes:

[0033] Obtaining a preset motor speed-vehicle speed mapping relationship, determining a second vehicle speed corresponding to the first motor speed according to the motor speed-vehicle speed mapping relationship, and determining whether a difference between the first vehicle speed and the second vehicle speed is less than a preset second threshold value;

[0034] When the difference between the first vehicle speed and the second vehicle speed is less than the second threshold, it is determined that the first vehicle speed matches the first motor speed normally.

[0035] In a third aspect, an embodiment of the present invention provides a P-position parking mechanism response control device, comprising:

[0036] at least one processor;

[0037] at least one memory for storing at least one program;

[0038] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned P-gear parking mechanism response control method.

[0039] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, in which a program executable by a processor is stored, and when the program executable by the processor is executed by the processor, it is used to execute the above-mentioned P-position parking mechanism response control method.

[0040] The advantages and beneficial effects of the present invention will be partly given in the following description, partly become apparent from the following description, or be understood through the practice of the present invention:

[0041] In response to the P-gear control operation, the embodiment of the present invention generates a corresponding P-gear control instruction through the vehicle controller, and sends the P-gear control instruction to the motor controller, obtains the first vehicle speed and the first motor speed of the current vehicle through the motor controller, and judges whether to respond to the P-gear control instruction according to the first vehicle speed and the first motor speed. When responding to the P-gear control instruction, the motor is locked / unlocked by the P-gear parking mechanism according to the P-gear control instruction. In response to the P-gear control instruction, the embodiment of the present invention generates the P-gear control instruction on the vehicle controller side, and makes a redundant judgment on whether to respond to the P-gear control instruction on the motor controller side according to the first vehicle speed and the first motor speed of the current vehicle, so as to avoid the motor controller directly responding to the P-gear control instruction of the vehicle controller when the vehicle is abnormal, thereby damaging the gears of the P-gear parking mechanism or causing dangerous conditions such as slipping on a slope or abnormal acceleration, thereby improving the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solution in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solution of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A flowchart of a P-gear parking mechanism response control method provided by an embodiment of the present invention;

[0044] Figure 2 A structural block diagram of a P-gear parking mechanism response control system provided by an embodiment of the present invention;

[0045] Figure 3 A structural block diagram of a P-position parking mechanism response control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limitations of the present invention. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0047] In the description of the present invention, the meaning of "a plurality" is two or more than two. If there is a description of "a first" or "a second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features. In addition, unless otherwise defined, all technical and scientific terms used in this document have the same meaning as those commonly understood by those skilled in the art.

[0048] Reference Figure 1 The embodiment of the present invention provides a P-gear parking mechanism response control method, which specifically includes the following steps:

[0049] S101, in response to a P gear control operation, generating a corresponding P gear control instruction through a vehicle controller, and sending the P gear control instruction to a motor controller;

[0050] S102, obtaining a first vehicle speed and a first motor speed of the current vehicle through a motor controller, and determining whether to respond to a P gear control instruction according to the first vehicle speed and the first motor speed;

[0051] S103 . In response to the P gear control command, the motor is locked / unlocked by the P gear parking mechanism according to the P gear control command.

[0052] The embodiment of the present invention generates a P-gear control instruction on the vehicle controller side, and makes a redundant judgment on whether to respond to the P-gear control instruction on the motor controller side according to the first vehicle speed and the first motor speed of the current vehicle, thereby preventing the motor controller from directly responding to the P-gear control instruction of the vehicle controller when the vehicle is abnormal, thereby damaging the gears of the P-gear parking mechanism or causing dangerous conditions such as sliding down a slope or abnormal acceleration, thereby improving the safety of the vehicle.

[0053] As an optional implementation, determining whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed specifically includes:

[0054] S1021, determining whether the first vehicle speed matches the first motor speed normally, and determining whether the first motor speed is less than a preset first threshold;

[0055] S1022: When the first vehicle speed matches the first motor speed normally and the first motor speed is less than a first threshold, respond to the P gear control instruction.

[0056] Specifically, the existing BASE vehicle control strategy adopts the strategy of direct response of VCU for the response control of the P-gear parking mechanism. However, when testing the vehicle components, it is found that when the 12V battery voltage is low, the abnormality of the motor rotational transformer will cause the abnormal feedback speed of the motor. If the vehicle is stopped rashly at this time, the P-gear mechanical structure will forcibly lock the motor gear, and since the gear is still rotating, the forced locking will cause damage to the motor mechanical structure. In addition, when the vehicle controller is attacked by external hackers, it is also possible to force the motor controller to unlock / lock the P-gear, thereby causing dangerous conditions such as sliding on a slope and abnormal acceleration. Therefore, the embodiment of the present invention adds a redundant judgment strategy on the motor controller side to determine whether the vehicle speed matches the motor speed normally and whether the motor speed is less than a preset threshold. When the first vehicle speed matches the first motor speed normally, and the first motor speed is less than the first threshold, the motor controller responds to the P-gear control instruction, avoiding the motor controller directly responding to the P-gear control instruction of the vehicle controller when the vehicle is abnormal, thereby damaging the gear of the P-gear parking mechanism or causing dangerous conditions such as sliding on a slope and abnormal acceleration, thereby improving the safety of the vehicle.

[0057] As an optional implementation, determining whether the first vehicle speed matches the first motor speed normally includes:

[0058] S10211, obtaining a preset motor speed-vehicle speed mapping relationship, determining a second vehicle speed corresponding to the first motor speed according to the motor speed-vehicle speed mapping relationship, and determining whether a difference between the first vehicle speed and the second vehicle speed is less than a preset second threshold;

[0059] S10212: When the difference between the first vehicle speed and the second vehicle speed is less than a second threshold, determine that the first vehicle speed matches the first motor speed normally.

[0060] Specifically, a pre-calibrated motor speed-vehicle speed mapping relationship of the current vehicle is obtained, and the motor speed-vehicle speed mapping relationship is related to the model of the current vehicle. For example, for model A, a motor speed of 200rpm can be mapped to a vehicle speed of 2km / h, and a motor speed of 400rpm can be mapped to a vehicle speed of 3km / h.

[0061] According to the motor speed-vehicle speed mapping relationship, the first motor speed of the current vehicle is converted into the corresponding second vehicle speed, and then it is determined whether the difference between the first vehicle speed and the second vehicle speed is less than the second threshold value (such as 2km / h). If so, it indicates that the first vehicle speed matches the first motor speed normally; at the same time, it is determined whether the first motor speed is less than the preset first threshold value (such as 200rpm); if the first vehicle speed matches the first motor speed normally, and the first motor speed is less than the first threshold value, it indicates that the motor controller can respond to the P gear control command. If the first vehicle speed does not match the first motor speed normally, or the first motor speed is greater than or equal to the first threshold value, the motor controller does not respond to the P gear control command of the vehicle controller.

[0062] The embodiment of the present invention adds a redundant judgment strategy on the motor controller side as to whether the vehicle speed matches the motor speed normally and whether the motor speed is less than a preset threshold. On the one hand, it can increase the reliability of locking and prevent the P-gear locking mechanical mechanism from being damaged by responding to abnormal instructions. On the other hand, when the VCU is abnormal or the vehicle is attacked, it can ensure that the vehicle is always in a locked state to avoid dangerous conditions such as sliding down a slope and abnormal acceleration.

[0063] As an optional implementation, in response to the P gear control operation, a corresponding P gear control instruction is generated by the vehicle controller, which specifically includes:

[0064] S1011, in response to the P gear control operation, obtaining the current speed of the second motor of the vehicle through the vehicle controller, and determining whether the speed of the second motor is less than a preset third threshold;

[0065] S1012: When the speed of the second motor is less than the third threshold, a P gear control instruction is generated through the vehicle controller.

[0066] Specifically, after detecting the user's P gear control operation and before the vehicle controller generates a P gear control instruction, it is first determined whether the motor speed is less than a preset third threshold (such as 200rpm). If so, the corresponding P gear control instruction (lock or unlock) is generated.

[0067] It can be recognized that the embodiment of the present invention deploys a judgment strategy on the vehicle controller side to determine whether the motor speed is less than a preset threshold, thereby realizing a dual redundant judgment mechanism for judging whether to generate a P gear control instruction on the vehicle controller side and judging whether to respond to the P gear control instruction on the motor controller side, thereby further improving the safety of the vehicle.

[0068] It should be noted that the third threshold value of the embodiment of the present invention may be the same as or different from the second threshold value, because a certain signal transmission time is required from the vehicle controller determining whether to generate a P gear control instruction to the motor controller determining whether to respond to the P gear control instruction, and the motor speed may change during this process.

[0069] As an optional implementation, the P-gear parking mechanism includes a P-gear mechanical unit and a P-gear control unit, and the motor is locked / unlocked by the P-gear parking mechanism according to the P-gear control instruction, which specifically includes:

[0070] S1031, sending a P gear control instruction to a P gear control unit through a motor controller;

[0071] S1032. Control the P gear mechanical unit to lock / unlock the motor according to the P gear control instruction through the P gear control unit.

[0072] Specifically, the P-gear parking mechanism includes a P-gear mechanical unit and a P-gear control unit. The P-gear control unit is controlled by a motor controller (MCU), and the P-gear mechanical unit is controlled by the P-gear control unit. After the motor controller determines that it responds to the P-gear control instruction, it sends the P-gear control instruction to the P-gear control unit, and the P-gear control unit parses the P-gear control instruction, and controls the P-gear mechanical unit to lock / unlock the motor according to the parsing result; or, after the motor controller determines that it responds to the P-gear control instruction, it parses the P-gear control instruction to obtain the parsing result of locking / unlocking the motor, and then sends the parsing result to the P-gear control unit in the form of a control instruction, so as to control the P-gear mechanical unit to lock / unlock the motor.

[0073] The above is a description of the method steps of the embodiment of the present invention. It can be recognized that the embodiment of the present invention generates a P gear control instruction on the vehicle controller side, and makes a redundant judgment on whether to respond to the P gear control instruction on the motor controller side according to the first vehicle speed and the first motor speed of the current vehicle, thereby avoiding the motor controller directly responding to the P gear control instruction of the vehicle controller when the vehicle is abnormal, thereby damaging the gears of the P gear parking mechanism or causing dangerous conditions such as slipping on a slope or abnormal acceleration, thereby improving the safety of the vehicle.

[0074] Reference Figure 2 The embodiment of the present invention provides a P-position parking mechanism response control system, comprising:

[0075] A control instruction generation module, for generating a corresponding P gear control instruction through a vehicle controller in response to a P gear control operation, and sending the P gear control instruction to a motor controller;

[0076] a response judgment module, used for obtaining a first vehicle speed and a first motor speed of the current vehicle through a motor controller, and judging whether to respond to a P gear control instruction according to the first vehicle speed and the first motor speed;

[0077] The motor locking / unlocking control module is used to lock / unlock the motor according to the P gear control instruction through the P gear parking mechanism when responding to the P gear control instruction.

[0078] As an optional implementation, determining whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed specifically includes:

[0079] Determining whether the first vehicle speed matches the first motor speed normally, and determining whether the first motor speed is less than a preset first threshold;

[0080] When the first vehicle speed matches the first motor speed normally and the first motor speed is less than the first threshold, the P gear control instruction is responded.

[0081] As an optional implementation, determining whether the first vehicle speed matches the first motor speed normally includes:

[0082] Obtaining a preset motor speed-vehicle speed mapping relationship, determining a second vehicle speed corresponding to the first motor speed according to the motor speed-vehicle speed mapping relationship, and determining whether a difference between the first vehicle speed and the second vehicle speed is less than a preset second threshold value;

[0083] When the difference between the first vehicle speed and the second vehicle speed is less than the second threshold, it is determined that the first vehicle speed matches the first motor speed normally.

[0084] 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.

[0085] Reference Figure 3 The embodiment of the present invention provides a P-gear parking mechanism response control device, comprising:

[0086] at least one processor;

[0087] at least one memory for storing at least one program;

[0088] When the at least one program is executed by the at least one processor, the at least one processor implements the P-gear parking mechanism response control method.

[0089] 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.

[0090] An embodiment of the present invention further provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to execute the above-mentioned P-position parking mechanism response control method.

[0091] A computer-readable storage medium of an embodiment of the present invention can execute a P-position parking mechanism response control method provided by a method embodiment of the present invention, can execute any combination of implementation steps of the method embodiment, and has the corresponding functions and beneficial effects of the method.

[0092] The embodiment of the present invention also discloses a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes Figure 1 The method shown.

[0093] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0094] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified to the contrary, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0095] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0096] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0097] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the above-mentioned program is printed, since the above-mentioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or processing in other suitable ways as necessary, and then stored in a computer memory.

[0098] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0099] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0100] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0101] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A P-position parking mechanism response control method, characterized in that: The following steps are involved: In response to the P gear control operation, a corresponding P gear control instruction is generated by the vehicle controller, and the P gear control instruction is sent to the motor controller; Acquiring a first vehicle speed and a first motor speed of the current vehicle through the motor controller, and determining whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed; When responding to the P-position control command, the motor is locked / unlocked by the P-position parking mechanism according to the P-position control command.

2. A P-gear parking mechanism response control method according to claim 1, characterized in that: The determining whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed specifically includes: Determining whether the first vehicle speed matches the first motor speed normally, and determining whether the first motor speed is less than a preset first threshold; When the first vehicle speed matches the first motor speed normally and the first motor speed is less than the first threshold, the P gear control instruction is responded to.

3. The P-position parking mechanism response control method according to claim 1, characterized in that: The determining whether the first vehicle speed matches the first motor speed normally specifically includes: Obtaining a preset motor speed-vehicle speed mapping relationship, determining a second vehicle speed corresponding to the first motor speed according to the motor speed-vehicle speed mapping relationship, and determining whether a difference between the first vehicle speed and the second vehicle speed is less than a preset second threshold value; When the difference between the first vehicle speed and the second vehicle speed is less than the second threshold, it is determined that the first vehicle speed matches the first motor speed normally.

4. The P-position parking mechanism response control method according to claim 1, characterized in that: In response to the P gear control operation, the vehicle controller generates a corresponding P gear control instruction, which specifically includes: In response to the P gear control operation, obtaining the second motor speed of the current vehicle through the vehicle controller, and determining whether the second motor speed is less than a preset third threshold; When the speed of the second motor is less than the third threshold, the P gear control instruction is generated by the vehicle controller.

5. A P-gear parking mechanism response control method according to any one of claims 1 to 4, characterized in that: The P-gear parking mechanism includes a P-gear mechanical unit and a P-gear control unit. The P-gear parking mechanism locks / unlocks the motor according to the P-gear control instruction, which specifically includes: Sending the P gear control instruction to the P gear control unit through the motor controller; The P gear control unit controls the P gear mechanical unit to lock / unlock the motor according to the P gear control instruction.

6. A P-position parking mechanism response control system, characterized in that: include: A control instruction generation module, for generating a corresponding P gear control instruction through a vehicle controller in response to a P gear control operation, and sending the P gear control instruction to a motor controller; a response judgment module, used for obtaining a first vehicle speed and a first motor speed of the current vehicle through the motor controller, and judging whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed; The motor locking / unlocking control module is used to lock / unlock the motor according to the P gear control instruction through the P gear parking mechanism when responding to the P gear control instruction.

7. A P-position parking mechanism response control system according to claim 6, characterized in that: The determining whether to respond to the P gear control instruction according to the first vehicle speed and the first motor speed specifically includes: Determining whether the first vehicle speed matches the first motor speed normally, and determining whether the first motor speed is less than a preset first threshold; When the first vehicle speed matches the first motor speed normally and the first motor speed is less than the first threshold, the P gear control instruction is responded to.

8. The P-position parking mechanism response control system according to claim 7, characterized in that: The determining whether the first vehicle speed matches the first motor speed normally specifically includes: Obtaining a preset motor speed-vehicle speed mapping relationship, determining a second vehicle speed corresponding to the first motor speed according to the motor speed-vehicle speed mapping relationship, and determining whether a difference between the first vehicle speed and the second vehicle speed is less than a preset second threshold value; When the difference between the first vehicle speed and the second vehicle speed is less than the second threshold, it is determined that the first vehicle speed matches the first motor speed normally.

9. A P-position parking mechanism response control device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a P-position parking mechanism response control method as described in any one of claims 1 to 5.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to execute a P-position parking mechanism response control method as claimed in any one of claims 1 to 5 when executed by the processor.

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