Parking control method and system and vehicle

Abstract

The invention provides a parking control method and system and a vehicle, and relates to the technical field of vehicles, and the parking control method comprises the steps that a motor is controlled to rotate forwards so as to output target clamping force used for achieving vehicle braking, and a first rotation angle achieved after the motor outputs the target clamping force is recorded; the parking mechanism is controlled to execute the parking action and the motor is powered off, and a second rotation angle achieved after the motor is powered off is recorded; when the first rotation angle and the second rotation angle meet the first preset condition, the parking mechanism is controlled to relieve the parking action, and the motor is controlled to rotate forwards by the preset angle value and then jumps to the previous step; and when the first rotation angle and the second rotation angle meet a second preset condition, the parking mechanism is controlled to keep parking action. Therefore, the original motor angle sensor of the EMB caliper can be used for detecting whether the motor rotates reversely, so that the structure of the EMB caliper is simplified, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a parking control method, system and vehicle. Background Art

[0002] With the development of the automobile industry, more and more vehicles use electronic mechanical brake systems for parking brakes. Among them, the core component of the electronic mechanical brake system is the electronic mechanical brake caliper, namely the EMB (Electronic Mechanical Brake) caliper, which generates braking force through motor drive and realizes full electronic control. It has the advantages of simple structure, fast response and precise control.

[0003] At present, the EMB caliper is mainly composed of a motor module, a parking mechanism, a deceleration mechanism and a transmission mechanism. During service braking, the power output by the motor is decelerated and torque-increased by the deceleration mechanism and then transmitted to the transmission mechanism. The transmission mechanism converts the rotational motion into linear motion through the ball screw to push the piston cylinder. The piston cylinder pushes the friction plate to clamp the brake disc to complete the braking. When parking is required, under normal circumstances, the target clamping force is output according to the above-mentioned service braking logic, and then the parking mechanism pushes the card plate to lock the parking gear to complete the parking and the motor is powered off. However, there are some abnormal situations. For example, when parking, if the motor outputs the target clamping force, the card plate is pushed out and just stuck at the tip of the parking gear tooth. At this time, the parking is in an unstable state and this state needs to be identified.

[0004] In the prior art, a displacement sensor is usually set on the card plate to detect the displacement of the card plate in real time. If the displacement of the card plate does not reach the target value, it is judged as an abnormal state, and the motor will continue to rotate a specified angle to ensure that the parking card plate is locked in place. However, due to the addition of a displacement sensor, this method makes the structure of the EMB caliper more complicated and the production cost is high. Summary of the invention

[0005] The problem solved by the invention is: how to simplify the structure of the EMB caliper and reduce the production cost.

[0006] In order to solve the above problems, the present invention provides a parking control method, system and vehicle.

[0007] In a first aspect, the present invention provides a parking control method, comprising:

[0008] Controlling the motor to rotate forward to output a target clamping force for achieving vehicle braking, and recording a first rotation angle reached after the motor outputs the target clamping force;

[0009] Controlling the parking mechanism to perform a parking action and power off the motor, and recording a second rotation angle reached after the motor is powered off;

[0010] When the first rotation angle and the second rotation angle meet a first preset condition, the parking mechanism is controlled to release the parking action, and the motor is controlled to rotate forward by a preset angle value, and then the process jumps to the step of controlling the parking mechanism to perform the parking action and powering off the motor, and recording the second rotation angle reached after the motor is powered off;

[0011] When the first rotation angle and the second rotation angle satisfy a second preset condition, the parking mechanism is controlled to maintain the parking action.

[0012] Optionally, the first preset condition includes: the first rotation angle is greater than the second rotation angle; the second preset condition includes: the first rotation angle is less than or equal to the second rotation angle.

[0013] Optionally, recording the second rotation angle after the motor is powered off includes:

[0014] When the duration of the motor being powered off reaches a preset duration, the rotation angle of the motor after being powered off is recorded as the second rotation angle.

[0015] Optionally, the preset duration is not less than 1s and not more than 5s.

[0016] Optionally, the parking mechanism comprises a driving member, a parking card plate connected to an output end of the driving member, and a parking gear arranged on a motor shaft of the motor, wherein the driving member is a bistable electromagnet;

[0017] The controlling the parking mechanism to perform the parking action includes: pushing the parking card plate to lock the parking gear by the bistable electromagnet;

[0018] The controlling the parking mechanism to release the parking action includes: driving the parking card plate to reset and move away from the parking gear by the bistable electromagnet.

[0019] Optionally, the preset angle value is an angle corresponding to a tooth pitch of the parking gear.

[0020] Optionally, before controlling the motor to rotate forward to output a target clamping force for achieving vehicle braking and recording a first rotation angle reached after the motor outputs the target clamping force, the method further includes:

[0021] Determine the parking clamp force required for the vehicle;

[0022] The parking clamping force is used as the target clamping force output by the motor.

[0023] Optionally, controlling the motor to rotate forward to output a target clamping force for achieving vehicle braking comprises:

[0024] Detecting the clamping force output by the motor through a pressure sensor;

[0025] The motor is controlled to rotate forward until the clamping force output by the motor reaches the target clamping force.

[0026] In a second aspect, the present invention provides a parking control system, comprising a motor, a parking mechanism, a motor angle sensor and a controller; the motor is used to output a target clamping force to achieve vehicle braking, and the parking mechanism is used to lock the output shaft of the motor to achieve a parking operation; the motor angle sensor is used to record a first rotation angle reached by the motor after the motor outputs the target clamping force, and a second rotation angle reached by the motor after the parking mechanism performs a parking action and the motor is powered off;

[0027] The controller is electrically connected to the motor angle sensor, and is used to: when the first rotation angle and the second rotation angle meet a first preset condition, control the parking mechanism to release the parking action, and control the motor to rotate forward by a preset angle value and then jump to the step of controlling the parking mechanism to perform the parking action and power off the motor, and record the second rotation angle reached after the motor is powered off; when the first rotation angle and the second rotation angle meet a second preset condition, control the parking mechanism to maintain the parking action.

[0028] In a third aspect, the present invention provides a vehicle, comprising the parking control system as described above;

[0029] Alternatively, the system comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to implement the parking control method as described above when executing the computer program.

[0030] The parking control method, system and vehicle of the present invention have the following beneficial effects: by controlling the motor to rotate forward to output the target clamping force, and recording the first rotation angle reached after the motor outputs the target clamping force, at the same time, controlling the parking mechanism to perform the parking action and the motor to be powered off, and recording the second rotation angle reached after the motor is powered off, when the first rotation angle and the second rotation angle meet the second preset condition, it means that the motor has not reversed after being powered off, that is, the parking card is locked in place, at this time, controlling the parking mechanism to maintain the parking action and completing the parking, when the first rotation angle and the second rotation angle meet the first preset condition, it means that the motor has reversed after being powered off, that is, the parking card is not locked in place, at this time, controlling the parking mechanism to release the parking action, and controlling the motor to rotate forward by a preset angle value to ensure that the parking force is not lost, and then re-controlling the parking mechanism to perform the parking action and the motor to be powered off, and re-recording the second rotation angle reached after the motor is powered off, until the first rotation angle and the second rotation angle meet the second preset condition, controlling the parking mechanism to maintain the parking action and completing the parking. In this way, parking control is achieved. Moreover, in the parking control method, the first rotation angle and the second rotation angle can be detected using the original motor angle sensor of the EMB caliper, thereby eliminating the need to set a displacement sensor on the parking card plate, thereby simplifying the mechanical structure of the EMB caliper and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of the parking control method according to an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the structure of a parking control system in an embodiment of the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of the parking card plate and the parking gear in the non-parking state according to the embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of the structure of the parking card plate and the parking gear in the parking state according to an embodiment of the present invention;

[0035] Figure 5 It is a schematic diagram of the structure of the parking card plate and the parking gear in an abnormal parking state according to an embodiment of the present invention;

[0036] Figure 6 Schematic diagram of the structure of a vehicle in an embodiment of the present invention.

[0037] Description of reference numerals:

[0038] 1. Parking mechanism; 11. Driving part; 12. Parking card; 13. Parking gear; 2. Motor; 3. Reduction mechanism; 31. Primary reduction gear; 32. Secondary reduction gear; 4. Transmission mechanism; 41. Ball screw; 42. Piston cylinder; 5. Friction plate; 6. Motor angle sensor; 600. Vehicle; 610. Memory; 620. Processor. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0040] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0041] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0042] In the related art, the EMB caliper is mainly composed of a motor module, a parking mechanism, a deceleration mechanism and a transmission mechanism. During service braking, the power output by the motor is decelerated and torque-increased by the deceleration mechanism and then transmitted to the transmission mechanism. The transmission mechanism converts the rotational motion into linear motion through the ball screw to push the piston cylinder, and the piston cylinder pushes the friction plate to clamp the brake disc to complete the braking. When parking is required, under normal circumstances, the target clamping force is output according to the above service braking logic, and then the parking mechanism pushes the card plate to lock the parking gear, completing the parking and the motor is powered off. However, there are some abnormal situations. For example, when parking, if the motor outputs the target clamping force, the card plate is pushed out and just stuck at the tip of the parking gear. At this time, the parking is in an unstable state and this state needs to be identified. In the prior art, a displacement sensor is usually set on the card plate to detect the displacement of the card plate in real time. If the displacement of the card plate does not reach the target value, it is judged as an abnormal state, and the motor will continue to rotate a specified angle to ensure that the parking card plate is locked in place. However, due to the addition of a displacement sensor, this method makes the structure of the EMB caliper more complicated and the production cost high.

[0043] In view of the problems existing in the above-mentioned related technologies, the present invention provides a parking control method, system and vehicle, wherein the parking control method and parking control system of the present invention are mainly applied to EMB calipers.

[0044] Combination Figure 1 As shown, a parking control method provided by an embodiment of the present invention includes the following steps:

[0045] S300, controlling the motor 2 to rotate forward to output a target clamping force for achieving vehicle braking, and recording a first rotation angle reached after the motor 2 outputs the target clamping force.

[0046] Specifically, the parking clamping force required by the vehicle is usually taken as the target clamping force output by the motor 2. When judging whether the clamping force output by the motor 2 reaches the target clamping force, the clamping force output by the motor 2 can be directly determined by reading the reading of the pressure sensor, or the clamping force output by the motor 2 can be calculated according to the displacement of the lead screw in the transmission mechanism 4 of the parking control system, and then the clamping force output by the motor 2 is compared with the target clamping force to judge whether the clamping force output by the motor 2 reaches the target clamping force. When the clamping force output by the motor 2 reaches the target clamping force, the motor 2 is controlled to stop rotating, and the original motor angle sensor 6 of the EMB caliper is used to record the current rotation angle reached by the motor 2, that is, the first rotation angle.

[0047] S400 , controlling the parking mechanism 1 to perform a parking action and powering off the motor 2 , and recording a second rotation angle reached by the motor 2 after powering off.

[0048] Specifically, when the parking mechanism 1 performs the parking action, the parking card plate 12 in the parking mechanism 1 is stuck on the parking gear 13 under the pushing action of the driving member. For example, if the parking card plate 12 is stuck at the bottom position of the parking gear 13, such as Figure 4 As shown in FIG. 1 , the parking mechanism 1 is in the parking state. If the parking card plate 12 is stuck on the tooth tip of the parking gear 13, as shown in FIG. Figure 5 As shown, the parking mechanism 1 is in an abnormal parking state. In addition, after the parking mechanism 1 performs the parking action, that is, when the parking card plate 12 is stuck on the parking gear 13, the motor 2 is controlled to be powered off to cancel the force that keeps the motor shaft at the first rotation angle. In this way, if a parking abnormality occurs, the motor 2 can be reversed in time after being powered off. Moreover, the second rotation angle reached by the motor 2 after being powered off can also be recorded by the original motor angle sensor 6 of the EMB caliper.

[0049] S500, when the first rotation angle and the second rotation angle meet a first preset condition, control the parking mechanism 1 to release the parking action, and control the motor 2 to rotate forward by a preset angle value and then jump to the step S400.

[0050] Specifically, the first preset condition includes: the first rotation angle is greater than the second rotation angle. That is to say, the rotation angle reached after the motor 2 is powered off is less than the rotation angle reached after the motor 2 outputs the target clamping force. At this time, it means that the motor 2 is reversed after being powered off, that is, the parking card plate 12 is neither stuck at the bottom position of the parking gear 13 nor stuck on a beveled tooth surface (second beveled tooth surface) with the tooth tip facing the reverse direction. In other words, the parking card plate 12 does not lock the motor in reverse. At this time, it is necessary to release the parking and control the motor 2 to rotate forward by a preset angle value, and then jump to step S400, that is, re-control the parking mechanism 1 to perform the parking action and the motor 2 is powered off, and re-record the second rotation angle reached after the motor 2 is powered off. In this way, it can be ensured that the parking force is not lost, that is, it is ensured that the clamping force actually output by the motor 2 is greater than the target clamping force that the motor 2 needs to output.

[0051] S600: When the first rotation angle and the second rotation angle satisfy a second preset condition, control the parking mechanism 1 to maintain the parking action.

[0052] Specifically, the second preset condition includes: the first rotation angle is less than or equal to the second rotation angle. That is to say, the rotation angle reached by the motor 2 after power is turned off is greater than or equal to the rotation angle reached by the motor 2 after the motor 2 outputs the target clamping force. At this time, it means that the motor 2 does not reverse after power is turned off, but remains stationary or rotates forward, that is, the parking card plate 12 is stuck at the bottom of the parking gear 13 or stuck on a beveled tooth surface (that is, the second beveled tooth surface mentioned later) with the tooth tip facing the reverse direction. The parking card plate 12 locks the motor 2 in the reverse direction, that is, the motor 2 cannot reverse, thereby completing the parking.

[0053] Among them, the teeth of the parking gear 13 have a first bevel tooth surface and a second bevel tooth surface, the first bevel tooth surface is located on the side where the corresponding tooth tip faces the forward rotation direction of the motor, and the second bevel tooth surface is located on the side where the corresponding tooth tip faces the reverse rotation direction of the motor; when the parking card plate 12 is stuck at the bottom position of the tooth of the parking gear 13, the parking card plate 12 is locked in place, and the motor 2 does not reverse after the power is turned off; when the parking card plate 12 is stuck on the tooth tip and the first bevel tooth surface of the parking gear 13, the parking card plate 12 is not locked in place, and the motor 2 will reverse after the power is turned off; when the parking card plate 12 is stuck on the second bevel tooth surface of the parking gear 13, the motor 2 may rotate forward at a small angle after the power is turned off, so that the rotation angle of the motor 2 after the power is turned off is slightly larger than the rotation angle when the motor 2 outputs the target clamping force.

[0054] In this embodiment, the motor 2 is controlled to rotate forward to output the target clamping force, and the first rotation angle reached after the motor 2 outputs the target clamping force is recorded. At the same time, the parking mechanism 1 is controlled to perform the parking action and the motor 2 is powered off, and the second rotation angle reached after the motor 2 is powered off is recorded. When the first rotation angle and the second rotation angle meet the second preset condition, it means that the motor 2 has not reversed after being powered off, that is, the parking card plate 12 is locked in place. At this time, the parking mechanism 1 is controlled to maintain the parking action and complete the parking. When the first rotation angle and the second rotation angle meet the first preset condition, it means that the motor 2 has reversed after being powered off, that is, the parking card plate 12 is not locked in place. At this time, the parking mechanism 1 is controlled to release the parking action, and the motor 2 is controlled to rotate forward by a preset angle value to ensure that the parking force is not lost. Then the parking mechanism 1 is controlled to perform the parking action and the motor 2 is powered off again, and the second rotation angle reached after the motor 2 is powered off is re-recorded until the first rotation angle and the second rotation angle meet the second preset condition, and the parking mechanism 1 is controlled to maintain the parking action and complete the parking. In this way, parking control is achieved. Moreover, in the parking control method, the first rotation angle and the second rotation angle can be detected using the original motor angle sensor 6 of the EMB caliper, thereby eliminating the need to set a displacement sensor on the parking card plate 12, thereby simplifying the mechanical structure of the EMB caliper and reducing production costs.

[0055] Optionally, the first preset condition includes: the first rotation angle is greater than the second rotation angle; the second preset condition includes: the first rotation angle is less than or equal to the second rotation angle. This arrangement makes it easier to intuitively determine whether the motor 2 is reversed according to the change in the rotation angle of the motor 2, thereby simplifying the parking control process.

[0056] Optionally, in step S400, recording the second rotation angle of the motor 2 after power is turned off specifically includes: when the duration of power-off of the motor 2 reaches a preset duration, recording the rotation angle of the motor 2 after power is turned off as the second rotation angle.

[0057] In this optional embodiment, if parking abnormality occurs, after the motor 2 is powered off, the pressure between the friction plate 5 and the brake disc will be transmitted to the motor 2 through the transmission mechanism 4 and the reduction mechanism 3, causing the motor 2 to reverse. This process usually takes a certain amount of time. If the current rotation angle (i.e., the second rotation angle) of the motor 2 is recorded immediately after the motor 2 is powered off, misjudgment is likely to occur. Therefore, by monitoring whether the motor 2 reverses within a preset time period, misjudgment can be avoided, thereby ensuring the accuracy of parking control.

[0058] Optionally, the preset duration is not less than 1s and not more than 5s.

[0059] In this optional embodiment, when parking abnormality occurs, the time required for the motor 2 to reverse is usually no more than 1 second, so the preset time is set to be greater than or equal to 1 second to ensure the accuracy of parking control; in addition, the time for monitoring whether the motor 2 is reversed should not be set too long to avoid too long time required to complete parking. Based on this, the preset time is set between 1 second and 5 seconds, for example, it can be 1 second, 2 seconds, 3 seconds, 4 seconds or 5 seconds, so as to shorten the time required to complete parking while ensuring the accuracy of parking control and improve parking efficiency.

[0060] Optionally, the parking mechanism 1 comprises a driving member 11, a parking card plate 12 connected to the output end of the driving member 11, and a parking gear 13 arranged on the motor shaft of the motor 2, wherein the driving member 11 is a bistable electromagnet;

[0061] The controlling the parking mechanism 1 to perform the parking action includes: pushing the parking card plate 12 to lock the parking gear 13 by the bistable electromagnet;

[0062] The controlling the parking mechanism 1 to release the parking action includes: driving the parking card plate 12 to reset away from the parking gear 13 by the bistable electromagnet.

[0063] In this optional embodiment, the bistable electromagnet controls the extension and retraction of the output shaft through the magnetic field generated by the electromagnetic coil, and its main feature is that the output shaft can be kept in the extended or retracted position without continuous power supply. The parking card plate 12 is usually rigidly connected to the output shaft of the bistable electromagnet, so that the bistable electromagnet can push the parking card plate 12 to get stuck on the parking gear 13, or drive the parking card plate 12 to reset, so that the parking card plate 12 and the parking gear 13 are separated. In this way, the use of a bistable electromagnet as the driving member 11 for driving the parking card plate 12 can maintain the parking function or release the parking function under power failure conditions, effectively reducing the energy consumption of the EMB caliper.

[0064] Optionally, the preset angle value is an angle corresponding to one tooth pitch of the parking gear 13 .

[0065] In this optional embodiment, when the bistable electromagnet pushes the parking card plate 12 to just get stuck on the tooth tip of the parking gear 13, the parking mechanism 1 is in an abnormal state. At this time, after the motor 2 is powered off, the pressure between the friction plate 5 and the brake disc will be transmitted to the motor 2 through the transmission mechanism 4 and the reduction mechanism 3, causing the motor 2 to reverse by an angle corresponding to 0.5 tooth pitch, thereby causing the parking card plate 12 to get stuck in the tooth bottom position of the parking gear 13. When parking again, the parking gear 13 needs to rotate forward by an angle corresponding to a tooth pitch to ensure that the parking force is not lost, that is, to ensure that the clamping force actually output by the motor 2 is greater than the target clamping force that the motor 2 needs to output. Therefore, the preset angle value is designed to be the angle corresponding to a tooth pitch of the parking gear 13, which can not only ensure that the clamping force actually output by the motor 2 is greater than the target clamping force that the motor 2 needs to output, but also enable the parking card plate 12 to be stuck in the bottom position of the teeth of the parking gear 13 when the parking mechanism 1 performs the parking action again, thereby ensuring that the parking card plate 12 is locked in place without losing the parking force, thereby ensuring parking stability.

[0066] Alternatively, if Figure 1 As shown, before step S300, the following steps are also included:

[0067] S100, determining the parking clamping force required for the vehicle;

[0068] S200 , taking the parking clamping force as the target clamping force output by the motor 2 .

[0069] In this optional embodiment, the parking clamping force required by the vehicle generally refers to the braking force of the driving wheels (e.g., rear wheels) of the vehicle, which can be calculated based on the slope of the vehicle and the mass of the vehicle. In this way, after obtaining the parking instruction, the parking clamping force required by the vehicle is calculated, and the parking clamping force is used as the target clamping force output by the motor 2 to ensure that the clamping force output by the motor 2 meets the parking requirement.

[0070] Optionally, in step S300, controlling the motor to rotate forward to output a target clamping force for achieving vehicle braking specifically includes:

[0071] Detecting the clamping force output by the motor 2 through a pressure sensor;

[0072] The motor 2 is controlled to rotate forward until the clamping force output by the motor 2 reaches the target clamping force.

[0073] In this optional embodiment, the pressure sensor is usually arranged on the piston cylinder 42 of the transmission mechanism 4, and is used to detect the pressing force applied by the piston cylinder 42 to the friction plate 5, and the pressing force is also the clamping force between the friction plate 5 and the brake disc. In this way, the clamping force output by the motor 2 is detected by the pressure sensor, so that the clamping force output by the motor 2 can be obtained intuitively, so that it is more convenient to judge whether the clamping force output by the motor 2 reaches the target clamping force, and then the whole parking control process can be simplified.

[0074] like Figure 2 As shown, a parking control system provided by an embodiment of the present invention comprises a motor 2, a parking mechanism 1, a motor angle sensor 6 and a controller; the motor 2 is used to output a target clamping force to achieve vehicle braking, and the parking mechanism 1 is used to lock the output shaft of the motor 2 to achieve a parking operation; the motor angle sensor 6 is used to record a first rotation angle reached by the motor 2 after the motor 2 outputs the target clamping force, and a second rotation angle reached by the motor 2 after the parking mechanism 1 performs a parking action and the motor 2 is powered off;

[0075] The controller is electrically connected to the motor angle sensor 6, and is used to: when the first rotation angle and the second rotation angle meet a first preset condition, control the parking mechanism 1 to release the parking action, and control the motor 2 to rotate forward by a preset angle value and then jump to the step of controlling the parking mechanism 1 to perform the parking action and powering off the motor 2, and record the second rotation angle reached after the motor 2 is powered off; when the first rotation angle and the second rotation angle meet a second preset condition, control the parking mechanism 1 to maintain the parking action.

[0076] Specifically, the parking mechanism 1 includes a driving member 11, a parking card plate 12 and a parking gear 13. The parking gear 13 is arranged on the motor shaft of the motor 2. The driving member 11 is used to drive the parking card plate 12 to move to lock the parking gear 13. Among them, the driving member 11 can be a telescopic cylinder structure or a bistable electromagnet. The parking control system also includes a reduction mechanism 3, a transmission mechanism 4 and a friction plate 5. The primary reduction gear 31 of the reduction mechanism 3 is transmission-connected to the motor shaft of the motor 2. The secondary reduction gear 32 of the reduction mechanism 3 is transmission-connected to the primary reduction gear 31 and the ball screw 41 of the transmission mechanism 4. The ball screw 41 converts the rotational motion into a linear motion to drive the piston cylinder 42 to move, so as to push the friction plate 5 to clamp the brake disc or drive the friction plate 5 to separate from the brake disc. The parking mechanism 1 has three states, namely, a non-parking state, a parking state and an abnormal parking state; for example, when the parking mechanism 1 is in a non-parking state, the parking card plate 12 of the parking mechanism 1 is separated from the parking gear 13, such as Figure 3When the parking mechanism 1 is in the parking state, the parking card plate 12 of the parking mechanism 1 is stuck in the bottom position of the parking gear 13, that is, stuck in the bottom of the groove formed between two adjacent teeth, such as Figure 4 When the parking mechanism 1 is in an abnormal parking state, the parking card plate 12 of the parking mechanism 1 is stuck on the tooth tip of the parking gear 13, as shown Figure 5 shown.

[0077] When the parking control system in this embodiment implements parking control through the above-mentioned parking control method, the original motor angle sensor 6 of the EMB caliper can be used to detect the first rotation angle reached after the motor 2 outputs the target clamping force and the second rotation angle reached after the motor 2 is powered off, so as to judge whether the motor 2 is reversed according to the first rotation angle and the second rotation angle, thereby eliminating the displacement sensor set on the parking card plate 12, thereby simplifying the mechanical structure of the EMB caliper and reducing production costs.

[0078] A vehicle provided by an embodiment of the present invention includes the parking control system as described above.

[0079] In other words, Figure 6 As shown, a vehicle 600 includes a memory 610 and a processor 620; the memory 610 is used to store a computer program; the processor 620 is used to implement the parking control method as described above when executing the computer program.

[0080] In other words, a vehicle 600 includes a memory 610 and a processor 620 coupled to the memory 610; the memory 610 is configured to store a computer program; and the processor 620 is configured to perform the following operations when executing the computer program:

[0081] Controlling the motor 2 to rotate forward to output a target clamping force for achieving vehicle braking, and recording a first rotation angle reached after the motor 2 outputs the target clamping force;

[0082] Controlling the parking mechanism 1 to perform a parking action and powering off the motor 2, and recording a second rotation angle reached by the motor 2 after powering off;

[0083] When the first rotation angle and the second rotation angle meet a first preset condition, the parking mechanism 1 is controlled to release the parking action, and the motor 2 is controlled to rotate forward by a preset angle value, and then the process jumps to the step of controlling the parking mechanism 1 to perform the parking action and the motor 2 to power off, and recording the second rotation angle reached after the motor 2 is powered off;

[0084] When the first rotation angle and the second rotation angle satisfy a second preset condition, the parking mechanism 1 is controlled to maintain the parking action.

[0085] The technical effects that can be produced by the vehicle and parking control system or parking control method provided in this embodiment are basically the same, and will not be repeated here.

[0086] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A parking control method, characterized in that: include: Controlling the motor to rotate forward to output a target clamping force for achieving vehicle braking, and recording a first rotation angle reached after the motor outputs the target clamping force; Controlling the parking mechanism to perform a parking action and power off the motor, and recording a second rotation angle reached after the motor is powered off; When the first rotation angle and the second rotation angle meet a first preset condition, the parking mechanism is controlled to release the parking action, and the motor is controlled to rotate forward by a preset angle value, and then the process jumps to the step of controlling the parking mechanism to perform the parking action and powering off the motor, and recording the second rotation angle reached after the motor is powered off; When the first rotation angle and the second rotation angle satisfy a second preset condition, the parking mechanism is controlled to maintain the parking action.

2. The parking control method according to claim 1, characterized in that: The first preset condition includes: the first rotation angle is greater than the second rotation angle; the second preset condition includes: the first rotation angle is less than or equal to the second rotation angle.

3. The parking control method according to claim 1, characterized in that: The recording of the second rotation angle after the motor is powered off comprises: When the time after the motor is powered off reaches a preset time, the rotation angle of the motor is recorded as the second rotation angle.

4. The parking control method according to claim 3, characterized in that: The preset duration is not less than 1 second and not more than 5 seconds.

5. The parking control method according to claim 1, characterized in that: The parking mechanism comprises a driving member, a parking card plate connected to the output end of the driving member, and a parking gear arranged on the motor shaft of the parking motor, wherein the driving member is a bistable electromagnet; The controlling the parking mechanism to perform the parking action includes: pushing the parking card plate to lock the parking gear by the bistable electromagnet; The controlling the parking mechanism to release the parking action includes: driving the parking card plate to reset and move away from the parking gear by the bistable electromagnet.

6. The parking control method according to claim 5, characterized in that: The preset angle value is the angle corresponding to one tooth pitch of the parking gear.

7. The parking control method according to claim 1, characterized in that: The method of controlling the motor to rotate forward to output a target clamping force for achieving vehicle braking and recording a first rotation angle reached by the motor after the motor outputs the target clamping force also includes: Determine the parking clamp force required for the vehicle; The parking clamping force is used as the target clamping force output by the motor.

8. The parking control method according to claim 1, characterized in that: The controlling the motor to rotate forward to output a target clamping force for achieving vehicle braking comprises: Detecting the clamping force output by the motor through a pressure sensor; The motor is controlled to rotate forward until the clamping force output by the motor reaches the target clamping force.

9. A parking control system, characterized in that: It comprises a motor, a parking mechanism, a motor angle sensor and a controller; the motor is used to output a target clamping force to achieve vehicle braking, and the parking mechanism is used to lock the output shaft of the motor to achieve a parking operation; the motor angle sensor is used to record a first rotation angle reached by the motor after the motor outputs the target clamping force, and a second rotation angle reached by the motor after the parking mechanism performs a parking action and the motor is powered off; The controller is electrically connected to the motor angle sensor, and is used to: when the first rotation angle and the second rotation angle meet a first preset condition, control the parking mechanism to release the parking action, and control the motor to rotate forward by a preset angle value and then jump to the step of controlling the parking mechanism to perform the parking action and power off the motor, and record the second rotation angle reached after the motor is powered off; when the first rotation angle and the second rotation angle meet a second preset condition, control the parking mechanism to maintain the parking action.

10. A vehicle, characterized in that: comprising a parking control system as claimed in claim 9; Alternatively, the method comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to implement the parking control method according to any one of claims 1 to 8 when executing the computer program.

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