Parking method and system during parking motor fault, medium and electronic equipment

Abstract

The invention provides a parking method and system during parking motor fault, a medium and electronic equipment, and the method comprises the steps: calculating a mechanical braking force according to a current fed back by a parking motor; if the mechanical braking force cannot reach the target braking force, the current mechanical braking force serves as first mechanical braking force, and the braking force difference value between the target braking force and the first mechanical braking force is calculated; hydraulic braking is conducted on the caliper brake pad until the hydraulic braking force of the service braking controller reaches the braking force difference value; driving the parking motor to enable the mechanical braking force of the parking motor to reach the first mechanical braking force again; and a service braking controller is controlled to release the hydraulic braking force, so that parking is conducted together with the counter-acting force of the caliper brake piece on the hydraulic braking force and the first mechanical braking force. The problem that in the prior art, when the mechanical braking force is insufficient and the insufficient mechanical braking force is made up only by adopting a hydraulic braking mode, a vehicle is prone to sliding on a slope due to pressure relief of a hydraulic braking system is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety control, and in particular to a parking method, system, medium and electronic equipment when a parking motor fails. Background Art

[0002] The parking brake, also often called the handbrake, or the parking gear in an automatic transmission, is used to lock the drive shaft or rear wheels. Its function is to provide resistance to the car when it is parked, so that the car does not roll away. There are different types of parking brakes, such as the mechanical mechanism operated by hand or foot as mentioned above. In addition, high-end cars are gradually adopting electronically controlled parking systems, commonly known as electronic handbrakes.

[0003] The current method of automobile parking brake generally uses mechanical transmission to achieve parking brake. Of course, in order to ensure the safety of driving brake, the vehicle is usually equipped with a hydraulic driving brake device. When the parking controller detects that the mechanical braking force is insufficient, the hydraulic brake is used to replace the mechanical force parking.

[0004] However, this method has the following defects: when the mechanical braking force is insufficient, hydraulic braking is used alone to compensate for the lack of mechanical braking force. If the car is parked on a slope for a long time, the hydraulic braking system will release pressure, resulting in insufficient hydraulic braking force, causing the risk of the vehicle sliding down the slope and causing a safety incident. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a parking method, system, medium and electronic equipment when a parking motor fails, which solves the problem in the prior art that when the mechanical braking force is insufficient, the vehicle may easily slide down the slope due to the depressurization of the hydraulic braking system when the hydraulic braking force is simply used to compensate for the insufficient mechanical braking force.

[0006] At least one embodiment of the present invention provides a parking method when a parking motor fails, comprising:

[0007] Calculating the current mechanical braking force of the parking motor on the caliper brake pad according to the current fed back by the parking motor in real time;

[0008] If the mechanical braking force does not reach the target braking force, the current mechanical braking force is used as the first mechanical braking force, and the braking force difference between the target braking force and the first mechanical braking force is calculated;

[0009] Using a service brake controller to hydraulically brake the caliper brake pad until the hydraulic braking force of the service brake controller reaches the braking force difference;

[0010] When the mechanical braking force decreases by the braking force difference after hydraulic braking, driving the parking motor to make its mechanical braking force reach the first mechanical braking force again;

[0011] The service brake controller is controlled to release the hydraulic braking force, so as to park the vehicle in combination with the reaction force of the caliper brake pad to the hydraulic braking force and the first mechanical braking force.

[0012] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0013] Through the above settings, when parking is required, the current real-time motor clamping force, i.e., mechanical braking force, is calculated based on the current feedback from the parking motor; when it is determined that the current mechanical braking force of the parking motor does not reach the target braking force, it is determined that the parking motor is faulty. At this time, the braking force difference between the target braking force and the current first mechanical braking force is calculated, and the service brake controller is requested to provide corresponding hydraulic braking support. When the service brake controller increases the hydraulic support of the braking force difference, the parking motor is driven again. When the current of the parking motor reaches the current of the last drive, i.e., the mechanical braking force reaches the first mechanical braking force again, the parking motor is stopped from being driven. Afterwards, the service brake controller is requested to release the hydraulic brake pressure. According to the principle of force balance, after the hydraulic braking force is released, the caliper brake pads will transfer the force originally acting on the hydraulic system to the screw mechanism of the parking motor, thereby increasing the mechanical braking force of the parking motor. After the caliper brake pads transfer the force originally acting on the hydraulic system, the screw mechanism of the parking motor can apply a mechanical braking force of the target braking force to the caliper brake pads, thereby achieving the purpose of safe parking through the mechanical parking system.

[0014] Obviously, after parking the vehicle in the above manner, the hydraulic system no longer works for a long time, thus avoiding the risk of the vehicle sliding down the slope due to decompression of the hydraulic braking system caused by parking the vehicle on a slope for a long time, which in turn leads to insufficient hydraulic braking force.

[0015] In a parking method when a parking motor fails provided by one embodiment of the present invention, the mechanical braking force fails to reach the target braking force, including:

[0016] After the parking motor is driven, if the mechanical braking force still fails to reach the target braking force within a preset time, it is considered that the mechanical braking force fails to reach the target braking force.

[0017] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0018] By real-time detection of the mechanical braking force, if the target braking force is not reached within a preset time, it can be considered that the mechanical braking force does not reach the target braking force, so that the service brake controller can be used to quickly perform hydraulic braking on the caliper brake pad.

[0019] In a parking method when a parking motor fails provided in one embodiment of the present invention, hydraulic braking is performed using a service brake controller until the hydraulic braking force of the service brake controller reaches the braking force difference, including:

[0020] The parking motor is stopped from being driven, and a service brake controller is requested to perform hydraulic braking on the caliper brake pad until the hydraulic braking force of the hydraulic brake is not less than the braking force difference.

[0021] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0022] By stopping driving the parking motor and requesting the service brake controller to hydraulically brake the caliper brake pads until the hydraulic braking force of the hydraulic brake is no less than the braking force difference, it can be ensured that when the hydraulic braking force is finally released, the screw mechanism of the parking motor can apply a mechanical braking force to the caliper brake pads that is no less than the target braking force.

[0023] In a parking method when a parking motor fails provided by one embodiment of the present invention, before calculating the current mechanical braking force of the parking motor according to the current fed back by the parking motor in real time, the method further includes:

[0024] The target braking force is calculated based on the current vehicle parking environment.

[0025] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0026] By calculating the target braking force taking into account the vehicle parking environment, the vehicle can be safely parked in the current environment.

[0027] In a parking method when a parking motor fails provided in one embodiment of the present invention, driving the parking motor so that its mechanical braking force reaches the first mechanical braking force again includes:

[0028] The first mechanical braking force is used as a new target braking force to drive the parking motor according to the new target braking force, and the current mechanical braking force of the parking motor is calculated in real time according to the current fed back by the parking motor until the mechanical braking force reaches the new target braking force.

[0029] At least one embodiment of the present invention further provides a parking system, comprising: an EPB controller, a parking motor, a caliper brake pad, and a service brake controller, wherein the EPB controller and the caliper brake pad are respectively connected to the parking motor and the service brake module in communication;

[0030] The EPB controller is used to calculate the current mechanical braking force of the parking motor on the caliper brake pad according to the current fed back by the parking motor in real time, and if the mechanical braking force does not reach the target braking force, the current mechanical braking force is used as the first mechanical braking force, and the braking force difference between the target braking force and the first mechanical braking force is calculated;

[0031] The EPB controller controls the service brake module to perform hydraulic braking on the caliper brake pad until the hydraulic braking force of the service brake controller reaches the braking force difference;

[0032] The EPB controller is used to drive the parking motor to make the mechanical braking force reach the first mechanical braking force again after the mechanical braking force decreases by the braking force difference after hydraulic braking;

[0033] The EPB controller controls the service brake controller to release the hydraulic braking force so as to park the vehicle in combination with the reaction force of the caliper brake pad to the hydraulic braking force and the first mechanical braking force.

[0034] In a parking system provided by one embodiment of the present invention, the EPB controller includes:

[0035] After the parking motor is driven, if the mechanical braking force still fails to reach the target braking force within a preset time, it is considered that the mechanical braking force fails to reach the target braking force.

[0036] In a parking system provided by one embodiment of the present invention, the EPB controller includes:

[0037] The parking motor is stopped from being driven, and the service brake controller is requested to perform hydraulic braking on the caliper brake pad until the hydraulic braking force of the hydraulic brake is not less than the braking force difference.

[0038] The present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the parking method when a parking motor fails as described above.

[0039] The present invention also provides an electronic device, comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein when the processor executes the program, a parking method when a parking motor fails as described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic flow chart of a parking method when a parking motor fails according to the present invention;

[0041] Figure 2 The present invention is a structural diagram of a parking system. DETAILED DESCRIPTION

[0042] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0043] The present invention provides a parking method when the parking motor fails. Figure 1 As shown, including:

[0044] Calculating the current mechanical braking force of the parking motor on the caliper brake pad according to the current fed back by the parking motor in real time;

[0045] If the mechanical braking force does not reach the target braking force, the current mechanical braking force is used as the first mechanical braking force, and the braking force difference between the target braking force and the first mechanical braking force is calculated;

[0046] Using a service brake controller to hydraulically brake the caliper brake pad until the hydraulic braking force of the service brake controller reaches the braking force difference;

[0047] When the mechanical braking force decreases by the braking force difference after hydraulic braking, driving the parking motor to make its mechanical braking force reach the first mechanical braking force again;

[0048] The service brake controller is controlled to release the hydraulic braking force, so as to park the vehicle in combination with the reaction force of the caliper brake pad to the hydraulic braking force and the first mechanical braking force.

[0049] Through the above settings, when parking is required, the current real-time motor clamping force, i.e., mechanical braking force, is calculated based on the current fed back by the parking motor; when it is determined that the mechanical braking force of the parking motor does not reach the target braking force, it is determined that the parking motor is faulty. At this time, the braking force difference between the target braking force and the first mechanical braking force is calculated, and the service brake controller is requested to provide corresponding hydraulic braking support. When the service brake controller increases the hydraulic support of the braking force difference, the parking motor is driven again. When the current of the parking motor reaches the current of the last drive, i.e., the mechanical braking force reaches the first mechanical braking force again, the parking motor is stopped from being driven. Afterwards, the service brake controller is requested to release the hydraulic brake pressure. According to the principle of force balance, after the hydraulic braking force is released, the caliper brake pads will transfer the force originally acting on the hydraulic system to the screw mechanism of the parking motor, thereby increasing the mechanical braking force of the parking motor. After the caliper brake pads transfer the force originally acting on the hydraulic system, the screw mechanism of the parking motor can apply a mechanical braking force of the target braking force to the caliper brake pads, thereby achieving the purpose of safe parking through the mechanical parking system.

[0050] Obviously, after parking the vehicle in the above manner, the hydraulic system no longer works for a long time, thus avoiding the risk of the vehicle sliding down the slope due to decompression of the hydraulic braking system caused by parking the vehicle on a slope for a long time, which in turn leads to insufficient hydraulic braking force.

[0051] Specifically, the above-mentioned mechanical braking force cannot reach the target braking force, including:

[0052] After the parking motor is driven, if the mechanical braking force still fails to reach the target braking force within a preset time, it is considered that the mechanical braking force fails to reach the target braking force.

[0053] Through real-time detection of the mechanical braking force, if the target braking force is not reached within a preset time, the preset time can be 1 second to 24 hours, and the present embodiment is not limited to this. At this time, it can be considered that the mechanical braking force cannot reach the target braking force, and the EPB controller determines that there is a fault in the parking motor and stops driving the parking motor at the same time, so as to quickly use the service brake controller to hydraulically brake the caliper brake pad.

[0054] Specifically, performing hydraulic braking by using a service brake controller until the hydraulic braking force of the service brake controller reaches the braking force difference specifically includes:

[0055] The parking motor is stopped from being driven, and a service brake controller is requested to perform hydraulic braking on the caliper brake pad until the hydraulic braking force of the hydraulic brake is not less than the braking force difference.

[0056] By stopping driving the parking motor and requesting the service brake controller to hydraulically brake the caliper brake pads until the hydraulic braking force of the hydraulic brake is no less than the braking force difference, it can be ensured that when the hydraulic braking force is finally released, the screw mechanism of the parking motor can apply a mechanical braking force to the caliper brake pads that is no less than the target braking force.

[0057] Specifically, before calculating the current mechanical braking force of the parking motor according to the current fed back by the parking motor in real time, the method further includes:

[0058] When the EPB controller receives a parking request from a mechanical switch or a CAN signal, the EPB controller calculates a target braking force based on the current vehicle parking environment; after calculating the target braking force, the EPB controller drives the parking motor to work.

[0059] By calculating the target braking force taking into account the vehicle parking environment, the vehicle can be safely parked in the current environment.

[0060] Specifically, driving the parking motor so that its mechanical braking force reaches the first mechanical braking force again includes:

[0061] The first mechanical braking force is used as a new target braking force to drive the parking motor according to the new target braking force, and the current mechanical braking force of the parking motor is calculated in real time according to the current fed back by the parking motor until the mechanical braking force reaches the new target braking force.

[0062] In summary, the overall implementation process of the present invention is:

[0063] The general idea of ​​the method is that when the EPB controller receives a parking request, the EPB controller drives the parking motor, and at the same time calculates the current real-time motor clamping force, i.e., the mechanical braking force in the text, based on the current feedback from the parking motor; when the EPB controller determines that the current mechanical braking force of the parking motor does not reach the target braking force, the EPB controller determines that the parking motor is faulty. The EPB controller requests the service brake controller to provide corresponding hydraulic braking support based on the braking force difference between the target braking force of the parking motor and the current actual first mechanical braking force. After the service brake controller of the braking system increases the hydraulic support, the EPB controller drives the parking motor again. When the current of the parking motor reaches the current of the last drive, i.e., the mechanical braking force reaches the first mechanical braking force again, the parking motor stops driving. After stopping driving the parking motor, the EPB controller requests the service brake controller of the braking system to release the hydraulic braking force. According to the principle of force balance, after the hydraulic braking force is released, the caliper brake pads will transfer the force originally acting on the hydraulic system to the self-locking screw mechanism of the parking motor. After the caliper brake pads transfer the force originally acting on the hydraulic system, the screw mechanism of the parking motor can apply a mechanical braking force of the target braking force to the caliper brake pads, thereby achieving the purpose of safe parking through the mechanical parking system.

[0064] The specific process is as follows:

[0065] S1. When the EPB controller receives a parking request from a mechanical switch or a CAN signal, the EPB controller calculates a target braking force F1 according to the current vehicle parking environment; after calculating the target braking force F1, the EPB controller drives the parking motor to work;

[0066] S2: After the parking motor is driven, it will drive the mechanically connected self-locking screw mechanism to clamp the caliper brake pad to provide mechanical braking force; at the same time, the parking motor transmits the working current through hard wire transmission and feeds back to the EPB controller in real time;

[0067] S3, the EPB controller calculates the current mechanical clamping force of the parking motor according to the working current of the parking motor; if the mechanical clamping force does not reach the target braking force F1 within the set time, the EPB controller determines that there is a fault in the parking motor and stops driving the parking motor;

[0068] S4, after the EPB controller determines that the parking motor is faulty, it requests the service brake controller to perform hydraulic clamping, and the braking force difference F = target braking force F1 - current first mechanical clamping force F2;

[0069] S5, after receiving the braking force difference F request, the service brake controller hydraulically clamps the caliper brake pad according to the braking force difference F, and at the same time, the service brake controller feeds back the hydraulic braking force F3 of the hydraulic clamping at this time to the EPB controller;

[0070] S6, when the hydraulic braking force F3 received by the EPB controller is greater than or equal to the braking force difference F, after the target braking force F1 is updated to be equal to the first mechanical clamping force F2 of the parking motor, the EPB controller drives the parking motor to work again, and the parking motor transmits the working current through hard wire transmission in real time to the EPB controller;

[0071] S7, the EPB controller calculates the current second mechanical clamping force F5 of the parking motor according to the working current of the parking motor, and when the second mechanical clamping force F5 = the updated target braking force F1, the EPB controller stops driving the parking motor;

[0072] S8. After the EPB controller stops driving the parking motor, the EPB controller updates the requested target hydraulic braking force F6=0. After receiving the request for the target hydraulic braking force F6=0, the service brake controller completely releases the brake fluid pressure.

[0073] S9, when the EPB controller receives the brake fluid pressure F3=0 fed back by the service brake, the EPB controller stops making hydraulic requests to the service brake controller, and the control process ends;

[0074] After the above process is completed, when the service brake controller releases the hydraulic pressure to 0; according to the physical principle of force and reaction force, the force balance between the hydraulic braking force and the reaction force of the caliper brake pad will be destroyed, and the reaction force of the hydraulic system on the hydraulic braking force of the caliper brake pad will be applied to the self-locking screw mechanism to establish a new force balance; after the new force balance is established, the mechanical brake clamping force of the parking motor will reach the target braking force, achieving the goal of safe parking through mechanical parking force.

[0075] For ease of understanding, the present invention also provides another specific embodiment for illustration:

[0076] In this embodiment, the above steps include:

[0077] S1. When the EPB controller receives a parking request from a mechanical switch or CAN signal, the EPB controller calculates a target braking force = 8000N according to the current vehicle parking environment; after calculating the target braking force, the EPB controller drives the parking motor to work;

[0078] S2: After the parking motor is driven, it will drive the mechanically connected self-locking screw mechanism to clamp the caliper brake pad to provide mechanical braking force; at the same time, the parking motor transmits the working current through hard wire transmission and feeds back to the EPB controller in real time;

[0079] S3, the EPB controller calculates the current mechanical clamping force of the parking motor according to the working current of the parking motor; if the mechanical clamping force does not reach 8000N within the set time of 10 seconds, the EPB controller determines that there is a fault in the parking motor. At this time, the first mechanical clamping force of the parking motor is 5000N, and the parking motor is stopped at the same time;

[0080] S4. After the EPB controller determines that the parking motor is faulty, it requests the service brake controller to perform hydraulic clamping, and the braking force difference = target braking force 8000N - current first mechanical clamping force 5000N = 3000N;

[0081] S5, after receiving the request of braking force difference = 3000N, the service brake controller hydraulically clamps the caliper brake pad according to 3000N, and at the same time, the service brake controller feeds back the hydraulic braking force F3 of the hydraulic clamping at this time to the EPB controller;

[0082] S6. When the hydraulic braking force F3 received by the EPB controller is ≥ 3000N, the mechanical braking force of the parking motor becomes 5000N-3000N=2000N. After the target mechanical braking force is updated to 5000N, the EPB controller drives the parking motor to work again. The parking motor transmits the working current through hard wire transmission and feeds back to the EPB controller in real time.

[0083] S7, the EPB controller calculates the current second mechanical clamping force of the parking motor according to the working current of the parking motor, and when the second mechanical clamping force = 5000N, the EPB controller stops driving the parking motor;

[0084] S8. After the EPB controller stops driving the parking motor, the EPB controller updates the requested target hydraulic braking force = 0. After receiving the request for the target hydraulic braking force = 0, the service brake controller completely releases the brake fluid pressure of 3000N.

[0085] S9, when the brake fluid pressure fed back by the service brake received by the EPB controller is 0, the EPB controller stops making hydraulic pressure requests to the service brake controller, and the control process ends;

[0086] After the above process is completed, when the service brake controller releases the hydraulic braking force of 3000N to 0; according to the physical principle of force and reaction force, the force balance between the hydraulic braking force and the reaction force of the caliper brake pad will be destroyed, and the reaction force of the caliper brake pad to the hydraulic braking force of 3000N will be applied to the self-locking screw mechanism to establish a new force balance; after the new force balance is established, the mechanical braking force of the parking motor will reach the target braking force of 8000N, achieving the goal of safe parking through mechanical parking force.

[0087] The present invention also provides a parking system, please refer to Figure 2 As shown, it includes: an EPB controller, a parking motor, a caliper brake pad and a service brake controller, wherein the EPB controller and the caliper brake pad are respectively connected to the parking motor and the service brake module for communication;

[0088] The EPB controller is used to calculate the current mechanical braking force of the parking motor on the caliper brake pad according to the current fed back by the parking motor in real time, and if the mechanical braking force does not reach the target braking force, the current mechanical braking force is used as the first mechanical braking force, and the braking force difference between the target braking force and the first mechanical braking force is calculated;

[0089] The EPB controller controls the service brake module to perform hydraulic braking on the caliper brake pad until the hydraulic braking force of the service brake controller reaches the braking force difference;

[0090] The EPB controller is used to drive the parking motor to make the mechanical braking force reach the first mechanical braking force again after the mechanical braking force decreases by the braking force difference after hydraulic braking;

[0091] The EPB controller controls the service brake controller to release the hydraulic braking force so as to park the vehicle in combination with the reaction force of the caliper brake pad to the hydraulic braking force and the first mechanical braking force.

[0092] Specifically, the EPB controller includes:

[0093] After the parking motor is driven, if the mechanical braking force still fails to reach the target braking force within a preset time, it is considered that the mechanical braking force fails to reach the target braking force.

[0094] Specifically, the EPB controller includes:

[0095] The parking motor is stopped from being driven, and the service brake controller is requested to perform hydraulic braking on the caliper brake pad until the hydraulic braking force of the hydraulic brake is not less than the braking force difference.

[0096] Specifically, the EPB controller of this system also includes:

[0097] The target braking force is calculated based on the current vehicle parking environment.

[0098] Specifically, the EPB controller uses the first mechanical braking force as the new target braking force to drive the parking motor according to the new target braking force, and calculates the current mechanical braking force of the parking motor in real time according to the current fed back by the parking motor until the mechanical braking force reaches the new target braking force.

[0099] The present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the parking method when a parking motor fails as described above.

[0100] The present invention also provides an electronic device, comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein when the processor executes the program, a parking method when a parking motor fails as described above is implemented.

[0101] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0102] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some 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 representations of the above terms do 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. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0104] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A parking method when a parking motor fails, characterized in that: include: Calculating the current mechanical braking force of the parking motor on the caliper brake pad according to the current fed back by the parking motor in real time; If the mechanical braking force does not reach the target braking force, the current mechanical braking force is used as the first mechanical braking force, and the braking force difference between the target braking force and the first mechanical braking force is calculated; Using a service brake controller to hydraulically brake the caliper brake pad until the hydraulic braking force of the service brake controller reaches the braking force difference; When the mechanical braking force decreases by the braking force difference after hydraulic braking, driving the parking motor to make its mechanical braking force reach the first mechanical braking force again; The service brake controller is controlled to release the hydraulic braking force, so as to park the vehicle in combination with the reaction force of the caliper brake pad to the hydraulic braking force and the first mechanical braking force.

2. A parking method when a parking motor fails according to claim 1, characterized in that: The mechanical braking force failing to reach the target braking force includes: After the parking motor is driven, if the mechanical braking force still fails to reach the target braking force within a preset time, it is considered that the mechanical braking force fails to reach the target braking force.

3. The parking method when the parking motor fails according to claim 1, characterized in that: Performing hydraulic braking using a service brake controller until the hydraulic braking force of the service brake controller reaches the braking force difference, comprising: The parking motor is stopped from being driven, and a service brake controller is requested to perform hydraulic braking on the caliper brake pad until the hydraulic braking force of the hydraulic brake is not less than the braking force difference.

4. The parking method when the parking motor fails according to claim 1, characterized in that: Before calculating the current mechanical braking force of the parking motor according to the current fed back by the parking motor in real time, the method further includes: The target braking force is calculated based on the current vehicle parking environment.

5. The parking method when the parking motor fails according to claim 1, characterized in that: Driving the parking motor so that its mechanical braking force reaches the first mechanical braking force again includes: The first mechanical braking force is used as a new target braking force to drive the parking motor according to the new target braking force, and the current mechanical braking force of the parking motor is calculated in real time according to the current fed back by the parking motor until the mechanical braking force reaches the new target braking force.

6. A parking system, characterized in that: include: An EPB controller, a parking motor, a caliper brake pad and a service brake controller, wherein the EPB controller and the caliper brake pad are respectively connected to the parking motor and the service brake module for communication; The EPB controller is used to calculate the current mechanical braking force of the parking motor on the caliper brake pad according to the current fed back by the parking motor in real time, and if the mechanical braking force does not reach the target braking force, the current mechanical braking force is used as the first mechanical braking force, and the braking force difference between the target braking force and the first mechanical braking force is calculated; The EPB controller controls the service brake module to perform hydraulic braking on the caliper brake pad until the hydraulic braking force of the service brake controller reaches the braking force difference; The EPB controller is used to drive the parking motor to make the mechanical braking force reach the first mechanical braking force again after the mechanical braking force decreases by the braking force difference after hydraulic braking; The EPB controller controls the service brake controller to release the hydraulic braking force so as to park the vehicle in combination with the reaction force of the caliper brake pad to the hydraulic braking force and the first mechanical braking force.

7. A parking system according to claim 6, characterized in that: The EPB controller comprises: After the parking motor is driven, if the mechanical braking force still fails to reach the target braking force within a preset time, it is considered that the mechanical braking force fails to reach the target braking force.

8. A parking system according to claim 6, characterized in that: The EPB controller comprises: The parking motor is stopped from being driven, and the service brake controller is requested to perform hydraulic braking on the caliper brake pad until the hydraulic braking force of the hydraulic brake is not less than the braking force difference.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes a parking method when a parking motor fails as described in any one of claims 1 to 5.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, a parking method when a parking motor fails as described in any one of claims 1 to 5 is implemented.

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