Parking release control method and system, vehicle and medium

Abstract

The invention relates to the technical field of parking release, and discloses a parking release control method and system, a vehicle and a medium. The method comprises the following steps: acquiring the whole vehicle system voltage of a storage battery; if the asynchronous working voltage is larger than or equal to the vehicle system voltage and smaller than the preset synchronous working voltage, it is determined that the EPB controller has the asynchronous driving requirement; if the EPB controller has the asynchronous driving requirement, the parking release instruction is responded, and the first parking motor is driven to perform parking release until the first parking motor completes parking release or release is abnormal; and if it is detected that the first parking motor completes parking release, the second parking motor is driven to conduct parking release till the second parking motor completes parking release or release is abnormal. In this way, the first parking motor and the second parking motor are asynchronously driven to complete parking release, so that the vehicle can be parked and released under the lower voltage of the whole vehicle system, the requirement of a vehicle owner for releasing electronic parking can be met when the voltage of the whole vehicle system is too low, and the use experience of the vehicle owner is improved.

Description

Technical Field

[0001] The present application relates to the technical field of parking release, and in particular to a parking release control method, system, vehicle and medium. Background Art

[0002] In the current static parking control, the left parking motor and the right parking motor are driven synchronously. However, before synchronously driving the left and right parking motors, the EPB controller will determine whether the battery's vehicle system voltage meets the driving voltage conditions. If the battery system voltage is too low, the EPB controller will be restricted from synchronously driving the left / right parking motors for parking release. However, when fuel vehicles are parked for a long time without starting in the cold winter in the north, the battery is prone to power failure, resulting in the engine being unable to start. If the owner needs to release the electronic parking at this time, the electronic parking will not be released because the battery's vehicle system voltage is too low, which will result in the owner's need to release the electronic parking not being met, affecting the owner's user experience.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0005] The embodiments of the present disclosure provide a control method, system, vehicle and medium for parking release, so as to meet the needs of vehicle owners for releasing electronic parking and improve the user experience of vehicle owners.

[0006] In some embodiments, a parking release control method includes: obtaining a vehicle system voltage of a battery; if the asynchronous operating voltage is ≤ the vehicle system voltage < a preset synchronous operating voltage, determining that the EPB controller has an asynchronous drive requirement; if the EPB controller has an asynchronous drive requirement, responding to a parking release instruction, driving a first parking motor to perform parking release until the first parking motor completes the parking release or the release is abnormal; if it is detected that the first parking motor completes the parking release, driving a second parking motor to perform parking release until the second parking motor completes the parking release or the release is abnormal.

[0007] In some embodiments, the parking release control system includes: an acquisition module for acquiring the vehicle system voltage of the battery; a determination module for determining that the EPB controller has an asynchronous drive requirement if the asynchronous working voltage ≤ the vehicle system voltage < the preset synchronous working voltage; a first release module for driving the first parking motor for parking release in response to a parking release instruction if the EPB controller has an asynchronous drive requirement, until the first parking motor completes the parking release or the release is abnormal; a second release module for driving the second parking motor for parking release if it is detected that the first parking motor completes the parking release, until the second parking motor completes the parking release or the release is abnormal.

[0008] In some embodiments, a vehicle includes a processor and a memory storing program instructions, and the processor is configured to execute the parking release control method as described above when running the program instructions.

[0009] In some embodiments, a computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the parking release control method as described above.

[0010] The parking release control method, system, vehicle and medium provided by the embodiments of the present disclosure can achieve the following technical effects:

[0011] By obtaining the vehicle system voltage of the battery, if the vehicle system voltage is less than the synchronous working voltage and less than or equal to the asynchronous working voltage, it means that the vehicle system voltage of the vehicle is not enough to make the EPB controller synchronously drive the first parking motor and the second parking motor to release the parking, but the vehicle system voltage meets the requirements of the EPB controller to asynchronously drive the first parking motor and the second parking motor to release the parking. At this time, in response to the parking release instruction, the first and second parking motors are asynchronously driven to release the parking, that is, after driving the first parking motor to complete the parking release, the second parking motor is driven to complete the parking release. In this way, when the vehicle system voltage is not enough to make the EPB controller synchronously drive the first parking motor and the second parking motor to release the parking, but meets the requirements of asynchronously driving the first parking motor and the second parking motor to release the parking, the parking release is completed by asynchronously driving the first and second parking motors, so that the vehicle can be released at a lower vehicle system voltage, that is, the working voltage range of the parking motor is expanded, so that the owner's requirements for releasing the electronic parking can be met when the vehicle system voltage of the battery is too low, thereby improving the owner's user experience.

[0012] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0014] Figure 1 is a flow chart of a parking release control method provided by an embodiment of the present disclosure;

[0015] Figure 2 is a flow chart of another parking release control method provided by an embodiment of the present disclosure;

[0016] Figure 3 is a structural schematic diagram of a parking release control system provided by an embodiment of the present disclosure;

[0017] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0019] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0020] Unless otherwise stated, the term "plurality" means two or more.

[0021] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0022] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0023] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0024] A parking release control method provided by an embodiment of the present disclosure is applied to an EPB controller of a vehicle. The EPB controller is a core controller in an electronic parking brake system of a vehicle.

[0025] Combination Figure 1 As shown, the embodiment of the present disclosure provides a control method for parking release, comprising:

[0026] Step S101, obtaining the vehicle system voltage of the battery.

[0027] Specifically, the EPB controller collects the battery vehicle system voltage through the voltage collection interface.

[0028] Step S102: if the asynchronous working voltage ≤ the vehicle system voltage < the preset synchronous working voltage, it is determined that the EPB controller has an asynchronous driving demand.

[0029] In some embodiments, the preset synchronous working voltage represents the minimum synchronous working voltage. When the minimum synchronous working voltage ≤ the whole vehicle system voltage ≤ the maximum synchronous voltage, if the parking release is performed at this time, the EPB controller will synchronously drive the first and second parking motors to work, that is, synchronously drive the first and second parking motors to release the parking, that is, at this time, the EPB controller has no asynchronous drive demand. When the asynchronous working voltage ≤ the whole vehicle system voltage < the minimum synchronous working voltage, at this time, the whole vehicle system voltage is too low, and it is difficult for the EPB controller to synchronously drive the first and second parking motors to release the parking, then it is considered that the EPB controller has an asynchronous drive demand.

[0030] Step S103: If the EPB controller has an asynchronous drive requirement, the first parking motor is driven to release the parking vehicle in response to the parking release instruction until the first parking motor completes the parking release or releases abnormally. The first parking motor is a left parking motor or a right parking motor.

[0031] In some embodiments, the EPB controller detects whether there is a parking release command according to a preset period. When the user issues a parking release command (i.e., issues a parking release operation), the EPB controller detects a mechanical switch or CAN signal release request, indicating that the EPB controller needs to control the first parking motor to release the parking.

[0032] Step S104, if it is detected that the first parking motor completes the parking release, the second parking motor is driven to perform the parking release until the second parking motor completes the parking release or the release is abnormal. Wherein, when the first parking motor is the left parking motor, the second parking motor is the right parking motor. When the first parking motor is the right parking motor, the second parking motor is the left parking motor. It can be understood that the first parking motor and the second parking motor perform the parking release in the same way.

[0033] The parking release control method provided by the embodiment of the present disclosure is adopted, by obtaining the vehicle system voltage of the battery, if the vehicle system voltage is less than the synchronous working voltage, and less than or equal to the asynchronous working voltage, it means that the vehicle system voltage of the vehicle is not enough to make the EPB controller synchronously drive the first parking motor and the second parking motor to release the parking, but the vehicle system voltage meets the requirements of the EPB controller to asynchronously drive the first parking motor and the second parking motor to release the parking. At this time, in response to the parking release instruction, the first and second parking motors are asynchronously driven to release the parking, that is, after driving the first parking motor to complete the parking release, the second parking motor is driven to complete the parking release. In this way, when the vehicle's whole vehicle system voltage is insufficient to enable the EPB controller to synchronously drive the first parking motor and the second parking motor for parking release, but meets the demand for asynchronously driving the first parking motor and the second parking motor for parking release, the parking release is completed by asynchronously driving the first and second parking motors, so that the vehicle can be released at a lower whole vehicle system voltage, that is, the operating voltage range of the parking motor is expanded, thereby being able to meet the owner's demand for releasing electronic parking when the battery's whole vehicle system voltage is too low, thereby improving the owner's user experience.

[0034] Optionally, driving the first parking motor to perform parking release until the first parking motor completes parking release or releases abnormally includes: initializing the first parking motor to a clamped state, and controlling the first parking motor to reverse, and starting the first parking motor; judging whether the first parking motor is successfully started; if successfully started, judging whether the first parking motor successfully releases the load; if successfully started and the load is successfully released, turning off the first parking motor to allow the first parking motor to complete parking release; if not successfully started, or if successfully started but the load is not successfully released, turning off the first parking motor, determining that a parking release failure occurs in the first parking motor, and re-driving the first parking motor to perform parking release until the first parking motor completes parking release or releases abnormally.

[0035] In this way, the parking release is started by driving the first parking motor to reverse and start the first parking motor. If the first parking motor is successfully started and the load is successfully released, it means that the first parking motor has completed the parking release. If the first parking motor is not successfully started or the load is not successfully released, it means that the first parking motor has a fault during the parking release. The parking release is performed by re-driving the first parking motor, thereby improving the success rate of the first parking motor completing the parking release.

[0036] Specifically, turning off the first parking motor so that the first parking motor completes the parking release includes: turning off the first parking motor, and updating the state of the first parking motor to a released state so that the first parking motor completes the parking release.

[0037] Specifically, controlling the first parking motor to reverse includes: driving the chip pin for controlling the first parking motor to reverse. It can be understood that the reverse rotation of the first parking motor corresponds to parking release, and the forward rotation corresponds to parking clamping.

[0038] Optionally, determining whether the first parking motor is successfully started includes: continuously collecting a first working current of the first parking motor; if within a first preset time period, the first working current is greater than a preset working current threshold, and the chip pin that controls the reversal of the first parking motor works normally, then determining that the first parking motor is successfully started; if within the first preset time period, the first working current is less than or equal to the working current threshold, and / or the chip pin that controls the reversal of the first parking motor does not work normally, then determining that the first parking motor is not successfully started.

[0039] The normal working of the chip pin indicates that the chip pin has no open circuit fault. The abnormal working of the chip pin indicates that the chip pin has an open circuit fault.

[0040] If the chip pin that controls the reversal of the first parking motor works normally, it means that the first parking motor is in a reversal state, and its operation in the reversal state is a parking release. In this way, if the first parking motor is in a reversal state, and within the first preset time, the first working current is greater than the preset working current threshold, it means that the first parking motor has been successfully started at this time. On the contrary, if the first parking motor is not in a reversal state, and / or, it is in a reversal state but within the first preset time, the first working current is less than or equal to the preset working current threshold, it means that the first parking motor has failed to start at this time. In this way, it is possible to accurately judge whether the first parking motor is successfully started.

[0041] Specifically, continuously collecting the first operating current of the first parking motor includes: collecting the first operating current of the first parking motor according to a preset period.

[0042] Optionally, if the startup is successful, it is determined whether the first parking motor has successfully released the load, including: if the startup is successful, it is determined that the first parking motor enters the load release state; the first working time and corresponding current information of the first parking motor entering the load release state are continuously updated; if the corresponding current information meets the preset current condition, and the first working time when the current condition is met is less than or equal to the second preset time, it is determined that the first parking motor has successfully released the load; if the corresponding current information does not meet the current condition within the second preset time, it is determined that the first parking motor has not successfully released the load. Among them, the second preset time represents the maximum working time of the parking release.

[0043] When the first parking motor is releasing the load, its current information will change. Therefore, if it is detected that the current information meets the current condition and the maximum working time of the parking release is not exceeded at this time, it means that the first parking motor has successfully released the load. If the current information is not detected to meet the current condition within the maximum working time of the parking release, it means that the first parking motor has not successfully released the load at this time. In this way, it can be accurately judged whether the first parking motor has successfully released the load.

[0044] Specifically, the current information includes an average working current and an average working current change rate. Continuously updating the first working time of the first parking motor entering the load release state and the corresponding current information includes: continuously updating the first working time of the first parking motor entering the load release state, and continuously obtaining the working current of the first parking motor entering the load release state; continuously calculating and updating the average working current based on the continuously obtained working current, and continuously calculating and updating the average working current change rate based on the continuously updated average working current.

[0045] Specifically, the current condition includes that the average working current is less than a preset current average value, and the average working current change rate is less than a preset current change rate.

[0046] Optionally, if the startup is successful and the load is successfully released, the first parking motor is turned off so that the first parking motor completes the parking release, including: if the startup is successful and the load is successfully released, driving the first parking motor to continue working for a third preset time; turning off the first parking motor so that the first parking motor completes the parking release.

[0047] When the first parking motor successfully releases the load, in order to prevent the first parking caliper from dragging, the first parking motor is driven to continue working until a third preset time is reached and then the first parking motor is turned off, thereby ensuring that the first parking motor caliper is completely released.

[0048] Specifically, after the first parking motor successfully releases the load, it continues to drive the first parking motor to work, and at this time the first parking motor enters the idle travel state. The EPB controller records the working time of entering the idle travel state, and when the working time of entering the idle travel state is greater than or equal to the preset working time of the idle travel state, the first parking motor is controlled to stop working. The third preset time represents any value greater than or equal to the preset working time of the idle travel state.

[0049] Optionally, determining that a parking release fault occurs in the first parking motor, and re-driving the first parking motor for parking release, until the first parking motor completes the parking release or releases abnormally, includes: determining that a parking release fault occurs in the first parking motor, and updating the fault release times of the first parking motor; if the updated fault release times of the first parking motor are less than a preset number, re-driving the first parking motor for parking release, until the first parking motor completes the parking release or releases abnormally; if the updated fault release times of the first parking motor are greater than or equal to the preset number, determining that the first parking motor is released abnormally.

[0050] In this way, after determining that the first parking motor has a parking release fault, by updating the fault release times of the first parking motor, if the updated fault release times are less than the preset times, it means that the first parking motor can still be controlled to release the parking, thereby improving the success rate of the first parking motor completing the parking release. If the updated fault release times are greater than or equal to the preset times, it means that the first parking motor has a serious fault when releasing the parking, and it is considered that the release is abnormal, so as to avoid the situation where the first parking motor has a serious fault when releasing the parking, and still forcibly release the parking and cause damage to the vehicle.

[0051] In some embodiments, when the vehicle enters a new power-on stage, the number of fault releases of the first parking motor is reset. The power-on stage represents the stage in which the vehicle is converted from a power-off state to a power-on state, that is, the process from starting the vehicle to completing power-on. Resetting the number of fault releases of the first parking motor represents setting the current number of fault releases of the first parking motor to 0. For example, in the current power-on stage, when the first parking motor is performing parking release, a parking release failure occurs for the first time (i.e., the first parking motor is not successfully started, or the first parking motor is successfully started but the load is not successfully released), then the number of fault releases of the first parking motor is updated to 1, and when the parking release failure occurs for the second time, the number of fault releases of the first parking motor is updated to 2. In the next power-on stage, when the first parking motor is performing parking release, a parking release failure occurs for the first time, then the number of fault releases of the first parking motor is updated to 1, and when the parking release occurs for the second time, the number of fault releases of the first parking motor is updated to 2.

[0052] In some embodiments, if the first parking motor completes the parking release, the fault release count of the first parking motor is reset.

[0053] Optionally, updating the fault release times of the first parking motor further includes: updating the fault release times of the first parking motor, and updating the state of the first parking motor to an unknown state; if the state of the first parking motor is an unknown state, issuing an abnormal reminder.

[0054] In this way, when the first parking motor is in an unknown state, it means that the first parking motor has a fault when releasing, such as failing to start the first parking motor or successfully starting the first parking motor but failing to release the load. At this time, the abnormal reminder is used to facilitate the user to handle the fault.

[0055] Specifically, if the state of the first parking motor is an unknown state, an abnormal reminder is given, including: when the state of the first parking motor is an unknown state and the release of the first parking motor is abnormal, an abnormal reminder is given.

[0056] In this way, when the first parking motor is in an unknown state and the release is abnormal, it means that the first parking motor can no longer try to release the parking. At this time, an abnormal reminder is performed to make the user know that the current first parking motor has a large abnormality when releasing the parking, which is convenient for the user to handle the fault.

[0057] In some embodiments, performing an abnormal reminder includes: performing an abnormal reminder in the form of text on the dashboard. For example, performing an abnormal reminder of a fourth preset duration in the form of text on the dashboard.

[0058] In other embodiments, the abnormal reminder includes: making the abnormal reminder in the form of voice playback.

[0059] Combination Figure 2 As shown, the embodiment of the present disclosure provides another parking release control method, including:

[0060] Step S201, obtaining the vehicle system voltage of the battery.

[0061] Step S202: If the asynchronous working voltage ≤ the vehicle system voltage < the preset synchronous working voltage, it is determined that the EPB controller has an asynchronous driving demand.

[0062] Step S203: If the EPB controller has an asynchronous driving requirement, it responds to the parking release instruction.

[0063] Step S204 , initializing the first parking motor to a clamped state, controlling the first parking motor to rotate in reverse, and starting the first parking motor.

[0064] Step S205 , determining whether the first parking motor is successfully started; if so, executing step S206 , if not, executing step S208 .

[0065] Step S206, determining whether the first parking motor releases the load successfully, if yes, executing step S207, if no, executing step S208.

[0066] Step S207, driving the first parking motor to continue working for a third preset time, turning off the first parking motor, and updating the state of the first parking motor to a release state, so that the first parking motor completes the parking release. Then, step S211 is executed.

[0067] Step S208, turning off the first parking motor, determining that the first parking motor has a parking fault, updating the fault release times, and updating the state of the first parking motor to an unknown state. Then executing step S209.

[0068] Step S209, determining whether the updated fault release times are less than the preset times, if so, returning to step S204, if not, executing step S210.

[0069] Step S210, determining that the first parking motor is released abnormally.

[0070] Step S211 : if it is detected that the first parking motor completes the parking release, the second parking motor is driven to perform the parking release until the second parking motor completes the parking release or the release is abnormal.

[0071] Optionally, if it is detected that the first parking motor completes the parking release, the second parking motor is driven to release the parking, including: detecting whether the first parking motor completes the parking release according to a preset period, and if it is detected that the first parking motor completes the parking release, driving the second parking motor to release the parking.

[0072] In this way, by detecting whether the first parking motor has completed the parking release at a preset period, the second parking motor can be driven in time to perform the parking release after the first parking motor has completed the parking release.

[0073] Specifically, detecting whether the first parking motor completes the parking release according to a preset cycle, and if it is detected that the first parking motor completes the parking release, driving the second parking motor to release the parking, includes: detecting the state of the first parking motor according to a preset cycle. If it is detected that the state of the first parking motor is a released state, it is considered that the second parking motor completes the parking release, and the second parking motor is driven to release the parking.

[0074] Optionally, driving the second parking motor to perform parking release until the second parking motor completes parking release or releases abnormally includes: initializing the second parking motor to a clamped state, and controlling the second parking motor to reverse, and starting the second parking motor; judging whether the second parking motor is successfully started; if successfully started, judging whether the second parking motor successfully releases the load; if successfully started and the load is successfully released, turning off the second parking motor to allow the second parking motor to complete the parking release; if not successfully started, or if successfully started but the load is not successfully released, turning off the second parking motor, determining that a parking release failure occurs in the second parking motor, and re-driving the second parking motor to perform parking release until the second parking motor completes parking release or releases abnormally.

[0075] In this way, the parking release is started by driving the second parking motor to reverse and start the second parking motor. If it is successfully started and the load is successfully released, it means that the second parking motor has completed the parking release. If it is not successfully started or the load is not successfully released, it means that the second parking motor has a parking release failure during the parking release. By re-driving the second parking motor to release the parking, the success rate of the second parking motor completing the parking release can be improved.

[0076] Specifically, turning off the second parking motor so that the second parking motor completes the parking release includes: turning off the second parking motor, and updating the state of the second parking motor to a released state so that the second parking motor completes the parking release.

[0077] Specifically, controlling the second parking motor to reverse includes: driving the chip pin for controlling the second parking motor to reverse. It can be understood that the reverse rotation of the second parking motor corresponds to parking release, and the forward rotation corresponds to parking clamping.

[0078] Optionally, determining whether the second parking motor is successfully started includes: continuously collecting the second working current of the second parking motor; if within a first preset time period, the second working current is greater than a preset working current threshold, and the chip pin that controls the reversal of the second parking motor works normally, then it is determined that the second parking motor is successfully started; if within the first preset time period, the second working current is less than or equal to the working current threshold, and / or the chip pin that controls the reversal of the second parking motor does not work normally, then it is determined that the second parking motor is not successfully started.

[0079] The normal working of the chip pin indicates that the chip pin has no open circuit fault. The abnormal working of the chip pin indicates that the chip pin has an open circuit fault.

[0080] If the chip pin that controls the reversal of the second parking motor works normally, it means that the second parking motor is in a reversal state, and its operation in the reversal state is a parking release. In this way, if the second parking motor is in a reversal state, and within the first preset time, the second working current is greater than the preset working current threshold, it means that the second parking motor has been successfully started at this time. On the contrary, if the second parking motor is not in a reversal state, and / or, it is in a reversal state but within the first preset time, the second working current is less than or equal to the preset working current threshold, it means that the second parking motor has failed to start at this time. In this way, it is possible to accurately determine whether the second parking motor is successfully started.

[0081] Specifically, continuously collecting the second operating current of the second parking motor includes: collecting the second operating current of the second parking motor according to a preset period.

[0082] Optionally, if the startup is successful, it is determined whether the second parking motor has successfully released the load, including: if the startup is successful, it is determined that the second parking motor enters the load release state; the second working time and corresponding current information of the second parking motor entering the load release state are continuously updated; if the corresponding current information meets the preset current condition, and the second working time when the current condition is met is less than or equal to the second preset time, it is determined that the second parking motor has successfully released the load; if the corresponding current information does not meet the current condition within the second preset time, it is determined that the second parking motor has not successfully released the load. Among them, the second preset time represents the maximum working time of the parking release.

[0083] When the second parking motor is releasing the load, its current information will change. Therefore, if it is detected that the current information meets the current condition and the maximum working time of the parking release is not exceeded at this time, it means that the second parking motor has successfully released the load. If the current information is not detected to meet the current condition within the maximum working time of the parking release, it means that the second parking motor has not successfully released the load at this time. In this way, it can be accurately judged whether the second parking motor has successfully released the load.

[0084] Specifically, the current information includes an average working current and an average working current change rate. Continuously updating the second working time of the second parking motor entering the load release state and the corresponding current information includes: continuously updating the second working time of the second parking motor entering the load release state, and continuously obtaining the working current of the second parking motor entering the load release state; continuously calculating and updating the average working current based on the continuously obtained working current, and continuously calculating and updating the average working current change rate based on the continuously updated average working current.

[0085] Specifically, the current condition includes that the average working current is less than a preset current average value, and the average working current change rate is less than a preset current change rate.

[0086] Optionally, if the start-up is successful and the load is successfully released, the second parking motor is turned off so that the second parking motor completes the parking release, including: if the start-up is successful and the load is successfully released, driving the second parking motor to continue working for a third preset time; turning off the second parking motor so that the second parking motor completes the parking release.

[0087] When the second parking motor successfully releases the load, in order to prevent the second parking caliper from dragging, the second parking motor is driven to continue working until a third preset time is reached and then the second parking motor is turned off, thereby ensuring that the second parking motor caliper is completely released.

[0088] Specifically, after the second parking motor successfully releases the load, it continues to drive the second parking motor to work, and at this time the second parking motor enters the idle travel state. The EPB controller records the working time of entering the idle travel state, and when the working time of entering the idle travel state is greater than or equal to the preset working time of the idle travel state, the second parking motor is controlled to stop working. The third preset time represents any value greater than or equal to the preset working time of the idle travel state.

[0089] Optionally, determining that the second parking motor has a parking release fault, and re-driving the second parking motor for parking release until the second parking motor completes the parking release or releases abnormally, includes: determining that the second parking motor has a parking release fault, and updating the fault release times of the second parking motor; if the updated fault release times of the second parking motor are less than a preset number, re-driving the second parking motor for parking release until the second parking motor completes the parking release or releases abnormally; if the updated fault release times of the second parking motor are greater than or equal to the preset number, determining that the second parking motor is released abnormally.

[0090] In this way, after determining that the second parking motor has a parking release fault, by updating the fault release times of the second parking motor, if the updated fault release times are less than the preset times, it means that the second parking motor can still be controlled to release the parking, thereby improving the success rate of the second parking motor completing the parking release. If the updated fault release times are greater than or equal to the preset times, it means that the second parking motor has a serious fault when releasing the parking, and it is considered that the release is abnormal, so as to avoid the situation where the second parking motor has a serious fault when releasing the parking, and still forcibly release the parking and cause damage to the vehicle.

[0091] In some embodiments, when the vehicle enters a new power-on stage, the fault release number of the second parking motor is reset. The power-on stage represents the stage in which the vehicle is converted from a power-off state to a power-on state, that is, the process from starting the vehicle to completing power-on. Resetting the fault release number of the second parking motor represents setting the current fault release number of the second parking motor to 0. For example, in the current power-on stage, when the second parking motor is performing parking release, if a parking release fault occurs for the first time, the fault release number of the second parking motor is updated to 1, and when the parking release fault occurs for the second time, the fault release number of the second parking motor is updated to 2. In the next power-on stage, when the second parking motor is performing parking release, if a parking release fault occurs for the first time, the fault release number of the second parking motor is updated to 1, and when the parking release fault occurs for the second time, the fault release number of the second parking motor is updated to 2.

[0092] In some embodiments, if the second parking motor completes the parking release, the fault release count of the second parking motor is reset.

[0093] Optionally, updating the fault release times of the second parking motor further includes: updating the fault release times of the second parking motor, and updating the state of the second parking motor to an unknown state; if the state of the second parking motor is an unknown state, issuing an abnormal reminder.

[0094] In this way, when the second parking motor is in an unknown state, it indicates that the second parking motor has a fault when releasing, such as failing to start the second parking motor or successfully starting the second parking motor but failing to release the load. At this time, the abnormal reminder is provided to facilitate the user to handle the fault.

[0095] Specifically, if the state of the second parking motor is an unknown state, an abnormal reminder is given, including: when the state of the second parking motor is an unknown state and the release of the second parking motor is abnormal, an abnormal reminder is given.

[0096] In this way, when the second parking motor is in an unknown state and the release is abnormal, it means that the second parking motor can no longer try to release the parking. At this time, an abnormal reminder is performed to make the user know that the current second parking motor has a large abnormality when releasing the parking, which is convenient for the user to handle the fault.

[0097] Combination Figure 3As shown, an embodiment of the present disclosure provides a parking release control system, including: an acquisition module, a determination module, a first release module and a second release module. Among them, the acquisition module is used to obtain the vehicle system voltage of the battery. The determination module is used to determine that the EPB controller has an asynchronous drive requirement if the asynchronous working voltage ≤ the vehicle system voltage < the preset synchronous working voltage. The first release module is used to drive the first parking motor to perform parking release in response to the parking release instruction if the EPB controller has an asynchronous drive requirement, until the first parking motor completes the parking release or the release is abnormal. The second release module is used to drive the second parking motor to perform parking release if it is detected that the first parking motor completes the parking release, until the second parking motor completes the parking release or the release is abnormal.

[0098] The parking release control system provided by the embodiment of the present disclosure is adopted, and by obtaining the vehicle system voltage of the battery, if the vehicle system voltage is less than the synchronous working voltage and less than or equal to the asynchronous working voltage, it means that the vehicle system voltage of the vehicle is not enough to make the EPB controller synchronously drive the first parking motor and the second parking motor to release the parking, but the vehicle system voltage meets the requirements of the EPB controller to asynchronously drive the first parking motor and the second parking motor to release the parking. At this time, in response to the parking release instruction, the first and second parking motors are asynchronously driven to release the parking, that is, after driving the first parking motor to complete the parking release, the second parking motor is driven to complete the parking release. In this way, when the vehicle's whole vehicle system voltage is insufficient to enable the EPB controller to synchronously drive the first parking motor and the second parking motor for parking release, but meets the demand for asynchronously driving the first parking motor and the second parking motor for parking release, the parking release is completed by asynchronously driving the first and second parking motors, so that the vehicle can be released at a lower whole vehicle system voltage, that is, the operating voltage range of the parking motor is expanded, thereby being able to meet the owner's demand for releasing electronic parking when the battery's whole vehicle system voltage is too low, thereby improving the owner's user experience.

[0099] Optionally, the first release module is specifically used to initialize the first parking motor to a clamped state, and control the first parking motor to reverse and start the first parking motor; determine whether the first parking motor is successfully started; if successfully started, determine whether the first parking motor successfully releases the load; if successfully started and the load is successfully released, turn off the first parking motor to allow the first parking motor to complete the parking release; if not successfully started, or if successfully started but the load is not successfully released, turn off the first parking motor, determine that the first parking motor has a parking release failure, and re-drive the first parking motor for parking release until the first parking motor completes the parking release or the release is abnormal.

[0100] Optionally, the first release module is specifically used to continuously collect the first working current of the first parking motor; if within a first preset time period, the first working current is greater than a preset working current threshold, and the chip pin that controls the reversal of the first parking motor works normally, it is judged that the first parking motor is successfully started; if within the first preset time period, the first working current is less than or equal to the working current threshold, and / or the chip pin that controls the reversal of the first parking motor does not work normally, it is judged that the first parking motor is successfully started.

[0101] Optionally, the first release module is specifically used to determine that the first parking motor enters a load release state if it is successfully started; continuously update the first working time and corresponding current information of the first parking motor entering the load release state; if the corresponding current information meets the preset current condition, and the first working time when the current condition is met is less than or equal to the second preset time, it is judged that the first parking motor has successfully released the load; if within the second preset time, the corresponding current information does not meet the current condition, it is judged that the first parking motor has not successfully released the load.

[0102] Optionally, the first release module is specifically configured to drive the first parking motor to continue working for a third preset time period if the vehicle is successfully started and the load is successfully released; and turn off the first parking motor to enable the first parking motor to complete the parking release.

[0103] Optionally, the first release module is specifically used to determine whether the first parking motor has a parking release fault and update the fault release times of the first parking motor; if the updated fault release times of the first parking motor are less than the preset times, the first parking motor is re-driven to perform parking release until the first parking motor completes the parking release or the release is abnormal; if the updated fault release times of the first parking motor are greater than or equal to the preset times, it is determined that the release of the first parking motor is abnormal.

[0104] Optionally, the first release module is specifically used to update the fault release times of the first parking motor and update the state of the first parking motor to an unknown state; if the state of the first parking motor is an unknown state, an abnormal reminder is issued.

[0105] Combination Figure 4 As shown, the embodiment of the present disclosure provides a vehicle, including a processor and a memory. Optionally, the vehicle may also include a communication interface and a bus. The processor, the communication interface, and the memory may communicate with each other through the bus. The communication interface may be used for information transmission. The processor may call the logic instructions in the memory 302 to execute the control method for parking release of the above embodiment.

[0106] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0107] The memory, as a computer-readable storage medium, can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 301 executes the function application and data processing by running the program instructions / modules stored in the memory, that is, implements the control method of the parking release in the above embodiment.

[0108] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory may include a high-speed random access memory and may also include a non-volatile memory.

[0109] In an embodiment of the present invention, a computer-readable storage medium is provided. Instructions are stored in the computer-readable storage medium. When the instructions are executed, the parking release control method of the above embodiment is executed.

[0110] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0111] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient storage medium.

[0112] The above description and accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method or device including the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0113] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0114] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units can be only a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0115] The flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A parking release control method, characterized in that: include: Obtain the vehicle system voltage of the battery; If the asynchronous working voltage ≤ the vehicle system voltage < the preset synchronous working voltage, it is determined that the EPB controller has an asynchronous driving demand; If the EPB controller has an asynchronous drive requirement, the first parking motor is driven to perform parking release in response to a parking release instruction until the first parking motor completes the parking release or the release is abnormal; If it is detected that the first parking motor completes the parking release, the second parking motor is driven to perform the parking release until the second parking motor completes the parking release or the release is abnormal.

2. The method according to claim 1, characterized in that The driving the first parking motor to release the parking state until the first parking motor completes the parking release or the release is abnormal includes: Initializing the first parking motor to a clamped state, controlling the first parking motor to rotate in reverse, and starting the first parking motor; Determining whether the first parking motor is successfully started; If the startup is successful, determining whether the first parking motor successfully releases the load; If the vehicle is started successfully and the load is released successfully, the first parking motor is turned off to enable the first parking motor to complete the parking release; If the start-up fails, or if the start-up succeeds but the load is not released successfully, the first parking motor is turned off, a parking release failure of the first parking motor is determined, and the first parking motor is driven again for parking release until the first parking motor completes the parking release or releases abnormally.

3. The method according to claim 2, characterized in that The determining whether the first parking motor is successfully started includes: Continuously collecting a first operating current of the first parking motor; If within a first preset time period, the first operating current is greater than a preset operating current threshold, and the chip pin for controlling the reversal of the first parking motor works normally, it is determined that the first parking motor is successfully started; If within the first preset time period, the first operating current is less than or equal to the operating current threshold, and / or the chip pin controlling the reversal of the first parking motor does not work normally, it is determined that the first parking motor is not started successfully.

4. The method according to claim 2, characterized in that: If the startup is successful, determining whether the first parking motor successfully releases the load includes: If the startup is successful, it is determined that the first parking motor enters a load release state; Continuously updating a first working time and corresponding current information of the first parking motor entering a load release state; If the corresponding current information satisfies a preset current condition, and the first working duration when the current condition is met is less than or equal to a second preset duration, it is determined that the first parking motor successfully releases the load; If the corresponding current information does not meet the current condition within the second preset time period, it is determined that the first parking motor has not successfully released the load.

5. The method according to claim 2, characterized in that: If the startup is successful and the load is released successfully, then the first parking motor is turned off so that the first parking motor completes the parking release, including: If the vehicle is successfully started and the load is released, the first parking motor is driven to continue working for a third preset time period; The first parking motor is turned off to enable the first parking motor to complete the parking release.

6. The method according to any one of claims 2 to 5, characterized in that: The determining that the first parking motor has a parking release failure and re-driving the first parking motor to release the parking vehicle until the first parking motor completes the parking release or releases abnormally includes: Determining that a parking release fault occurs in the first parking motor, and updating the number of fault releases of the first parking motor; If the updated fault release times of the first parking motor are less than the preset times, the first parking motor is driven again to release the parking state until the first parking motor completes the parking release or releases abnormally; If the updated fault release number of the first parking motor is greater than or equal to a preset number, it is determined that the release of the first parking motor is abnormal.

7. The method according to claim 6, characterized in that The updating of the fault release times of the first parking motor further includes: updating the fault release times of the first parking motor and updating the state of the first parking motor to an unknown state; If the state of the first parking motor is unknown, an abnormal reminder is given.

8. A parking release control system, characterized in that: include: An acquisition module is used to obtain the vehicle system voltage of the battery; A determination module, configured to determine that the EPB controller has an asynchronous driving requirement if the asynchronous working voltage is ≤ the vehicle system voltage < a preset synchronous working voltage; a first release module, configured to drive the first parking motor to release the parking vehicle in response to a parking release instruction if the EPB controller has an asynchronous drive requirement, until the first parking motor completes the parking release or the release is abnormal; The second releasing module is configured to drive the second parking motor to release the parking vehicle if it is detected that the first parking motor completes the parking release, until the second parking motor completes the parking release or the release is abnormal.

9. A vehicle, characterized in that: The invention comprises a processor and a memory storing program instructions, wherein the processor is configured to execute the parking release control method according to any one of claims 1 to 7 when running the program instructions.

10. 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 the parking release control method according to any one of claims 1 to 7.

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