Parking release fault processing method and system, vehicle and medium

Abstract

The invention relates to the technical field of parking control, and discloses a parking release fault processing method and system, a vehicle and a medium. The method comprises the steps that when a first parking motor and a second parking motor synchronously park, working current information and a whole vehicle system voltage are collected in real time; based on the working current information and the whole vehicle system voltage, whether a release fault occurs or not and a corresponding fault type when the release fault occurs are determined; and if the release fault occurs, determining a fault processing strategy based on the corresponding fault type so as to re-drive the first parking motor and the second parking motor to perform parking release. Thus, when the parking release fault occurs, the first parking motor and the second parking motor are driven again to perform parking release through the targeted fault processing strategy, and the success rate of parking release can be increased.

Description

Technical Field

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

[0002] The parking system of a passenger car includes two parking motors, a left parking motor and a right parking motor. When the parking system is releasing the parking state, the two parking motors work simultaneously. However, when a parking release failure occurs during the parking release, it is usually directly attempted to re-drive the parking motor for parking release until the parking release is successful or the maximum number of attempts is reached. However, there are many reasons for the parking release failure. If the parking release is only performed by re-driving the parking motor after the parking release failure occurs, it is difficult to successfully achieve the parking release. As a result, the success rate of parking release is low.

[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 parking release fault handling method, system, vehicle and medium to improve the parking release success rate.

[0006] In some embodiments, a parking release fault handling method includes: when a first parking motor and a second parking motor are parked synchronously, real-time collection of working current information and a whole vehicle system voltage; wherein the working current information includes a first working current of the first parking motor and the second parking motor; based on the working current information and the whole vehicle system voltage, determining whether a release fault occurs, and a corresponding fault type when a release fault occurs; if a release fault occurs, determining a fault handling strategy based on the corresponding fault type to re-drive the first parking motor and the second parking motor for parking release.

[0007] In some embodiments, a parking release fault handling system includes: an acquisition module, which is used to collect working current information and vehicle system voltage in real time when the first parking motor and the second parking motor are parked synchronously; wherein the working current information includes the first working current of the first parking motor and the second parking motor; a determination module, which is used to determine whether a release fault occurs and the corresponding fault type when a release fault occurs based on the working current information and the vehicle system voltage; a processing module, which is used to determine a fault handling strategy based on the corresponding fault type if a release fault occurs, so as to re-drive the first parking motor and the second parking motor for parking release.

[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 fault handling 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 fault handling method as described above.

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

[0011] By collecting the working current information and the whole vehicle system voltage when the first parking motor and the second parking motor perform synchronous parking release, it is possible to accurately detect whether the vehicle has a parking release failure. And determine the type of fault that occurred in the event of a release failure. And after the release failure occurs, determine a targeted fault handling strategy based on the type of fault that occurred. In this way, when a parking release failure occurs, the first parking motor and the second parking motor are re-driven to release the parking through a targeted fault handling strategy, which can improve the success rate of parking release.

[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 It is a flowchart of a parking release fault handling method provided by an embodiment of the present disclosure;

[0015] Figure 2is a schematic diagram of a synchronous parking release provided by an embodiment of the present disclosure;

[0016] Figure 3 is a structural schematic diagram of a parking release fault handling 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 fault handling 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 (ie, parking system) of a vehicle.

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

[0026] Step S101, when the first parking motor and the second parking motor are synchronously parked, the working current information and the whole vehicle system voltage are collected in real time, wherein the working current information includes the first working current of the first parking motor and the second parking motor.

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

[0028] Step S102, based on the working current information and the vehicle system voltage, determining whether a release fault occurs and the corresponding fault type when the release fault occurs.

[0029] Step S103: If a release fault occurs, a fault handling strategy is determined based on the corresponding fault type to re-drive the first parking motor and the second parking motor for parking release. The first parking motor is a left parking motor and the second parking motor is a right parking motor; or the first parking motor is a right parking motor and the second parking motor is a left parking motor.

[0030] By adopting the parking release fault handling method provided by the embodiment of the present disclosure, by collecting the working current information and the whole vehicle system voltage when the first parking motor and the second parking motor perform synchronous parking release, it is possible to accurately detect whether the vehicle has a parking release fault. And in the case of a release fault, the type of fault that occurred is determined. And after the release fault occurs, a targeted fault handling strategy is determined based on the type of fault that occurred. In this way, when a parking release fault occurs, the first parking motor and the second parking motor are re-driven to perform parking release through a targeted fault handling strategy, which can improve the success rate of parking release.

[0031] For ease of understanding, this embodiment shows a process of synchronous parking release of a first parking motor and a second parking motor:

[0032] ① Initialization stage: During the initialization stage, the states of the first parking motor and the second parking motor are updated to the clamping state. When the EPB controller does not receive a release request from the mechanical switch or CAN signal, it remains in the initialization stage. During the initialization stage, it detects whether there is a release request from the mechanical switch or CAN signal according to the rated cycle. When a release request is detected, it enters step ② startup stage.

[0033] ② Startup phase: After entering the startup phase, the EPB controller drives the chip pins that control the reversal of the first parking motor and the second parking motor to work respectively, and starts the first parking motor and the second parking motor to work; collects the working current information of the first parking motor and the second parking motor in real time. If the first working current of the first parking motor and the second parking motor is greater than the first preset current within the first preset time, it is considered that the first parking motor and the second parking motor are successfully started, and enter step ③ load release phase.

[0034] ③ Load release stage: In the load release stage, the EPB controller continuously drives the chip pins that control the reversal of the first parking motor and the second parking motor, and continuously drives and controls the first parking motor and the second parking motor to work in reverse. The first duration of entering the load release stage and the corresponding first average current information are updated in real time. The first average current information includes the first average operating current and the first average operating current change rate of the first parking motor and the second parking motor within the first duration. If the first average current information meets the first current condition, and the corresponding first duration when the first current condition is met is less than the second preset duration, it is confirmed that the load of the first parking motor and the second parking motor has been released, and the step ④ idle stroke state is entered.

[0035] The first average current information includes the first average working current and the first average working current change rate of the first parking motor and the second parking motor. The first average current information satisfies the first current condition including that the first average working current of the first parking motor and the second parking motor corresponding to the first duration is less than the first preset average current, and the first average working current change rate is less than the first preset change rate. The first preset duration represents the maximum working duration of the load release.

[0036] ④ Idle travel stage: After the load release stage of the first parking motor and the second parking motor is completed, in order to prevent the left / right parking caliper from dragging, the EPB controller needs to continue to drive the first parking motor and the second parking motor to work for a period of time to ensure that the calipers of the first parking motor and the second parking motor are completely released. When the EPB controller works for the third preset time in the idle travel stage, it enters step ⑤ exit stage.

[0037] ⑤ Exit stage: When entering the exit stage, the states of the first parking motor and the second parking motor are updated to the released state, the number of synchronization faults is set to 0, and then the first parking motor and the second parking motor synchronous release process ends. It can be understood that the entry into the specified step (e.g., entering step ⑤ exit stage) described in this embodiment are all steps (e.g., step ⑤ exit stage) in the embodiment of the present disclosure (a process of synchronous parking release of the first parking motor and the second parking motor).

[0038] For ease of understanding, combined Figure 2As shown, an embodiment of the present disclosure provides a schematic diagram of synchronous parking release. In this embodiment, the first parking motor is a left parking motor, and the second parking motor is a right parking motor. In response to a release request from a mechanical switch or a CAN signal, the EPB controller drives the left parking motor to release the parking and the right parking motor to release the parking based on the vehicle system voltage, the left parking motor working information (the left motor working current and the left motor working state in the figure), and the right parking motor working information (the right motor working current and the right motor working state in the figure). The motor working state includes whether the motor is working normally, such as whether the chip pin that controls the motor reversal is faulty.

[0039] Optionally, when the first parking motor and the second parking motor are parked synchronously, working current information and the system voltage of the whole vehicle are collected in real time, including: detecting whether there is a mechanical switch or CAN signal release request according to the rated cycle; if there is a mechanical switch or CAN signal release request, driving the first parking motor and the second parking motor to perform synchronous parking release; when the first parking motor and the second parking motor are parked synchronously, working current information and the system voltage of the whole vehicle are collected in real time.

[0040] In this way, by detecting whether there is a release request of a mechanical switch or a CAN signal according to a rated cycle, if there is, it means that the vehicle has a parking release requirement at this time. At this time, the first parking motor and the second parking motor are driven to perform synchronous parking release, so that the parking release requirement of the vehicle can be responded to in time to control the vehicle to release the parking.

[0041] Optionally, based on the working current information and the vehicle system voltage, it is determined whether a release fault occurs and the corresponding fault type when the release fault occurs, including: in the startup phase of the synchronized parking release, if a release fault is determined to have occurred based on the working current information and the vehicle system voltage in the startup phase, then the corresponding fault type is determined based on the release fault that has occurred; in the load release phase of the synchronized parking release, if a release fault is determined to have occurred based on the working current information and the vehicle system voltage in the load release phase, then the corresponding fault type is determined based on the release fault that has occurred.

[0042] Since release failures may occur in both the start-up phase and the load phase during the synchronized parking release process, and the corresponding failure types are different, it is convenient to specifically determine the corresponding failure type when a release failure occurs by respectively determining whether a release failure occurs in the start-up phase and the load release phase.

[0043] Optionally, if a release fault is determined to have occurred based on the working current information and the vehicle system voltage during the starting phase, the corresponding fault type is determined based on the release fault that has occurred, including: if a release fault is determined to have occurred based on the working current information and the vehicle system voltage during the starting phase, and it is a starting fault, then the corresponding fault type is determined to be a starting fault; if a release fault is determined to have occurred based on the working current information and the vehicle system voltage during the starting phase, and it is a low voltage fault, then the corresponding fault type is determined to be a low voltage fault.

[0044] In the case where a release fault is detected during the startup phase, if it is a startup fault, the corresponding fault type is a startup fault; if it is a low voltage fault, the corresponding fault type is a low voltage fault. In this way, when a release fault occurs during the startup phase, by determining the corresponding fault type, it is convenient to determine a fault handling strategy in a targeted manner, so as to improve the success rate of parking release when the first parking motor and the second parking motor are re-driven to release the parking.

[0045] Specifically, if a release fault is determined to occur based on the working current information and the system voltage of the vehicle during the startup phase, and it is a startup fault, the corresponding fault type is determined to be a startup fault; if a release fault is determined to occur based on the working current information and the system voltage of the vehicle during the startup phase, and it is a low voltage fault, the corresponding fault type is determined to be a low voltage fault, including: after entering the startup phase, if it is detected that the first working current of the first parking motor and the second parking motor is not greater than the first preset current, it is considered that the first condition is triggered; if it is detected that the voltage of the vehicle system voltage is less than the first preset voltage, it is considered that the second condition is triggered. Based on the working current information and the system voltage of the vehicle during the startup phase, it is detected in real time whether the first condition or the second condition is triggered. If the first condition or the second condition is triggered within the first preset time length of entering the startup phase, it is determined that a release fault occurs. The condition that is triggered first among the first condition and the second condition is regarded as the first target condition. If the first target condition is the first condition, it is a startup fault, and the corresponding fault type is determined to be a startup fault; if the first target condition is the second condition, it is a low voltage fault, and the corresponding fault type is determined to be a low voltage fault. Among them, the first preset voltage represents the minimum synchronous voltage.

[0046] In this way, when entering the startup phase, the real-time collection of working current information and vehicle system voltage can more accurately determine whether a release fault occurs and the corresponding fault type.

[0047] It is understandable that when it is determined that a release fault occurs, the first parking motor and the second parking motor are immediately re-driven to release the parking vehicle based on the determined fault handling strategy. That is, there is no need to wait for the start-up phase to end and then re-drive the first parking motor and the second parking motor to release the parking vehicle based on the determined fault handling strategy.

[0048] Optionally, if a release fault occurs, a fault handling strategy is determined based on the corresponding fault type, including: if a release fault occurs and the corresponding fault type is a starting fault, the fault handling strategy is to re-drive the first parking motor and the second parking motor for synchronous parking release; if a release fault occurs and the corresponding fault type is a low voltage fault, the fault handling strategy is to re-drive the first parking motor and the second parking motor for asynchronous parking release.

[0049] If a startup failure occurs, it means that the vehicle system voltage of the battery can meet the requirements of synchronous release, and the first parking motor and the second parking motor are re-driven for synchronous parking release, so as to release the parking again. If a low voltage failure occurs, it means that the vehicle system voltage of the battery is low. If the first parking motor and the second parking motor are re-driven for synchronous parking release, it is difficult to successfully release the parking, and multiple failures will also damage the battery and affect the service life of the battery. At this time, the parking release is completed by asynchronously driving the first and second parking motors, so that the vehicle can complete the parking release at a lower vehicle system voltage, which can improve the success rate of parking release.

[0050] It can be understood that re-driving the first parking motor and the second parking motor to perform synchronous parking release represents controlling the first parking motor and the second parking motor to re-enter the initialization stage in the synchronous parking release process, and performing synchronous parking release in sequence according to the initialization stage, the start-up stage, the load release stage, the idle travel stage, the exit stage, etc.

[0051] Optionally, driving the first parking motor and the second parking motor to perform asynchronous parking release includes: driving the first parking motor to perform parking release; and if it is detected that the first parking motor completes the parking release, driving the second parking motor to perform parking release.

[0052] In this way, after the first parking motor successfully completes the parking release, the second parking motor is driven to release the parking. This allows the vehicle to complete the parking release at a lower vehicle system voltage, that is, to expand the operating voltage range of the parking motor, so that the parking release can be successfully completed when the vehicle system voltage of the battery is too low, thereby improving the success rate of the parking release.

[0053] Optionally, driving the first parking motor to release the parking vehicle includes: initializing the first parking motor to a clamped state, 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 the 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 an asynchronous release failure 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 the release is abnormal.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Optionally, determining whether the first parking motor is successfully started includes: continuously collecting the second operating current of the first parking motor; if within a fifth preset time period, the second operating current is greater than the second preset current, and the chip pin that controls the reversal of the first parking motor works normally, then it is determined that the first parking motor is successfully started; if within the fifth preset time period, the second operating current is not greater than the second preset current, and / or the chip pin that controls the reversal of the first parking motor does not work normally, then it is determined that the first parking motor is not successfully started.

[0058] 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.

[0059] 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 the second working current is detected to be greater than the second preset current within the fifth preset time, it means that the first parking motor has been successfully started. On the contrary, if the first parking motor is not in a reversal state, and / or, it is in a reversal state but the second working current is not greater than the second preset current within the fifth preset time, it means that the first parking motor has failed to start. In this way, it can be accurately judged whether the first parking motor is successfully started.

[0060] 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 working time of the first parking motor entering the load release state and the corresponding second average current information are continuously updated; if the corresponding second average current information meets the second current condition, and the working time when the second current condition is met is less than or equal to the sixth preset time, it is determined that the first parking motor has successfully released the load; if the corresponding second average current information does not meet the second current condition within the sixth preset time, it is determined that the first parking motor has not successfully released the load. Wherein, the sixth preset time represents the maximum working time of the first parking motor when the asynchronous parking is released.

[0061] When the first parking motor is releasing the load, its average current information will change. Therefore, if it is detected that the second average current information meets the second current condition, and at this time it does not exceed the maximum working time of the first parking motor during asynchronous parking release, it means that the first parking motor has successfully released the load. If during asynchronous parking release, the second average current information is not detected to meet the second current condition within the maximum working time of the first parking motor during parking release, it means that the first parking motor has not successfully released the load. In this way, it is possible to accurately determine whether the first parking motor has successfully released the load.

[0062] Specifically, the second average current information includes the second average working current of the first parking motor and the second average working current change rate. The second average current information satisfies the second current condition including that the second average working current of the first parking motor after entering the load release state is less than the second preset average current, and the second average working current change rate is less than the second preset change rate.

[0063] Continuously updating the working time of the first parking motor entering the load release state and the corresponding second average current information, including: continuously updating the working time of the first parking motor entering the load release state, and continuously obtaining the second working current of the first parking motor entering the load release state; continuously calculating and updating the second average working current based on the continuously obtained second working current, and continuously calculating and updating the second average working current change rate based on the continuously updated second average working current.

[0064] For example, the second average operating current=the sum of the second operating currents within the operating time of the first parking motor entering the load release state / the operating time of the first parking motor entering the load release state.

[0065] 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 seventh preset time length; turning off the first parking motor so that the first parking motor completes the parking release.

[0066] 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 the seventh preset time is reached and then the first parking motor is turned off, thereby ensuring that the first parking motor caliper is completely released.

[0067] 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 seventh preset time represents any value greater than or equal to the preset working time of the idle travel state.

[0068] Optionally, determining that the first parking motor has a parking release fault, 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 the first parking motor has an asynchronous release fault, and updating the asynchronous fault count of the first parking motor; if the updated asynchronous fault count of the first parking motor is less than a preset asynchronous count, re-driving the first parking motor for parking release until the first parking motor completes the parking release or releases abnormally; if the updated asynchronous fault count of the first parking motor is greater than or equal to the preset asynchronous count, determining that the first parking motor is released abnormally.

[0069] In this way, after determining that the first parking motor has an asynchronous release fault, by updating the asynchronous fault number of the first parking motor, if the updated asynchronous fault number is less than the preset asynchronous number, 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 asynchronous fault is greater than or equal to the preset asynchronous number, it means that the first parking motor has a serious abnormality when releasing the parking, and it is considered to be abnormal, and the driving of the first parking motor for parking release is stopped, so as to avoid the situation where the first parking motor is seriously abnormal when releasing the parking, and still forcibly release the parking and cause damage to the vehicle.

[0070] In some embodiments, when the vehicle enters a new power-on stage, the number of asynchronous faults of the first parking motor is reset. The power-on stage represents the stage in which the vehicle is converted from the power-off state to the power-on state, that is, the process from starting the vehicle to completing the power-on. Resetting the number of asynchronous faults of the first parking motor represents setting the current number of asynchronous faults of the first parking motor to 0. For example, in the current power-on stage, when the first parking motor is performing parking release, an asynchronous release fault 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 asynchronous faults of the first parking motor is updated to 1, and when the asynchronous release fault occurs for the second time, the number of asynchronous faults of the first parking motor is updated to 2. In the next power-on stage, when the first parking motor is performing parking release, an asynchronous release fault occurs for the first time, then the number of asynchronous faults of the first parking motor is updated to 1, and when the asynchronous release fault occurs for the second time, the number of asynchronous faults of the first parking motor is updated to 2.

[0071] In some embodiments, if the first parking motor completes the parking release, the asynchronous fault count of the first parking motor is reset.

[0072] Optionally, updating the number of asynchronous faults of the first parking motor further includes: updating the number of asynchronous faults 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.

[0073] In this way, when the first parking motor is in an unknown state, it indicates that the first parking motor has an asynchronous release failure when releasing the parking, 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 provided to facilitate the user to handle the fault.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] In other embodiments, the abnormal reminder includes: making the abnormal reminder in the form of voice playback.

[0078] Optionally, if it is detected that the first parking motor completes the parking release, the second parking motor is driven to perform the parking release, including: if it is detected that the state of the first parking motor is a release state, the second parking motor is driven to perform the parking release.

[0079] It is understandable that, during the asynchronous release process, the parking release process of the second parking motor is the same as the release process of the first parking motor, so it will not be described in detail here.

[0080] For ease of understanding, this embodiment shows a process of driving the first parking motor to release the parking vehicle during asynchronous release:

[0081] ① Initialization phase: In the initialization phase, the state of the first parking motor is updated to the clamping state, and then enters step ② startup phase.

[0082] ②Startup phase: After entering the startup phase, the EPB controller drives the chip pin that controls the reversal of the first parking motor to work (reversal corresponds to parking release, and forward rotation corresponds to parking clamping). After the EPB controller drives the corresponding reversal pin, the second working current of the first parking motor is collected according to the rated cycle. If the second working current is greater than the second preset current within the fifth preset time, it is considered that the first parking motor is successfully started and enters step ③ load release phase; otherwise, it is considered that the first parking motor fails to start and enters step ⑥ fault phase.

[0083] ③ Load release stage: After the first parking motor is successfully started, it enters the load release stage. The EPB controller continuously drives the chip pin that controls the reversal of the first parking motor to work, and continuously drives the first parking motor to work. The maximum allowable working time in the load release stage is the sixth preset duration. After the EPB controller enters the load release stage, it updates the working time after entering the load release stage and the corresponding second average current information in real time. If within the maximum working time of the load release stage, it is detected that the second average working current is less than the second preset current, and the change rate of the second average working current is less than the second preset change rate, it is considered that the load of the first vehicle drive motor has been released, and the step ④ idle stroke stage is entered. Otherwise, it is considered that the load release of the first parking drive motor is abnormal, and the step ⑥ fault stage is entered.

[0084] ④ Idle travel stage: After the first parking motor load release stage is completed, in order to prevent the first parking caliper from dragging, it is necessary to continue to drive the first parking motor to work for a period of time to ensure that the first parking caliper is fully released. After the EPB controller controls the first parking motor to run for the seventh preset time in the idle travel stage, it enters step ⑤ exit stage.

[0085] ⑤ Exit stage: When entering the exit stage, the state of the first parking motor is updated to the release state, the number of asynchronous faults is set to 0, and then the first parking motor release process ends.

[0086] ⑥ Fault stage: After entering the fault stage, within the current power-on cycle, when entering the fault stage for the first time, the number of asynchronous faults is set to 1, and the number of asynchronous faults is increased by 1 each time it enters the stage subsequently. When the number of asynchronous faults is less than the preset number of asynchronous faults, the state of the first parking motor is updated to an unknown state, and then the initialization stage of step ① of the first parking motor release process is entered, and an attempt to release again is allowed; when the number of asynchronous faults is greater than or equal to the preset number of asynchronous faults, the state of the first parking motor is updated to an unknown state, and attempts to release again are prohibited, and then the first parking motor release process ends. It can be understood that the entry into the specified step (such as entering step ⑤ exit stage) described in this embodiment are all steps (such as step ⑤ exit stage) in the embodiment of the present disclosure (a process of driving the first parking motor for parking release during asynchronous release).

[0087] Further, re-driving the first parking motor and the second parking motor for synchronous parking release includes: updating the number of synchronization failures once each time a startup failure or a load release failure occurs. If the updated number of synchronization failures is less than the preset synchronization number, re-driving the first parking motor and the second parking motor for synchronous parking release. If the updated number of synchronization failures is greater than or equal to the preset synchronization number, stopping driving the first parking motor and the second parking motor for parking release.

[0088] In this way, by updating the synchronization failure number and comparing it with the preset synchronization number, if the updated synchronization failure number is less than the preset synchronization number, it means that the synchronous parking release can still be performed at this time, thereby improving the success rate of the first parking motor and the second parking motor completing the parking release. If the updated synchronization failure number is greater than or equal to the preset synchronization number, it means that a serious abnormality occurs when performing the parking release at this time. By stopping the parking release, it can be avoided that the parking release is still forcibly performed when a serious abnormality occurs when the first and second parking motors perform the parking release, causing damage to the battery or the vehicle.

[0089] Further, each time a startup failure or a load release failure occurs, the number of synchronization failures is updated, including: each time a startup failure or a load release failure occurs, the number of synchronization failures is added once.

[0090] In some embodiments, when the vehicle enters a new power-on stage, the number of synchronization failures 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 synchronization failures represents setting the current number of synchronization failures to 0. For example, in the current power-on stage, when the first and second parking motors are performing synchronous parking release, if a release failure occurs for the first time (i.e., a start failure or a load release failure occurs), the number of synchronization failures is updated to 1, and when the release failure occurs for the second time, the number of synchronization failures is updated to 2. In the next power-on stage, when the first and second parking motors are performing synchronous parking release, if a release failure occurs for the first time, the number of synchronization failures is updated to 1, and when the release failure occurs for the second time, the number of synchronization failures is updated to 2.

[0091] In some embodiments, if the first and second parking motors complete the synchronous parking release, the synchronization failure count is reset.

[0092] Further, each time a starting failure or a load release failure occurs, the number of synchronization failures is updated, and it also includes: each time a starting failure or a load release failure occurs, the number of synchronization failures is updated, and the states of the first and second parking motors are updated to unknown states.

[0093] Furthermore, a parking release fault handling method further includes: if the state of the first parking motor or the second parking motor is an unknown state, an abnormal reminder is issued.

[0094] In this way, when the first and second parking motors are in an unknown state, it indicates that the first and second parking motors have a fault when the parking is released, such as a startup fault or a load release fault. At this time, the abnormal reminder is provided to facilitate the user to handle the fault.

[0095] In some embodiments, the abnormal reminder includes: making an abnormal reminder in the form of text on the dashboard. For example, the abnormal reminder of the fourth preset time length is made in the form of text on the dashboard. For example, the dashboard reminds the driver that "the system voltage is low and the parking release fails."

[0096] In other embodiments, the abnormal reminder includes: making the abnormal reminder in the form of voice playback.

[0097] Optionally, if a release fault is determined to have occurred based on the working current information of the load release phase and the system voltage of the whole vehicle, the corresponding fault type is determined based on the release fault that has occurred, including: if a release fault is determined to have occurred based on the working current information of the load release phase and the system voltage of the whole vehicle, and it is a load release fault, then the corresponding fault type is determined to be a load release fault; if a release fault is determined to have occurred based on the working current information of the load release phase and the system voltage of the whole vehicle, and it is a low voltage fault, then the corresponding fault type is determined to be a low voltage fault.

[0098] In the case where a release fault is detected during the load release phase, if it is a load release fault, the corresponding fault type is a load release fault; if it is a low voltage fault, the corresponding fault type is a low voltage fault. In this way, when a release fault occurs during the load release phase, by determining the corresponding fault type, it is convenient to determine a fault handling strategy in a targeted manner, so as to improve the success rate of parking release when the first parking motor and the second parking motor are re-driven to release the parking.

[0099] Specifically, if a release fault is determined to occur based on the working current information and the system voltage of the whole vehicle during the load release phase, and it is a load release fault, the corresponding fault type is determined to be a load release fault; if a release fault is determined to occur based on the working current information and the system voltage of the whole vehicle during the load release phase, and it is a low voltage fault, the corresponding fault type is determined to be a low voltage fault, including: after entering the load release phase, the first average current information is calculated and updated in real time based on the working current information of the load release phase. If it is not detected that the first average current information satisfies the first current condition, it is considered that the third condition is triggered; if it is detected that the voltage of the whole vehicle system voltage is less than the first preset voltage, it is considered that the fourth condition is triggered. Based on the working current information and the system voltage of the whole vehicle during the load release phase, it is detected in real time whether the third condition or the fourth condition is triggered. If the third condition or the fourth condition is triggered within the second preset time period of entering the load release phase, it is determined that a release fault occurs. The condition that is triggered first between the third condition and the fourth condition is regarded as the second target condition. If the second target condition is the third condition, it is a load release fault, and the corresponding fault type is determined to be a load release fault; if the second target condition is the fourth condition, it is a low voltage fault, and the corresponding fault type is determined to be a low voltage fault.

[0100] Among them, the second preset duration represents the maximum working duration of the load release stage. The first average current information includes the first average working current and the first average working current change rate of the first parking motor and the second parking motor. The first average current information satisfies the first current condition including that the first average working current of the first parking motor and the second parking motor after entering the load release stage is less than the first preset average current, and the first average working current change rate is less than the first preset change rate.

[0101] In this way, when entering the load release stage, the real-time collection of working current information and vehicle system voltage can more accurately determine whether a release fault occurs and the corresponding fault type.

[0102] It is understandable that when it is determined that a release fault occurs, the first parking motor and the second parking motor are immediately re-driven to release the parking vehicle based on the determined fault handling strategy. That is, there is no need to wait for the load release phase to end and then re-drive the first parking motor and the second parking motor to release the parking vehicle based on the determined fault handling strategy.

[0103] Optionally, if a release fault occurs, a fault handling strategy is determined based on the corresponding fault type, including: if a release fault occurs and the corresponding fault type is a load release fault, the fault handling strategy is to re-drive the first parking motor and the second parking motor for synchronous parking release; if a release fault occurs and the corresponding fault type is a low voltage fault, the fault handling strategy is to re-drive the first parking motor and the second parking motor for asynchronous parking release.

[0104] If a load release failure occurs, it means that the vehicle system voltage of the battery can meet the requirements of synchronous release, and the first parking motor and the second parking motor are re-driven for synchronous parking release, so as to release the parking again. If a low voltage failure occurs, it means that the vehicle system voltage of the battery is low. If the first parking motor and the second parking motor are re-driven for synchronous parking release, it is difficult to successfully release the parking, and multiple failures will also damage the battery and affect the service life of the battery. At this time, the parking release is completed by asynchronously driving the first and second parking motors, so that the vehicle can complete the parking release at a lower vehicle system voltage, which can improve the success rate of parking release.

[0105] It can be understood that re-driving the first parking motor and the second parking motor to perform synchronous parking release represents controlling the first parking motor and the second parking motor to re-enter the initialization stage of the synchronous parking release process, and performing synchronous parking release in sequence according to the initialization stage, the start-up stage, the load release stage, the idle travel stage, the exit stage, etc.

[0106] For ease of understanding, this embodiment shows another process of synchronous parking release by the first parking motor and the second parking motor:

[0107] ① Initialization stage: During the initialization stage, the states of the first parking motor and the second parking motor are updated to the clamped state. When the EPB controller does not receive a release request from the mechanical switch or CAN signal, it remains in the initialization stage. During the initialization stage, it detects whether there is a release request from the mechanical switch or CAN signal according to the rated cycle. When a release request is detected, it enters step ② startup stage.

[0108] ② Startup phase: After entering the startup phase, the EPB controller drives the chip pins that control the reversal of the first parking motor and the second parking motor respectively, and starts the first parking motor and the second parking motor to work; and collects the first working current of the first parking motor and the second parking motor in real time.

[0109] Exit condition 1: If within the first preset time, the first operating currents of the first parking motor and the second parking motor are both greater than the first preset current, it is considered that the first parking motor and the second parking motor are successfully started, and the process enters step ③, the load release stage.

[0110] Exit condition 2: If within the first preset time, the first operating currents of the first parking motor and the second parking motor are not both greater than the first preset current, it is considered that the start has timed out / failed, that is, a release fault (start fault) occurs, and the process enters step ⑥, the fault stage.

[0111] Exit condition 3: If within the first preset time, it is detected that the vehicle system voltage is less than the first preset voltage, it is considered that the synchronous parking release process causes the vehicle system voltage to be too low, that is, the start-up fails, and a release fault (low voltage fault) occurs, and the first parking motor and the second parking motor are driven to perform asynchronous parking release.

[0112] Exit conditions 1, 2, and 3 are in an OR relationship. Whichever one is satisfied first will directly execute the exit action of the corresponding exit condition, and then the startup phase ends.

[0113] ③ Load release stage: In the load release stage, the EPB controller continuously drives the chip pins that control the first parking motor and the second parking motor to work in reverse and continuously drives the first parking motor and the second parking motor to work in reverse. The first duration of entering the load release stage and the corresponding first average current information are updated in real time.

[0114] Exit condition 1: If the first average current information satisfies the first current condition, and the first time duration corresponding to the first current condition is less than the second preset time duration, it is confirmed that the loads of the first parking motor and the second parking motor are released, and the process enters step ④ of the empty travel state.

[0115] The first average current information includes the first average operating current and the first average operating current change rate of the first parking motor and the second parking motor when entering the load release stage. The first average current information satisfies the first current condition including that the first average operating current of the first parking motor and the second parking motor after entering the load release stage is less than the first preset average current, and the first average operating current change rate is less than the first preset change rate. The first preset duration represents the maximum operating duration of the load release stage.

[0116] Exit condition 2: If within the second preset time period, the first average working current is not less than the first preset average current, and / or the first average working current change rate is not less than the first change rate, it is considered that the load release phase has timed out, that is, a release fault (load release fault) occurs, and enters step ⑥ fault stage.

[0117] Exit condition 3: If within the second preset time, it is detected that the vehicle system voltage is less than the first preset voltage, it is considered that the synchronous parking release process causes the vehicle system voltage to be too low, that is, the start-up fails, and a release fault (low voltage fault) occurs, and the first parking motor and the second parking motor are driven to perform asynchronous parking release.

[0118] Exit conditions 1, 2, and 3 are in an OR relationship. Whichever one is satisfied first will directly execute the exit action of the corresponding exit condition, and then the load release phase ends.

[0119] ④ Idle travel stage: After the load release stage of the first parking motor and the second parking motor is completed, in order to prevent the left / right parking caliper from dragging, the EPB controller needs to continue to drive the first parking motor and the second parking motor to work for a period of time to ensure that the calipers of the first parking motor and the second parking motor are completely released. That is, when the EPB controller works for the third preset time in the idle travel stage, it enters step ⑤ exit stage.

[0120] ⑤ Exit stage: When entering the exit stage, the states of the first parking motor and the second parking motor are updated to the release state, the number of synchronization faults is set to 0, and then the first parking motor and the second parking motor synchronization release process ends.

[0121] ⑥ Fault stage: After entering the fault stage, within the current power-on cycle, when entering the fault stage for the first time, the number of synchronous faults is set to 1, and the number of subsequent synchronous faults is increased by 1. When the number of fault releases is less than the preset number of synchronizations, the status of the first and second parking motors is updated to an unknown state, and then the initialization stage of step ① is entered, and attempts to release again are allowed; when the number of synchronous faults is greater than or equal to the preset number of synchronizations, the status of the first and second parking motors is updated to an unknown state, and attempts to release again are prohibited, and then the synchronous release process of the first and second parking motors ends. It can be understood that the entry into the specified step (such as entering step ⑤ exit stage) described in this embodiment are all steps (such as step ⑤ exit stage) in the disclosed embodiment (another process of synchronous parking release of the first parking motor and the second parking motor).

[0122] Combination Figure 3 As shown, an embodiment of the present disclosure provides a parking release fault handling system, including: an acquisition module, a determination module and a processing module. The acquisition module is used to collect working current information and vehicle system voltage in real time when the first parking motor and the second parking motor are parked synchronously; the working current information includes the first working current of the first parking motor and the second parking motor. The determination module is used to determine whether a release fault occurs and the corresponding fault type when a release fault occurs based on the working current information and the vehicle system voltage. The processing module is used to determine a fault handling strategy based on the corresponding fault type if a release fault occurs, so as to re-drive the first parking motor and the second parking motor for parking release.

[0123] The parking release fault handling system provided by the embodiment of the present disclosure can accurately detect whether the vehicle has a parking release fault by collecting the working current information and the whole vehicle system voltage when the first parking motor and the second parking motor perform synchronous parking release. And determine the type of fault that occurred in the event of a release fault. And after the release fault occurs, determine a targeted fault handling strategy based on the type of fault that occurred. In this way, when a parking release fault occurs, the first parking motor and the second parking motor can be re-driven to release the parking through a targeted fault handling strategy, which can improve the success rate of the parking release.

[0124] Optionally, the acquisition module is specifically used to detect whether there is a mechanical switch or CAN signal release request according to the rated cycle; if there is a mechanical switch or CAN signal release request, the first parking motor and the second parking motor are driven to perform synchronous parking release; when the first parking motor and the second parking motor are synchronously parked, the working current information and the vehicle system voltage are collected in real time.

[0125] Optionally, the determination module is specifically used to determine the corresponding fault type based on the release fault that occurs if a release fault is determined to occur based on the working current information and the vehicle system voltage in the startup phase during the startup phase of the synchronized parking release; and to determine the corresponding fault type based on the release fault that occurs if a release fault is determined to occur based on the working current information and the vehicle system voltage in the load release phase during the load release phase of the synchronized parking release.

[0126] Optionally, a determination module is specifically used to determine that if a release fault occurs and is a starting fault based on the working current information of the starting phase and the system voltage of the whole vehicle, then the corresponding fault type is determined to be a starting fault; if a release fault occurs and is a low voltage fault based on the working current information of the starting phase and the system voltage of the whole vehicle, then the corresponding fault type is determined to be a low voltage fault.

[0127] Optionally, the processing module is specifically used to, if a release fault occurs and the corresponding fault type is a starting fault, then the fault handling strategy is to re-drive the first parking motor and the second parking motor for synchronous parking release; if a release fault occurs and the corresponding fault type is a low voltage fault, then the fault handling strategy is to re-drive the first parking motor and the second parking motor for asynchronous parking release.

[0128] Optionally, the processing module is specifically configured to drive the first parking motor to perform parking release; if it is detected that the first parking motor completes the parking release, the second parking motor is driven to perform parking release.

[0129] Optionally, the determination module is specifically used to determine that if a release fault occurs based on the working current information of the load release phase and the system voltage of the whole vehicle, and it is a load release fault, then determine the corresponding fault type as a load release fault; if a release fault occurs based on the working current information of the load release phase and the system voltage of the whole vehicle, and it is a low voltage fault, then determine the corresponding fault type as a low voltage fault.

[0130] Combination Figure 4 As shown, an 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 parking release fault handling method of the above embodiment.

[0131] 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.

[0132] 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 parking release fault handling method in the above embodiment.

[0133] 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.

[0134] A computer-readable storage medium in an embodiment of the present invention stores instructions, and when the instructions are executed, the parking release fault handling method of the above embodiment is executed.

[0135] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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 fault handling method, characterized in that: include: When the first parking motor and the second parking motor are parked synchronously, the working current information and the whole vehicle system voltage are collected in real time; wherein the working current information includes the first working current of the first parking motor and the second parking motor; Based on the working current information and the vehicle system voltage, determining whether a release fault occurs and a corresponding fault type when a release fault occurs; If a release fault occurs, a fault handling strategy is determined based on the corresponding fault type to re-drive the first parking motor and the second parking motor to perform parking release.

2. The method according to claim 1, characterized in that When the first parking motor and the second parking motor are synchronously parked, the working current information and the whole vehicle system voltage are collected in real time, including: Detect whether there is a mechanical switch or CAN signal release request according to the rated cycle; If there is a release request from a mechanical switch or CAN signal, the first parking motor and the second parking motor are driven to perform synchronous parking release; When the first parking motor and the second parking motor are parked synchronously, the working current information and the whole vehicle system voltage are collected in real time.

3. The method according to claim 1, characterized in that The determining, based on the working current information and the vehicle system voltage, whether a release fault occurs and a corresponding fault type when a release fault occurs includes: In the start-up phase of the synchronous parking release, if a release fault is determined to have occurred based on the working current information and the vehicle system voltage in the start-up phase, a corresponding fault type is determined based on the release fault that has occurred; In the load release phase of the synchronous parking release, if a release fault is determined to occur based on the operating current information and the vehicle system voltage in the load release phase, a corresponding fault type is determined based on the occurring release fault.

4. The method according to claim 3, characterized in that If it is determined that a release fault occurs based on the working current information and the vehicle system voltage during the startup phase, then a corresponding fault type is determined based on the release fault that occurs, including: If it is determined based on the working current information of the startup phase and the whole vehicle system voltage that a release fault occurs and it is a startup fault, then the corresponding fault type is determined to be a startup fault; If a release fault occurs and is determined to be a low voltage fault based on the operating current information in the startup phase and the vehicle system voltage, then the corresponding fault type is determined to be a low voltage fault.

5. The method according to claim 4, characterized in that If a release failure occurs, a fault handling strategy is determined based on the corresponding fault type, including: If a release fault occurs and the corresponding fault type is a start fault, the fault handling strategy is to re-drive the first parking motor and the second parking motor for synchronous parking release; If a release fault occurs and the corresponding fault type is a low voltage fault, the fault handling strategy is to re-drive the first parking motor and the second parking motor to perform asynchronous parking release.

6. The method according to claim 5, characterized in that The driving the first parking motor and the second parking motor to perform asynchronous parking release includes: driving the first parking motor to release the parking vehicle; If it is detected that the first parking motor completes the parking release, the second parking motor is driven to release the parking.

7. The method according to claim 3, characterized in that If it is determined that a release fault occurs based on the working current information and the vehicle system voltage in the load release phase, then a corresponding fault type is determined based on the release fault that occurs, including: If it is determined based on the working current information of the load release phase and the vehicle system voltage that a release fault occurs and it is a load release fault, then the corresponding fault type is determined to be a load release fault; If a release fault is determined to have occurred based on the working current information in the load release phase and the vehicle system voltage, and the release fault is a low voltage fault, then the corresponding fault type is determined to be a low voltage fault.

8. A parking release fault handling system, characterized in that: include: A collection module, used for collecting working current information and vehicle system voltage in real time when the first parking motor and the second parking motor are parked synchronously; wherein the working current information includes the first working current of the first parking motor and the second parking motor; A determination module, used to determine whether a release fault occurs and a corresponding fault type when a release fault occurs based on the working current information and the vehicle system voltage; The processing module is used for determining a fault processing strategy based on a corresponding fault type if a release fault occurs, so as to re-drive the first parking motor and the second parking motor to perform parking release.

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 fault handling 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 fault handling method according to any one of claims 1 to 7.

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