Parking clamping control method and system, vehicle and medium

Abstract

The invention relates to the technical field of parking control, and discloses a parking clamping control method and system, a vehicle and a medium. The method comprises the steps that when a vehicle is in a hub mode, if a parking clamping request is received, a parking motor is started for parking clamping; whether the parking motor is successfully started for parking clamping or not is judged; and if starting is successful, the parking motor is controlled according to a preset step clamping strategy, so that the parking calipers are clamped step by step. Thus, in a hub clamping test state, the parking motor is controlled through a stepped clamping strategy to gradually clamp the parking calipers, damage to a parking system and a rotating hub system due to the fact that too large resistance is instantly applied to the parking system and the rotating hub system can be avoided, the parking system and the rotating hub system of a vehicle are not prone to being damaged, and the reliability of the parking system and the rotating hub system is improved. The test cost can be reduced.

Description

Technical Field

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

[0002] The current mainstream method for testing the clamping force of the parking caliper is to perform a clamping force test on the rotating hub. It usually rotates the rotating hub, then applies a clamping force to the parking caliper, and maintains the rotating hub at the speed before the clamping force is applied. In this way, the driving force provided by the rotating hub is the resistance of the parking caliper, that is, the clamping force of the parking caliper. However, if the parking caliper is clamped on the rotating hub according to the normal clamping process, the clamping force increases very quickly, which has a relatively large impact on the parking system and the rotating hub of the vehicle. In this way, the parking system and the rotating hub system of the vehicle are easily damaged during the clamping force test, resulting in high testing costs.

[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 disclosed embodiments provide a parking clamping control method, system, vehicle and medium, so that during the clamping force test, the parking system and the hub system of the vehicle are not easily damaged, thereby reducing the testing cost.

[0006] In some embodiments, a parking clamping control method includes: when the vehicle is in a wheel hub mode, if a parking clamping request is received, starting the parking motor to perform parking clamping; judging whether the parking motor is successfully started for parking clamping; if successfully started, controlling the parking motor according to a preset step clamping strategy to gradually clamp the parking caliper.

[0007] In some embodiments, the parking clamping control system includes: a starting module, which is used to start the parking motor for parking clamping if a parking clamping request is received when the vehicle is in the wheel hub mode; a judgment module, which is used to judge whether the parking motor is successfully started for parking clamping; and a step clamping module, which is used to control the parking motor according to a preset step clamping strategy to gradually clamp the parking caliper if it is successfully started.

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

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

[0011] When the vehicle is in the wheel hub mode, if a parking clamping request is received, it means that it is in the wheel hub clamping test state. Then the parking motor is started to perform parking clamping in response to the parking clamping request. If the parking motor is successfully started to perform parking clamping, the parking motor is controlled according to the preset step clamping strategy. In this way, in the wheel hub clamping test state, the parking motor is controlled by the step clamping strategy to gradually clamp the parking caliper, which can avoid instantaneously applying excessive resistance to the parking system and the rotating hub system and causing damage to the parking system and the rotating hub system, so that it is not easy to damage the parking system and the rotating hub system of the vehicle, so as to reduce the testing cost.

[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 clamping control method provided by an embodiment of the present disclosure;

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

[0016] Figure 3 is a structural schematic diagram of a parking clamping 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 clamp 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 (also called a parking system) of a vehicle.

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

[0026] Step S101, when the vehicle is in the wheel hub mode, if a parking clamping request is received, the parking motor is started to perform parking clamping. The parking motor includes a first parking motor and a second parking motor. If the first parking motor is a left parking motor, the second parking motor is a right parking motor. If the first parking motor is a right parking motor, the second parking motor is a left parking motor.

[0027] The parking clamping request includes a pull-up request of the EPB switch, or the EPB brake switch is triggered. After the parking motor is started to perform parking clamping, the number of step clamping times is reset, that is, the number of step clamping times is set to 0.

[0028] Step S102, determining whether the parking motor is successfully started to perform parking clamping.

[0029] Step S103, if successfully started, the parking motor is controlled according to a preset step clamping strategy to gradually clamp the parking caliper.

[0030] By adopting the parking clamping control method provided by the embodiment of the present disclosure, when the vehicle is in the wheel hub mode, if a parking clamping request is received, it means that it is in the wheel hub clamping test state. The parking motor is started in response to the parking clamping request to perform parking clamping. If the parking motor is successfully started for parking clamping, the parking motor is controlled according to the preset step clamping strategy. In this way, in the wheel hub clamping test state, the parking motor is controlled by the step clamping strategy to gradually clamp the parking caliper, which can avoid instantaneously applying excessive resistance to the parking system and the rotating hub system and causing damage to the parking system and the rotating hub system, thereby not easily damaging the parking system and the rotating hub system of the vehicle, so as to reduce the testing cost.

[0031] In addition, by controlling the parking motor to gradually clamp the parking caliper through the step clamping strategy, it can also avoid the situation where the initial acceleration of the vehicle is too large, causing the vehicle to slip out of the hub and lose control, and reduce the occurrence of safety accidents. At the same time, through step clamping, the clamping force at multiple different stages can be obtained in one test process, improving the test efficiency.

[0032] Optionally, when the vehicle is in the wheel hub mode, if a parking clamping request is received, the parking motor is started to perform parking clamping, including: obtaining the vehicle's wheel speed information and the position of the parking caliper; determining whether the vehicle is in the wheel hub mode based on the wheel speed information and the position of the parking caliper; when the vehicle is in the wheel hub mode, if a parking clamping request is received, the parking motor is started to perform parking clamping.

[0033] In this way, whether the vehicle is in the hub mode can be determined more accurately based on the vehicle's wheel speed information and the position of the parking caliper, so that when the vehicle is in the hub mode, the parking motor is started to perform parking clamping in response to a parking clamping request.

[0034] The wheel speed information includes the wheel speeds of the four wheels of the vehicle. In some embodiments, the EPB controller directly collects the wheel speed signals of the four wheels of the vehicle (left front FL / left rear RL / right front FR / right rear RR) through the internal chip analog quantity acquisition interface, and determines the corresponding wheel speed based on the wheel speed signals.

[0035] Specifically, determining whether the vehicle is in the hub mode based on the wheel speed information and the position of the parking caliper includes: determining the left wheel and the right wheel corresponding to the position of the parking caliper as the first left wheel and the first right wheel, respectively, and determining the other left wheel and the right wheel as the second left wheel and the second right wheel, respectively. Determine the wheel speeds of the first left wheel, the first right wheel, the second left wheel, and the second right wheel based on the wheel speed information, and calculate the target difference. Among them, the target difference is the difference between the first wheel speed and the second wheel speed; the first wheel speed is the minimum wheel speed of the first left wheel and the first right wheel, and the second wheel speed is the maximum wheel speed of the second left wheel and the second left wheel. If the wheel speeds of the first left wheel and the first right wheel are both greater than the rated minimum speed, and the wheel speeds of the second left wheel and the second right wheel are both less than the rated maximum speed, and the target difference is greater than the rated speed difference, it is determined that the vehicle is in the hub mode.

[0036] In some embodiments, if the parking caliper of the vehicle is installed on the left front wheel and the right front wheel, the left wheel and the right wheel corresponding to the position of the parking caliper are respectively determined as the first left wheel and the first right wheel, the second left wheel is the left rear wheel, and the second right wheel is the right rear wheel. It is determined whether the vehicle is in the rotating hub mode in the following manner;

[0037] Condition 1: The wheel speeds of the left front wheel FL and the right front wheel FR are both greater than the rated minimum speed V min ;

[0038] Condition 2: The wheel speeds of the left rear wheel RL and the right rear wheel RR are both less than the rated maximum speed V max ;

[0039] Condition 3: The difference (i.e., the target difference) between the minimum wheel speed of the left front wheel FL and the right front wheel FR and the maximum wheel speed of the left rear wheel RL and the right rear wheel RR (min(FL, FR)-max(RL, RR)) is greater than the rated speed difference V dif ;

[0040] When the above three conditions are met at the same time, it is considered that the current vehicle is in the hub rotation mode.

[0041] In other embodiments, if the parking caliper of the vehicle is installed on the left rear wheel and the right rear wheel, the left wheel and the right wheel corresponding to the position of the parking caliper are respectively determined as the first left wheel and the first right wheel, the second left wheel is the left front wheel, and the second right wheel is the right front wheel. Then, whether the vehicle is in the rotating hub mode is determined as follows;

[0042] Condition 1: The wheel speed signals of the left rear wheel RL and the right rear wheel RR are both greater than the rated minimum speed V min ;

[0043] Condition 2: The wheel speed signals of the left front wheel FL and the right front wheel FR are both less than the rated maximum speed Vmax ;

[0044] Condition 3: The difference (i.e., the target difference) between the minimum wheel speed of the left rear wheel RL and the right rear wheel RR and the maximum wheel speed of the left front wheel FL and the right front wheel FR (min(RL,RR)-max(FL,FR)) is greater than the rated speed difference V dif ;

[0045] When the above three conditions are met at the same time, it is considered that the current vehicle is in the hub rotation mode.

[0046] Optionally, judging whether the parking motor is successfully started for parking clamping includes: after starting the parking motor for parking clamping, driving the chip pin that controls the forward rotation of the parking motor to work, and collecting the second working current information of the parking motor. The second working current information includes the working current of the first parking motor and the working current of the second parking motor. If the second working current information meets the preset starting condition within the third preset time after starting the parking motor for parking clamping, it is judged that the parking motor is successfully started for parking clamping. If the second working current information does not meet the preset starting condition within the third preset time after starting the parking motor for parking clamping, it is judged that the parking motor is not successfully started for parking clamping.

[0047] When the parking motor is in the parking clamping state, its working current information will change significantly. Therefore, if the second working current information meets the starting condition within the third preset time after the parking motor is started for the parking clamping state, it indicates that the parking motor has been successfully started for the parking clamping state. Otherwise, it is considered that the parking motor has not been successfully started for the parking clamping state.

[0048] Specifically, within the third preset time, if the operating current of the first parking motor and the operating current of the second parking motor are both greater than the preset current threshold, it is considered that within the third preset time after starting the parking motor for parking clamping, the second operating current information meets the preset starting condition.

[0049] Specifically, within the third preset time, if the operating current of the first parking motor and the operating current of the second parking motor are not both greater than the preset current threshold, it is considered that within the third preset time after starting the parking motor for parking clamping, the second operating current information does not meet the preset starting condition.

[0050] Optionally, the parking motor is controlled according to a preset step clamping strategy, including: controlling the parking motor to maintain the current clamping force, and determining whether to perform step parking clamping; if step parking clamping is to be performed, controlling the parking motor to perform parking clamping, and when the preset step clamping conditions are met, switching to executing the step of controlling the parking motor to maintain the current clamping force; if step parking clamping is not to be performed, controlling the parking motor to perform parking clamping until the clamping force of the parking motor reaches the target clamping force to complete the parking clamping.

[0051] In this way, by controlling the parking motor to maintain the current clamping force and then determining whether to perform step parking clamping, the parking caliper can be clamped multiple times in a step-by-step manner, thereby facilitating the gradual control of the parking motor to clamp the parking caliper, so as to avoid instantaneously applying excessive resistance to the parking system and the rotating hub system when testing the clamping force of the parking caliper, thereby reducing damage to the parking system and the rotating hub system, and effectively reducing the testing cost.

[0052] Optionally, controlling the parking motor to maintain the current clamping force and determining whether to perform step parking clamping includes: controlling the parking motor to maintain the current clamping force and updating the holding time for the parking motor to maintain the current clamping force; if the holding time is greater than a first preset time, determining whether to perform step parking clamping.

[0053] In this way, by controlling the parking motor to maintain the current clamping force to reach the first preset time, and then determining whether to perform step parking clamping, the parking clamping time can be effectively shortened, making it easier to gradually control the parking motor to clamp the parking caliper.

[0054] Specifically, if the holding time is greater than the first preset time, it is determined whether to perform step parking clamping, including: real-time detection of whether a parking clamping request is received when the vehicle is in hub mode; if it is detected that the vehicle is in hub mode but no parking clamping request is received, or the holding time is greater than the first preset time, it is determined whether to perform step parking clamping.

[0055] In the process of testing the parking caliper, based on the test requirements, the test may be stopped, that is, the parking clamping request is not received. At this time, it is determined whether to perform the step parking clamping so as to determine whether to continue the test or exit the test.

[0056] Optionally, if the holding time is greater than a first preset time, it is determined whether to perform step parking clamping, including: obtaining the current number of step clamping times and the target clamping number, and detecting whether the vehicle is in a wheel hub clamping test state; the wheel hub clamping test state indicates that the vehicle is in wheel hub mode and has received a parking clamping request; if the holding time is greater than the first preset time, and the current number of step clamping times is less than the target clamping number, and it is detected that the vehicle is in a wheel hub clamping test state within a second preset time, it is determined to perform step parking clamping.

[0057] If the current number of step clamping times is less than the target number of clamping times, it means that the clamping force of the parking caliper has not yet reached the clamping force required for the test, and the vehicle is in the wheel clamping test state, which means that the parking caliper clamping force test still needs to be continued. Therefore, when the holding time is greater than the first preset time, and the current number of step clamping times is less than the target number of clamping times, and the vehicle is detected to be in the wheel clamping test state within the second preset time, it can be accurately determined whether to perform step parking clamping.

[0058] It is understandable that setting the target clamping times indicates that the clamping times need to be limited, and multiple clampings without limit are not allowed. The target clamping times can be set according to test requirements. The target clamping times can also be set according to the driving scenario of the vehicle.

[0059] In addition, the first preset time length can be a fixed value, or the time length of each step can be changed during step clamping, that is, the first preset time length corresponding to each step can be different. In this way, during the step clamping process, the tester can clamp according to a fixed step time interval (that is, the first preset time length), or actively control the step clamping interval time, which can effectively meet different test time requirements during the test process.

[0060] Optionally, if step parking clamping is performed, the parking motor is controlled to perform parking clamping, and when the preset step clamping condition is met, the step of controlling the parking motor to maintain the current clamping force is performed, including: if step parking clamping is performed, the parking motor is controlled to perform parking clamping, and the corresponding clamping time is updated in real time. If the clamping time is greater than the fourth preset time, it is determined that the preset step clamping condition is met, and the step of controlling the parking motor to maintain the current clamping force is performed.

[0061] In this way, the parking motor is controlled to perform parking clamping, and after the clamping time is greater than the fourth preset time, the parking motor is controlled to maintain the current clamping force, thereby controlling the parking motor to gradually clamp the parking caliper.

[0062] Specifically, if the clamping time is greater than the fourth preset time, it is determined that the preset step clamping condition is met, and the step of controlling the parking motor to maintain the current clamping force is executed, including: if the clamping time is greater than the fourth preset time, it is determined that the preset step clamping condition is met, and the step clamping times are updated, and the step of controlling the parking motor to maintain the current clamping force is executed.

[0063] In this way, each time a clamping is completed, a step clamping frequency is added, thereby facilitating the control of the parking motor to perform step clamping.

[0064] Optionally, the parking motor is controlled to perform parking clamping until the clamping force of the parking motor reaches the target clamping force to complete the parking clamping. This includes: controlling the parking motor to perform parking clamping, and collecting the first working current information of the parking motor in real time; if the first working current information meets the current condition corresponding to the target clamping force, confirming that the clamping force of the parking motor reaches the target clamping force; if the clamping force of the parking motor reaches the target clamping force, controlling the parking motor to maintain the current clamping force to complete the parking clamping. The first working current information of the parking motor includes the working current of the first parking motor and the working current of the second parking motor.

[0065] In this way, by real-time acquisition of the first working current information of the parking motor for parking clamping, it is convenient to determine whether the current clamping force of the parking motor meets the current condition corresponding to the target clamping force, so that after reaching the target clamping force, the parking motor is controlled to maintain the current clamping force to complete the parking clamping.

[0066] Specifically, if the operating current of the first parking motor and the operating current of the second parking motor are both greater than the current corresponding to the target clamping force, it is considered that the first operating current information meets the current condition corresponding to the target clamping force.

[0067] Specifically, if the clamping force of the parking motor reaches the target clamping force, the parking motor is controlled to maintain the current clamping force to complete the parking clamping, including: if the clamping force of the parking motor reaches the target clamping force, the parking motor is controlled to maintain the current clamping force and the number of step clamping times is reset to complete the parking clamping.

[0068] In this way, when the parking motor controls the parking caliper to reach the target clamping force, it means that the parking caliper test is completed. At this time, by resetting the step clamping times, the step clamping times in each test can be calculated independently to ensure the independence of the test.

[0069] Specifically, the parking motor is controlled to perform parking clamping, and the first working current information of the parking motor is collected in real time; if the first working current information satisfies the current condition corresponding to the target clamping force, it is confirmed that the clamping force of the parking motor reaches the target clamping force, including: controlling the parking motor to perform parking clamping, and collecting the first working current information of the parking motor in real time and updating the target clamping force time for the clamping force of the parking motor to reach the target clamping force in real time. If the first working current information satisfies the current condition corresponding to the target clamping force when the target clamping force time is less than the fifth preset time, it is confirmed that the clamping force of the parking motor reaches the target clamping force. If the first working current information cannot meet the current condition corresponding to the target clamping force within the fifth preset time, it is confirmed that the parking motor has a target clamping force failure.

[0070] Thus, when the parking clamping is performed toward the target clamping force, if the target clamping force still cannot be reached for a long time (i.e., exceeding the fifth preset time), it indicates that a fault is very likely to have occurred at this time, i.e., it is confirmed that the parking motor has a target clamping force fault.

[0071] Optionally, a parking clamping control method further includes: if a clamping failure occurs in the parking motor during the parking clamping process, controlling the parking motor to clamp according to a target clamping force, and determining whether the clamping is successful according to the target clamping force; if the clamping is not successful according to the target clamping force, a fault reminder is issued.

[0072] If a clamping failure occurs during the parking clamping process, it means that the step clamping fails during this test. At this time, the parking motor is directly controlled to clamp according to the target clamping force to improve the test success rate. If the parking motor fails to be clamped according to the target clamping force, it means that neither step clamping nor direct clamping to the target clamping force can be performed at this time, and the parking motor of the vehicle is likely to have a serious failure. At this time, the fault reminder method is used to facilitate the tester to understand the fault situation.

[0073] Specifically, if a clamping failure occurs in the parking motor during the parking clamping process, the parking motor is controlled to clamp according to the target clamping force, including: if a clamping failure occurs in the parking motor during the parking clamping process, the number of step clamping times is reset, and the state of the parking motor is updated to an unknown state, and the parking motor is controlled to clamp according to the target clamping force.

[0074] In this way, when a clamping failure occurs, the parking motor is directly controlled to clamp according to the target clamping force instead of step-by-step clamping. At this time, the number of step clamping times is reset to facilitate waiting for the next test. In addition, by updating the state of the parking motor to an unknown state, it is easy for testers to understand that the parking motor has an abnormality and handle it in time.

[0075] In some embodiments, the fault reminder may be given by displaying "electronic parking system fault". The fault reminder may also be given by voice playback. The fault reminder may also be given by lighting a fault light.

[0076] Specifically, a parking clamping control method also includes: if the parking motor is not started successfully, or the vehicle is not detected to be in a wheel hub test state within a second preset time period, or a target clamping force failure occurs, it is confirmed that the parking motor has a clamping failure during the parking clamping process.

[0077] Combination Figure 2As shown, an embodiment of the present disclosure provides an embodiment of controlling parking clamping. In this embodiment, the EPB controller determines the wheel speed information of the vehicle based on the left front / left rear / right front / right rear wheel speed sensors to determine whether the vehicle is in the wheel hub mode. The EPB controller determines whether a parking clamping request is received based on the EPB brake switch. If the vehicle is in the wheel hub mode and a parking clamping request is received, the EPB controller drives the parking motor to perform parking clamping, and controls the parking motor to perform step-by-step clamping based on the working current of the parking motor.

[0078] For ease of understanding, this embodiment shows a control process of parking clamping:

[0079] ① Initialization stage: Initialization continuously determines whether the vehicle is in the hub mode. When the hub mode is in the hub mode and the EPB switch pull-up request is received, it enters step ② startup stage and sets the step clamping times A1 to 0;

[0080] ②Starting stage: After entering the starting stage, the EPB controller drives the pin that controls the forward rotation of the parking motor to work (reverse rotation corresponds to parking release, and forward rotation corresponds to parking clamping). After the EPB controller drives the corresponding forward rotation pin, the working current of the parking motor is collected according to the rated cycle. If the working current of the parking motor is greater than the preset current threshold within the third preset time, it is considered that the parking motor is successfully started and enters step ③ step clamping waiting stage, otherwise it is considered that the parking motor fails to start and enters step ⑧ fault stage.

[0081] ③ Step clamping waiting stage: After entering the step clamping waiting stage, the parking motor is controlled to maintain the current clamping force. When the holding time is longer than the first preset time, or the vehicle is in the hub mode but does not receive the EPB switch pull-up request, it enters step ④ re-clamping start stage.

[0082] ④ Step-by-step re-clamping start-up phase: After entering the step-by-step re-clamping start-up phase,

[0083] Condition 1: the EPB controller determines that the vehicle is in the hub-turning mode and receives a pull-up request from the EPB switch;

[0084] Condition 2: the current step clamping times A1 < the target clamping times;

[0085] Exit condition 1: When both condition 1 and condition 2 are met, the process enters step ⑤, the ladder re-clamping stage;

[0086] Exit condition 2: If condition 1 is satisfied and condition 2 is not satisfied, then enter step ⑥, the clamping stage with target clamping force;

[0087] Exit condition 3: within the second preset time after entering the step re-clamping start phase, if the EPB controller does not detect that the vehicle is in the hub rotation mode and / or does not receive the pull-up request of the EPB switch, then it enters step ⑧ fault phase.

[0088] ⑤ Step re-clamping stage: After entering the step re-clamping stage, the EPB controller drives the pin that controls the forward rotation of the parking motor to work (reverse rotation corresponds to parking release, and forward rotation corresponds to parking clamping). When the clamping time of the step re-clamping stage is greater than the fourth preset time, step ③ step clamping waiting stage is entered, and the step clamping times A1 is increased by 1.

[0089] ⑥ Target clamping force clamping stage: After entering the target clamping force clamping stage, the EPB controller continuously drives the pin that controls the forward rotation of the parking motor. The EPB controller periodically collects the working current of the parking motor. When the working current of the parking motor is greater than the current I2 corresponding to the target clamping force within the fifth preset time, it is considered that the parking motor is parked successfully, and the exit stage of step ⑦ is entered. If the working current of the parking motor is not greater than the current I2 corresponding to the target clamping force within the fifth preset time, the fault stage of step ⑧ is entered.

[0090] ⑦ Exit stage: After entering the exit stage, the state of the left / right parking motor is updated to the clamping state, the step clamping times A1 is assigned 0, and then the entire control process ends. At this time, the parking motor remains at the current clamping force.

[0091] ⑧ Fault stage: After entering the fault stage, reset the number of step clamping times A1 to 0, update the parking motor status to unknown status, and then enter step ⑥ target clamping force clamping stage, and try to clamp according to the target clamping force once more. If you enter step ⑥ target clamping force clamping stage from the ⑧ fault stage and then return to the ⑧ fault stage again, it is considered that the current parking motor system is confirmed to have a fault, and the instrument will display the "electronic parking system fault" fault light.

[0092] Combination Figure 3 As shown, the disclosed embodiment provides a parking clamping control system, including: a starting module, a judgment module and a step clamping module. The starting module is used to start the parking motor for parking clamping when the vehicle is in the wheel hub mode if a parking clamping request is received. The judgment module is used to judge whether the parking motor is successfully started for parking clamping. The step clamping module is used to control the parking motor according to a preset step clamping strategy to gradually clamp the parking caliper if it is successfully started.

[0093] Using the parking clamping control system provided by the embodiment of the present disclosure, when the vehicle is in the wheel hub mode, if a parking clamping request is received, it means that it is in the wheel hub clamping test state. The parking motor is started in response to the parking clamping request to perform parking clamping. If the parking motor is successfully started for parking clamping, the parking motor is controlled according to the preset step clamping strategy. In this way, in the wheel hub clamping test state, the parking motor is controlled by the step clamping strategy to gradually clamp the parking caliper, which can avoid instantaneously applying excessive resistance to the parking system and the rotating hub system and causing damage to the parking system and the rotating hub system, thereby not easily damaging the parking system and the rotating hub system of the vehicle, so as to reduce the testing cost.

[0094] Optionally, the starting module is specifically used to obtain the vehicle's wheel speed information and the position of the parking caliper; determine whether the vehicle is in the wheel hub mode based on the wheel speed information and the position of the parking caliper; when the vehicle is in the wheel hub mode, if a parking clamping request is received, start the parking motor to perform parking clamping.

[0095] Optionally, a step clamping module is specifically used to control the parking motor to maintain the current clamping force and determine whether to perform step parking clamping; if step parking clamping is to be performed, the parking motor is controlled to perform parking clamping, and when the preset step clamping conditions are met, the step of controlling the parking motor to maintain the current clamping force is executed; if step parking clamping is not to be performed, the parking motor is controlled to perform parking clamping until the clamping force of the parking motor reaches the target clamping force to complete the parking clamping.

[0096] Optionally, the step clamping module is specifically used to control the parking motor to maintain the current clamping force and update the holding time of the parking motor to maintain the current clamping force; if the holding time is greater than the first preset time, it is determined whether to perform step parking clamping.

[0097] Optionally, a step clamping module is specifically used to obtain the current number of step clamping times and the target number of clamping times, and to detect whether the vehicle is in a wheel hub clamping test state; the wheel hub clamping test state indicates that the vehicle is in wheel hub mode and has received a parking clamping request; if the holding time is greater than a first preset time, and the current number of step clamping times is less than the target clamping times, and the vehicle is detected to be in a wheel hub clamping test state within a second preset time, then it is determined to perform step parking clamping.

[0098] Optionally, a step clamping module is specifically used to control the parking motor to perform parking clamping, and to collect the first working current information of the parking motor in real time; if the first working current information meets the current condition corresponding to the target clamping force, it is confirmed that the clamping force of the parking motor reaches the target clamping force; if the clamping force of the parking motor reaches the target clamping force, the parking motor is controlled to maintain the current clamping force to complete the parking clamping.

[0099] Optionally, a parking clamping control system further includes: a fault module. The fault module is used to control the parking motor to clamp according to a target clamping force if a clamping fault occurs in the parking motor during the parking clamping process, and to determine whether the clamping is successful according to the target clamping force; if the clamping is not successful according to the target clamping force, a fault reminder is issued.

[0100] 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 of the parking clamping of the above embodiment.

[0101] 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.

[0102] 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 functional application and data processing by running the program instructions / modules stored in the memory, that is, the control method of the parking clamp in the above embodiment is implemented.

[0103] 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.

[0104] 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 clamping control method of the above embodiment is executed.

[0105] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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 clamp control method, characterized in that: include: When the vehicle is in wheel hub mode, if a parking clamp request is received, the parking motor is activated to perform parking clamping; Determining whether the parking motor is successfully started to perform parking clamping; If the startup is successful, the parking motor is controlled according to a preset step clamping strategy to gradually clamp the parking caliper.

2. The method according to claim 1, characterized in that When the vehicle is in the wheel hub mode, if a parking clamping request is received, the parking motor is started to perform parking clamping, including: Obtain the vehicle's wheel speed information and the position of the parking caliper; determining whether the vehicle is in a hub mode based on the wheel speed information and the position of the parking caliper; When the vehicle is in the hub mode, if a parking clamp request is received, the parking motor is started to perform parking clamp.

3. The method according to claim 1, characterized in that: The controlling of the parking motor according to the preset step clamping strategy includes: Control the parking motor to maintain the current clamping force and determine whether to perform step parking clamping; If step parking clamping is performed, the parking motor is controlled to perform parking clamping, and when a preset step clamping condition is met, the step of controlling the parking motor to maintain the current clamping force is executed; If step parking clamping is not performed, the parking motor is controlled to perform parking clamping until the clamping force of the parking motor reaches the target clamping force to complete the parking clamping.

4. The method according to claim 3, characterized in that The controlling the parking motor to maintain the current clamping force and determining whether to perform step parking clamping includes: Controlling the parking motor to maintain a current clamping force, and updating a holding time for the parking motor to maintain the current clamping force; If the holding time is longer than the first preset time, it is determined whether to perform step parking clamping.

5. The method according to claim 4, characterized in that If the holding time is longer than the first preset time, determining whether to perform step parking clamping includes: Obtaining the current step clamping times and the target clamping times, and detecting whether the vehicle is in a wheel hub clamping test state; the wheel hub clamping test state indicates that the vehicle is in a wheel hub mode and has received a parking clamping request; If the holding time is greater than the first preset time, and the current step clamping times are less than the target clamping times, and the vehicle is detected to be in the wheel hub clamping test state within the second preset time, it is determined to perform step parking clamping.

6. The method according to claim 3, characterized in that The controlling the parking motor to perform parking clamping until the clamping force of the parking motor reaches a target clamping force to complete the parking clamping includes: Controlling the parking motor to perform parking clamping, and collecting first working current information of the parking motor in real time; If the first working current information satisfies the current condition corresponding to the target clamping force, it is confirmed that the clamping force of the parking motor reaches the target clamping force; If the clamping force of the parking motor reaches the target clamping force, the parking motor is controlled to maintain the current clamping force to complete the parking clamping.

7. The method according to any one of claims 3 to 6, characterized in that: Also includes: If a clamping failure occurs to the parking motor during the parking clamping process, the parking motor is controlled to clamp according to the target clamping force, and it is determined whether the clamping is successfully performed according to the target clamping force; If clamping is not successfully performed according to the target clamping force, a fault reminder is issued.

8. A parking clamp control system, characterized in that: include: A starting module, for starting a parking motor to perform parking clamping when a parking clamping request is received when the vehicle is in a wheel hub mode; A judging module, used for judging whether the parking motor is successfully started to perform parking clamping; The step clamping module is used to control the parking motor to gradually clamp the parking caliper according to a preset step clamping strategy if it is successfully started.

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 clamp 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 clamp control method according to any one of claims 1 to 7.

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