Control method and system for dynamic parking closed-loop control and related equipment

Abstract

The invention relates to the technical field of automobile parking control, and discloses a dynamic parking closed-loop control method and system and related equipment.The method comprises the steps that in response to an activation signal of dynamic parking and an activation signal of an EPB switch, a first working current of a parking motor corresponding to a current wheel is collected according to a rated period; if the first working current meets the first preset condition within the rated time, it is judged that the parking motor corresponding to the current wheel is started successfully, and the deceleration and slip rate corresponding to the current wheel are obtained; and the clamping time and the releasing time of the parking calipers are determined according to the deceleration and the slip rate, and dynamic parking closed-loop control is conducted. According to the dynamic parking control method, the two key influence factors of the deceleration and the slip rate of the vehicle are introduced, so that the clamping time and the releasing time of the parking calipers are calculated, dynamic parking closed-loop control is achieved according to the clamping time and the releasing time, the abnormal conditions of vehicle sideslip, drifting and the like can be effectively avoided, and the driving experience feeling of emergency dynamic parking is effectively improved.

Description

Background Art

[0002] Currently, in the field of dynamic parking control, fixed mechanical clamping force or stepped clamping force open-loop control is basically adopted. If a fixed mechanical clamping force is adopted, dangerous actions such as vehicle tail-spinning or vehicle side sliding may be caused due to excessive deceleration, resulting in accidents such as vehicle loss of control; if stepped clamping force control is adopted, the vehicle's deceleration may not reach the expected deceleration, and the mechanical clamping force will not be dynamically adjusted based on the vehicle slip rate and deceleration, resulting in poor consistency of the control system.

[0003] In summary, the existing dynamic parking control field does not associate key influencing factors such as vehicle slip rate and vehicle deceleration, resulting in poor dynamic parking control effect. Summary of the invention

[0004] In order to overcome the problem that the existing dynamic parking control field does not associate key influencing factors such as vehicle slip rate and vehicle deceleration, resulting in poor dynamic parking control effect, the present invention provides a control method, system and related equipment for dynamic parking closed-loop control.

[0005] In a first aspect, in order to solve the above technical problems, the present invention provides a control method for dynamic parking closed-loop control, which is applied to an EPB controller, comprising:

[0006] In response to the activation signal of the dynamic parking and the activation signal of the EPB switch, the pin of the parking motor corresponding to the current wheel is driven to rotate forward, and the first working current of the parking motor corresponding to the current wheel is collected according to the rated cycle;

[0007] If the first working current satisfies the first preset condition within the rated time, it is determined that the parking motor corresponding to the current wheel is started successfully, and the deceleration and slip rate corresponding to the current wheel are obtained;

[0008] The clamping time and release time of the parking caliper are determined according to the deceleration and the slip rate, and dynamic parking closed-loop control is achieved based on the clamping time and the release time.

[0009] In a second aspect, the present invention provides a control system for dynamic parking closed-loop control, comprising:

[0010] a first working current acquisition module, for driving the pin of the parking motor corresponding to the current wheel to rotate forward in response to the activation signal of the dynamic parking and the activation signal of the EPB switch, and acquiring the first working current of the parking motor corresponding to the current wheel according to the rated cycle;

[0011] a data acquisition module, configured to determine that the parking motor corresponding to the current wheel is successfully started if the first operating current satisfies the first preset condition within the rated time, and to acquire the deceleration and slip rate corresponding to the current wheel;

[0012] The dynamic parking closed-loop control module is used to determine the clamping time and release time of the parking caliper according to the deceleration and the slip rate, and to implement dynamic parking closed-loop control according to the clamping time and the release time.

[0013] In a third aspect, the present invention provides a computing device, including a memory, a processor, and a program stored in the memory and running on the processor, and when the processor executes the program, the steps of a control method for dynamic parking closed-loop control as described above are implemented.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a control method for dynamic parking closed-loop control as described above.

[0015] The beneficial effects of the present invention are: two key influencing factors, the deceleration and slip rate of the vehicle, are introduced to calculate the clamping time and release time of the parking caliper, and dynamic parking closed-loop control is achieved according to the clamping time and release time, which can effectively avoid abnormal situations such as vehicle skidding and tail swinging, and effectively improve the driving experience of emergency dynamic parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0017] Figure 1 A schematic flow chart of a control method for dynamic parking closed-loop control according to an embodiment of the present invention;

[0018] Figure 2 The figure is a schematic diagram of the structure of a control system for dynamic parking closed-loop control according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following examples are provided to further explain and supplement the present invention and do not constitute any limitation to the present invention.

[0020] A control method, system and related equipment for dynamic parking closed-loop control according to an embodiment of the present invention will be described below in conjunction with the accompanying drawings.

[0021] like Figure 1 As shown, an embodiment of the present invention provides a control method for dynamic parking closed-loop control, which is applied to an EPB controller, comprising:

[0022] S1, in response to the activation signal of the dynamic parking and the activation signal of the EPB switch, driving the pin of the parking motor corresponding to the current wheel to rotate forward, and collecting the first working current of the parking motor corresponding to the current wheel according to the rated cycle;

[0023] S2. If the first working current satisfies the first preset condition within the rated time, it is determined that the parking motor corresponding to the current wheel is started successfully, and the deceleration and slip rate corresponding to the current wheel are obtained;

[0024] S3. Determine the clamping time and the release time of the parking caliper according to the deceleration and the slip rate, and implement dynamic parking closed-loop control according to the clamping time and the release time.

[0025] In this embodiment, two key influencing factors, the vehicle's deceleration and slip rate, are introduced to calculate the clamping time and release time of the parking caliper, and dynamic parking closed-loop control is implemented based on the clamping time and release time. This can effectively avoid abnormal situations such as vehicle skidding and tail-spinning, and effectively improve the driving experience of emergency dynamic parking.

[0026] In this embodiment, the EPB controller refers to Electronic Parking Brake, that is, an electronic parking brake system.

[0027] In this embodiment, the first preset condition is: if the first working current is greater than the rated current value within the rated time, it is determined that the parking motor corresponding to the current wheel is started successfully.

[0028] Optionally, the clamping time and the releasing time of the parking caliper are determined according to the deceleration and the slip ratio, including:

[0029] If the deceleration and the slip rate meet the second preset condition, it is determined that the dynamic clamping enable corresponding to the current wheel is activated;

[0030] Driving the pin of the driving electrode corresponding to the current wheel to continuously rotate forward, and obtaining a first duration of the forward rotation of the pin;

[0031] If the first duration satisfies the third preset condition, the driving motor corresponding to the current wheel is stopped, and the dynamic clamping maintenance phase of the parking caliper is entered;

[0032] If the dynamic release enable corresponding to the current wheel is activated, or it is determined that dynamic parking is not allowed, or the second duration of the dynamic clamping maintenance phase is greater than the first threshold, then exit the dynamic clamping maintenance phase of the parking caliper;

[0033] The first duration and the second duration are referred to as clamping time.

[0034] The third preset condition in this embodiment is: if the first duration is greater than the maximum dynamic clamping time, the driving motor corresponding to the current wheel is stopped, and the dynamic clamping maintenance phase of the parking caliper is entered. In this embodiment, the maximum dynamic clamping time is set according to actual conditions.

[0035] Optionally, if the deceleration and the slip rate meet the second preset condition, it is determined that the dynamic clamping enable corresponding to the current wheel is activated, including:

[0036] If the deceleration is greater than the rated deceleration and the slip ratio is less than the rated slip ratio, it is determined that the dynamic clamping enable corresponding to the current wheel is activated.

[0037] In this embodiment, two key parameters of the vehicle's deceleration and slip rate are introduced to perform closed-loop control of the deceleration and slip rate during the dynamic parking process. By adopting closed-loop control, the entire control system has better robustness.

[0038] Optionally, the clamping time and the releasing time of the parking caliper are determined according to the deceleration and the slip ratio, including:

[0039] If the deceleration and the slip rate meet the fourth preset condition, it is determined that the dynamic release enable corresponding to the current wheel is activated;

[0040] driving the pin of the driving electrode corresponding to the current wheel to continuously reverse, and obtaining a third duration of the pin reversal;

[0041] If the third duration satisfies the fifth preset condition, the driving motor corresponding to the current wheel is stopped, and the dynamic release and maintenance phase of the parking caliper is entered;

[0042] If the dynamic clamping enable corresponding to the current wheel is activated, or it is determined that dynamic parking is not allowed, or the fourth duration of the dynamic release and maintenance phase is greater than the second threshold, then exit the dynamic release and maintenance phase of the parking caliper;

[0043] The third duration and the fourth duration are used as release times.

[0044] The fifth preset condition in this embodiment is: if the third duration is greater than the maximum dynamic release time, the driving motor corresponding to the current wheel is stopped, and the dynamic release maintenance phase of the parking caliper is entered. In this embodiment, the maximum dynamic release time is set according to actual conditions.

[0045] Optionally, if the deceleration and the slip rate meet a fourth preset condition, it is determined that the dynamic release enable corresponding to the current wheel is activated, including:

[0046] If the deceleration is less than the rated deceleration and the slip ratio is greater than the rated slip ratio, it is determined that the dynamic release enable corresponding to the current wheel is activated.

[0047] In this embodiment, the vehicle's deceleration and slip rate are introduced for closed-loop control, which can effectively avoid abnormal situations such as vehicle skidding and tail-spinning, and effectively improve the driving experience of emergency dynamic parking.

[0048] Optionally, if the first working current satisfies the first preset condition within the rated time, it is determined that the parking motor corresponding to the current wheel is started successfully, and the deceleration and slip rate corresponding to the current wheel are obtained, further comprising:

[0049] If the first working current does not meet the first preset condition within the rated time, the pin of the parking motor corresponding to the current wheel is driven again to rotate forward, and the second working current of the parking motor corresponding to the current wheel is collected according to the rated period;

[0050] If the second operating current still does not meet the first preset condition within the rated time, it is determined that the parking motor corresponding to the current wheel is faulty, and a fault light is displayed on the display device.

[0051] In this embodiment, the fault judgment of the parking motor is introduced to remind the user of the fault of the electronic parking system.

[0052] Optionally, the current wheel is a left front wheel, a left rear wheel, a right front wheel or a right rear wheel.

[0053] In this embodiment, the EPB controller directly collects the wheel speed signals of the left front wheel FL / left rear wheel RL / right front wheel FR / right rear wheel RR of the vehicle through the internal chip analog quantity acquisition interface, and receives the actual vehicle speed V through the CAN signal. Av .

[0054] Based on the above, if the vehicle parking calipers are installed on the left rear wheel and the right rear wheel, it is determined whether the activation signal of dynamic parking is received as follows:

[0055] Condition 1: The wheel speed signals of the left front wheel FL and the right front wheel FR are both equal to the invalid value V Fault ;

[0056] Condition 2: The wheel speed signals of the left rear wheel RL or the right rear wheel RR are both equal to the invalid value V Fault ;

[0057] Condition 3, actual vehicle speed V Av Greater than the rated value;

[0058] When any of the above conditions 1 and 2 is met or condition 3 is not met, it is considered that the wheel speed sensor of the current vehicle is abnormal or the vehicle speed is too low, and the dynamic parking function is not allowed to be activated; when both conditions 1 and 2 are not met and condition 3 is met, it is considered that the wheel speed sensor of the current vehicle is normal and the vehicle speed reaches the activation threshold, the dynamic parking function can be activated, and an activation signal for dynamic parking is generated.

[0059] If the vehicle has parking calipers installed on the left and right front wheels, whether dynamic parking enable is allowed is determined as follows:

[0060] Condition 1: The wheel speed signals of the left rear wheel RL and the right rear wheel RR are both equal to the invalid value V Fault ;

[0061] Condition 2: The wheel speed signals of the left front wheel FL or the right front wheel FR are both equal to the invalid value V Fault ;

[0062] Condition 3, actual vehicle speed V Av Greater than the rated value;

[0063] When any of the above conditions 1 and 2 is met or condition 3 is not met, it is considered that the wheel speed sensor of the current vehicle is abnormal or the vehicle speed is too low, and the dynamic parking function is not allowed to be activated; when both conditions 1 and 2 are not met and condition 3 is met, it is considered that the wheel speed sensor of the current vehicle is normal and the vehicle speed reaches the activation threshold, the dynamic parking function can be activated, and an activation signal for dynamic parking is generated.

[0064] Among them, V Fault Make settings based on actual conditions.

[0065] In this embodiment, if the parking calipers of the vehicle are installed on the left rear wheel RL and the right front wheel FR, the slip ratios of the left rear wheel RL and the right rear wheel RR are calculated as follows:

[0066] Calculation of the left rear wheel RL slip rate:

[0067] Slip ratio S RL =(actual vehicle speed V Av -Wheel peripheral speed V RL )÷actual vehicle speed V Av ×100%.

[0068] Calculation of right rear wheel RR slip rate:

[0069] Slip ratio S RR =(actual vehicle speed V Av -Wheel peripheral speed V RR )÷actual vehicle speed V Av ×100%.

[0070] If the vehicle parking calipers are installed on the left front wheel FL and the right front wheel FR, calculate the slip ratio of the left front wheel FL and the right front wheel FR as follows:

[0071] Calculation of the left front wheel FL slip rate:

[0072] Slip ratio S FL =(actual vehicle speed V Av -Wheel peripheral speed V FL )÷actual vehicle speed V Av ×100%.

[0073] Calculation of right front wheel FR slip rate:

[0074] Slip ratio S FR =(actual vehicle speed V Av -Wheel peripheral speed V FL )÷actual vehicle speed V Av ×100%.

[0075] In this embodiment, if the parking calipers of the vehicle are installed on the left rear wheel and the right rear wheel, the wheel decelerations of the left rear wheel RL and the right rear wheel RR are calculated as follows:

[0076] Left rear wheel RL deceleration A RL The calculation formula is as follows:

[0077] Left rear wheel RL wheel deceleration A RL =(((The wheel speed V in the first cycle in the past RL1 + Wheel speed V in the second cycle in the past RL2 +V RLn+2 ....+wheel speed V in the past nth cycle RLn )-(wheel speed V in the past n+1th cycle RLn+1 + wheel speed V in the past n+2 cycles RLn+2 +....+wheel speed V of the past n+nth cycle RLn ))*100) / (2n-1), the mathematical formula is as follows:

[0078] A RL =(((V RL1 +V RL2 +....V RLn )-(V RLn+1 +V RLn+2 +....V RLn+n ))*100) / (2n-1).

[0079] Note: The unit of period is ms. You need to convert ms to s, so you need to multiply by 100 in the formula.

[0080] Similarly, the right rear wheel RR deceleration A RR The calculation formula is as follows:

[0081] A RR =(((V RR1 +V RR2 +....V RRn )-(V RRn+1 +V RRn+2 +....V RRn+n ))*100) / (2n-1).

[0082] If the vehicle parking calipers are installed on the left front wheel FL and the right front wheel FR, calculate the wheel deceleration of the left front wheel FL and the right front wheel FR as follows:

[0083] Left front wheel FL wheel deceleration A FL The calculation formula is as follows:

[0084] A FL =(((V FL1 +V FL2 +....V FLn )-(V FLn+1 +V FLn+2 +....V FLn+n ))*100) / (2n-1).

[0085] Right front wheel FR wheel deceleration A FR The calculation formula is as follows:

[0086] A FR =(((V FR1 +V FR2 +....V FRn )-(V FRn+1 +V FRn+2 +....V FRn+n ))*100) / (2n-1).

[0087] Optionally, a control method for dynamic parking closed-loop control is described with a specific embodiment, wherein the parking caliper of the vehicle is installed on the left rear wheel RL, as follows:

[0088] ① Initialization stage: Determine whether the activation signal of dynamic parking is received and whether the activation signal of EPB switch is received according to the method described in the previous article. If both the activation signal of dynamic parking and the activation signal of EPB switch are received at the same time, enter the ② startup stage, otherwise continue to maintain the ① initialization stage.

[0089] ②Starting stage: After entering the starting stage, the EPB controller drives the parking motor pin of the left rear wheel RL to work forward (reverse rotation corresponds to parking release, and forward rotation corresponds to parking clamping), and collects the working current of the parking motor of the left rear wheel RL according to the rated cycle.

[0090] Exit condition 1: If the working current of the parking motor of the left rear wheel RL is greater than the rated current value I1 within the rated time T1, it is considered that the parking motor of the left rear wheel RL is successfully started, and the deceleration and slip rate of the left rear wheel RL are obtained, and the method described above is used to determine whether the dynamic clamping enable of the left rear wheel RL is activated. If the dynamic clamping enable of the left rear wheel RL is activated, enter the ③ dynamic clamping stage.

[0091] Exit condition 2: If the working current of the parking motor of the left rear wheel RL is greater than the rated current value I1 within the rated time T1, it is considered that the left rear parking motor is successfully started, and the deceleration and slip rate of the left rear wheel RL are obtained, and the method described above is used to determine whether the dynamic release enable of the left rear wheel RL is activated. If the dynamic release enable of the left rear wheel RL is activated, enter step ④ the dynamic release stage.

[0092] Exit condition 3: If the operating current of the left rear parking motor is not greater than the rated current value I1 within the rated time T1, it is considered that the start-up is unsuccessful and enters the ⑦ fault stage.

[0093] The above three exit conditions are in an OR relationship. If any one of the conditions is met, the startup phase ② will be exited.

[0094] ③ Dynamic clamping stage: After entering the dynamic clamping stage, the EPB controller continuously drives the pin of the parking motor of the left rear wheel RL to rotate forward to perform the clamping action.

[0095] Exit condition 1: If the dynamic clamping phase running time (first duration) is greater than the maximum dynamic clamping time, then enter ⑤ the dynamic clamping maintenance phase.

[0096] Exit condition 2: If it is determined that the dynamic release enable of the left rear wheel RL is activated during the dynamic clamping stage, the system enters step ④, the dynamic release stage.

[0097] Exit condition 3: If it is calculated according to the method described above that dynamic parking activation is not allowed, then enter step ① initialization phase.

[0098] The above three exit conditions are in an OR relationship. If any one of the conditions is met, the dynamic clamping stage ③ will be exited.

[0099] ④ Dynamic release stage: After entering the dynamic release stage, the EPB controller continuously drives the pin of the parking motor of the left rear wheel RL to reverse and perform the release action.

[0100] Exit condition 1: If the running time of the dynamic release phase (the third duration) is greater than the maximum dynamic release time, then the system enters the ⑥ dynamic release maintenance phase.

[0101] Exit condition 2: If it is determined that the dynamic clamping enable of the left rear wheel RL is activated during the dynamic release phase, the system enters step ③, the dynamic clamping phase.

[0102] Exit condition 3: If it is calculated according to the method described above that dynamic parking activation is not allowed, then enter step ① initialization phase.

[0103] The above three exit conditions are in an OR relationship. If any one of the conditions is met, the ④ dynamic release stage will be exited.

[0104] ⑤ Dynamic clamping maintenance stage: After entering the dynamic clamping maintenance stage, the EPB controller stops driving the parking motor of the left rear wheel RL.

[0105] Exit condition 1: If it is determined that the dynamic release enable of the left rear wheel RL is activated during the dynamic clamping maintenance phase, then the process enters step ④, the dynamic release phase.

[0106] Exit condition 2: If it is calculated according to the above method that dynamic parking activation is not allowed, then enter step ① initialization phase.

[0107] Exit condition 3: If the dynamic clamping maintenance phase running time (second duration) > the maximum dynamic clamping maintenance time (first threshold), then enter step ① initialization phase.

[0108] The above three exit conditions are in an OR relationship. If any one of the conditions is met, the system exits from the ⑤ dynamic clamping maintenance stage.

[0109] ⑥ Dynamic release and maintenance stage: After entering the dynamic release and maintenance stage, the EPB controller stops driving the parking motor of the left rear wheel RL.

[0110] Exit condition 1: If it is determined that the dynamic clamping enable of the left rear wheel RL is activated during the dynamic release maintenance phase, then the process enters step ③, the dynamic clamping phase.

[0111] Exit condition 2: If it is calculated according to the above method that dynamic parking activation is not allowed, then enter step ① initialization phase.

[0112] Exit condition 3: If the running time of the dynamic release maintenance phase (the fourth duration) is greater than the maximum dynamic clamping maintenance time (the second threshold), then enter step ① initialization phase.

[0113] The above three exit conditions are in an OR relationship. If any one of the conditions is met, the ⑥ dynamic release maintenance phase is exited.

[0114] ⑦ Fault stage: After entering the fault stage, try the dynamic parking control process again and enter step ② startup stage. If you enter step ② startup stage from ⑦ fault stage and then return to ⑦ fault stage again, it is considered that the parking motor system of the current left rear wheel RL is confirmed to be faulty, and the "electronic parking system fault" fault light will be displayed on the instrument.

[0115] like Figure 2 As shown, the present invention provides a control system for dynamic parking closed-loop control, comprising:

[0116] a first working current acquisition module, for driving the pin of the parking motor corresponding to the current wheel to rotate forward in response to the activation signal of the dynamic parking and the activation signal of the EPB switch, and acquiring the first working current of the parking motor corresponding to the current wheel according to the rated cycle;

[0117] a data acquisition module, configured to determine that the parking motor corresponding to the current wheel is successfully started if the first operating current satisfies the first preset condition within the rated time, and to acquire the deceleration and slip rate corresponding to the current wheel;

[0118] The dynamic parking closed-loop control module is used to determine the clamping time and release time of the parking caliper according to the deceleration and the slip rate, and to implement dynamic parking closed-loop control according to the clamping time and the release time.

[0119] Optionally, the dynamic parking closed-loop control module is specifically used to:

[0120] If the deceleration and the slip rate meet the second preset condition, it is determined that the dynamic clamping enable corresponding to the current wheel is activated;

[0121] Driving the pin of the driving electrode corresponding to the current wheel to continuously rotate forward, and obtaining a first duration of the forward rotation of the pin;

[0122] If the first duration satisfies the third preset condition, the driving motor corresponding to the current wheel is stopped, and the dynamic clamping maintenance phase of the parking caliper is entered;

[0123] If the dynamic release enable corresponding to the current wheel is activated, or it is determined that dynamic parking is not allowed, or the second duration of the dynamic clamping maintenance phase is greater than the first threshold, then exit the dynamic clamping maintenance phase of the parking caliper;

[0124] The first duration and the second duration are referred to as clamping time.

[0125] Optionally, the dynamic parking closed-loop control module is specifically used to:

[0126] If the deceleration is greater than the rated deceleration and the slip ratio is less than the rated slip ratio, it is determined that the dynamic clamping enable corresponding to the current wheel is activated.

[0127] Optionally, the dynamic parking closed-loop control module is specifically used to:

[0128] If the deceleration and the slip rate meet the fourth preset condition, it is determined that the dynamic release enable corresponding to the current wheel is activated;

[0129] driving the pin of the driving electrode corresponding to the current wheel to continuously reverse, and obtaining a third duration of the pin reversal;

[0130] If the third duration satisfies the fifth preset condition, the driving motor corresponding to the current wheel is stopped, and the dynamic release and maintenance phase of the parking caliper is entered;

[0131] If the dynamic clamping enable corresponding to the current wheel is activated, or it is determined that dynamic parking is not allowed, or the fourth duration of the dynamic release and maintenance phase is greater than the second threshold, then exit the dynamic release and maintenance phase of the parking caliper;

[0132] The third duration and the fourth duration are used as release times.

[0133] Optionally, the dynamic parking closed-loop control module is specifically used to:

[0134] If the deceleration is less than the rated deceleration and the slip ratio is greater than the rated slip ratio, it is determined that the dynamic release enable corresponding to the current wheel is activated.

[0135] Optionally, the data acquisition module further includes:

[0136] If the first working current does not meet the first preset condition within the rated time, the pin of the parking motor corresponding to the current wheel is driven again to rotate forward, and the second working current of the parking motor corresponding to the current wheel is collected according to the rated period;

[0137] If the second operating current still does not meet the first preset condition within the rated time, it is determined that the parking motor corresponding to the current wheel is faulty, and a fault light is displayed on the display device.

[0138] An embodiment of the present invention also provides a computing device, including a memory, a manager, and a program stored in the memory and running on the manager. When the manager executes the program, it implements part or all of the steps of the above-mentioned dynamic parking closed-loop control method.

[0139] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in the computing device of the present invention can refer to the parameters and steps in the embodiment of a control method for dynamic parking closed-loop control mentioned above, and will not be repeated here.

[0140] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0141] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0142] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for dynamic parking closed-loop control, characterized in that: Applied to EPB controllers, including: In response to the activation signal of the dynamic parking and the activation signal of the EPB switch, the pin of the parking motor corresponding to the current wheel is driven to rotate forward, and the first working current of the parking motor corresponding to the current wheel is collected according to the rated cycle; If the first working current satisfies the first preset condition within the rated time, it is determined that the parking motor corresponding to the current wheel is started successfully, and the deceleration and slip rate corresponding to the current wheel are obtained; The clamping time and the releasing time of the parking caliper are determined according to the deceleration and the slip ratio, and the dynamic parking closed-loop control is implemented according to the clamping time and the releasing time.

2. The method according to claim 1, characterized in that Determining the clamping time and the releasing time of the parking caliper according to the deceleration and the slip rate comprises: If the deceleration and the slip ratio meet a second preset condition, it is determined that the dynamic clamping enable corresponding to the current wheel is activated; Driving the pin of the driving electrode corresponding to the current wheel to continuously rotate forward, and obtaining a first duration of the forward rotation of the pin; If the first duration satisfies a third preset condition, the driving motor corresponding to the current wheel is stopped, and the dynamic clamping maintenance phase of the parking caliper is entered; If the dynamic release enable corresponding to the current wheel is activated, or it is determined that dynamic parking is not allowed, or the second duration of the dynamic clamping maintenance phase is greater than the first threshold, then exit the dynamic clamping maintenance phase of the parking caliper; The first duration and the second duration are referred to as the clamping time.

3. The method according to claim 2, characterized in that If the deceleration and the slip rate meet the second preset condition, it is determined that the dynamic clamping enable corresponding to the current wheel is activated, including: If the deceleration is greater than the rated deceleration and the slip ratio is less than the rated slip ratio, it is determined that the dynamic clamping enable corresponding to the current wheel is activated.

4. The method according to claim 1, characterized in that: The determining the clamping time and the releasing time of the parking caliper according to the deceleration and the slip ratio comprises: If the deceleration and the slip ratio meet a fourth preset condition, it is determined that the dynamic release enable corresponding to the current wheel is activated; driving the pin of the driving electrode corresponding to the current wheel to continuously reverse, and obtaining a third duration of the pin reversal; If the third duration satisfies the fifth preset condition, the driving motor corresponding to the current wheel is stopped, and the dynamic release and maintenance phase of the parking caliper is entered; If the dynamic clamping enable corresponding to the current wheel is activated, or it is determined that dynamic parking is not allowed, or the fourth duration of the dynamic release and maintenance phase is greater than the second threshold, then exit the dynamic release and maintenance phase of the parking caliper; The third duration and the fourth duration are used as the release time.

5. The method according to claim 4, characterized in that If the deceleration and the slip rate meet a fourth preset condition, determining that the dynamic release enable corresponding to the current wheel is activated includes: If the deceleration is less than the rated deceleration and the slip ratio is greater than the rated slip ratio, it is determined that the dynamic release enable corresponding to the current wheel is activated.

6. The method according to claim 1, characterized in that If the first working current satisfies the first preset condition within the rated time, it is determined that the parking motor corresponding to the current wheel is started successfully, and the deceleration and slip rate corresponding to the current wheel are obtained, and the method further includes: If the first working current does not meet the first preset condition within the rated time, the pin of the parking motor corresponding to the current wheel is driven again to rotate forward, and the second working current of the parking motor corresponding to the current wheel is collected according to the rated period; If the second working current still does not meet the first preset condition within the rated time, it is determined that the parking motor corresponding to the current wheel is faulty, and a fault light is displayed on the display device.

7. The method according to any one of claims 1 to 6, characterized in that: The current wheel is the left front wheel, the left rear wheel, the right front wheel, or the right rear wheel.

8. A control system for dynamic parking closed-loop control, characterized in that: include: a first working current acquisition module, for driving the pin of the parking motor corresponding to the current wheel to rotate forward in response to the activation signal of the dynamic parking and the activation signal of the EPB switch, and acquiring the first working current of the parking motor corresponding to the current wheel according to the rated cycle; a data acquisition module, configured to determine that the parking motor corresponding to the current wheel is successfully started if the first operating current satisfies a first preset condition within a rated time, and to acquire a deceleration and a slip rate corresponding to the current wheel; The dynamic parking closed-loop control module is used to determine the clamping time and the release time of the parking caliper according to the deceleration and the slip rate, and implement dynamic parking closed-loop control according to the clamping time and the release time.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of a control method for dynamic parking closed-loop control as described in any one of claims 1 to 7 are implemented.

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 steps of a control method for dynamic parking closed-loop control as described in any one of claims 1 to 7.

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