Vehicle parking control method and related equipment

Abstract

The invention discloses a vehicle parking control method and related equipment. The method comprises the steps that the parking control requirement of a vehicle is detected in real time; when the parking control demand is a release demand, acquiring a stepped release period parameter of the vehicle in the current environment, and acquiring the minimum parking force of the vehicle in the current environment; the mechanical clamping force of the vehicle is obtained in real time, and a step release strategy of the vehicle is obtained based on the step release period parameter, the minimum parking force and the mechanical clamping force; and controlling the parking motor of the vehicle according to the stepped release strategy so as to completely release the parking motor. The problems that when an existing vehicle parking motor is released, the parking requirement of a driver cannot be effectively recognized, so that the driving experience is poor, the situation that the parking motor is completely released but the vehicle is not successfully parked on the slope easily occurs when the parking slope is too large, and the parking safety is low are solved.

Description

Background Art

[0002] Parking control has always been a key technology in vehicle safety design. Currently, there are two main difficulties when a vehicle automatically releases the parking motor on a slope:

[0003] After the need to release the parking motor is triggered, the parking motor will continue to release until it is completely released. The parking motor cannot change its action during the release process, that is, it cannot change from a release action to a clamping action, or change the release force. Therefore, it cannot accurately identify the driver's parking needs, resulting in a poor driving experience. At the same time, if the parking slope is too large, it is easy for the parking motor to be fully released but the vehicle is not successfully parked on the slope, that is, when the front of the vehicle is facing down, it will cause a sudden acceleration down the slope, and when the front of the vehicle is facing up, it will cause the vehicle to slide backwards, and the parking safety is low. Summary of the invention

[0004] In order to overcome the problem that the existing vehicle parking motor cannot effectively identify the driver's parking demand when it is released, resulting in a poor driving experience, and when the parking slope is too large, the parking motor is easily fully released but the vehicle fails to park on the slope successfully, resulting in low parking safety, the present application provides a vehicle parking control method and related equipment. The related equipment includes a vehicle, a system, a computing device, and a computer-readable storage medium.

[0005] In a first aspect, in order to solve the above technical problems, the present application provides a vehicle parking control method, comprising:

[0006] Real-time detection of vehicle parking control requirements;

[0007] When the parking control demand is a release demand, a step release cycle parameter of the vehicle in the current environment is obtained, and a minimum parking force of the vehicle in the current environment is obtained;

[0008] The mechanical clamping force of the vehicle is obtained in real time, and the step-release strategy of the vehicle is obtained based on the step-release cycle parameters, the minimum parking force and the mechanical clamping force;

[0009] The parking motor of the vehicle is controlled according to a step-by-step release strategy so that the parking motor is fully released.

[0010] In a second aspect, the present application also provides a vehicle, applying a vehicle parking control method.

[0011] In a third aspect, the present application also provides a vehicle parking control system, comprising:

[0012] A detection module, used for real-time detection of the parking control requirements of the vehicle;

[0013] An acquisition module, used for acquiring the step release cycle parameters of the vehicle in the current environment and acquiring the minimum parking force of the vehicle in the current environment when the parking control demand is a release demand;

[0014] A module is used to obtain the mechanical clamping force of the vehicle in real time, and obtain a step-release strategy of the vehicle based on the step-release cycle parameter, the minimum parking force and the mechanical clamping force;

[0015] The control module is used to control the parking motor of the vehicle according to a step-by-step release strategy so that the parking motor is fully released.

[0016] In a fourth aspect, the present application also 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 vehicle parking control method as described above are implemented.

[0017] In a fifth aspect, the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a vehicle parking control method.

[0018] The beneficial effects of the present application are as follows: first, by real-time monitoring of the parking control demand of the vehicle, and when the parking control demand is a release demand, the step release cycle parameters and the minimum parking force of the vehicle in the current environment are obtained. Then, the mechanical clamping force of the vehicle is obtained in real time, and based on the step release cycle parameters, the minimum parking force and the loading and unloading clamping force, the step release strategy of the vehicle is obtained, and then the parking motor of the vehicle is controlled according to the step release strategy to completely release the parking motor. In this way, by real-time monitoring of the parking control demand of the vehicle, and only when the parking control demand is a release demand, the parking motor of the vehicle is controlled based on the step release strategy obtained in the current environment, the parking demand of the driver is accurately identified, thereby improving the driving experience. Moreover, no matter what slope the vehicle is on, the parking motor can be slowly controlled to release through the step-release strategy until it is completely released, which prolongs the release time of the parking motor and allows the vehicle to have enough time to park successfully on the slope, reducing the problem of sudden acceleration down the slope when the front of the vehicle is facing down and the problem of sliding backwards when the front of the vehicle is facing up, thereby improving the parking safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic flow chart of a vehicle parking control method according to an exemplary embodiment of the present application;

[0020] Figure 2 A schematic structural diagram of a vehicle parking control device used in a vehicle parking control method in an exemplary embodiment of the present application;

[0021] Figure 3 The present invention is a schematic structural diagram of a vehicle parking control system according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0022] The following examples are provided to further explain and supplement the present application and do not constitute any limitation to the present application.

[0023] A vehicle parking control method and related equipment according to an embodiment of the present application are described below in conjunction with the accompanying drawings. The related equipment includes a vehicle, a system, a computing device, and a computer-readable storage medium.

[0024] A vehicle parking control method in an embodiment of the present application is applied to a terminal device. In the present application scheme, the terminal device or server is used as the execution subject to illustrate the present application scheme. The terminal device or server is used to execute the steps of a vehicle parking control method.

[0025] See also Figure 1 , Figure 1 A vehicle parking control method is shown as an exemplary embodiment of the present application, such as Figure 1 As shown, the present application provides a vehicle parking control method, comprising:

[0026] Step S11, real-time detection of the parking control requirements of the vehicle;

[0027] Step S12, when the parking control demand is a release demand, obtaining a step release cycle parameter of the vehicle in the current environment, and obtaining a minimum parking force of the vehicle in the current environment;

[0028] Step S13, obtaining the mechanical clamping force of the vehicle in real time, and obtaining a step-release strategy of the vehicle based on the step-release cycle parameter, the minimum parking force and the mechanical clamping force;

[0029] Step S14: Control the parking motor of the vehicle according to the step-by-step release strategy so that the parking motor is completely released.

[0030] A vehicle parking control method of this embodiment first monitors the parking control demand of the vehicle in real time, and when the parking control demand is a release demand, obtains the step release cycle parameters and the minimum parking force of the vehicle in the current environment. Then, the mechanical clamping force of the vehicle is obtained in real time, and based on the step release cycle parameters, the minimum parking force and the connection and unloading clamping force, the step release strategy of the vehicle is obtained, and then the parking motor of the vehicle is controlled according to the step release strategy to fully release the parking motor. In this way, by monitoring the parking control demand of the vehicle in real time, and only when the parking control demand is a release demand, the parking motor of the vehicle is controlled based on the step release strategy obtained in the current environment, the parking demand of the driver is accurately identified, thereby improving the driving experience. Moreover, no matter what slope the vehicle is on, the parking motor can be slowly controlled to release through the step-release strategy until it is completely released, which prolongs the release time of the parking motor and allows the vehicle to have enough time to park successfully on the slope, reducing the problem of sudden acceleration down the slope when the front of the vehicle is facing down and the problem of sliding backwards when the front of the vehicle is facing up, thereby improving the parking safety of the vehicle.

[0031] Optionally, real-time detection of the parking control requirements of the vehicle includes:

[0032] Real-time detection of the vehicle's current operating parameters, including vehicle gear position, power status, driver's seat belt status, vehicle target drive torque, parking motor control status and current slope value;

[0033] When the current operating parameters meet the preset parking release requirement, the parking control requirement of the vehicle is determined to be a release requirement.

[0034] In this embodiment, by detecting the current operating parameters of the vehicle in real time, the current operating condition of the vehicle and the driver's driving needs (including parking requirements) can be understood, so that when the current operating parameters meet the preset parking release requirements, the vehicle's parking control requirements can be determined as release requirements, which facilitates the subsequent release control of the vehicle's parking motor based on the release requirement, thereby flexibly adapting to the driver's parking needs and improving the driving experience.

[0035] Among them, the preset parking release requirements are that the vehicle gear is in R or D, the power state (KL15 power) is in Ignition On state, the driver's seat belt state is fastened, the vehicle's target drive torque is greater than or equal to the rated torque value, and the terminal device as the executor is the vehicle's EPB (Electrical Park Brake) controller. The EPB controller itself is used to determine that the vehicle's parking motor control state is in the clamping state, and the current slope value is greater than or equal to the rated minimum value, and less than or equal to any value in the rated maximum value.

[0036] Optionally, obtain the step release cycle parameters of the vehicle in the current environment, including:

[0037] Obtain the current slope value of the vehicle in the current environment, and obtain the mapping relationship between the preset slope value and the step release time and the step maintenance time;

[0038] Based on the mapping relationship, the target step release time and target step maintenance time of the vehicle corresponding to the current slope value are obtained;

[0039] The step release cycle parameters of the vehicle in the current environment are formed based on the target step release time and the target step maintenance time.

[0040] In this embodiment, based on the current slope value of the vehicle in the current environment, and the mapping relationship between the preset slope value and the step release time and the step maintenance time, the target step release time and the target step maintenance time of the vehicle corresponding to the current slope value can be directly obtained, forming the step release cycle parameters of the vehicle in the current environment, so as to facilitate the subsequent step release strategy of the vehicle based on the step release cycle parameters, and realize the accurate parking of the parking motor, thereby improving the parking safety of the vehicle. At the same time, no matter what kind of slope road condition the vehicle is in, the parking motor can be slowly controlled to release through the step release strategy until the parking motor is completely released, which prolongs the release time of the parking motor, so that the vehicle can have enough time to successfully park on the slope, reducing the problem of sudden acceleration down the slope when the front of the vehicle is facing down and the problem of backward sliding when the front of the vehicle is facing up, thereby improving the parking safety of the vehicle.

[0041] In this embodiment, the step release time T r The relationship between the slope value θ is negatively correlated, that is, the larger the slope value θ is, the longer the step release time T is. r The smaller the step is. The step maintenance time T h The relationship between the slope value θ is positively correlated, that is, the larger the slope value θ is, the longer the step maintenance time T is. h The mapping relationship between the slope value and the step release time and the step maintenance time is obtained as follows:

[0042] First, define the maximum step release time T when the slope value θ is the rated minimum value RL and minimum step maintenance time T HL (The parameters are obtained from the vehicle calibration test) and define the minimum step release time T when the slope value θ is the rated maximum value RH and the maximum step maintenance time T HH (Parameters are obtained from vehicle calibration test).

[0043] Then, according to the actual current slope value of the vehicle, a linear interpolation method is used to calculate the maximum step release time TRL and minimum step release time T RH The target step release time corresponding to the current slope value is interpolated between the two values, and the minimum step maintenance time T is calculated using linear interpolation. HL and the maximum step maintenance time T HH Alternatively, the maximum step release time T corresponding to the rated minimum and rated maximum slope values ​​is used. RL and minimum step release time T RH , and a negative correlation, plotting the slope value θ and the step release time T r The target step release time of the vehicle corresponding to the current slope value can be directly obtained from the relationship curve diagram; and the minimum step maintenance time T corresponding to the rated minimum value and the rated maximum value of the slope value can be used. HL and the maximum step maintenance time T HH , and a positive correlation, plotting the slope value θ and the step maintenance time T h A relationship curve diagram is provided, from which the target step release time of the vehicle corresponding to the current slope value can be directly queried.

[0044] Optionally, obtaining the minimum parking force of the vehicle in the current environment includes:

[0045] Get the current slope value of the vehicle in the current environment;

[0046] Based on the current slope value and the attribute parameters of the vehicle, the minimum parking force of the vehicle in the current environment is calculated; wherein the attribute parameters include the vehicle's equipment mass, tire effective radius, brake disc effective radius and brake pad friction coefficient;

[0047] The formula for calculating the minimum parking force is as follows:

[0048] F CF =(Sin(θ)×m×g×R d )×(1 / R e )×(1 / 2□);

[0049] Among them, F CF represents the minimum parking force, θ represents the current slope value collected by the slope sensor, m represents the vehicle's equipment mass in kg, and g represents the acceleration of gravity in m / s 2 , R d Indicates the effective radius of the vehicle's tire, in meters, R e Indicates the effective radius of the vehicle's brake disc, in m. Indicates the vehicle's brake pad friction coefficient.

[0050] In this embodiment, based on the current slope value of the vehicle in the current environment and the attribute parameters of the vehicle, the minimum parking force of the vehicle in the current environment is directly calculated, which facilitates the subsequent step-release strategy of the vehicle based on the minimum parking force, realizes accurate parking of the parking motor, and thus improves the parking safety of the vehicle.

[0051] Optionally, the mechanical clamping force of the vehicle is obtained in real time, including:

[0052] Obtain the working current of the vehicle's parking motor in real time;

[0053] The mechanical clamping force of the vehicle is calculated based on the working current and the mechanical characteristic parameters of the vehicle; wherein the mechanical characteristic parameters include a conversion coefficient of current to mechanical force and a correction offset coefficient;

[0054] The mechanical clamping force is calculated as follows:

[0055] F M =I A α+β;

[0056] Among them, I A It indicates the motor current of the vehicle, which is directly collected by the sensor, and the unit is A. α indicates the conversion coefficient of current to mechanical force, and β indicates the correction offset coefficient. Both α and β are obtained based on the mechanical characteristics test of the vehicle.

[0057] In the present embodiment, the mechanical clamping force of the vehicle is calculated based on the working current of the parking motor of the vehicle and the mechanical characteristic parameters of the vehicle acquired in real time, so that the mechanical clamping condition of the vehicle can be understood in real time, which facilitates the subsequent acquisition of the vehicle's step-release strategy based on the mechanical clamping force corresponding to the mechanical clamping condition, thereby achieving accurate parking of the parking motor and improving the parking safety of the vehicle.

[0058] Optionally, based on the step-release cycle parameters, the minimum parking force and the mechanical clamping force, a step-release strategy of the vehicle is obtained, including:

[0059] When the mechanical clamping force is greater than or equal to the minimum parking force, determining the step release strategy of the vehicle is to control the parking motor of the vehicle to perform a cyclic step release process according to the step release cycle parameters until the parking motor is completely released;

[0060] When the mechanical holding force is less than the minimum parking force, the step release strategy of the vehicle is determined to control the parking motor of the vehicle to perform a cyclic step release process according to the step release cycle parameters, and when the mechanical holding force is less than the rated value, the parking motor is controlled to stop releasing.

[0061] In this embodiment, when the mechanical clamping force is greater than or equal to the minimum parking force, the step release strategy of the vehicle is determined to be to control the parking motor of the vehicle to perform a cyclic step release process according to the step release cycle parameters until the parking motor is completely released; at the same time, when the mechanical clamping force is less than the minimum parking force, the step release strategy of the vehicle is determined to be to control the parking motor of the vehicle to perform a cyclic step release process according to the step release cycle parameters, and when the mechanical clamping force is less than the rated value, it indicates that the parking motor has been completely released, and the parking motor is controlled to stop releasing. In this way, the parking motor can be controlled in a targeted manner according to the specific conditions corresponding to the mechanical clamping force, the minimum parking force and the step release cycle parameters of the current environment, which can not only improve the control accuracy of the parking motor, but also reduce the ineffective control of the parking motor and save energy. At the same time, no matter what slope the vehicle is on, the parking motor can be slowly controlled to release through the step-release strategy until it is completely released, which prolongs the release time of the parking motor and allows the vehicle to have enough time to park successfully on the slope, reducing the problem of sudden acceleration down the slope when the front of the vehicle is facing down and the problem of sliding backwards when the front of the vehicle is facing up, thereby improving the parking safety of the vehicle.

[0062] In this embodiment, the step release cycle parameters include the target step release time and the target step maintenance time, and the terminal device as the execution subject is the EPB controller of the vehicle. The specific implementation steps of controlling the parking motor of the vehicle to perform the cyclic step release process according to the step release cycle parameters are:

[0063] The vehicle's EPB controller first controls the parking motor to release, the release time is the target step release time, then controls the parking motor to stop releasing, the stop time is the target step maintenance time, then releases the target step release time again, and then stops releasing the target step maintenance time, to achieve a cyclic release, lengthen the release time of the parking motor, so that the vehicle has enough time to park, reducing the risk of slipping or sliding on a slope.

[0064] See also Figure 2 , Figure 2 FIG. 1 is a schematic structural diagram of a vehicle parking control device used in a vehicle parking control method in an exemplary embodiment of the present application, such as Figure 2As shown, a vehicle parking control device includes an EPB controller, a vehicle controller and a parking motor. The EPB controller is connected to the vehicle controller and the parking motor respectively. The vehicle controller is used to monitor the vehicle gear position, power status, driver's seat belt status, vehicle target drive torque and other monitoring parameters, and send the monitoring parameters to the EPB controller. The EPB controller is used to receive the vehicle gear position, power status, driver's seat belt status, vehicle target drive torque and other monitoring parameters sent by the vehicle controller, and also receives the parking motor control status monitored by the EPB mechanical switch and the current slope value monitored by the slope sensor. The EPB controller is also used to determine that the parking control demand of the vehicle is a release demand when the vehicle gear is in R or D, the power state (KL15 power) is in Ignition On state, the driver's seat belt state is fastened, the vehicle target drive torque is greater than or equal to the rated torque value, and the EPB controller itself determines that the parking motor control state is a clamping state, and the current slope value is greater than or equal to the rated minimum value and less than or equal to any value of the rated maximum value. At this time, the working current of the parking motor is received in real time to calculate the mechanical clamping force of the vehicle, and obtain the step release cycle parameters and minimum parking force of the vehicle in the current environment, so as to obtain the step release strategy of the vehicle based on the step release cycle parameters, the minimum parking force and the mechanical clamping force, and control the parking motor of the vehicle according to the step release strategy to completely release the parking motor.

[0065] At the same time, when the mechanical clamping force is less than the minimum parking force, it is necessary to re-detect the vehicle's parking control demand. If the parking control demand is not a release demand at this time (that is, one of the six current operating parameters does not meet the requirements), it means that the driver intends to modify the parking demand. The parking motor is driven to clamp to the initial state when released, and the vehicle's parking control demand continues to be detected; if the parking control demand is still a release demand at this time, the parking motor is continuously controlled according to the vehicle parking control method of this application until the parking motor is completely released.

[0066] In this way, through the vehicle parking control method of the present application, if the vehicle is on a slope and the parking motor is released to control the release of the caliper, the entire release process is smoother, which can avoid the problem of sudden deceleration or slipping of the vehicle. The entire release process of the vehicle is longer, which can give the driver more operating space on extreme slopes, improve the vehicle driving experience and reduce safety risks. At the same time, in the middle of the control process and at the end of the process, the driving intention can be identified again, the execution action of the parking motor can be changed, and the driver's parking motor control needs can be effectively responded to. In addition, using the vehicle parking control method of the present application, the above two advantages can be achieved without changing the hardware and optimizing the software logic, which has the feasibility of universal promotion and application, and improves the driving experience of the whole vehicle.

[0067] A vehicle in an embodiment of the present application applies the above-mentioned vehicle parking control method.

[0068] See also Figure 3 , Figure 3 A vehicle parking control system is shown as an exemplary embodiment of the present application, such as Figure 3 As shown, the present application provides a vehicle parking control system 300, comprising:

[0069] A detection module 301 is used to detect the parking control requirements of the vehicle in real time;

[0070] An acquisition module 302 is used to acquire the step release cycle parameters of the vehicle in the current environment and acquire the minimum parking force of the vehicle in the current environment when the parking control demand is a release demand;

[0071] An obtaining module 303 is used to obtain the mechanical clamping force of the vehicle in real time, and obtain a step release strategy of the vehicle based on the step release cycle parameter, the minimum parking force and the mechanical clamping force;

[0072] The control module 304 is used to control the parking motor of the vehicle according to the step-release strategy so that the parking motor is completely released.

[0073] A vehicle parking control system of this embodiment, first, monitors the parking control demand of the vehicle in real time through the detection module 301, and when the parking control demand is a release demand, the step release cycle parameters and the minimum parking force of the vehicle in the current environment are obtained by the acquisition module 302. Then, the mechanical clamping force of the vehicle is obtained in real time by the acquisition module 303, and the step release strategy of the vehicle is obtained based on the step release cycle parameters, the minimum parking force and the connection and unloading clamping force, and then the control module 304 is used to control the parking motor of the vehicle according to the step release strategy so that the parking motor is completely released. In this way, by monitoring the parking control demand of the vehicle in real time, and only when the parking control demand is a release demand, the parking motor of the vehicle is controlled based on the step release strategy obtained in the current environment, the accurate identification of the driver's parking demand is achieved, thereby improving the driving experience. Moreover, no matter what slope the vehicle is on, the parking motor can be slowly controlled to release through the step-release strategy until it is completely released, which prolongs the release time of the parking motor and allows the vehicle to have enough time to park successfully on the slope, reducing the problem of sudden acceleration down the slope when the front of the vehicle is facing down and the problem of sliding backwards when the front of the vehicle is facing up, thereby improving the parking safety of the vehicle.

[0074] Optionally, the detection module is specifically used to:

[0075] Real-time detection of the vehicle's current operating parameters, including vehicle gear position, power status, driver's seat belt status, vehicle target drive torque, parking motor control status and current slope value;

[0076] When the current operating parameters meet the preset parking release requirement, the parking control requirement of the vehicle is determined to be a release requirement.

[0077] Optionally, obtain a module, specifically for:

[0078] Obtain the current slope value of the vehicle in the current environment, and obtain the mapping relationship between the preset slope value and the step release time and the step maintenance time;

[0079] Based on the mapping relationship, the target step release time and target step maintenance time of the vehicle corresponding to the current slope value are obtained;

[0080] The step release cycle parameters of the vehicle in the current environment are formed based on the target step release time and the target step maintenance time.

[0081] Optionally, obtain a module, specifically for:

[0082] Get the current slope value of the vehicle in the current environment;

[0083] Based on the current slope value and the vehicle's attribute parameters, the minimum parking force of the vehicle in the current environment is calculated.

[0084] Optionally, get the module, specifically for:

[0085] Obtain the working current of the vehicle's parking motor in real time;

[0086] Based on the operating current and the mechanical characteristic parameters of the vehicle, the mechanical clamping force of the vehicle is calculated.

[0087] Optionally, get the module, specifically for:

[0088] When the mechanical clamping force is greater than or equal to the minimum parking force, determining the step release strategy of the vehicle is to control the parking motor of the vehicle to perform a cyclic step release process according to the step release cycle parameters until the parking motor is completely released;

[0089] When the mechanical holding force is less than the minimum parking force, the step release strategy of the vehicle is determined to control the parking motor of the vehicle to perform a cyclic step release process according to the step release cycle parameters, and when the mechanical holding force is less than the rated value, the parking motor is controlled to stop releasing.

[0090] It should be noted that the vehicle parking control system provided in the above embodiment and the vehicle parking control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In actual application, the vehicle parking control system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0091] A computing device according to an embodiment of the present application includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all steps of the above-mentioned vehicle parking control method are implemented.

[0092] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present application can refer to the parameters and steps in an embodiment of a vehicle parking control method above, and will not be repeated here.

[0093] In an embodiment of the present application, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of the above-mentioned vehicle parking control method are executed.

[0094] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0095] 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 perform all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable 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 computer-readable storage medium.

[0096] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that 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 boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0097] Those skilled in the art know that the present application 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 "module" or "system" herein. In addition, in some embodiments, the present application 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.

[0098] 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 application. 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.

[0099] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle parking control method, characterized in that: include: Real-time detection of vehicle parking control requirements; When the parking control demand is a release demand, obtaining a step release cycle parameter of the vehicle in the current environment, and obtaining a minimum parking force of the vehicle in the current environment; Acquiring the mechanical clamping force of the vehicle in real time, and obtaining a step-release strategy of the vehicle based on the step-release cycle parameter, the minimum parking force and the mechanical clamping force; The parking motor of the vehicle is controlled according to the step-release strategy so that the parking motor is completely released.

2. The method according to claim 1, characterized in that The real-time detection of the parking control requirement of the vehicle includes: Real-time detection of the vehicle's current operating parameters, including vehicle gear position, power status, driver's seat belt status, vehicle target drive torque, parking motor control status, and current slope value; When the current operating parameters meet a preset parking release requirement, the parking control requirement of the vehicle is determined to be a release requirement.

3. The method according to claim 1, characterized in that The step of obtaining the step release cycle parameters of the vehicle in the current environment includes: Obtaining a current slope value of the vehicle in a current environment, and obtaining a mapping relationship between a preset slope value and a step release time and a step maintenance time; Based on the mapping relationship, obtain the target step release time and target step maintenance time of the vehicle corresponding to the current slope value; A step release cycle parameter of the vehicle in the current environment is formed based on the target step release time and the target step maintenance time.

4. The method according to claim 1, characterized in that: The obtaining of the minimum parking force of the vehicle in the current environment includes: Obtaining a current slope value of the vehicle in the current environment; Based on the current slope value and the attribute parameters of the vehicle, a minimum parking force of the vehicle in the current environment is calculated.

5. The method according to claim 1, characterized in that The real-time acquisition of the mechanical clamping force of the vehicle includes: Acquiring the working current of the parking motor of the vehicle in real time; Based on the working current and the mechanical characteristic parameters of the vehicle, a mechanical clamping force of the vehicle is calculated.

6. The method according to any one of claims 1 to 5, characterized in that: The step-release strategy of the vehicle is obtained based on the step-release cycle parameter, the minimum parking force and the mechanical clamping force, including: When the mechanical clamping force is greater than or equal to the minimum parking force, determining the step release strategy of the vehicle is to control the parking motor of the vehicle to perform a cyclic step release process according to the step release cycle parameter until the parking motor is completely released; When the mechanical clamping force is less than the minimum parking force, the step release strategy of the vehicle is determined to control the parking motor of the vehicle to perform a cyclic step release process according to the step release cycle parameters, and when the mechanical clamping force is less than the rated value, the parking motor is controlled to stop releasing.

7. A vehicle, characterized in that: A vehicle parking control method as described in any one of claims 1 to 6 is applied.

8. A vehicle parking control system, characterized in that: include: A detection module, used for real-time detection of the parking control requirements of the vehicle; an acquisition module, used for acquiring, when the parking control demand is a release demand, a step-release cycle parameter of the vehicle in a current environment, and acquiring a minimum parking force of the vehicle in the current environment; An obtaining module, used for obtaining the mechanical clamping force of the vehicle in real time, and obtaining a step-release strategy of the vehicle based on the step-release cycle parameter, the minimum parking force and the mechanical clamping force; A control module is used to control the parking motor of the vehicle according to the step-release strategy so that the parking motor is completely released.

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 vehicle parking control method as claimed in any one of claims 1 to 6 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 vehicle parking control method as described in any one of claims 1 to 6.

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