Vehicle parking redundancy control method, device and system

Abstract

The invention discloses a vehicle parking redundancy control method, device and system.The vehicle parking redundancy control method is applied to a vehicle without a P-gear lock, the vehicle comprises a vehicle controller and two EPB modules connected with the vehicle controller, and the two EPB modules are used for controlling wheel calipers on the two sides of the vehicle correspondingly. The method comprises the following steps: acquiring a parking signal of a driver; determining the slope value of the current position of the vehicle based on the parking signal; and on the basis of the slope value and the states of the two EPB modules, whether the current position of the vehicle meets the parking condition or not is determined. The two EPB modules are used for controlling the wheel calipers on the two sides of the vehicle respectively, and parking control is conducted on the vehicle autonomously based on the slope value and the states of the two EPB modules, so that reliable and safe parking is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control, and particularly relates to a vehicle parking redundancy control method, device and system. Background Art

[0002] At present, the ways for new energy vehicles to park on slopes include stepping on the brake pedal, the automatic vehicle hold (AVH) system, and the electric parking brake (EPB), i.e., the electronic handbrake, etc. Among them, for the vehicle's overall parking brake, it is generally supported by the P gear lock in the gearbox and the electronic handbrake, thus constituting a parking redundancy control system.

[0003] However, with the continuous development of assisted driving and autonomous driving technologies, vehicles are gradually realizing automatic control, and the function of the manually adjusted P gear lock is gradually marginalized. Therefore, in order to reduce the overall vehicle cost, the gearbox can be simplified by removing the P gear lock. However, how to reliably achieve vehicle parking redundancy control has become a technical problem that urgently needs to be solved in this technical field. Summary of the Invention

[0004] The object of the present invention is to propose a vehicle parking redundancy control method, device and system, which can independently and reliably achieve vehicle parking to solve the above technical problems.

[0005] According to the first aspect of the embodiments of the present invention, a vehicle parking redundancy control method is provided, which is applied to a vehicle without a P gear lock. The vehicle includes a vehicle controller and two EPB modules connected to the vehicle controller. The two EPB modules are respectively used to control the wheel calipers on both sides of the vehicle. The method includes:

[0006] Obtain the parking signal of the driver;

[0007] Based on the parking signal, confirm the slope value of the current position of the vehicle;

[0008] Based on the slope value and the states of the two EPB modules, confirm whether the current position of the vehicle meets the parking conditions.

[0009] A further improvement of the method of the present invention is that if the slope value is greater than or equal to a first threshold and less than a second threshold, determine whether the two EPB modules are working properly, where the first threshold is less than the second threshold;

[0010] After both of the two EPB modules can work properly, the two EPB modules control the corresponding wheel calipers to perform parking; otherwise, warn the driver that parking cannot be completed.

[0011] A further improvement of the method of the present invention lies in that, based on the slope value and the states of the two EPB modules, determining whether the current position of the vehicle meets the parking condition, including:

[0012] If the slope value is less than the first threshold, determine whether the two EPB modules are working properly;

[0013] After one of the two EPB modules works properly, the normally working EPB module controls the corresponding wheel caliper to perform parking; otherwise, warn the driver that parking cannot be completed.

[0014] A further improvement of the method of the present invention lies in that, based on the slope value and the states of the two EPB modules, determining whether the current position of the vehicle meets the parking condition, including:

[0015] If the slope value is greater than or equal to the second threshold, warn the driver that parking cannot be completed, so that the driver can re-select a parking position.

[0016] A further improvement of the method of the present invention lies in that, based on the slope value and the states of the two EPB modules, determining whether the current position of the vehicle meets the parking condition, including:

[0017] Determine whether the two EPB modules are working properly;

[0018] If so, compare the slope value of the current position of the vehicle with the first threshold and the second threshold;

[0019] If the slope value is greater than or equal to the first threshold and less than the second threshold, the two EPB modules control the corresponding wheel calipers to perform parking;

[0020] If the slope value is less than the first threshold, at least one of the EPB modules controls the corresponding vehicle caliper to perform parking.

[0021] A further improvement of the method of the present invention lies in that, based on the slope value and the states of the two EPB modules, determining whether the current position of the vehicle meets the parking condition, including:

[0022] Determine whether the two EPB modules are working properly;

[0023] If one of the EPB modules works properly, when the slope value is less than the first threshold, the normally working EPB module controls the corresponding vehicle caliper to perform parking.

[0024] A further improvement of the method of the present invention lies in that the obtaining of the parking signal of the driver includes: a preset parking position; or, when the driver steps on the brake pedal for more than a preset time, triggering the parking signal; or, the driver independently triggers a mechanical parking signal switch or an electrical signal switch.

[0025] According to a second aspect of an embodiment of the present invention, there is provided a vehicle parking redundancy control device, which is applied to a vehicle without a P - gear lock. The vehicle includes a vehicle controller and two EPB modules connected to the vehicle controller. The two EPB modules are respectively used to control the wheel calipers on both sides of the vehicle. The device includes:

[0026] An acquisition module, configured to acquire the parking signal of the driver;

[0027] A confirmation module, configured to confirm the slope value of the current position of the vehicle based on the parking signal;

[0028] A processing module, configured to confirm whether the current position of the vehicle meets the parking condition based on the slope value and the states of the two EPB modules.

[0029] According to a third aspect of an embodiment of the present invention, there is provided a vehicle parking redundancy control system, which is applied to a vehicle without a P - gear lock. The system includes a vehicle controller, a first EPB module and a second EPB module. The vehicle controller includes a first brake control module and a second brake control module; the first brake control module is connected to the first EPB module to control the wheel caliper on one side of the vehicle; the second brake control module is connected to the second EPB module to control the wheel caliper on the other side of the vehicle;

[0030] Wherein, the vehicle controller is configured to execute the vehicle parking redundancy control method as described in any one of the above.

[0031] A further improvement of the system of the present invention lies in that the first brake control module is further connected to the hydraulic brake module to be used for controlling the hydraulic brake module.

[0032] The vehicle parking redundancy control method, device and system provided by the present invention respectively control the wheel calipers on both sides of the vehicle through two EPB modules, and autonomously perform parking control on the vehicle based on the slope value and the states of the two EPB modules, so as to achieve reliable and safe parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be described in detail below with reference to the accompanying drawings through exemplary embodiments, wherein:

[0034] Figure 1 A flowchart showing the vehicle parking redundancy control method provided by the present invention;

[0035] Figure 2 Shows the structural block diagram of the vehicle parking redundancy control system provided by an embodiment of the present invention;

[0036] Figure 3 Shows the flowchart of the vehicle parking redundancy control method provided by an embodiment of the present invention;

[0037] Figure 4 Shows the flowchart of the vehicle parking redundancy control method provided by another embodiment of the present invention;

[0038] Figure 5 Shows the structural block diagram of the vehicle parking redundancy control device provided by the present invention;

[0039] Figure 6 Shows the structural block diagram of the vehicle parking redundancy control device provided by an embodiment of the present invention;

[0040] Figure 7 Shows the structural block diagram of the vehicle parking redundancy control device provided by another embodiment of the present invention.

[0041] The drawings are only schematic and not necessarily drawn to scale. In addition, they only show those parts necessary to illustrate the present invention, while other parts may be omitted or only briefly mentioned. That is, in addition to the components shown in the drawings, the present invention may also include other components. Detailed implementation manners

[0042] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention will be introduced in conjunction with preferred embodiments, this does not mean that the features of this invention are limited to this implementation manner. On the contrary, the purpose of introducing the invention in conjunction with the implementation manner is to cover other alternatives or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, many specific details will be included in the following description. The present invention can also be implemented without using these details. In addition, in order to avoid confusing or obscuring the focus of the present invention, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0043] It should be noted that in this specification, similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0044] In the description of this embodiment, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "inner" is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0045] Terms such as "first" and "second" are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0046] In the description of this embodiment, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0047] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the drawings.

[0048] Figure 1 The flowchart showing the vehicle parking redundancy control method provided by the present invention is shown; Figure 2 The structural block diagram showing the vehicle parking redundancy control system provided by an embodiment of the present invention is shown.

[0049] Refer to Figure 1 and Figure 2 In the vehicle parking redundancy control method of the embodiment of the present invention, it is applied to a vehicle without a P gear lock, so that the gearbox of the vehicle can be simplified, the application of the P gear lock can be omitted, and the production cost of the manufacturer can be further reduced.

[0050] In the present invention, the vehicle includes a vehicle controller 20 and two EPB modules connected to the vehicle controller 20. The two EPB modules are respectively used to control the wheel calipers on both sides of the vehicle. After receiving the parking signal, each EPB module controls the corresponding side wheel caliper to perform a braking process.

[0051] Correspondingly, an embodiment of the present invention also discloses a vehicle and a vehicle parking redundancy control system applied to the vehicle. The vehicle does not include a P gear lock. The vehicle parking redundancy control system includes a vehicle controller 20, a first EPB module 211, and a second EPB module 221. Among them, the vehicle controller 20 is configured to execute the vehicle parking redundancy control method of the present invention. Specifically, the vehicle controller 20 includes a first brake control module 21 and a second brake control module 22.

[0052] Among them, the first brake control module 21 is connected to the first EPB module 211 to control the wheel caliper on one side of the vehicle. That is, under the control signal of the first brake control module 21, the first EPB module 211 controls the wheel caliper on one side of the vehicle (such as the left caliper). The second brake control module 22 is connected to the second EPB module 221 to control the wheel caliper on the other side of the vehicle. That is, under the control signal of the second brake control module 22, the second EPB module 221 controls the wheel caliper on the other side of the vehicle (such as the right caliper). The first brake control module 21 and the second brake control module 22 of the present invention design two sets of control systems to independently control the wheel calipers on both sides of the vehicle respectively.

[0053] In addition, in the embodiment of the present invention, the first brake control module 21 is also connected to a hydraulic brake module 212 to control the hydraulic brake module 212, such as ESC (Electronic Stability Controller), ECU (Electronic Control Unit), or ebooster (electric assist system).

[0054] In the present invention, the vehicle parking redundancy control method includes:

[0055] S101. Obtain the parking signal of the driver.

[0056] In this embodiment, in the application scenarios of autonomous driving or assisted driving, the parking signal can be the preset parking position of the driver, such as the destination navigated to. In the application scenario of assisted driving, when the driver steps on the brake pedal for more than the preset time, the parking signal is triggered. In the application scenario of assisted driving, the driver independently triggers a mechanical parking signal switch or an electrical signal switch, such as one-touch parking or operating the parking button on the electronic screen. Of course, the parking signal of the present invention is not limited to this, and other parking signals that can meet autonomous driving or assisted driving are applicable to the present invention.

[0057] S102. Based on the parking signal, confirm the slope value of the current position of the vehicle.

[0058] In this embodiment, after receiving the parking signal, the slope value of the current position of the vehicle can be calculated based on the current vehicle speed, i.e., the longitudinal acceleration of the vehicle, so as to confirm the slope value of the current position of the vehicle. Among them, the vehicle speed can be collected by a wheel speed sensor, and the longitudinal acceleration of the vehicle can be collected by a longitudinal acceleration sensor of the vehicle.

[0059] S103. Based on the slope value and the states of the two EPB modules, confirm whether the current position of the vehicle meets the parking conditions.

[0060] In this embodiment, after confirming the slope value of the current position of the vehicle, it is necessary to detect the working states of the two EPB modules, and make a judgment based on the actually detected states to confirm whether the current position of the vehicle meets the parking conditions.

[0061] As Figure 3 shown, in one embodiment, if it is confirmed that the slope value of the current position of the vehicle is greater than or equal to the first threshold and less than the second threshold, determine whether the two EPB modules are working properly. Among them, the first threshold is less than the second threshold, and the setting of the first threshold and the second threshold is specifically based on parameters such as the calipers and the vehicle weight of the vehicle.

[0062] Further, after both of the two EPB modules can work properly, the two EPB modules control the corresponding wheel calipers to perform parking; if not, warn the driver that parking cannot be completed. Among them, the warning information for the driver can be shown in different ways, such as warning lights, alarm information, warning sounds, warning information on the central control screen, etc.

[0063] In another embodiment, if the slope value is less than the first threshold, determine whether the two EPB modules are working properly. After one of the two EPB modules works properly, the normally working EPB module controls the corresponding wheel caliper to perform parking; if not, warn the driver that parking cannot be completed. Of course, when the slope value of the current position of the vehicle is less than the threshold and both EPB modules can work properly, the two EPB modules can be respectively used as the first braking control module and the second braking control module at the same time, so that the first braking control module and the second braking control module control the calipers on both sides of the vehicle to brake. When the slope value of the current position of the vehicle is less than the threshold and both EPB modules can work properly, it is also possible to control one of the first braking control module and the second braking control module to work.

[0064] In another embodiment, if the slope value is greater than or equal to the second threshold, warn the driver that parking cannot be completed, so that the driver can re-select a parking position. After reaching the new parking position, continue to execute the vehicle parking redundancy control method of the present invention to determine whether the parking position meets the parking conditions.

[0065] Furthermore, in the case of reselecting a parking position, the method of the present invention can also recommend the optimal nearby parking position for the driver through the road information pre-stored in the database, and the database can be a cloud data platform.

[0066] Of course, in another embodiment of the present invention, as Figure 4 shown, it is also possible to first confirm whether the two EPB modules are working properly, and then perform different control strategies according to the slope value of the current vehicle location.

[0067] Specifically, determine whether the two EPB modules are working properly; if so, compare the slope value of the current vehicle location with a first threshold and a second threshold; if the slope value is greater than or equal to the first threshold and less than the second threshold, the two EPB modules control the corresponding wheel calipers to perform parking; if the slope value is less than the first threshold, at least one of the EPB modules controls the corresponding vehicle caliper to perform parking.

[0068] Alternatively, if one of the EPB modules is working properly, in the case where the slope value is less than the first threshold, the normally working EPB module controls the corresponding vehicle caliper to perform parking. Of course, in the case where the slope value of the current vehicle location is less than the threshold and both EPB modules can work properly, the two EPB modules can be respectively made the first braking control module and the second braking control module at the same time, so that the first braking control module and the second braking control module control the calipers on both sides of the vehicle to brake. In the case where the slope value of the current vehicle location is less than the threshold and both EPB modules can work properly, it is also possible to control one of the first braking control module and the second braking control module to work.

[0069] The vehicle parking redundancy control method provided by the present invention controls the wheel calipers on both sides of the vehicle respectively through two EPB modules, and based on the slope value and the states of the two EPB modules, independently controls the vehicle to park, so as to achieve reliable and safe parking. Among them, the present invention designs two sets of control systems, and respectively independently controls the wheel calipers on both sides of the vehicle according to different slope values and the states of the two EPB modules.

[0070] Another aspect of the embodiments of the present invention, as Figure 5 shown, also provides a vehicle parking redundancy control device. Based on the same inventive concept, the implementation solutions provided by this device to solve problems are similar to the implementation solutions described in the above method. Therefore, the specific limitations in one or more embodiments of the vehicle parking redundancy control device provided below can refer to the limitations on the vehicle parking redundancy control method in the above text, and will not be repeated here.

[0071] The vehicle parking redundancy control device is applied to a vehicle without a P - gear lock. The vehicle includes a vehicle controller and two EPB modules connected to the vehicle controller. The two EPB modules are respectively used to control the wheel calipers on both sides of the vehicle. The vehicle parking redundancy control device includes:

[0072] An acquisition module 501, configured to acquire the parking signal of the driver;

[0073] A confirmation module 502, configured to confirm the slope value of the current position of the vehicle based on the parking signal;

[0074] A processing module 503, configured to confirm whether the current position of the vehicle meets the parking conditions based on the slope value and the states of the two EPB modules.

[0075] As Figure 6 shown, in one embodiment, the processing module 503 includes:

[0076] A first judgment unit 6031, configured to judge whether the two EPB modules are working properly if the slope value is greater than or equal to a first threshold and less than a second threshold, where the first threshold is less than the second threshold;

[0077] A first processing unit 6032, configured to, after both of the two EPB modules can work properly, control the corresponding wheel calipers by the two EPB modules to perform parking; otherwise, warn the driver that parking cannot be completed.

[0078] In one embodiment, the processing module 503 includes:

[0079] A second judgment unit 6033, configured to judge whether the two EPB modules are working properly if the slope value is less than the first threshold;

[0080] A second processing unit 6034, configured to, after one of the two EPB modules works properly, control the corresponding wheel caliper by the working EPB module to perform parking; otherwise, warn the driver that parking cannot be completed.

[0081] In one embodiment, the processing module 503 includes:

[0082] A third processing unit 6035, configured to, if the slope value is greater than or equal to the second threshold, warn the driver that parking cannot be completed, so that the driver re - selects a parking position.

[0083] As Figure 7 shown, in another embodiment, the processing module 503 includes:

[0084] A third judgment unit 7011, configured to judge whether the two EPB modules are working properly;

[0085] Comparison unit 7012, if so, compares the slope value of the current location of the vehicle with a first threshold and a second threshold;

[0086] Fourth processing unit 7013, configured to, if the slope value is greater than or equal to the first threshold and less than the second threshold, control the corresponding wheel calipers of the two EPB modules to perform parking;

[0087] Fifth processing unit 7014, configured to, if the slope value is less than the first threshold, control at least one of the EPB modules to control the corresponding vehicle caliper to perform parking.

[0088] In another embodiment, the processing module 503 includes:

[0089] Fourth determination unit 7014, configured to determine whether the two EPB modules are operating normally;

[0090] Sixth processing unit 7015, configured to, if one of the EPB modules is operating normally and the slope value is less than the first threshold, control the corresponding vehicle caliper of the normally operating EPB module to perform parking.

[0091] Each module in the above vehicle control device can be implemented in whole or in part by software, hardware, and combinations thereof. Each of the above modules can be embedded in a processor in a computer device in hardware form or independent of the processor, or can be stored in a memory in a computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0092] Each module in the above vehicle control device can be implemented in whole or in part by software, hardware, and combinations thereof. Each of the above modules can be embedded in a processor in a computer device in hardware form or independent of the processor, or can be stored in a memory in a computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0093] In another aspect of the embodiments of the invention, the invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0094] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memories can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0095] Although the present invention has been illustrated and described by referring to some preferred embodiments of the present invention, those of ordinary skill in the art should understand that the above content is a further detailed description of the present invention in combination with specific embodiments, and it cannot be determined that the specific implementation of the present invention is only limited to these descriptions. Those skilled in the art can make various changes in form and detail, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A vehicle parking redundancy control method is applied to a vehicle without a P - gear lock. The vehicle includes a vehicle controller and two EPB modules connected to the vehicle controller. The two EPB modules are respectively used to control the wheel calipers on both sides of the vehicle. Characterized in that, The method includes: Obtain the parking signal of the driver; Based on the parking signal, confirm the slope value of the current position of the vehicle; Based on the slope value and the states of the two EPB modules, confirm whether the current position of the vehicle meets the parking conditions.

2. The method according to claim 1, Characterized in that, The step of based on the slope value and the states of the two EPB modules to confirm whether the current position of the vehicle meets the parking conditions includes: If the slope value is greater than or equal to a first threshold and less than a second threshold, determine whether the two EPB modules are working properly, where the first threshold is less than the second threshold; After both of the two EPB modules can work properly, the two EPB modules control the corresponding wheel calipers to perform parking; otherwise, warn the driver that parking cannot be completed.

3. The method according to claim 2, Characterized in that, The step of based on the slope value and the states of the two EPB modules to confirm whether the current position of the vehicle meets the parking conditions includes: If the slope value is less than the first threshold, determine whether the two EPB modules are working properly; After one of the two EPB modules works properly, the normally - working EPB module controls the corresponding wheel caliper to perform parking; otherwise, warn the driver that parking cannot be completed.

4. The method according to claim 3, Characterized in that, The step of based on the slope value and the states of the two EPB modules to confirm whether the current position of the vehicle meets the parking conditions includes: If the slope value is greater than or equal to the second threshold, warn the driver that parking cannot be completed, so that the driver re - selects a parking position.

5. The method according to claim 1, Characterized in that, The step of based on the slope value and the states of the two EPB modules to confirm whether the current position of the vehicle meets the parking conditions includes: Determine whether the two EPB modules are working properly; If so, compare the slope value of the current position of the vehicle with the first threshold and the second threshold; If the slope value is greater than or equal to the first threshold and less than the second threshold, the two EPB modules control the corresponding wheel calipers to perform parking; If the slope value is less than the first threshold, at least one of the EPB modules controls the corresponding vehicle caliper to perform parking.

6. The method according to claim 1, Characterized in that, The step of based on the slope value and the states of the two EPB modules to confirm whether the current position of the vehicle meets the parking conditions includes: Determine whether the two EPB modules are working properly; If one of the EPB modules is working properly, and when the slope value is less than the first threshold, the normally - working EPB module controls the corresponding vehicle caliper to perform parking.

7. The method according to claim 1, Characterized in that, The obtaining of the driver's parking signal includes: a preset parking position; or, when the driver steps on the brake pedal for more than a preset time, triggering the parking signal; or, the driver independently triggers a mechanical parking signal switch or an electrical signal switch.

8. A vehicle parking redundancy control device is applied to a vehicle without a P - gear lock. The vehicle includes a vehicle controller and two EPB modules connected to the vehicle controller. The two EPB modules are respectively used to control the wheel calipers on both sides of the vehicle. Characterized in that, The device includes: An obtaining module, configured to obtain the driver's parking signal; A confirmation module, configured to confirm the slope value of the current position of the vehicle based on the parking signal; A processing module, configured to confirm whether the current position of the vehicle meets the parking condition based on the slope value and the states of the two EPB modules.

9. A vehicle parking redundancy control system is applied to a vehicle without a P - gear lock. Characterized in that, The system includes a vehicle controller, a first EPB module and a second EPB module. The vehicle controller includes a first brake control module and a second brake control module; the first brake control module is connected to the first EPB module to control the wheel caliper on one side of the vehicle; the second brake control module is connected to the second EPB module to control the wheel caliper on the other side of the vehicle. Wherein, the vehicle controller is configured to execute the vehicle parking redundancy control method according to any one of claims 1 - 7.

10. The system according to claim 9, Characterized in that, The first brake control module is further connected to the hydraulic brake module to be used for controlling the hydraulic brake module.

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