Method and device for determining clamping stagnation of electronic parking controller, equipment and medium

Abstract

The invention provides a method, device and equipment for determining clamping stagnation of an electronic parking controller and a medium, the electronic parking controller controls a parking motor to control whether an output shaft of a driving motor is in a parking state or not, and after a vehicle is powered on, first electrical angle information of a motor controller at a first moment is obtained; according to the first electrical angle information and the reference angle information at the parking gear, the relative displacement angle of a first gear of the driving motor at the first moment is confirmed in real time; whether the relative displacement angle of the first gear is smaller than or equal to the maximum clamping stagnation displacement angle or not is judged, if yes, it is indicated that the relative displacement angle of the first gear is small, and it is determined that the electronic parking controller is in the clamping stagnation state. Therefore, the clamping stagnation state of the electronic parking controller can be accurately identified, the electronic parking controller can be correctly triggered and enabled subsequently, the error enabling probability of the electronic parking controller under the normal state of the electronic parking braking system can be reduced as much as possible, and the failure rate of the electronic parking controller is further reduced.

Description

Technical Field

[0001] This application relates to the field of automobiles, and particularly to a method, device, equipment and medium for determining the jamming of an electronic parking controller. Background Art

[0002] An electronic parking microcontroller unit (EPMCU) is an electric parking motor control unit, generally integrated inside the electric drive assembly. The EPMCU can control the parking motor, and the parking motor drives the transmission mechanism to actively lock the parking gear, thereby preventing the half shaft from rotating and avoiding vehicle rollback. The EPMCU can be used as a backup solution for the electrical park brake (EPB) system to achieve parking when the EPB function is abnormal. Refer to Figure 1 , the EPMCU and the parking motor can control the pawl and ratchet to engage, so as to control the motor output shaft of the drive motor not to rotate. When the pawl and ratchet are not engaged, the motor output shaft can rotate normally.

[0003] Currently, as a backup parking mechanism, the EPMCU generally interacts with the vehicle control unit (VCU) to execute a backup parking slope request. In one case, when the EPMCU is in backup enabled and in the P gear, that is, when the EPMCU controls the pawl and ratchet to engage and the motor output shaft does not rotate, if the EPMCU enable signal stored in the vehicle controller is lost, the pawl and ratchet cannot be controlled to disengage. At this time, the EPMCU is in a jammed state. It is necessary to accurately identify that the EPMCU is in a jammed state, and then re - establish the connection between the VCU and the EPMCU through an additional trigger path to enable the EPMCU so that the EPMCU can exit the jammed state and the motor output shaft can rotate normally. Therefore, it is necessary to accurately determine whether the EPMCU is in a jammed state so that the EPMCU can exit the jammed state.

[0004] In addition, when the EPB is normal, the EPMCU should be avoided from being enabled as much as possible to reduce the potential risk of the whole vehicle being stuck in the P gear due to EPMCU failure. For example, in another case, when the vehicle is climbing a slope, working conditions with low speed and large torque may occur. The existing judgment strategy may misjudge that the EPMCU is in a jammed state. This will not only mis - enable the EPMCU when the EPB state is normal, but also easily increase the risk of EPMCU failure. This also requires accurately determining whether the EPMCU is in a jammed state, and only when the EPMCU is in a jammed state, triggering the requirement to enable the EPMCU. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a method, device, equipment and medium for determining the jamming of an electronic parking controller, which can minimize the mis-enabling probability of the electronic parking controller when the electronic parking brake system is in a normal state, thereby reducing the failure rate of the electronic parking controller. The specific solutions are as follows:

[0006] On the one hand, this application provides a method for determining the jamming of an electronic parking controller. The electronic parking controller controls a parking motor to control whether the output shaft of a driving motor is in a parked state. The method includes:

[0007] After the vehicle is powered on, obtain the first electrical angle information of the motor controller at the first moment. The motor controller is used to control the driving motor;

[0008] According to the first electrical angle information and the reference angle information when in the parking gear, determine the first gear relative displacement angle of the driving motor at the first moment;

[0009] Judge whether the first gear relative displacement angle is less than or equal to the maximum displacement angle of jamming. If so, determine that the electronic parking controller is in a jammed state.

[0010] Specifically, the step of obtaining the first electrical angle information of the motor controller at the first moment after the vehicle is powered on includes:

[0011] After the vehicle is powered on, judge whether the vehicle speed is less than a preset vehicle speed and whether the current rotational speed is less than a preset rotational speed. If so, obtain the first electrical angle information of the motor controller at the first moment.

[0012] Specifically, the step of judging whether the first gear relative displacement angle is less than or equal to the maximum displacement angle of jamming. If so, determine that the electronic parking controller is in a jammed state includes:

[0013] Judge whether the first gear relative displacement angle is less than or equal to the maximum displacement angle of jamming. If so, judge whether the vehicle is in a stalled working condition, and whether the difference between the first gear relative displacement angle and the second gear relative displacement angle at the second moment is within the jamming displacement angle fluctuation range. If so, determine that the electronic parking controller is in a jammed state; the second moment is later than the first moment.

[0014] Specifically, the stalled working condition is that the current rotational speed is less than a preset rotational speed and the current torque is greater than a preset torque.

[0015] Specifically, the method further includes:

[0016] The vehicle control unit sends an enabling request flag bit to the electronic parking controller so that the electronic parking controller exits the jammed state.

[0017] In another aspect, an embodiment of the present application further provides a device for determining the jamming of an electronic parking controller. The electronic parking controller controls whether the output shaft of a driving motor is in a parking state by controlling a parking motor. The device includes:

[0018] An acquisition unit, configured to acquire first electrical angle information of a motor controller at a first moment after the vehicle is powered on. The motor controller is used to control the driving motor.

[0019] A first determination unit, configured to determine a first gear relative displacement angle of the driving motor at the first moment according to the first electrical angle information and reference angle information in the parking gear.

[0020] A second determination unit, configured to determine whether the first gear relative displacement angle is less than or equal to a maximum jamming displacement angle. If so, it is determined that the electronic parking controller is in a jamming state.

[0021] Specifically, the acquisition unit is configured to:

[0022] After the vehicle is powered on, determine whether the vehicle speed is less than a preset vehicle speed and whether the current rotational speed is less than a preset rotational speed. If so, acquire the first electrical angle information of the motor controller at the first moment.

[0023] Specifically, the second determination unit is configured to:

[0024] Determine whether the first gear relative displacement angle is less than or equal to the maximum jamming displacement angle. If so, determine whether the vehicle is in a locked-rotor working condition and whether the difference between the first gear relative displacement angle and a second gear relative displacement angle at a second moment is within a jamming displacement angle fluctuation range. If so, it is determined that the electronic parking controller is in a jamming state. The second moment is later than the first moment.

[0025] In another aspect, an embodiment of the present application provides a computer device, which includes a processor and a memory:

[0026] The memory is used to store program code and transmit the program code to the processor.

[0027] The processor is configured to execute the method described in the above aspects according to the instructions in the program code.

[0028] In another aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store a computer program, and the computer program is used to execute the method described in the above aspects.

[0029] The embodiments of the present application provide a method, apparatus, device and medium for determining the jamming of an electronic parking controller. The electronic parking controller controls a parking motor to control whether the output shaft of a driving motor is in a parked state. After the vehicle is powered on, the first electrical angle information of the motor controller at the first moment is obtained. The motor controller is used to control the driving motor. According to the first electrical angle information and the reference angle information when in the parking gear, the relative displacement angle of the first gear of the driving motor at the first moment is determined. It is judged whether the relative displacement angle of the first gear is less than or equal to the maximum displacement angle of jamming. If so, it means that the relative displacement angle of the first gear is small, and it is determined that the electronic parking controller is in a jammed state. In this way, it is possible to accurately identify that the electronic parking controller is in a jammed state, which is convenient for correctly triggering and enabling the electronic parking controller subsequently, and can minimize the probability of mis-enabling the electronic parking controller when the electronic parking braking system is in a normal state, thereby reducing the failure rate of the electronic parking controller. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0031] Figure 1 Shows a structural schematic diagram of an electronic parking controller and a driving motor;

[0032] Figure 2 Shows a flowchart of a method for determining the jamming of an electronic parking controller provided by an embodiment of the present application;

[0033] Figures 3 - 5 Shows a schematic diagram of vehicle parameters in different scenarios provided by an embodiment of the present application;

[0034] Figure 6 Shows a position recognition logic block diagram provided by an embodiment of the present application;

[0035] Figure 7 Shows a flowchart of another method for determining the jamming of an electronic parking controller provided by an embodiment of the present application;

[0036] Figure 8 Is a structural block diagram of a device for determining the jamming of an electronic parking controller provided by an embodiment of the present application;

[0037] Figure 9 Is a structural diagram of a computer device provided by an embodiment of the present application. Detailed Embodiments

[0038] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific embodiments of the present application with reference to the accompanying drawings.

[0039] In the following description, numerous specific details are set forth to facilitate a thorough understanding of the present application. However, the present application may be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the spirit of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0040] For ease of understanding, the following provides a detailed description of a method, apparatus, device, and medium for determining electronic parking controller jamming provided in an embodiment of the present application with reference to the accompanying drawings.

[0041] Reference Figure 2 As shown, it is a flowchart of a method for determining electronic parking controller jamming provided in an embodiment of the present application. The method may include the following steps.

[0042] S101, after the vehicle is powered on, obtain the first electrical angle information of the motor controller at the first moment.

[0043] The electronic parking controller can control the parking motor, and the parking motor can control whether the output shaft of the drive motor is in the parking state, that is, whether the output shaft rotates. When the parking motor controls the pawl to engage with the ratchet, the output shaft of the drive motor does not move. When the pawl and the ratchet are separated, the output shaft of the drive motor can rotate. In addition, the drive motor can be controlled by the motor controller.

[0044] After the vehicle is powered on, the electrical angle information decoded from the resolver signal of the motor controller at the first moment can be obtained, which can be recorded as the first electrical angle information. During a driving cycle (the period from power-on wake-up to power-off sleep), the first electrical angle information can be obtained in real time. The reference angle information of the vehicle in the parking gear can also be obtained, that is, the reference angle information of the inverter in the standby state.

[0045] In the embodiment of the present application, after the vehicle is powered on, obtaining the first electrical angle information of the motor controller at the first moment can be specifically that, after the vehicle is powered on, it is determined whether the vehicle speed is less than a preset vehicle speed and whether the current rotational speed is less than a preset rotational speed. If so, the first electrical angle information of the motor controller at the first moment is obtained.

[0046] Specifically, after the vehicle is powered on, it can be determined whether the vehicle has traveled during the driving cycle. If the vehicle has traveled, it indicates that the vehicle can drive normally and the output shaft of the drive motor is not stuck, which means that the EPMCU is not stuck in the P gear after this power-on. The enable flag bit is stored in the EEPROM of the vehicle controller, and the non-EEPROM flag bit is not lost. If it is recognized that there is no driving process, the vehicle speed is less than the preset vehicle speed, and the current rotational speed is less than the preset rotational speed, it indicates that the vehicle cannot drive normally and is likely to be stuck. By judging the rotational speed and the vehicle, most of the working conditions without being stuck can be screened out, and the recognition efficiency can be improved.

[0047] S102. Determine the relative displacement angle of the first gear of the drive motor at the first moment according to the first electrical angle information and the reference angle information when in the parking gear.

[0048] Specifically, according to the first electrical angle information and the reference angle information, the difference between the two can be calculated to obtain the relative displacement information of the first gear of the drive motor at the first moment. When calculating, the flipping of the electrical angle and the jitter near the 0 angle can be considered to ensure the continuity of the angle deviation. For example, the electrical angle changes within the range of 0 to 65535, the reference angle is 65000, and after the first electrical angle reaches 65535, it will become 0 and finally be 100. Then the relative displacement angle of the first gear is 100 + 65535 - 65000 = 635, rather than directly subtracting the reference angle from the first electrical angle, so as to ensure the accuracy of the relative displacement angle of the first gear.

[0049] S103. Judge whether the relative displacement angle of the first gear is less than or equal to the maximum stuck displacement angle. If so, determine that the electronic parking controller is in a stuck state.

[0050] The maximum stuck displacement angle is the maximum relative displacement that the gear can have when the EPMCU is in a stuck state, the pawl and the ratchet are engaged, and the output shaft of the motor is basically stationary. The maximum stuck displacement angle can cover the maximum displacements in different scenarios of slopes and flat roads. Generally, the maximum displacement in the slope scenario is relatively large, and this maximum displacement can be used as the maximum stuck displacement angle. Of course, the size of the maximum stuck displacement angle can also be set according to the actual situation.

[0051] It can be judged whether the relative displacement angle of the first gear is less than or equal to the maximum stuck displacement angle. If it is greater than the maximum stuck displacement angle, it means that the relative displacement angle of the first gear is relatively large, exceeding the maximum displacement angle in the stuck state, and the output shaft can rotate normally without being stuck. Therefore, if the relative displacement of the first gear is not greater than the maximum stuck displacement angle, it indicates that the first electrical angle information at the first moment has not had a large displacement compared to the reference angle information in the P gear state, and there is a stuck situation, thereby determining that the electronic parking controller is in a stuck state.

[0052] In this way, by extracting the relative displacement characteristics of the meshing gear in the stuck state of the EPMCU, the stuck state of the electronic parking controller can be accurately identified, which is convenient for correctly triggering and enabling the electronic parking controller subsequently, and can minimize the mis-enabling probability of the electronic parking controller when the electronic parking braking system is in a normal state, thereby reducing the failure rate of the electronic parking controller.

[0053] In a possible implementation, in order to more accurately determine whether a stuck state occurs and avoid misjudging it as a stuck state when climbing a slope, it is possible to further determine whether a real stuck state appears, thereby improving the accuracy of identifying the stuck state of the EPMCU.

[0054] Specifically, after determining that the relative displacement angle of the first gear is not greater than the maximum stuck displacement angle, it is possible to continue to determine whether the vehicle is in a stalled condition, and whether the difference between the relative displacement angle of the first gear and the relative displacement angle of the second gear is within the stuck displacement angle fluctuation range. Among them, the relative displacement angle of the second gear is the difference between the second electrical angle information and the reference angle information, and the second electrical angle information is the electrical angle information of the motor controller obtained at the second moment, and the second moment is later than the first moment.

[0055] If the difference between the relative displacement angle of the first gear and the relative displacement angle of the second gear exceeds the stuck displacement angle fluctuation range, it indicates that the relative displacement angle of the second gear may be relatively large and the motor output shaft can rotate normally, which means that no stuck state occurs.

[0056] That is to say, when the vehicle is in a stalled condition, it means that the driver is stepping on the accelerator and has an intention to accelerate. When the difference between the relative displacement angle of the first gear and the relative displacement angle of the second gear is within the stuck displacement angle fluctuation range, it means that the difference between the relative displacement angle of the second gear at the second moment and the relative displacement angle of the first gear at the first moment is not large, and the states at the second moment and the first moment are similar. In this way, it is possible to comprehensively evaluate and determine that the EPMCU is indeed in a stuck state, thereby improving the recognition accuracy rate, minimizing the mis-enabling probability when the EPB is in a normal state, and being able to more accurately judge whether the EPMCU is stuck in a ramp scenario.

[0057] Specifically, the stalled condition can be judged by the rotational speed and torque. When the current rotational speed is less than the preset rotational speed and the current torque is greater than the preset torque, it indicates that the vehicle is in a stalled condition. The values of the preset rotational speed and the preset torque can be set by those skilled in the art according to the actual situation.

[0058] In an embodiment of the present application, after determining that the electronic parking controller is in a stuck state, the vehicle controller can store an enable request flag bit and send the enable request flag bit to the electronic parking controller, so that the electronic parking controller can exit the stuck state according to the instruction of the enable request flag bit, ensuring that the user can drive the vehicle normally.

[0059] Refer to Figure 3 As shown, TMspd represents the motor speed, accelpedpst represents the throttle pedal opening, TMacttrq represents the actual motor torque, and EPMCUEn represents the enable request flag bit. This figure shows that in the scenario of very low-speed creep on a slope, since the stuck displacement angle fluctuation range is exceeded, it is determined that the EPMCU is not stuck and the EPMCU is not enabled. Refer to Figure 4 As shown, the EPMCU is successfully enabled in the slope scenario. Figure 5 It represents that the EPMCU is successfully enabled in the flat road scenario.

[0060] Refer to Figure 6 As shown, it is a position recognition logic block diagram provided by an embodiment of the present application. The driving state of the vehicle is judged according to the vehicle speed and the motor, the reference angle is determined according to the inverter state, and then the position recognition pre-judgment is carried out according to the electrical angle and the reference angle to obtain the relative displacement angle. The final position recognition judgment is made according to the relative displacement angle, the motor speed and the current torque to determine whether the EPMCU is stuck.

[0061] Refer to Figure 7 As shown, after the vehicle is powered on, the EPMCU enable signal is not stored in the EEPROM, and the MCU cannot send an instruction to the EPMCU, and then the following steps are executed.

[0062] Step 1: Judge whether there is a vehicle speed condition exceeding 3 kph in the current driving cycle;

[0063] Step 2: Judge in real time whether it is currently in the torque control mode and there is a low-speed scenario (50 RPM); among them, the torque mode is non-P gear, and only in the torque mode will the electrical angle move.

[0064] Step 3: 1) On the premise of meeting Step 2, judge whether the relative displacement D1 of the electrical angle is within 200°;

[0065] Step 3: 2) On the premise of meeting Step 2, judge whether the relative displacement D1 of the electrical angle has never exceeded 360°;

[0066] Step 4: On the premise of meeting Step 3, judge whether there is a locked-rotor condition;

[0067] Step 5: On the premise of meeting Step 4, judge whether the difference D2 in the electrical angle displacement is less than 20°;

[0068] Step 6: On the premise of satisfying Step 5, output the EPMCU enable flag bit and store it in the EEPROM;

[0069] After that, the current driving cycle will not repeat Steps 1 to 9 until the next driving cycle. If the EPMCU enable flag bit = 0 appears, Steps 1 - 9 will be triggered and repeated again.

[0070] The embodiment of the present application provides a method for determining the jamming of an electronic parking controller. The electronic parking controller controls the parking motor to control whether the output shaft of the driving motor is in the parking state. After the vehicle is powered on, the first electrical angle information of the motor controller at the first moment is obtained. The motor controller is used to control the driving motor; according to the first electrical angle information and the reference angle information in the parking gear, the relative displacement angle of the first gear of the driving motor at the first moment is determined; it is judged whether the relative displacement angle of the first gear is less than or equal to the maximum displacement angle of jamming. If so, it means that the relative displacement angle of the first gear is small, and it is determined that the electronic parking controller is in a jammed state. In this way, it is possible to accurately identify that the electronic parking controller is in a jammed state, which is convenient for correctly triggering and enabling the electronic parking controller subsequently, and can minimize the mis-enabling probability of the electronic parking controller when the electronic parking braking system is in a normal state, thereby reducing the failure rate of the electronic parking controller.

[0071] Based on the above method for determining the jamming of an electronic parking controller, the embodiment of the present application further provides a device for determining the jamming of an electronic parking controller. The electronic parking controller controls the parking motor to control whether the output shaft of the driving motor is in the parking state. Refer to Figure 8 As shown, it is a structural block diagram of a device for determining the jamming of an electronic parking controller provided by the embodiment of the present application. The device may include:

[0072] An acquisition unit 201, configured to obtain the first electrical angle information of the motor controller at the first moment after the vehicle is powered on. The motor controller is used to control the driving motor;

[0073] A first determination unit 202, configured to determine the relative displacement angle of the first gear of the driving motor at the first moment according to the first electrical angle information and the reference angle information in the parking gear;

[0074] A second determination unit 203, configured to judge whether the relative displacement angle of the first gear is less than or equal to the maximum displacement angle of jamming. If so, it is determined that the electronic parking controller is in a jammed state.

[0075] Specifically, the acquisition unit is used for:

[0076] After the vehicle is powered on, it is determined whether the vehicle speed is less than a preset vehicle speed and whether the current rotational speed is less than a preset rotational speed. If so, the first electrical angle information of the motor controller at the first moment is obtained.

[0077] Specifically, the second determination unit is configured to:

[0078] Determine whether the relative displacement angle of the first gear is less than or equal to the maximum stuck displacement angle. If so, determine whether the vehicle is in a stall condition and whether the difference between the relative displacement angle of the first gear and the relative displacement angle of the second gear at the second moment is within the stuck displacement angle fluctuation range. If so, determine that the electronic parking controller is in a stuck state; the second moment is later than the first moment.

[0079] Specifically, the stall condition is that the current rotational speed is less than a preset rotational speed and the current torque is greater than a preset torque.

[0080] Specifically, the device further includes:

[0081] A sending unit, configured to send an enable request flag bit from the vehicle controller to the electronic parking controller, so that the electronic parking controller exits the stuck state.

[0082] An embodiment of the present application provides a device for determining the stuck state of an electronic parking controller. The electronic parking controller controls a parking motor to control whether the output shaft of a driving motor is in a parked state. An acquisition unit is configured to, after the vehicle is powered on, acquire the first electrical angle information of the motor controller at the first moment. The motor controller is configured to control the driving motor. A first determination unit is configured to determine the relative displacement angle of the first gear of the driving motor at the first moment according to the first electrical angle information and the reference angle information in the parking gear. A second determination unit is configured to determine whether the relative displacement angle of the first gear is less than or equal to the maximum stuck displacement angle. If so, indicating that the relative displacement angle of the first gear is small, it is determined that the electronic parking controller is in a stuck state. In this way, the stuck state of the electronic parking controller can be accurately identified, facilitating the subsequent correct triggering and enabling of the electronic parking controller, and minimizing the probability of mis-enabling the electronic parking controller when the electronic parking braking system is in a normal state, thereby reducing the failure rate of the electronic parking controller.

[0083] In another aspect, an embodiment of the present application provides a computer device. Refer to Figure 9 As shown, it is a structural diagram of a computer device provided by an embodiment of the present application. The computer device includes a processor 310 and a memory 320:

[0084] The memory 320 is configured to store program code and transmit the program code to the processor 310;

[0085] The processor 310 is configured to execute the method provided in the above embodiments according to the instructions in the program code.

[0086] The computer device may include a terminal device or a server, and the foregoing device may be configured in the computer device.

[0087] In another aspect, an embodiment of the present application further provides a storage medium for storing a computer program for executing the method provided in the above embodiments.

[0088] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by program instructions and hardware. The foregoing program may be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium may be at least one of the following media: read-only memory (English: Read-only Memory, abbreviation: ROM), RAM, magnetic disk, or optical disc, etc., which can store program code.

[0089] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0090] The foregoing is only a preferred embodiment of the present application. Although the present application has been disclosed above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present application, or modify it into an equivalent embodiment with equivalent changes, without departing from the scope of the technical solution of the present application. Therefore, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the protection of the technical solution of the present application.

Claims

1. A method for determining the jamming of an electronic parking controller, characterized in that The electronic parking controller controls the output shaft of the drive motor to be in a parked state by controlling the parking motor. The method includes: After the vehicle is powered on, obtain the first electrical angle information of the motor controller at the first moment, where the motor controller is used to control the drive motor; According to the first electrical angle information and the reference angle information in the parking gear, determine the relative displacement angle of the first gear of the drive motor at the first moment; Judge whether the relative displacement angle of the first gear is less than or equal to the maximum stalling displacement angle. If so, determine that the electronic parking controller is in a stalling state.

2. The method according to claim 1, wherein The step of, after the vehicle is powered on, obtaining the first electrical angle information of the motor controller includes: After the vehicle is powered on, judge whether the vehicle speed is less than a preset vehicle speed and the current rotational speed is less than a preset rotational speed. If so, obtain the first electrical angle information of the motor controller at the first moment.

3. The method according to claim 1, characterized in that, The step of judging whether the relative displacement angle of the first gear is less than or equal to the maximum stalling displacement angle. If so, determine that the electronic parking controller is in a stalling state includes: Judge whether the relative displacement angle of the first gear is less than or equal to the maximum stalling displacement angle. If so, judge whether the vehicle is in a stalling working condition, and whether the difference between the relative displacement angle of the first gear and the relative displacement angle of the second gear at the second moment is within the stalling displacement angle fluctuation range. If so, determine that the electronic parking controller is in a stalling state; the second moment is later than the first moment.

4. The method according to claim 3, characterized in that, The stalling working condition is that the current rotational speed is less than a preset rotational speed and the current torque is greater than a preset torque.

5. The method according to any one of claims 1 to 4, characterized in that The method further includes: The vehicle controller sends an enable request flag bit to the electronic parking controller so that the electronic parking controller exits the stalling state.

6. An apparatus for determining the jamming of an electronic parking controller, characterized in that, The electronic parking controller controls the output shaft of the drive motor to be in a parked state by controlling the parking motor. The device includes: An acquisition unit, configured to obtain the first electrical angle information of the motor controller at the first moment after the vehicle is powered on, where the motor controller is used to control the drive motor; A first determination unit, configured to determine the relative displacement angle of the first gear of the drive motor at the first moment according to the first electrical angle information and the reference angle information in the parking gear; A second determination unit, configured to judge whether the relative displacement angle of the first gear is less than or equal to the maximum stalling displacement angle. If so, determine that the electronic parking controller is in a stalling state.

7. The device according to claim 6, characterized in that, The acquisition unit is used for: After the vehicle is powered on, judge whether the vehicle speed is less than a preset vehicle speed and the current rotational speed is less than a preset rotational speed. If so, obtain the first electrical angle information of the motor controller at the first moment.

8. The device according to claim 6, characterized in that, The second determination unit is used for: Determine whether the relative displacement angle of the first gear is less than or equal to the maximum stuck displacement angle. If so, determine whether the vehicle is in a stalled condition, and whether the difference between the relative displacement angle of the first gear and the relative displacement angle of the second gear at a second moment later than the first moment is within the stuck displacement angle fluctuation range. If so, determine that the electronic parking controller is in a stuck state.

9. A computer device, characterized in that, The computer device includes a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the method according to any one of claims 1-5 based on the instructions in the program code.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1-5.

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