Parking method, vehicle and storage medium

Abstract

The invention provides a parking method, a vehicle and a storage medium, the method is applied to the technical field of vehicle braking, and the method comprises the steps that actual working condition parameters of a parking mechanism corresponding to a parking chip are collected; whether a parking mechanism corresponding to the parking chip meets a preset failure condition or not is judged according to the actual working condition parameters; if the parking mechanism corresponding to the parking chip meets the preset failure condition, it is judged that the parking mechanism corresponding to the parking chip fails, control over the failed parking mechanism is stopped, and / or a failure signal is sent to other parking chips, so that the other parking chips enter a failure mode. According to the method, whether the parking chip fails or not can be judged on the basis of the actual working condition parameters of the parking mechanism corresponding to the parking chip, and then when it is judged that the parking mechanism fails, control over the failed parking mechanism is stopped, and / or other parking chips are driven to conduct parking control on the basis of the failure mode, redundant parking is achieved, and the stability and safety of vehicle parking are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle braking, and more specifically, to a parking method, a vehicle, and a storage medium in the field of vehicle braking. Background Art

[0002] In the related art, by adopting an electronic parking system, that is, an EPB (Electrical Park Brake), the disadvantages of the traditional mechanical parking braking system are avoided. The EPB has higher precision and control performance. The ECU (Electrical Control Unit) calculates the downward sliding force generated by gravity when the vehicle parks on a slope from the signals collected by the longitudinal acceleration sensor, and the ECU applies a braking force to the rear wheels through the motor to keep the vehicle parked on the slope. When the vehicle starts, the ECU refers to the currently applied parking braking force and calculates the traction force that can enable the vehicle to start by collecting the throttle pedal signal, so that the vehicle can start normally on the slope.

[0003] As a part of the by-wire chassis, the EMB (Electro Mechanical Brake) system plays an important role in the intelligent development of vehicles. The EMB stands out among many braking systems due to its advantages such as timely response, compact structure, small drag torque, and high controllable precision. The EMB can achieve a high degree of integration of electronic and electrical components, and has the advantages of being easy to integrate with the vehicle's electronic communication network and facilitating the control of each part of the parking structure.

[0004] However, in the related art, the parking function of the EMB is similar to that of the EPB. Both achieve vehicle parking by the controller controlling the execution unit. The parking mechanism, as the execution unit, is an important part of the EMB system. The failure of the parking mechanism often causes the degradation and loss of other functions, and cannot ensure the safety of the driver, so it urgently needs to be improved. Summary of the Invention

[0005] The present application provides a parking method, a vehicle, and a storage medium. The method can determine whether the parking mechanism corresponding to the present parking chip fails based on the actual working condition parameters of the parking mechanism, and then when it is determined that the parking mechanism fails, stop controlling the failed parking mechanism, and / or send a failure signal to other parking chips to drive other parking chips to perform parking control based on the failure mode, so as to achieve redundant parking while reducing the impact of the failure of some parking mechanisms on vehicle parking, improve the smoothness and safety of vehicle parking, and improve the driving experience of the driver.

[0006] In a first aspect, a parking method is provided. The vehicle includes a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, a first control component for driving the first parking device to work, a second control component for driving the second parking device to work, and a communication device communicating with the first control component or the second control component. Wherein, the first control component includes a first parking chip and a second parking chip, and the second control component includes a third parking chip and a fourth parking chip. Among them, the first parking chip, the second parking chip, the third parking chip and the fourth parking chip communicate with each other. Among them, the method is applied to any one of the parking chips and includes the following steps:

[0007] Collect the actual working condition parameters of the parking mechanism corresponding to this parking chip;

[0008] Judge whether the parking mechanism corresponding to this parking chip meets the preset failure condition according to the actual working condition parameters;

[0009] If the parking mechanism corresponding to this parking chip meets the preset failure condition, it is determined that the parking mechanism corresponding to this parking chip fails, stop controlling the failed parking mechanism, and / or send a failure signal to other parking chips, so that the other parking chips enter the failure mode.

[0010] Through the above technical means, it is possible to judge whether it fails based on the actual working condition parameters of the parking mechanism corresponding to this parking chip. Furthermore, when it is judged that the parking mechanism fails, stop controlling the failed parking mechanism, and / or send a failure signal to other parking chips to drive other parking chips to perform parking control based on the failure mode, realizing redundant parking while reducing the impact of the failure of some parking mechanisms on vehicle parking, improving the smoothness and safety of vehicle parking, and improving the driving experience of the driver.

[0011] Combined with the first aspect, in some possible implementation manners, before collecting the actual working condition parameters of the parking mechanism corresponding to this parking chip, it further includes:

[0012] Detect whether the data signal of the parking mechanism corresponding to this parking chip meets the preset valid condition;

[0013] In the case where it is detected that the data signal does not meet the preset valid condition, stop controlling the parking mechanism corresponding to this parking chip, and / or send the failure signal to the other parking chips, so that the other parking chips enter the failure mode.

[0014] Through the above technical means, it is possible to confirm the validity of the data signal of the parking mechanism corresponding to this parking chip, thereby improving the accuracy of failure judgment and avoiding false failure judgments caused by invalid data signals.

[0015] In combination with the first aspect, in some possible implementation manners, before determining whether the parking mechanism corresponding to the present parking chip meets the preset failure condition, it further includes:

[0016] Collect the current environment where the vehicle is located;

[0017] Optimize the initial failure condition of the vehicle according to the current environment where the vehicle is located to obtain the preset failure condition.

[0018] Through the above technical means, it is possible to optimize the initial failure condition according to the current environment where the vehicle is located, making the failure determination more accurate and avoiding misjudgment caused by environmental factors.

[0019] In combination with the first aspect, in some possible implementation manners, before determining whether the parking mechanism corresponding to the present parking chip meets the preset failure condition, it further includes:

[0020] Identify the actual driving style of the driver;

[0021] Optimize the initial failure condition of the vehicle according to the actual driving style to obtain the preset failure condition.

[0022] Through the above technical means, it is possible to optimize the initial failure condition according to the actual driving style, making the failure determination more accurate and avoiding misjudgment caused by the driving style.

[0023] In combination with the first aspect, in some possible implementation manners, before determining whether the parking mechanism corresponding to the present parking chip meets the preset failure condition, it further includes:

[0024] Obtain the current working condition of the vehicle;

[0025] Optimize the initial failure condition of the vehicle according to the current working condition to obtain the preset failure condition.

[0026] Through the above technical means, it is possible to optimize the initial failure condition according to the current working condition, making the failure determination more accurate and avoiding misjudgment caused by different working conditions.

[0027] In combination with the first aspect, in some possible implementation manners, after determining that the parking mechanism corresponding to the present parking chip fails, it further includes:

[0028] Send a verification control signal to the failed parking mechanism;

[0029] Determine the authenticity of the failure of the failed parking mechanism according to the feedback result sent by the failed parking mechanism based on the verification control signal and / or the feedback duration of the feedback result;

[0030] If the authenticity is true, stop controlling the failed parking mechanism and / or send the failure signal to the other parking chips. Otherwise, determine a failure diagnosis fault and give a fault reminder.

[0031] Through the above technical means, the authenticity of the failure of the parking mechanism can be verified, thus avoiding misjudgment from affecting the normal parking of the vehicle.

[0032] Combined with the first aspect, in some possible implementation manners, determining whether the parking mechanism corresponding to the present parking chip meets the preset failure condition according to the actual working condition parameters includes:

[0033] Obtain the target working condition parameters according to the current control signal of the present parking chip;

[0034] Judge whether the error between the actual working condition parameters and the target working condition parameters is within the preset range;

[0035] If the error between the actual working condition parameters and the target working condition parameters is within the preset range, determine that the parking mechanism corresponding to the present parking chip has not failed; otherwise, determine that the parking mechanism corresponding to the present parking chip has failed.

[0036] Through the above technical means, it is possible to determine whether the parking mechanism has failed according to the actual working condition parameters and the target working condition parameters of the parking mechanism, so as to control other parking chips to enter the failure mode according to the judgment result.

[0037] Combined with the first aspect, in some possible implementation manners, stopping controlling the failed parking mechanism and / or sending a failure signal to other parking chips includes:

[0038] Send a failure warning to the driver;

[0039] Receive the failure control instruction input by the driver, and stop controlling the failed parking mechanism and / or send the failure signal to the other parking chips according to the failure control instruction.

[0040] Through the above technical means, it is possible to perform parking control after the failure of any parking mechanism according to the failure control instruction of the driver, so that the parking action can meet the needs of the driver.

[0041] In a second aspect, a parking device is provided. The vehicle includes a first parking device and a second parking device respectively corresponding to the front wheels and the rear wheels, a first control component for driving the first parking device to operate, a second control component for driving the second parking device to operate, and a communication device for communicating with the first control component or the second control component. Among them, the first control component includes a first parking chip and a second parking chip, and the second control component includes a third parking chip and a fourth parking chip. Among them, the first parking chip, the second parking chip, the third parking chip, and the fourth parking chip communicate with each other. Among them, the device is applied to any one of the parking chips and includes:

[0042] A first acquisition module for acquiring the actual working condition parameters of the parking mechanism corresponding to this parking chip;

[0043] A judgment module for judging whether the parking mechanism corresponding to this parking chip meets the preset failure condition according to the actual working condition parameters;

[0044] A first control module for, if the parking mechanism corresponding to this parking chip meets the preset failure condition, determining that the parking mechanism corresponding to this parking chip fails, stopping controlling the failed parking mechanism, and / or sending a failure signal to other parking chips, so that the other parking chips enter the failure mode.

[0045] In combination with the second aspect, in some possible implementation manners, it further includes:

[0046] A detection module for detecting whether the data signal of the parking mechanism corresponding to this parking chip meets the preset valid condition;

[0047] A second control module for, when it is detected that the data signal does not meet the preset valid condition, stopping controlling the parking mechanism corresponding to this parking chip, and / or sending the failure signal to the other parking chips, so that the other parking chips enter the failure mode.

[0048] In combination with the second aspect, in some possible implementation manners, it further includes:

[0049] A second acquisition module for acquiring the current environment where the vehicle is located;

[0050] A first optimization module for optimizing the initial failure condition of the vehicle according to the current environment where the vehicle is located to obtain the preset failure condition.

[0051] In combination with the second aspect, in some possible implementation manners, it further includes:

[0052] An identification module for identifying the actual driving style of the driver and / or the current working condition of the vehicle;

[0053] A second optimization module, configured to optimize the initial failure condition of the vehicle according to the actual driving style and / or the current working condition, so as to obtain the preset failure condition.

[0054] In combination with the second aspect, in some possible implementation manners, it further includes:

[0055] An acquisition module, configured to acquire the actual parking type of the vehicle;

[0056] A first determination module, configured to determine the preset failure condition according to the actual parking type and the control mode of any one of the parking chips.

[0057] In combination with the second aspect, in some possible implementation manners, it further includes:

[0058] A sending module, configured to send a verification control signal to the failed parking mechanism;

[0059] A second determination module, configured to determine the authenticity of the failure of the failed parking mechanism according to the feedback result sent based on the verification control signal of the failed parking mechanism and / or the feedback duration of the feedback result;

[0060] A third control module, configured to, when the authenticity is true, allow to stop controlling the failed parking mechanism, and / or send the failure signal to the other parking chips, otherwise determine a failure diagnosis fault and perform a fault reminder.

[0061] In combination with the second aspect, in some possible implementation manners, the judgment module includes:

[0062] An acquisition unit, configured to obtain target working condition parameters according to the current control signal of the parking chip;

[0063] A judgment unit, configured to judge whether the error between the actual working condition parameters and the target working condition parameters is within a preset range;

[0064] A determination unit, configured to, when the error between the actual working condition parameters and the target working condition parameters is within the preset range, determine that the parking mechanism corresponding to the parking chip has not failed, otherwise determine that the parking mechanism corresponding to the parking chip has failed.

[0065] In combination with the second aspect, in some possible implementation manners, the first control module includes:

[0066] A sending unit, configured to send a failure warning to the driver;

[0067] A control unit, configured to receive the failure control instruction input by the driver, stop controlling the failed parking mechanism according to the failure control instruction, and / or send the failure signal to the other parking chips.

[0068] In a third aspect, a vehicle is provided, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the parking method according to the first aspect or any possible parking method of the first aspect.

[0069] In a fourth aspect, a computer-readable storage medium is provided, which stores computer program code, and when the computer program code runs on a computer, the computer is caused to execute the method in the first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0070] Figure 1a A schematic diagram of the system architecture of a parking method according to an embodiment of the present application;

[0071] Figure 1b A schematic diagram of the system architecture of a parking method according to another embodiment of the present application;

[0072] Figure 2 A schematic diagram of the system architecture of a parking method according to still another embodiment of the present application;

[0073] Figure 3 A schematic diagram of the system architecture of a parking method according to yet another embodiment of the present application;

[0074] Figure 4 A schematic diagram of the structure of a parking locking mechanism according to an embodiment of the present application;

[0075] Figure 5 A flowchart of a parking method provided according to an embodiment of the present application;

[0076] Figure 6 A schematic diagram of the principle of driving preference analysis according to an embodiment of the present application;

[0077] Figure 7 A schematic diagram of the structure of a parking device provided according to an embodiment of the present application;

[0078] Figure 8 A schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. Detailed Embodiments

[0079] The technical solutions in the present application will be clearly and elaborately described below in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B. The "and / or" in the text is merely an association relationship describing associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0080] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0081] The traditional parking brake system is in the form of a mechanical parking brake lever, which can lock the drive shaft or the rear wheels of the parking brake through a lever and a cable to implement braking. When the driver needs to park the vehicle, the driver can manually pull up the parking brake lever to bring the brake plate into contact with the wheels and prevent the vehicle from moving forward. This is relatively cumbersome and laborious, and is greatly affected by the terrain. When the terrain is uneven, the braking effect is poor and the accident risk is high. In addition, since the operation of the mechanical parking requires the intervention of the driver, it cannot be compatible with autonomous driving technology, which has imposed certain limitations on the future development of automobiles.

[0082] Based on the improvement of the traditional parking brake system, related technologies can achieve electronic parking brake through an EPB with higher precision and control performance, thereby reducing the driver's intervention, reducing the influence of terrain factors on the braking effect, improving parking brake safety, and providing an auxiliary basis for braking and parking in autonomous driving technology. However, the EPB needs to implement vehicle deceleration and parking control through a parking mechanism. When the parking chip that drives the parking mechanism fails, it often leads to the failure of the parking brake, thus causing a large safety accident, making it difficult to ensure parking brake safety and being unfavorable to improving the driver's driving experience.

[0083] At the same time, when the parking mechanism fails, it often leads to the failure of vehicle parking and causes traffic accidents. For vehicles with parking mechanisms driven by different parking chips, when any one of the parking mechanisms fails, it is easy to cause uneven distribution of parking force, resulting in accidents such as vehicle rollover and slope slipping.

[0084] Before explaining the parking method provided in the embodiments of the present application, the system architecture involved in the embodiments of the present application will be described first.

[0085] Next, the application scenario or system architecture of the embodiments of the present application will be described. See Figure 1a 、Figure 1b , Figure 2 and Figure 3 .

[0086] Combined with Figure 1a , Figure 1b and Figure 2 As shown, the system architecture of the embodiments of the present application may include: a first parking device 100, a second parking device 200, a first control component 300, a second control component 400, and a communication device 500.

[0087] Among them, the first parking device 100 and the second parking device 200 are respectively arranged corresponding to the front wheels and the rear wheels;

[0088] The first control component 300 includes a first parking chip 301 and a second parking chip 302;

[0089] The second control component 400 includes a third parking chip 401 and a fourth parking chip 402;

[0090] The first control component 300 drives the first parking device 100 to perform a parking action;

[0091] The second control component 400 can drive the second parking device 200 to perform a parking action;

[0092] The communication device 500 can communicate with the first control component 300 or the second control component 400, and after the communication device 500 sends a parking signal to any one of the control components, the parking signal is forwarded by any one of the control components to the other control component to realize the transmission of the parking signal. Among them, the first control component 300 and the second control component 400 can communicate with each other, and the first parking chip 301, the second parking chip 302, the third parking chip 401, and the fourth parking chip 402 can communicate with each other.

[0093] Specifically, as Figure 3 shown, the first control component 300 and the second control component 400 can be respectively a front controller and a rear controller, so as to control the corresponding parking mechanism based on the relationship that the first parking device 100 and the second parking device 200 are respectively arranged corresponding to the front wheels and the rear wheels.

[0094] The communication device 500 respectively receives the signals of the first control component 300 and the second control component 400. As a redundancy, it is ensured that after the first control component 300 and the second control component 400 fail, the communication device 500 can still send instructions to the parking mechanisms of the four wheels through the parking chips.

[0095] The power supply supplies power to the four parking mechanism actuators, the first control component 300, and the second control component 400 respectively. One of them is a redundant power supply to prevent the electronic parking system from failing to work due to the failure of a certain power supply.

[0096] Further, the parking mechanism of the embodiment of the present application may include a driving clamping device and a parking locking mechanism. Among them, the driving clamping device is that the motor rotates the lead screw to push the caliper piston; the parking locking mechanism may be as Figure 4 shown, including: an electromagnet connector 1, a solenoid valve 2, an electromagnet 3, a pawl 4, a pawl spring 5, a pawl pin shaft 6, a motor drive shaft 7, a ratchet 8, a rear motor assembly 9, a guide pin 10, and a brake caliper bracket 11.

[0097] The working principle of the parking locking mechanism is that when the motor rotates to the corresponding position, the electromagnet 3 drives the push rod, the push rod pushes the pawl 4, locks the motor drive shaft 7 and the ratchet 8, and then makes the motor drive shaft unable to rotate back, thereby realizing parking.

[0098] Figure 5 is a schematic flowchart of a parking method provided by an embodiment of the present application.

[0099] Exemplarily, as Figure 5 shown, the parking method includes the following steps:

[0100] In step S501, collect the actual working condition parameters of the parking mechanism corresponding to this parking chip.

[0101] In the actual execution process, the embodiment of the present application can collect the actual working condition parameters of the parking mechanism corresponding to this parking chip by using, such as, a vehicle controller, an electronic control unit through a communication chip, a hard wire, or a sensor of the parking mechanism. Among them, the actual working condition parameters may include an EPB status signal (judging the status of the parking mechanism at the wheel end through this signal, such as locking / releasing), the driving clamping device and the locking mechanism of the parking mechanism, such as the position of the solenoid valve push rod (reflecting whether the parking status changes through displacement) or the current magnitude of the caliper and solenoid valve of the parking mechanism (judging whether the parking mechanism fails according to the target current and the actual current), the data acquisition frequency, the signal transmission rate, etc., so as to judge whether the parking mechanism is faulty through the actual working condition parameters of the parking mechanism. For example, communication parameters, feedback signals of the parking mechanism, control parameters of the parking mechanism based on the current working condition, etc.

[0102] Optionally, in an embodiment of the present application, before collecting the actual working condition parameters of the parking mechanism corresponding to this parking chip, it further includes: detecting whether the data signal of the parking mechanism corresponding to this parking chip meets a preset valid condition; in the case where it is detected that the data signal does not meet the preset valid condition, stop controlling the parking mechanism corresponding to this parking chip, and / or send a failure signal to other parking chips, so that the other parking chips enter the failure mode.

[0103] It can be understood that, under the influence of factors such as data acquisition failure and signal transmission failure, the actual working condition parameters of the parking mechanism collected are not reliable. Furthermore, there may be misjudgments in determining whether the parking mechanism fails based on the actual working condition parameters.

[0104] Therefore, the embodiments of the present application can detect whether the data signal of the parking mechanism corresponding to this parking chip meets the preset valid conditions, that is, detect the validity of the data signal of the parking mechanism corresponding to this parking chip. For example, the embodiments of the present application can use validity judgment tools such as multi-channel signal verification, single-channel signal encryption / verification, etc., or can also use methods such as sending analog signals and comparing predicted values with actual values to verify whether it is valid), to determine that the data signal is valid, so that the embodiments of the present application can collect the actual working condition parameters of the parking mechanism corresponding to this parking chip on the premise that the data signal is valid.

[0105] When the detection result is failure, the embodiments of the present application can determine that the actual working condition parameters to be collected subsequently do not have judgment value, thereby stopping the control of the failed parking device, and / or sending a failure signal to other parking chips, so that other parking chips enter the failure mode.

[0106] Through the above technical means, it is possible to confirm the validity of the data signal of the parking mechanism corresponding to this parking chip, thereby improving the accuracy of failure judgment and avoiding failure misjudgments caused by invalid data signals.

[0107] In step S502, it is judged whether the parking mechanism corresponding to this parking chip meets the preset failure conditions according to the actual working condition parameters.

[0108] As a possible implementation manner, the embodiments of the present application can judge whether the parking mechanism corresponding to this parking chip fails based on the actual working condition parameters, so as to perform subsequent responses based on the judgment result and complete the parking action. The preset failure conditions can be electrical information such as current, voltage, resistance, or other types of data information such as data acquisition frequency, signal transmission rate, etc., and compare with the design parameters to judge the state (such as current > design parameter, that is, judge as a failure state). For example, whether the working condition parameters related to communication are faulty, whether the working condition parameters of signal real-time feedback are faulty, whether the hardware working condition parameters are faulty, etc.

[0109] Optionally, in an embodiment of the present application, judging whether the parking mechanism corresponding to this parking chip meets the preset failure conditions according to the actual working condition parameters includes: obtaining target working condition parameters according to the current control signal of this parking chip; judging whether the error between the actual working condition parameters and the target working condition parameters is within the preset range; if the error between the actual working condition parameters and the target working condition parameters is within the preset range, it is determined that the parking mechanism corresponding to this parking chip has not failed, otherwise it is determined that the parking mechanism corresponding to this parking chip has failed.

[0110] In some embodiments, the embodiments of the present application can obtain the target operating parameters of the corresponding parking mechanism based on the current control signal of the parking chip, wherein the current control signal can be the control signal of the corresponding parking mechanism generated by the parking chip after receiving the parking signal sent by the communication module, or it can be the control signal of the corresponding parking mechanism generated after receiving the parking signal forwarded by other parking chips, so as to use the current control signal to control the corresponding parking mechanism for parking.

[0111] The current control signal may include specific parameters for controlling the parking mechanism, such as response time, parking force applied by the parking mechanism to the wheels, etc. The target operating parameters of the parking mechanism may be obtained through the specific parameters. Thus, by comparing the target operating parameters with the actual operating parameters, it is determined whether the error between the actual operating parameters and the target operating parameters falls within a preset range, so as to determine whether the parking mechanism has failed.

[0112] For example, the embodiment of the present application can detect whether the motor angle is rotating or not in place through the rotor position sensor to determine whether the driving clamping device of the parking mechanism has failed.

[0113] The embodiment of the present application can also detect whether the parking lock device is executed or not executed properly through the parking lock displacement sensor to determine whether the parking lock mechanism of the parking mechanism has failed.

[0114] The embodiment of the present application can also determine whether a fault sent by the sensor chip itself is received: such as whether a rotor position sensor failure signal is received, whether a pressure sensor failure signal is received, and whether a parking lock displacement sensor failure signal is received.

[0115] It should be noted that the preset range can be set accordingly by those skilled in the art according to actual working conditions and is not specifically limited here.

[0116] Optionally, in one embodiment of the present application, before determining whether the parking mechanism corresponding to the parking chip satisfies a preset failure condition, it also includes: collecting the current environment of the vehicle; optimizing the initial failure condition of the vehicle according to the current environment to obtain a preset failure condition.

[0117] During the actual implementation process, the embodiments of the present application can utilize environmental information collected by at least one environmental sensor of the vehicle to obtain the current environment of the vehicle, such as the vehicle's road status signal (such as high attachment, low attachment, open road, etc.), the vehicle's environmental signal (such as high cold, high temperature, high humidity, etc.), etc., and then optimize the initial failure condition according to the vehicle's current environment to adjust the failure condition according to the environmental optimization, so that the preset failure condition can more accurately judge whether the parking mechanism has failed.

[0118] For example, when the current environment of the vehicle is a slippery environment such as an icy environment, the embodiments of the present application can compensate the actual acceleration threshold, and the compensation formula can be as follows:

[0119] Actual ax = Sensor ax + Compensation offset;

[0120] When the current environment of the vehicle is an environment such as a plateau environment that affects the tire pressure of the wheels, the embodiments of the present application can compensate the actual tire rolling radius threshold, and the compensation formula can be as follows:

[0121] Actual tire rolling radius R = Default tire rolling radius R + Compensation offset.

[0122] Furthermore, the embodiments of the present application can determine the compensation value of the parking chip when calculating the parking strategy based on the environment, so as to determine the corresponding parameters of the corresponding parking mechanism when normally executing the parking action based on the compensation value, and further obtain the preset failure condition of the parking mechanism.

[0123] Through the above technical means, the initial failure condition can be optimized according to the current environment of the vehicle, making the failure determination more accurate and avoiding misjudgment caused by environmental factors.

[0124] Optionally, in an embodiment of the present application, before determining whether the parking mechanism corresponding to the present parking chip meets the preset failure condition, it further includes: identifying the actual driving style of the driver; optimizing the initial failure condition of the vehicle according to the actual driving style to obtain the preset failure condition.

[0125] In some embodiments, the embodiments of the present application can also identify the actual driving style of the driver, so as to optimize the initial failure condition of the vehicle according to the actual driving style. Among them, the embodiments of the present application can identify the actual driving style of the driver, such as an aggressive driving style, a steady driving style, etc., by obtaining the historical driving data of the vehicle, such as the relationship between the acceleration pedal slope and the vehicle speed of the driver under different working conditions, and combining other control parameters of the vehicle.

[0126] For example, as Figure 6 shown, the embodiments of the present application can judge the driving preference of the driver based on the time taken for the brake pedal stroke to reach the full stroke. When the time taken for the brake pedal stroke to reach the full stroke is less than 0.7s, it is an aggressive driving preference; when it is greater than 0.7s, it is a comfortable and stable driving preference, etc. Among them, Comfort is the deceleration corresponding to the slow parking pedal stroke, and Sport is the deceleration corresponding to the fast brake pedal stroke.

[0127] For example, when the actual driving style is an aggressive driving style, since the driver is used to making sudden stops and the parking response time is significantly shortened, the vehicle preferentially performs the friction-parking force calculation and increases the frequency of collecting data on the parking mechanism (such as the parking force executed by the parking mechanism, the clamping force of the caliper in the parking mechanism, the clamping angle of the caliper, etc.). Therefore, the embodiments of the present application can narrow the range of the parking response time in the initial failure condition and increase the data feedback frequency in the initial failure condition;

[0128] When the actual driving style is a smooth driving style, the parking response time is within the normal range. And in order to keep the vehicle stable, the parking chip can adjust the parking strategy in a timely manner according to the data transmitted back by the parking mechanism. The embodiments of the present application can determine the proportion among functions such as data reception, instruction issuance, and data upload of the parking mechanism based on the actual parameters of the parking mechanism, such as the signal transmission speed, etc., so as to optimize the initial failure condition based on the proportion. Among them, the proportion can be set by those skilled in the art according to the actual parameters of the parking mechanism, and no specific limitation is made here.

[0129] Through the above technical means, it is possible to optimize the initial failure condition according to the actual driving style, making the failure determination more accurate and avoiding misjudgment caused by the driving style.

[0130] Optionally, in an embodiment of the present application, before determining whether the parking mechanism corresponding to the present parking chip meets the preset failure condition, it further includes: obtaining the current working condition of the vehicle; optimizing the initial failure condition of the vehicle according to the current working condition to obtain the preset failure condition.

[0131] The embodiments of the present application can also identify the current working condition of the vehicle, such as the ramp parking condition, the roadside parking condition, etc., so as to optimize the initial failure condition of the vehicle according to the current working condition.

[0132] For example, when the current working condition of the vehicle is a condition where different wheels bear different parking forces in a ramp parking condition, etc., the embodiments of the present application can accelerate the parking response speed and shorten the parking response time in the initial failure condition.

[0133] Through the above technical means, it is possible to optimize the initial failure condition according to the current working condition, making the failure determination more accurate and avoiding misjudgment caused by different working conditions.

[0134] Optionally, in an embodiment of the present application, after determining that the parking mechanism corresponding to the present parking chip fails, it further includes: sending a calibration control signal to the failed parking mechanism; determining the authenticity of the failure of the failed parking mechanism according to the feedback result sent by the failed parking mechanism based on the calibration control signal and / or the feedback duration of the feedback result; if the authenticity is true, allowing to stop controlling the failed parking mechanism, and / or sending a failure signal to other parking chips, otherwise determining a failure diagnosis fault and performing a fault reminder.

[0135] During the actual execution process, the embodiment of the present application can also calibrate the parking mechanism determined to be failed, so as to determine the authenticity of the failure of the parking mechanism according to the feedback result and / or the feedback duration of the feedback result, further reducing the impact of misjudgment on the parking action.

[0136] When the feedback result and / or the feedback duration of the feedback result meet the design rationality (for example: <2s is qualified, otherwise it is unqualified), the authenticity can be determined to be true, and then allowing to stop controlling the failed parking device, and / or sending a failure signal to other parking chips, where the design rationality is the design parameters that can meet the vehicle safety parking requirements when there is no failure of the parking device in the vehicle;

[0137] When the feedback result and / or the feedback duration of the feedback result do not meet the design rationality, the authenticity can be determined to be false, so that the failure diagnosis fault can be determined and a fault reminder can be performed to remind the driver to perform maintenance in time.

[0138] For example, when the driving clamping device of the parking mechanism fails, calibrate: the pressure sensor does not detect the clamping force output or does not reach the target clamping force, and determine that the driving clamping device fails.

[0139] When the parking locking device of the parking mechanism fails, calibrate: try to release the driving clamping device, and it is detected by the rotor position sensor that the angle rotation of the driving clamping device > the calibrated amount, and determine that the parking locking mechanism fails.

[0140] When the sensor chip fails:

[0141] Calibration of the rotor position sensor: Determine whether the rotor position sensor fails according to the angle rotation of the rotor position sensor, the transmission ratio of the clamping drive device, the corresponding relationship between the clamping force collected by the pressure sensor, and the deviation from the target clamping force and target angle of the MCU.

[0142] Calibration of the pressure sensor: The ECU determines whether the pressure sensor fails according to the angle rotation of the rotor sensor, the transmission ratio of the clamping drive device, the corresponding relationship between the clamping force collected by the pressure sensor, and the deviation from the target clamping force and target angle of the MCU.

[0143] Calibration of the parking lock displacement sensor: Determine whether the parking lock displacement sensor fails by judging the rotation angle of the rotor position sensor. Try to release the driving clamping device of the parking mechanism. If the rotation angle of the driving clamping device detected by the rotor position sensor is greater than the calibrated value, it is determined that the parking lock displacement sensor of the locking mechanism of the parking mechanism fails. If both the rotor position sensor and the parking lock displacement sensor fail, the deviation values of the pressure sensor before and after parking lock and before and after the attempt to release the driving clamping device are used for determination.

[0144] Through the above technical means, the authenticity of the failure of the parking mechanism can be calibrated, thus avoiding misjudgment and affecting the normal parking of the vehicle.

[0145] In step S503, if the parking mechanism corresponding to this parking chip meets the preset failure conditions, it is determined that the parking mechanism corresponding to this parking chip fails, and the control of the failed parking mechanism is stopped, and / or a failure signal is sent to other parking chips, so that other parking chips enter the failure mode.

[0146] In some embodiments, after determining that the parking mechanism corresponding to this parking chip fails, the present application embodiment can stop the parking control of the failed parking mechanism, that is, no longer send a control signal to the failed parking mechanism or send a stop signal to the failed parking mechanism, so that the failed parking mechanism stops the parking action, avoiding the increase in vehicle instability caused by the failure.

[0147] In other embodiments, after determining that the parking mechanism corresponding to this parking chip fails, the present application embodiment can send the failure signal of this parking chip to other parking chips, so that other parking chips enter the failure mode and change the original parking strategy, so that in the case of the failure of one parking mechanism, other parking chips can adjust the parking strategy to ensure the stability of the vehicle when parking using the parking mechanism corresponding to other parking chips.

[0148] In addition, the present application embodiment can also stop the parking control of the failed parking mechanism and send a failure signal to other parking chips at the same time, thereby further increasing the parking stability.

[0149] Optionally, in an embodiment of the present application, stopping the control of the failed parking mechanism and / or sending a failure signal to other parking chips includes: sending a failure warning to the driver; receiving the failure control instruction input by the driver, and stopping the control of the failed parking mechanism and / or sending a failure signal to other parking chips according to the failure control instruction.

[0150] As a possible implementation manner, embodiments of the present application may send a failure warning to the driver by means such as acoustic, optical, and / or vibration reminders, and receive a failure control instruction input by the driver, for example, a parking assistance exit instruction, a parking parameter adjustment instruction, etc.

[0151] Embodiments of the present application may stop controlling the failed parking mechanism according to the failure control instruction, and / or send a failure signal to other parking chips, so that the parking action can meet the driver's requirements.

[0152] Through the above technical means, it is possible to perform parking control after the failure of any parking mechanism according to the driver's failure control instruction, so that the parking action can meet the driver's requirements.

[0153] In summary, the present application can determine whether to fail based on the actual working condition parameters of the parking mechanism corresponding to the present parking chip. Furthermore, when it is determined that the parking mechanism fails, the control of the failed parking mechanism is stopped, and / or a failure signal is sent to other parking chips to drive other parking chips to perform parking control based on the failure mode. While achieving redundant parking, the impact of the failure of some parking mechanisms on vehicle parking is reduced, the smoothness and safety of vehicle parking are improved, and the driving experience of the driver is improved.

[0154] Figure 7 It is a schematic structural diagram of a parking device provided by an embodiment of the present application.

[0155] Exemplarily, as Figure 7 shown, the parking device 70 includes: a first acquisition module 71, a judgment module 72, and a first control module 73.

[0156] Specifically, the first acquisition module 71 is configured to acquire the actual working condition parameters of the parking mechanism corresponding to the present parking chip.

[0157] The judgment module 72 is configured to judge whether the parking mechanism corresponding to the present parking chip meets the preset failure condition according to the actual working condition parameters.

[0158] The first control module 73 is configured to, if the parking mechanism corresponding to the present parking chip meets the preset failure condition, determine that the parking mechanism corresponding to the present parking chip fails, stop controlling the failed parking mechanism, and / or send a failure signal to other parking chips, so that other parking chips enter the failure mode.

[0159] Optionally, in an embodiment of the present application, the parking device 70 further includes: a detection module and a second control module.

[0160] Wherein, the detection module is configured to detect whether the data signal of the parking mechanism corresponding to the present parking chip meets the preset valid condition.

[0161] The second control module is configured to stop controlling the parking mechanism corresponding to this parking chip and / or send a failure signal to other parking chips to cause the other parking chips to enter a failure mode when it is detected that the data signal does not meet the preset valid condition.

[0162] Optionally, in an embodiment of the present application, the parking device 70 further includes: a second acquisition module and a first optimization module.

[0163] Wherein, the second acquisition module is configured to acquire the current environment where the vehicle is located.

[0164] The first optimization module is configured to optimize the initial failure condition of the vehicle according to the current environment to obtain a preset failure condition.

[0165] Optionally, in an embodiment of the present application, the parking device 70 further includes: an identification module and a second optimization module.

[0166] Wherein, the identification module is configured to identify the actual driving style of the driver and / or the current working condition of the vehicle.

[0167] The second optimization module is configured to optimize the initial failure condition of the vehicle according to the actual driving style and / or the current working condition to obtain a preset failure condition.

[0168] Optionally, in an embodiment of the present application, the parking device 70 further includes: an acquisition module and a first determination module.

[0169] Wherein, the acquisition module is configured to acquire the actual parking type of the vehicle.

[0170] The first determination module is configured to determine a preset failure condition according to the actual parking type and the control mode of any one of the parking chips.

[0171] Optionally, in an embodiment of the present application, the parking device 70 further includes: a sending module, a second determination module, and a third control module.

[0172] Wherein, the sending module is configured to send a verification control signal to the failed parking mechanism.

[0173] The second determination module is configured to determine the authenticity of the failure of the failed parking mechanism according to the feedback result sent based on the verification control signal of the failed parking mechanism and / or the feedback duration of the feedback result.

[0174] The third control module is configured to, when the authenticity is true, allow stopping the control of the failed parking mechanism and / or send a failure signal to other parking chips; otherwise, determine a failure diagnosis fault and perform a fault reminder.

[0175] Optionally, in an embodiment of the present application, the determination module 72 includes: an acquisition unit, a determination unit, and a decision-making unit.

[0176] Among them, the acquisition unit is configured to obtain target operating condition parameters according to the current control signal of the present parking chip.

[0177] The determination unit is configured to determine whether the error between the actual operating condition parameters and the target operating condition parameters is within a preset range.

[0178] The decision-making unit is configured to determine that the parking mechanism corresponding to the present parking chip is not failed when the error between the actual operating condition parameters and the target operating condition parameters is within the preset range; otherwise, it is determined that the parking mechanism corresponding to the present parking chip is failed.

[0179] Optionally, in an embodiment of the present application, the first control module 73 includes: a sending unit and a control unit.

[0180] Among them, the sending unit is configured to send a failure warning to the driver.

[0181] The control unit is configured to receive a failure control instruction input by the driver, stop controlling the failed parking mechanism according to the failure control instruction, and / or send a failure signal to other parking chips.

[0182] In summary, the present application can determine whether the parking mechanism corresponding to the present parking chip fails based on the actual operating condition parameters, and then when it is determined that the parking mechanism fails, stop controlling the failed parking mechanism, and / or send a failure signal to other parking chips to drive other parking chips to perform parking control based on the failure mode, so as to achieve redundant parking, reduce the impact of the failure of some parking mechanisms on vehicle parking, improve the smoothness and safety of vehicle parking, and improve the driving experience of the driver.

[0183] Figure 8 The structural schematic diagram of the vehicle provided by the embodiment of the present application. The vehicle may include:

[0184] A memory 801, a processor 802, and a computer program stored on the memory 801 and executable on the processor 802.

[0185] When the processor 802 executes the program, it implements the parking method provided in the above embodiment.

[0186] Furthermore, the vehicle further includes:

[0187] A communication interface 803 for communication between the memory 801 and the processor 802.

[0188] The memory 801 is used to store a computer program executable on the processor 802.

[0189] The memory 801 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0190] If the memory 801, the processor 802, and the communication interface 803 are implemented independently, the communication interface 803, the memory 801, and the processor 802 may be interconnected via a bus to complete communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0191] Optionally, in a specific implementation, if the memory 801, the processor 802, and the communication interface 803 are integrated on a single chip, the memory 801, the processor 802, and the communication interface 803 may complete communication with each other through an internal interface.

[0192] The processor 802 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0193] This embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above parking method is implemented.

[0194] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this 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 N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0195] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0196] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or portion of code including one or more N executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of this application pertain.

[0197] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection part (electronic device) having one or N wirings, a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0198] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0199] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0200] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, may exist separately as individual physical units, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0201] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A parking method, characterized in that, The vehicle includes a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, a first control component for driving the first parking device to work, a second control component for driving the second parking device to work, and a communication device communicating with the first control component or the second control component. Wherein, the first control component includes a first parking chip and a second parking chip, and the second control component includes a third parking chip and a fourth parking chip. Wherein, the first parking chip, the second parking chip, the third parking chip and the fourth parking chip communicate with each other. Wherein, the method is applied to any one of the parking chips and includes the following steps: Collect the actual working condition parameters of the parking mechanism corresponding to this parking chip; Judge whether the parking mechanism corresponding to this parking chip meets the preset failure condition according to the actual working condition parameters; If the parking mechanism corresponding to this parking chip meets the preset failure condition, it is determined that the parking mechanism corresponding to this parking chip fails, stop controlling the failed parking mechanism, and / or send a failure signal to other parking chips so that the other parking chips enter the failure mode.

2. The method according to claim 1, wherein Before collecting the actual working condition parameters of the parking mechanism corresponding to this parking chip, it further includes: Detect whether the data signal of the parking mechanism corresponding to this parking chip meets the preset valid condition; In the case that it is detected that the data signal does not meet the preset valid condition, stop controlling the parking mechanism corresponding to this parking chip, and / or send the failure signal to the other parking chips so that the other parking chips enter the failure mode.

3. The method according to claim 1, wherein Before judging whether the parking mechanism corresponding to this parking chip meets the preset failure condition, it further includes: Collect the current environment where the vehicle is located; Optimize the initial failure condition of the vehicle according to the current environment where it is located to obtain the preset failure condition.

4. The method according to claim 1, wherein Before judging whether the parking mechanism corresponding to this parking chip meets the preset failure condition, it further includes: Identify the actual driving style of the driver; Optimize the initial failure condition of the vehicle according to the actual driving style to obtain the preset failure condition.

5. The method according to claim 1, characterized in that, Before judging whether the parking mechanism corresponding to this parking chip meets the preset failure condition, it further includes: Obtain the current working condition of the vehicle; Optimize the initial failure condition of the vehicle according to the current working condition to obtain the preset failure condition.

6. The method according to claim 1, wherein After determining that the parking mechanism corresponding to this parking chip fails, it further includes: Send a verification control signal to the failed parking mechanism; Determine the authenticity of the failure of the failed parking mechanism according to the feedback result sent by the failed parking mechanism based on the verification control signal and / or the feedback duration of the feedback result; If the authenticity is true, allow to stop controlling the failed parking mechanism, and / or send the failure signal to the other parking chips, otherwise determine a failure diagnosis fault and give a fault reminder.

7. The method according to claim 1, characterized in that, The judging whether the parking mechanism corresponding to this parking chip meets the preset failure condition according to the actual working condition parameters includes: Obtain target operating condition parameters according to the current control signal of the present parking chip; Judge whether the error between the actual operating condition parameters and the target operating condition parameters is within a preset range; If the error between the actual operating condition parameters and the target operating condition parameters is within the preset range, it is determined that the parking mechanism corresponding to the present parking chip has not failed; otherwise, it is determined that the parking mechanism corresponding to the present parking chip has failed.

8. The method according to claim 1, wherein Stopping the failed parking mechanism and / or sending a failure signal to other parking chips includes: Sending a failure warning to the driver; Receiving the failure control instruction input by the driver, and stopping controlling the failed parking mechanism according to the failure control instruction and / or sending the failure signal to the other parking chips.

9. A vehicle, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the parking method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed, the parking method according to any one of claims 1 to 8 is implemented.

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