Electronic parking control method, device, equipment, medium and program product

Abstract

The invention discloses an electronic parking control method, device and equipment, a medium and a program product, and relates to the technical field of electronic parking. The method is applied to a whole vehicle domain controller and comprises the steps that when a current vehicle is in a static state, vehicle state data are obtained; and according to the vehicle state data, a parking control signal of the current vehicle is determined, and the parking control signal is sent to the electronic parking valve body so as to control the electronic parking valve body, and parking control over the current vehicle is achieved. According to the technical scheme of the embodiment of the invention, the real-time performance of the electronic parking control is ensured, the cost of the electronic parking control is reduced, and the applicability of the electronic parking control is improved.

Description

Technical Field

[0001] The present invention relates to the field of electronic parking technology, and in particular to an electronic parking control method, device, equipment, medium and program product. Background Art

[0002] With the development of electronic and intelligent commercial vehicles, drivers' demands for vehicle comfort and convenience are increasing. Electronic parking is more intelligent and easier to operate, which can greatly improve the driver's driving experience and enhance vehicle safety.

[0003] In the prior art, electronic parking control can be achieved by adding an independent electronic parking controller on the one hand; on the other hand, electronic parking control can be achieved by switching between various controllers using a function handover method.

[0004] However, adding an independent electronic parking controller will greatly increase the vehicle's hardware cost and complicate maintenance, making it difficult to promote on a large scale for low-cost commercial vehicles; using functional handover to switch back and forth between various controllers may affect the real-time performance of the electronic parking control. Summary of the Invention

[0005] The present invention provides an electronic parking control method, device, equipment, medium and program product, which ensure the real-time performance of the electronic parking control, reduce the cost of the electronic parking control and improve the applicability of the electronic parking control.

[0006] According to one aspect of the present invention, an electronic parking control method is provided, which is applied to a vehicle domain controller. The method includes:

[0007] When the current vehicle is in a stationary state, obtaining vehicle status data;

[0008] A parking control signal of the current vehicle is determined according to the vehicle state data, and the parking control signal is sent to an electronic parking valve body to control the electronic parking valve body to achieve parking control of the current vehicle.

[0009] According to another aspect of the present invention, an electronic parking control device is provided, which is applied to a vehicle domain controller. The device includes:

[0010] The vehicle status data acquisition module is used to acquire vehicle status data when the current vehicle is in a stationary state;

[0011] The vehicle parking control module is used to determine the parking control signal of the current vehicle according to the vehicle status data, and send the parking control signal to the electronic parking valve body to control the electronic parking valve body to achieve parking control of the current vehicle.

[0012] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the electronic parking control method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the electronic parking control method according to any embodiment of the present invention when executed.

[0017] According to another aspect of the present invention, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the electronic parking control method according to any embodiment of the present invention.

[0018] The technical solution of the embodiment of the present invention, through the vehicle domain controller, when the current vehicle is in a stationary state, determines the parking control signal of the current vehicle according to the vehicle state data, and sends the parking control signal to the electronic parking valve body to control the electronic parking valve body, introduces the vehicle domain controller, utilizes the performance redundancy of the vehicle domain controller, realizes the parking control of the current vehicle, can avoid using an independent electronic parking controller and redundant wiring harnesses, and can reduce the cost of electronic parking control; moreover, by a single vehicle domain controller, the parking control of the vehicle can be realized, and the influence on the real-time performance of the parking control caused by switching back and forth between various controllers can be avoided, ensuring the real-time performance of the vehicle parking control; in addition, by controlling the integrated electronic parking valve body, the adaptability of the vehicle parking control method to different vehicle models can be improved, thereby improving the applicability, compatibility and expandability of the vehicle parking control.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1 is a flowchart of an electronic parking control method provided in Embodiment 1 of the present invention;

[0022] Figure 2 is a flowchart of an electronic parking control method provided in Embodiment 2 of the present invention;

[0023] Figure 3 is a schematic structural diagram of an electronic parking control system provided in Embodiment 2 of the present invention;

[0024] Figure 4 is a circuit diagram of an electronic parking valve body provided in Embodiment 2 of the present invention;

[0025] Figure 5 is a flowchart of an intelligent rollback reminder process provided in Embodiment 2 of the present invention;

[0026] Figure 6 is a flowchart of an emergency braking anti-lock process provided in Embodiment 2 of the present invention;

[0027] Figure 7 is a flowchart of a hill-start assist process provided in Embodiment 2 of the present invention;

[0028] Figure 8 is a schematic structural diagram of an electronic parking control device provided in Embodiment 3 of the present invention;

[0029] Figure 9 is a schematic structural diagram of an electronic device for implementing the electronic parking control method of the embodiments of the present invention. Specific Embodiments

[0030] To enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, rather than all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 The figure is a flowchart of an electronic parking control method provided by Embodiment 1 of the present invention. The embodiments of the present invention are applicable to the situation where a vehicle domain controller is used to control the parking of a commercial vehicle. This method can be executed by an electronic parking control device, which can be implemented in the form of hardware and / or software, and the electronic parking control device can be configured in an electronic device carrying the electronic parking control function.

[0034] See Figure 1 The shown electronic parking control method is applied to a vehicle domain controller and includes:

[0035] S110. When the current vehicle is in a stationary state, obtain vehicle state data.

[0036] The current vehicle can include various commercial vehicles with fuel, hybrid and pure electric drives. The current vehicle can also include tractors, trucks, buses and special vehicles, etc. Optionally, the current vehicle can support L2-L5 level of autonomous driving.

[0037] The vehicle domain controller (VDCU) can integrate the functions of traditional distributed ECUs (Electronic Control Units), and realize cross-domain collaborative computing and resource scheduling. The vehicle domain controller integrates a controller, a solenoid valve drive circuit, a CAN (Controller Area Network) bus and I / O (Input / Output) interfaces. In terms of performance, the vehicle domain controller has performance redundancy.

[0038] The current vehicle is in a stationary state, which can be understood as that the current vehicle has been braked. At this time, the current vehicle speed of the current vehicle is zero. The vehicle state data can be used to characterize the state of the current vehicle at the current moment. Optionally, the vehicle state data can be transmitted by the CAN bus to the vehicle domain controller (VDCU). Exemplarily, the vehicle state data can include the vehicle flameout state, the brake pedal switch signal, the door switch state, the current engine torque, the current vehicle transmission ratio, the vehicle transmission efficiency, the current tire rolling radius, the current vehicle load, the current slope, the current throttle pedal opening, the current air reservoir pressure, and the current spring brake cylinder pressure, etc.

[0039] Specifically, through the vehicle domain controller, the current vehicle speed of the current vehicle can be detected. When it is detected that the current vehicle speed of the current vehicle is zero, it can be determined that the current vehicle is in a stationary state. When the current vehicle is in a stationary state, the vehicle state data of the current vehicle can be obtained through the CAN bus.

[0040] Optionally, before determining that the current vehicle is in a stationary state, the current wheel speed, the current engine speed, and the current vehicle gear of the current vehicle can be obtained through the CAN bus. The first current vehicle speed of the current vehicle can be calculated based on the current engine speed and the current vehicle gear. The second current vehicle speed of the current vehicle can be determined based on the current wheel speed of the current vehicle. The first current vehicle speed and the second current vehicle speed can be compared, and when the difference between the first current vehicle speed and the second current vehicle speed is less than or equal to a preset difference, the credibility of the first current vehicle speed and the second current vehicle speed can be verified. After the credibility verification of the first current vehicle speed and the second current vehicle speed passes, the first current vehicle speed or the second current vehicle speed can be determined as the current vehicle speed of the current vehicle.

[0041] Among them, the preset difference can be the upper limit value of the difference between the current vehicle speeds detected by different data sources set in advance. The preset difference can be determined and adjusted in advance by technicians.

[0042] By obtaining two current vehicle speeds through the CAN bus and mutually verifying the two current vehicle speeds, misjudgment of the current vehicle speed can be prevented, and the credibility of the current vehicle speed can be improved.

[0043] S120. Determine the parking control signal of the current vehicle according to the vehicle state data, and send the parking control signal to the electronic parking valve body to control the electronic parking valve body to realize the parking control of the current vehicle.

[0044] The parking control signal can be used to control the electronic parking valve body to realize the parking control of the current vehicle. Exemplarily, the parking control signal can include a parking application signal, a parking release signal, a parking detection activation signal, a parking detection cancellation signal, a trailer brake application signal, or a trailer brake contact signal, etc.

[0045] The electronic parking valve body can be used to control the trailer valve and the spring brake cylinder, so as to realize the parking control of the current vehicle. The electronic parking valve body can adopt an integrated structure of intake and exhaust channels, integrating an intake solenoid valve, an exhaust solenoid valve, a parking detection solenoid valve, a trailer independent brake solenoid valve and a pressure sensor. The air circuit interface can adopt a universal design, which can improve the vehicle model adaptability.

[0046] Specifically, a preset control rule can be obtained. When the vehicle state data meets the trigger condition of the preset control rule, the parking control signal corresponding to the trigger condition of the preset control rule is determined. And a corresponding parking control signal is sent to the electronic parking valve body to control the solenoid valve integrated in the electronic parking valve body to be energized or de-energized, so as to realize the parking control of the current vehicle.

[0047] In an optional embodiment of the present invention, the vehicle state data includes the current engine torque, the current vehicle transmission ratio, the current vehicle transmission efficiency, the current tire rolling radius, the current vehicle load, the current slope, the current throttle pedal opening and the current air reservoir pressure; correspondingly, according to the vehicle state data, the parking control signal of the current vehicle is determined, and the parking control signal is sent to the electronic parking valve body to control the electronic parking valve body to realize the parking control of the current vehicle, including: calculating the current driving force of the current vehicle according to the current engine torque, the current vehicle transmission ratio, the current vehicle transmission efficiency and the current tire rolling radius; calculating the current slope resistance of the current vehicle according to the current vehicle load and the current slope; when it is detected that the current driving force is greater than the current slope resistance, the current throttle pedal opening is greater than the preset throttle pedal opening, and the current air reservoir pressure is greater than or equal to the preset air reservoir pressure, a parking release signal is sent to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be de-energized and the intake solenoid valve to be energized, so as to realize the parking release of the current vehicle.

[0048] The current engine torque can be the output torque of the engine of the current vehicle. The current vehicle transmission ratio can be the speed ratio between the input shaft and the output shaft of the transmission system of the current vehicle. The current vehicle transmission efficiency can be the energy utilization rate of the power of the current vehicle transmitted to the wheels. The current tire rolling radius can be the effective action radius of the tire of the current vehicle when it is loaded and rolling. The current driving force can be the resultant force that the reaction force of the road surface where the current vehicle travels on the tire pushes the vehicle forward.

[0049] The current vehicle load can be all the static and dynamic forces borne by the current vehicle during operation. Exemplarily, the current vehicle load can include self-weight, load and external environmental forces. The current slope can be the degree of inclination of the road surface where the current vehicle travels relative to the horizontal plane. The current slope resistance can be the component force of gravity along the slope when the current vehicle climbs the slope.

[0050] The current throttle pedal opening can be the percentage of the displacement of the throttle pedal of the current vehicle in the maximum stroke. The current air reservoir pressure can be the storage pressure of compressed air in the air braking system of the current vehicle. The preset throttle pedal opening can be the lower limit value of the throttle pedal opening when the parking release timing is reached as preset in advance. The preset air reservoir pressure can be the lower limit value of the air reservoir pressure when the parking release timing is reached as preset in advance. The preset throttle pedal opening and the preset air reservoir pressure can be used to measure whether the current vehicle reaches the parking release timing.

[0051] Specifically, the following formula can be used to calculate the current driving force of the current vehicle based on the current engine torque, the current vehicle transmission ratio, the current vehicle transmission efficiency, and the current tire rolling radius:

[0052]

[0053] In the formula, F t is the current driving force of the vehicle; T e is the current engine torque; i s is the current vehicle transmission ratio; α is the current vehicle transmission efficiency; r is the current tire rolling radius.

[0054] Exemplarily, the following formula can be used to calculate the current slope resistance of the current vehicle based on the current vehicle load and the current slope:

[0055] F i = mg * sinβ;

[0056] In the formula, F i is the current slope resistance of the current vehicle; m is the current vehicle load; β is the current slope.

[0057] Specifically, when it is detected that the current driving force is greater than the current slope resistance, the current throttle pedal opening is greater than the preset throttle pedal opening, and the current air reservoir pressure is greater than or equal to the preset air reservoir pressure, a parking release signal is sent to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be powered off and the intake solenoid valve to be powered on, so as to realize the parking release of the current vehicle.

[0058] This solution realizes the parking release of the current vehicle through the vehicle controller, improving the efficiency of vehicle parking release.

[0059] In an alternative embodiment of the present invention, after sending a parking release signal to the electronic parking valve body, the method further includes: obtaining the current vehicle load, current slope of the current vehicle, as well as the historical vehicle load, historical slope, historical accelerator pedal opening, and historical parking score of each historical vehicle; matching the historical vehicle load and historical slope of each historical vehicle according to the current vehicle load and current slope of the current vehicle to determine the target historical vehicle; comparing the historical parking scores corresponding to the historical accelerator pedal openings in the target historical vehicle to determine the target accelerator pedal opening of the current vehicle; and using the current accelerator pedal opening to perform hill-start assist control on the current vehicle.

[0060] The historical vehicle load may be all the static and dynamic forces borne by the historical vehicle during operation. Exemplarily, the historical vehicle load may include self-weight, load, and external environmental forces. The historical slope may be the degree of inclination of the road surface traveled by the historical vehicle relative to the horizontal plane. The historical slope resistance may be the component of gravity along the slope when the historical vehicle climbs the slope. The historical accelerator pedal opening may be the percentage of the accelerator pedal displacement of the historical vehicle to the maximum stroke. The historical parking score may be used to evaluate the vehicle rollback situation of the historical vehicle. It can be understood that the higher the historical parking score, the less severe the vehicle rollback situation of the historical vehicle; the lower the historical parking score, the more severe the vehicle rollback situation of the historical vehicle.

[0061] The target historical vehicle may be the historical vehicle closest to the current vehicle load and current slope of the current vehicle. The target accelerator pedal opening may be used to perform hill-start assist control on the current vehicle. The target accelerator pedal opening may be the historical accelerator pedal opening with the highest historical parking score in the target historical vehicle.

[0062] Optionally, historical hill start data can be obtained through the vehicle domain controller. Among them, a single piece of historical hill start data includes, when the historical accelerator pedal opening is greater than the second preset accelerator pedal opening, releasing the parking brake and recording the historical vehicle speed, historical longitudinal acceleration, historical vehicle load, historical slope, and historical accelerator pedal opening within a preset time period after the parking brake is released. Through the vehicle domain controller, when the historical acceleration change rate of the historical longitudinal acceleration within the preset time period is greater than or equal to 0, it is determined that the historical vehicle does not have a rollback; when the historical acceleration change rate of the historical longitudinal acceleration within the preset time period is less than 0, it is determined that the historical vehicle has a rollback; the historical rollback distance of the historical vehicle is calculated based on the integral of the historical vehicle speed within the preset time period. Through the vehicle domain controller, the first preset rollback distance and the second preset rollback distance are obtained, and the historical rollback distance is compared with the first preset rollback distance and the second preset rollback distance; when the historical rollback distance is less than the first preset rollback distance, it is determined that the historical parking score of the historical vehicle is the first parking score; when the historical rollback distance is greater than or equal to the first preset rollback distance and less than or equal to the second preset rollback distance, it is determined that the historical parking score of the historical vehicle is the second parking score; when the historical rollback distance is greater than the second preset rollback distance, it is determined that the historical parking score of the historical vehicle is the third parking score. Through the vehicle domain controller, the historical vehicle load, historical slope, historical accelerator pedal opening, and historical parking score of the historical vehicle are stored correspondingly.

[0063] Among them, the historical hill start data can be used to record the auxiliary hill start data of the historical vehicle. The historical accelerator pedal opening being greater than the second preset accelerator pedal opening can be used to indicate that the historical vehicle is in a braking state. The preset time period can be used to measure the rollback situation of the historical vehicle. The historical vehicle speed can be the vehicle speed of the historical vehicle. The historical longitudinal acceleration can be the acceleration of the historical vehicle in the vehicle driving direction. The historical rollback distance can be the rollback distance of the historical vehicle within the preset time period. The first preset rollback distance and the second preset rollback distance can be used to measure the rollback situation of the historical vehicle. The first parking score, the second parking score, and the third parking score can be the historical parking scores of the historical vehicle. Among them, the first preset rollback distance is less than the second preset rollback distance. Exemplarily, the first preset rollback distance can be 50 mm; the second preset rollback distance can be 100 mm. The first parking score is greater than the second parking score; the second parking score is greater than the third parking score. Exemplarily, the first parking score can be 100 points; the second parking score can be 60 points; the third parking score can be 0 points.

[0064] Specifically, through the CAN bus, the current vehicle load and the current slope of the current vehicle can be obtained. Through the vehicle domain controller, the historical vehicle load, historical slope, historical throttle pedal opening, and historical parking score corresponding to each historical vehicle stored in advance can be obtained. Through the vehicle domain controller, the current vehicle load and current slope of the current vehicle can be compared with the historical vehicle load and historical slope corresponding to each historical vehicle, and the historical vehicle closest to the current vehicle load and current slope of the current vehicle can be determined as the target historical vehicle. The historical parking scores corresponding to the historical throttle pedal openings in the target historical vehicle can be compared, and the historical throttle pedal opening corresponding to the highest historical parking score can be determined as the target throttle pedal opening of the current vehicle. Optionally, the historical throttle pedal opening corresponding to the historical parking score with the highest historical parking score and greater than or equal to the second parking score can be determined as the target throttle pedal opening of the current vehicle. Through the vehicle domain controller, the current throttle pedal opening can be used to perform hill start assist control on the current vehicle.

[0065] In this solution, when releasing the parking of the current vehicle, the historical vehicle load, historical slope, historical throttle pedal opening, and historical parking score of the historical vehicle are introduced, and the target throttle pedal opening corresponding to the current vehicle under the current vehicle load and current slope is determined, realizing precise control of the vehicle hill start assist.

[0066] The technical solution of the embodiment of the present invention, through the vehicle domain controller, when the current vehicle is in a stationary state, determines the parking control signal of the current vehicle according to the vehicle state data, and sends the parking control signal to the electronic parking valve body to control the electronic parking valve body. The vehicle domain controller is introduced, and the performance redundancy of the vehicle domain controller is utilized to realize the parking control of the current vehicle. It is possible to avoid using an independent electronic parking controller and redundant wiring harnesses, and reduce the cost of electronic parking control; moreover, through a single vehicle domain controller, the parking control of the vehicle can be realized, avoiding the impact on the real-time performance of parking control caused by switching back and forth between various controllers, and ensuring the real-time performance of vehicle parking control; in addition, by controlling the integrated electronic parking valve body, the adaptability between the vehicle parking control method and different vehicle models can be improved, thereby improving the applicability, compatibility, and expandability of vehicle parking control.

[0067] Embodiment 2

[0068] Figure 2The flowchart of an electronic parking control method provided in the second embodiment of the present invention. On the basis of the above embodiment, the "vehicle status data" in the embodiment of the present invention is specifically defined as "vehicle flameout status, brake pedal switch signal or door switch status", and the "vehicle flameout status, brake pedal switch signal or door switch status" is specifically defined as "when it is detected that the vehicle is flameout, the brake pedal switch signal is enabled and the enabling time of the brake pedal switch signal is greater than the preset enabling time, or when it is detected that the door is opened and the door opening time is greater than the preset door opening time, a parking application signal is sent to the electronic parking valve body to control the intake solenoid valve of the electronic parking valve body to be powered off and the exhaust solenoid valve to be powered on, so as to realize the parking application of the current vehicle". Through the vehicle control unit, the parking application of the current vehicle is realized, and the efficiency of vehicle parking application is improved. It should be noted that for the parts not described in detail in the embodiments of the present invention, reference can be made to the descriptions of other embodiments.

[0069] See Figure 2 The electronic parking control method shown is applied to the vehicle domain controller and includes:

[0070] S210. When the current vehicle is in a stationary state, obtain vehicle status data.

[0071] The vehicle status data includes the vehicle flameout status, the brake pedal switch signal or the door switch status. Among them, the vehicle flameout status can be used to represent whether the current vehicle is powered off after ignition. Exemplarily, the vehicle flameout status can include vehicle flameout or vehicle non-flameout.

[0072] The brake pedal switch signal can be used to represent the switch condition of the brake pedal of the current vehicle. Exemplarily, the brake pedal switch signal can include the enabling of the brake pedal switch signal or the non-enabling of the brake pedal switch signal. Among them, the enabling of the brake pedal switch signal can be used to represent that the brake pedal of the current vehicle has been depressed and the current vehicle is in a braking state; the non-enabling of the brake pedal switch signal can be used to represent that the brake pedal of the current vehicle has not been depressed.

[0073] The door switch status can be used to represent the door status of the current vehicle. Exemplarily, the door switch signal can include door opening and door closing.

[0074] S220. When it is detected that the vehicle is flameout, the brake pedal switch signal is enabled and the enabling time of the brake pedal switch signal is greater than the preset enabling time, or when it is detected that the door is opened and the door opening time is greater than the preset door opening time, a parking application signal is sent to the electronic parking valve body to control the intake solenoid valve of the electronic parking valve body to be powered off and the exhaust solenoid valve to be powered on, so as to realize the parking application of the current vehicle.

[0075] The enabling time of the brake pedal switch signal can be the duration for which the brake pedal switch signal of the current vehicle is enabled. The door opening time can be the duration for which the vehicle door of the current vehicle is open. The preset enabling time and the preset door opening time can be used to measure whether the current vehicle needs to increase the parking brake after braking.

[0076] If the enabling time of the brake pedal switch signal is greater than the preset enabling time, it can be understood that the current vehicle needs to increase the parking brake after braking; if the enabling time of the brake pedal switch signal is less than or equal to the preset enabling time, it can be understood that the current vehicle does not need to increase the parking brake after braking.

[0077] If the door opening time is greater than the preset door opening time, it can be understood that the current vehicle needs to increase the parking brake after braking; if the door opening time is greater than the preset door opening time, it can be understood that the current vehicle does not need to increase the parking brake after braking.

[0078] The parking application signal can be used to control the electronic parking valve body to achieve the parking application of the current vehicle. Specifically, the parking application signal can control the intake solenoid valve of the electronic parking valve body to be de-energized and the exhaust solenoid valve to be energized, thereby bleeding the spring brake cylinder, reducing the air pressure in the spring brake cylinder, and increasing the parking braking force of the current vehicle.

[0079] Specifically, when it is detected that the vehicle is turned off, the brake pedal switch signal is enabled and the enabling time of the brake pedal switch signal is greater than the preset enabling time, or when it is detected that the door is open and the door opening time is greater than the preset door opening time, a parking application signal can be sent to the electronic parking valve body to control the intake solenoid valve of the electronic parking valve body to be de-energized and the exhaust solenoid valve to be energized, so as to achieve the parking application of the current vehicle.

[0080] The technical solution of the embodiment of the present invention, by specifying the vehicle state data as the vehicle off state, the brake pedal switch signal or the door switch state, when it is detected that the vehicle is turned off, the brake pedal switch signal is enabled and the enabling time of the brake pedal switch signal is greater than the preset enabling time, or when it is detected that the door is open and the door opening time is greater than the preset door opening time, a parking application signal is sent to the electronic parking valve body to control the intake solenoid valve of the electronic parking valve body to be de-energized and the exhaust solenoid valve to be energized, through the vehicle control unit, realizes the parking application of the current vehicle, and improves the efficiency of vehicle parking application.

[0081] Optionally, after sending a parking application signal to the electronic parking valve body, it further includes: obtaining the current vehicle load, current slope, and current rolling resistance coefficient of the current vehicle through the CAN bus, and calculating the current parking braking force of the current vehicle based on the current vehicle load, current slope, and current rolling resistance coefficient. Obtaining the maximum parking braking force and preset safety factor of the current vehicle through the CAN bus, and calculating the current safety factor based on the ratio between the maximum parking braking force and the current parking braking force; when the current safety factor is less than or equal to the preset safety factor, it is determined that the current vehicle has a risk of rolling backward, and a rolling backward risk prompt is given to the driver.

[0082] The current rolling resistance coefficient is used to measure the energy loss of the tires of the current vehicle during rolling. The current parking braking force can be used to lock the wheels of the current vehicle to prevent the current vehicle from sliding when stationary. The maximum parking braking force can be the maximum value of the parking braking force required for the current vehicle. The maximum parking braking force is associated with the vehicle type. The maximum parking braking force can be pre-calibrated based on the vehicle type.

[0083] The current safety factor can be used to characterize whether the current vehicle has a risk of rolling backward. The higher the current safety factor, the lower the risk of rolling backward of the current vehicle; the higher the current safety factor, the higher the risk of rolling backward of the current vehicle. The preset safety factor can be used to measure the risk of rolling backward of the current vehicle. The preset safety factor can be pre-calibrated and adjusted by technicians. Exemplarily, the preset safety factor can be any value within 1 - 1.5.

[0084] In a specific example, a rolling backward risk prompt can be given to the driver through the dashboard of the current vehicle.

[0085] Exemplarily, the following formula can be used to calculate the current parking braking force of the current vehicle:

[0086] F z =mgsinβ - mgf;

[0087] In the formula, F Z is the current parking braking force of the current vehicle; m is the current vehicle load; β is the current slope; f is the current rolling resistance coefficient.

[0088] The following formula can be used to calculate the current safety factor of the current vehicle:

[0089]

[0090] In the formula, K is the current safety factor of the current vehicle; F MAX is the current parking braking force of the current vehicle; F Z is the maximum parking braking force of the current vehicle.

[0091] The risk of vehicle rollback is evaluated for the current vehicle by introducing the current safety factor, improving the safety of the vehicle parking control process.

[0092] Optionally, after the parking application of the current vehicle is achieved, it further includes: monitoring in real time the current air pressure of the air pressure sensor of the electronic parking valve body, when the current air pressure is greater than the first preset air pressure, controlling the exhaust solenoid valve of the electronic parking valve body to be energized; when the current air pressure is less than the second preset air pressure, controlling the inlet solenoid valve of the electronic parking valve body to be energized.

[0093] The air pressure sensor can be used to detect the outlet air pressure value of the solenoid valve controlled in the electronic parking valve body. The current air pressure can be the outlet air pressure value of the solenoid valve controlled in the electronic parking valve body. The first preset air pressure value can be used to measure whether the outlet air pressure value of the solenoid valve controlled in the electronic parking valve body is too high in the parking application state. The second preset air pressure value can be used to measure whether the outlet air pressure value of the solenoid valve controlled in the electronic parking valve body is too low in the parking application state, that is, the second preset air pressure value can be used to measure whether the solenoid valve controlled in the electronic parking valve body has air leakage.

[0094] By monitoring in real time the current air pressure of the air pressure sensor of the electronic parking valve body, when the current air pressure is greater than the first preset air pressure, controlling the exhaust solenoid valve of the electronic parking valve body to be energized, the situation of insufficient parking braking force caused by abnormal solenoid valve can be avoided, and the current vehicle can be prevented from rolling back; by controlling the inlet solenoid valve of the electronic parking valve body to be energized when the current air pressure is less than the second preset air pressure, air can be replenished when the solenoid valve has an air leakage fault, and brake dragging can be prevented, thereby abnormal parking application can be avoided.

[0095] In an optional embodiment of the present invention, after sending a parking application signal to the electronic parking valve body, it further includes: obtaining the current vehicle wheel speed and the current wheel acceleration of the current vehicle, and calculating the current slip ratio according to the current vehicle wheel speed and the current wheel acceleration; obtaining a first preset slip ratio and a second preset slip ratio, and comparing the current slip ratio with the first preset slip ratio and the second preset slip ratio; when the current slip ratio is greater than the first preset slip ratio, sending a parking braking force reduction signal to the electronic parking valve body to control the inlet solenoid valve of the electronic parking valve body to be energized and reduce the parking braking force; when the current slip ratio is less than the second preset slip ratio, sending a parking braking force increase signal to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be energized and increase the parking braking force; when the current slip ratio is greater than or equal to the second preset slip ratio and less than or equal to the first preset slip ratio, sending a parking braking force holding signal to the electronic parking valve body to control both the inlet solenoid valve and the exhaust solenoid valve of the electronic parking valve body to be de-energized and maintain the parking braking force.

[0096] The current vehicle wheel speed can be used to characterize the real-time rotational angular velocity of a single wheel of the current vehicle. The current wheel acceleration can be used to characterize the instantaneous change rate of the wheel speed of the current vehicle. The current slip ratio can be used to characterize the wheel locking situation of the current vehicle. The first preset slip ratio can be the upper limit value of the slip ratio of the current vehicle set in advance. The second preset slip ratio can be the lower limit value of the slip ratio of the current vehicle set in advance. The first preset slip ratio and the second preset slip ratio can be determined and adjusted in advance by technicians. Exemplarily, the first preset slip ratio can be 0.35; the second preset slip ratio can be 0.25.

[0097] The parking brake force reduction signal can be used to control the intake solenoid valve of the electronic parking brake valve body to be energized, so as to increase the air pressure in the spring brake cylinder and reduce the parking brake force. The parking brake force increase signal can be used to control the exhaust solenoid valve of the electronic parking brake valve body to be energized, so as to reduce the air pressure in the spring brake cylinder and increase the parking brake force. The parking brake force holding signal can be used to control both the exhaust solenoid valve and the intake solenoid valve of the electronic parking brake valve body to be de-energized, so as to maintain the air pressure in the spring brake cylinder and thus maintain the parking brake force.

[0098] Specifically, through the CAN bus, the current vehicle wheel speed and the current wheel acceleration of the current vehicle can be obtained, and the current slip ratio can be calculated based on the current vehicle wheel speed and the current wheel acceleration. The first preset slip ratio and the second preset slip ratio set in advance can be obtained, and the current slip ratio is compared with the first preset slip ratio and the second preset slip ratio. When the current slip ratio is greater than the first preset slip ratio, a parking brake force reduction signal is sent to the electronic parking brake valve body to control the intake solenoid valve of the electronic parking brake valve body to be energized and reduce the parking brake force. When the current slip ratio is less than the second preset slip ratio, a parking brake force increase signal is sent to the electronic parking brake valve body to control the exhaust solenoid valve of the electronic parking brake valve body to be energized and increase the parking brake force. When the current slip ratio is greater than or equal to the second preset slip ratio and less than or equal to the first preset slip ratio, a parking brake force holding signal is sent to the electronic parking brake valve body to control both the intake solenoid valve and the exhaust solenoid valve of the electronic parking brake valve body to be de-energized and maintain the parking brake force.

[0099] This solution introduces the calculation of the slip ratio of the current vehicle, realizes the precise adjustment of the spring brake cylinder and the parking brake force, can improve the emergency braking deceleration of the vehicle, and thus prevent the wheels from locking during the emergency braking process of the vehicle.

[0100] In an alternative embodiment of the present invention, after sending a parking application signal to the electronic parking valve body, the following steps are further included: sending a motor braking torque request to the motor controller, using the motor to perform parking braking on the current vehicle; detecting the current braking force of the current vehicle; when it is detected that the current braking force of the current vehicle is insufficient, sending a parking braking force increase signal to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be energized, increasing the parking braking force of the current vehicle to supplement the current braking force required by the current vehicle.

[0101] The motor braking torque request can be used to request the motor to perform parking braking. The current braking force can be the braking force of the current vehicle. The current braking force can be used to characterize the overall emergency braking situation of the current vehicle. That the current braking force of the current vehicle is insufficient can be understood as that the current braking force of the current vehicle is less than or equal to the target braking force. Among them, the target braking force can be the braking force required by the current vehicle during emergency braking.

[0102] Specifically, through the vehicle domain controller, a motor braking torque request can be sent to the motor controller. Through the motor controller, the motor is used to perform parking braking on the current vehicle. Through the motor controller, the current braking force of the current vehicle is detected. When it is detected that the current braking force of the current vehicle is insufficient, a parking braking force increase signal is sent to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be energized, increasing the parking braking force of the current vehicle to supplement the current braking force required by the current vehicle.

[0103] In this solution, when it is detected that the current braking force of the current vehicle is insufficient, a parking braking force increase signal is sent to the electronic parking valve body, controlling the exhaust solenoid valve of the electronic parking valve body to be energized, increasing the parking braking force of the current vehicle, and realizing the braking energy recovery of the vehicle during the emergency braking process of the vehicle.

[0104] On the basis of the above embodiments, the present invention provides a preferred embodiment. The present invention proposes an electronic parking control system and method, which solve the deficiencies of the prior art through deep integration of the vehicle domain controller (VDCU), adaptive algorithm, and modular architecture.

[0105] The present invention specifically includes the following technical solutions:

[0106] (1) As Figure 3 shown, in the hardware integration design, an electronic parking control system is provided, including a manual control unit module 1, a vehicle domain controller VDCU 2 (integrated with electronic parking control software), an air storage tank 3, a trailer valve 4, a left rear axle spring brake cylinder 5, a right rear axle spring brake cylinder 6, an electronic parking valve body 7 (integrated with an intake solenoid valve, an exhaust solenoid valve, a parking detection solenoid valve, a trailer independent brake solenoid valve, and a pressure sensor), a vehicle instrument 8, a CAN bus, a hard wire (i.e., a wire harness), and an air circuit (i.e., a pipe bundle).

[0107] Among them, by integrating the electronic parking controller, solenoid valve drive circuit, CAN bus, and I / O interface into the vehicle domain controller VDCU, the independent electronic parking controller and redundant wiring harness are eliminated through deep integration. By adopting an electronic parking valve body with an integrated intake and exhaust passage structure, integrating an intake solenoid valve, an exhaust solenoid valve, a parking detection solenoid valve, a trailer independent brake solenoid valve, and a pressure sensor, and with a general design for the air circuit interface, the vehicle model adaptability can be improved.

[0108] Among them, the vehicle domain controller VDCU 2 is connected to the manual control unit module 1 through the CAN bus, and is used to receive the opening signal or switch signal, etc., transmitted by the manual control unit module 1. The vehicle domain controller VDCU 2 is connected to the vehicle instrument 8 through the CAN bus. The vehicle domain controller VDCU 2 is connected to the vehicle through the CAN bus, and is used to receive vehicle state data, such as signal messages including the real-time vehicle air pressure signal, vehicle speed signal, transmission state signal, throttle state signal, and brake switch state signal, etc. The vehicle domain controller VDCU 2 is connected to the electronic parking valve body 7 through a hard wire. The electronic parking valve body 7 is connected to the air storage tank 3, the left spring brake cylinder 5 of the rear axle, the right spring brake cylinder 6 of the rear axle, and the trailer valve 4 through an air circuit.

[0109] The vehicle instrument is configured to receive the current electronic parking system state information transmitted by the vehicle domain controller VDCU, and display the current electronic parking state information on the instrument panel through the parking indicator light. Among them, the current electronic parking state information may include the parking application state and the parking release state. Specifically, in the parking application state, the parking indicator light is lit; in the parking release state, the parking indicator light is extinguished.

[0110] The vehicle domain controller VDCU is configured to receive the opening of the manual control unit module, the Auto Hold switch signal, and the Trailer Independent Brake switch signal transmitted by the manual control unit module through the CAN bus, and the vehicle state data transmitted through the CAN bus, such as the real-time vehicle air pressure signal, vehicle speed signal, transmission state signal, throttle state signal, and brake switch state signal, etc., and activate the corresponding control functions to control the solenoid valves inside the electronic parking valve body, so as to realize the charging and discharging of the parking cavity of the spring brake cylinder, and further realize functions such as parking release, parking application, parking detection, and trailer independent braking. At the same time, it can receive the parking system air pressure signal of the pressure sensor of the electronic parking valve body for closed-loop control.

[0111] The electronic parking valve body can be composed of a relay valve, an intake solenoid valve, an exhaust solenoid valve, a parking detection solenoid valve, a trailer independent braking solenoid valve, and a pressure sensor. The electronic parking valve body is configured to receive control instructions from the vehicle domain controller VDCU, adjust the on / off states of the intake solenoid valve, the exhaust solenoid valve, the parking detection solenoid valve, and the trailer independent braking solenoid valve, and achieve the adjustment of the air pressure in the control chamber of the relay valve, thereby controlling the air pressure at the outlet of the relay valve. The electronic parking valve body can measure the current air pressure at the outlet of the valve body through the pressure sensor and feedback it to the vehicle domain controller VDCU through a voltage signal to achieve pressure closed-loop control.

[0112] The electronic parking valve body includes 6 air path interfaces, which are respectively named as air supply port 1, outlet port 21, outlet port 22, trailer control port 23, external control port 4, and exhaust port 3. Among them, the air supply port 1 is used to connect to the air storage tank to provide input air pressure for the electronic parking valve body. The outlet port 21 is used to connect to the spring brake cylinder on the left side of the rear axle. The outlet port 22 is used to connect to the spring brake cylinder on the right side of the rear axle. The trailer control port 23 is used to connect to the trailer valve to control the trailer and achieve parking application and parking release. The external control port 4 is used to connect to an external air source, which can be inflated to release parking in case of system failure and deflated to achieve parking. The exhaust port 3 is used to exhaust air for the electronic parking valve body.

[0113] As Figure 4 shown, pin 6.1 of the electronic parking valve body 7 is the common ground pin of the solenoid valve, pin 6.2 is the control pin of the intake solenoid valve MV1, pin 6.3 is the control pin of the exhaust solenoid valve MV2, pin 6.4 is the pin of the parking detection solenoid valve MV3, and pin 6.5 is the pin of the trailer independent braking solenoid valve MV4. The vehicle domain controller VDCU 2 controls the on / off of the solenoid valve through the above pins to achieve corresponding functions. Pin 6.6 is the ground pin of the pressure sensor, pin 6.7 is the 5V power supply pin of the pressure sensor, and pin 6.8 is the air pressure signal output pin. The vehicle domain controller VDCU 2 supplies power to the pressure sensor through the above pins and receives the pressure sensor signal for closed-loop control.

[0114] The vehicle domain controller VDCU 2 monitors in real time the opening degree, switch signals of the manual control unit module 1, and signals such as the vehicle speed, air pressure, transmission state, throttle state, and brake switch state of the vehicle. When the corresponding function entry conditions are met, the electronic parking system is activated to be in different function modes.

[0115] The vehicle domain controller VDCU 2 monitors in real time the current air pressure of the pressure sensor of the electronic parking valve body 7. After the parking application is completed, if the current air pressure of the pressure sensor is greater than the first preset air pressure, the vehicle domain controller VDCU 2 controls the exhaust solenoid valve of the electronic parking valve body 7 to be energized through a hard wire to prevent vehicle rollback.

[0116] After the parking release is completed, if the current air pressure of the air pressure sensor is less than the second preset air pressure, the vehicle domain controller VDCU 2 controls the intake solenoid valve of the electronic parking valve body 7 to be energized through a hard wire to prevent the brake from dragging and even abnormally applying parking.

[0117] (2) The adaptive algorithm can achieve real-time interaction with the whole vehicle. Based on vehicle state data, such as vehicle load and slope information, it can achieve precise adjustment of the parking air pressure, and can also achieve intelligent control of functions such as rollback reminder, emergency braking anti-lock, hill start assist, and braking energy recovery.

[0118] The specific functions are as follows:

[0119] (1) Manual mode: The driver operates the manual control unit module, and the vehicle domain controller VDCU receives the driver's operation instructions to control the on / off of the corresponding solenoid valves in the electronic parking valve body, realizing functions such as manual parking application, manual release, manual parking detection, and independent braking of the trailer.

[0120] ① The specific process of manual parking application includes:

[0121] Through the vehicle domain controller VDCU, when the current vehicle is in a stationary state and it is detected that the driver pulls up the manual control unit module, the opening of the manual control unit module is obtained; through the vehicle domain controller VDCU, when it is detected that the opening of the manual control unit module is greater than or equal to the first preset opening of the manual control unit module, a parking application signal is sent to the electronic parking valve body to control the intake solenoid valve of the electronic parking valve body to be de-energized and the exhaust solenoid valve to be energized, realizing the parking application of the current vehicle.

[0122] ② The specific process of manual parking release includes:

[0123] Through the vehicle domain controller VDCU, when the current vehicle is in a stationary state and it is detected that the driver presses the manual control unit module, the opening of the manual control unit module, the brake pedal switch signal, and the current reservoir pressure are obtained. Through the vehicle domain controller VDCU, when it is detected that the opening of the manual control unit module is less than or equal to the second preset opening value, the brake pedal switch signal is enabled, and the current reservoir pressure is greater than or equal to the preset reservoir pressure, a parking release signal is sent to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be de-energized and the intake solenoid valve to be energized, realizing the parking release of the current vehicle.

[0124] ③ The specific process of manual parking detection includes:

[0125] Through the vehicle domain controller VDCU, obtain the air pressure signal of the spring brake cylinder, and detect whether the current vehicle is in the parked state according to the air pressure signal of the spring brake cylinder. Through the vehicle domain controller VDCU, when the current vehicle is in the parked state, detect that the driver pulls up the Electric Parking Brake (EPB) switch continuously for a preset number of times and holds it within a preset time period, activate the parked vehicle detection function of the current vehicle, and send a parked vehicle detection activation signal to the electronic parking valve body to control the energization of the parked vehicle detection solenoid valve of the electronic parking valve body and the increase of the air pressure at the trailer control output port, so as to control the trailer valve connected to the electronic parking valve body to release the trailer brake, and only retain the towing parking braking force to achieve the parked vehicle detection of the current vehicle. Through the vehicle domain controller VDCU, when it detects that the driver releases the hand control unit module, send a parked vehicle detection cancellation signal to the electronic parking valve body to control the de-energization of the parked vehicle detection solenoid valve of the electronic parking valve body and the discharge of the air pressure at the trailer control output port, so as to control the trailer valve connected to the electronic parking valve body to apply the trailer brake.

[0126] ④ The specific process of the trailer independent brake includes:

[0127] Through the vehicle domain controller VDCU, during the driving process of the current vehicle, when it detects that the driver presses the trailer brake switch, send a trailer independent brake signal to the electronic parking valve body to control the energization of the trailer independent brake solenoid valve of the electronic parking valve body and disconnect the tractor circuit, so as to achieve the trailer independent brake of the current vehicle. Through the vehicle domain controller VDCU, when it detects that the driver pulls up the hand control unit module, obtain the opening of the hand control unit module and the current vehicle speed. Through the vehicle domain controller VDCU, when the opening of the hand control unit module is greater than the third preset opening and the current vehicle speed is greater than the preset vehicle speed, send a trailer automatic control signal to the electronic parking valve body to control the intake solenoid valve and the exhaust solenoid valve of the electronic parking valve body to act, so as to achieve the follow-up control of other trailer brakes of the current vehicle. Through the vehicle domain controller VDCU, when it detects that the driver releases the hand control unit module, send a trailer control termination signal to the electronic parking valve body to stop controlling the intake solenoid valve and the exhaust solenoid valve of the electronic parking valve body from acting, so as to achieve the termination of the follow-up control of other trailer brakes of the current vehicle. Through the vehicle domain controller VDCU, when it detects that the driver presses the trailer brake switch again, send a trailer brake release signal to the electronic parking valve body to control the de-energization of the trailer independent brake solenoid valve of the electronic parking valve body, so as to achieve the release of the trailer brake of the current vehicle.

[0128] (2) Automatic mode: Without driver operation, the vehicle domain controller VDCU automatically controls the electronic parking valve body according to the vehicle state data of the current vehicle to achieve the intelligent control of the electronic parking system. Among them, the automatic parking application process and the automatic parking release process refer to the above examples.

[0129] ① Such asFigure 5 As shown in the figure, the specific process of intelligent rollback reminder includes:

[0130] The vehicle domain controller VDCU calculates the current parking braking force required by the current vehicle according to the current vehicle load and the current slope. Set a preset safety factor. Compare it with the ratio (current safety factor K) between the current parking force and the maximum parking force that the vehicle can provide, and judge whether there is a risk of rollback accordingly, and prompt the driver through the instrument panel.

[0131] ② As Figure 6 As shown in the figure, the specific process of emergency braking anti-lock includes:

[0132] The vehicle domain controller VDCU can automatically monitor the current wheel speed and the current wheel acceleration, and calculate the current slip ratio. According to the current slip ratio, automatically adjust the parking braking force. And through the PID (Proportional-Integral-Derivative Controller) closed-loop control to accurately adjust the vehicle parking air pressure, improve the emergency braking deceleration and prevent wheel lock-up.

[0133] ③ As Figure 7 As shown in the figure, the specific process of hill-start assist includes:

[0134] For historical hill-start data, score the release timing of each parking (i.e., the historical throttle pedal opening) through a scoring mechanism to determine the optimal release timing of hill-start assist (i.e., the historical throttle pedal opening). Intelligently predict the release timing of the current hill-start assist (i.e., the current throttle pedal opening) to achieve precise control of hill-start assist.

[0135] ④ The specific process of braking energy recovery includes:

[0136] For hybrid and pure electric vehicles, a coupled control method of braking energy recovery and electronic parking can be adopted. During emergency braking, the vehicle domain controller VDCU can adjust the ratio of mechanical braking force and electric motor brake to achieve braking energy recovery.

[0137] The present invention can achieve full-scenario control such as parking application, parking release, parking detection, and independent trailer braking, with high compatibility and expandability. Among them, the vehicle domain controller deeply integrates hardware and algorithms, which can reduce components and wiring harnesses and achieve the integration of "perception - control - execution"; through the electronic parking valve body with an integrated intake and exhaust passage structure, integrating an intake solenoid valve, an exhaust solenoid valve, a parking detection solenoid valve, an independent trailer braking solenoid valve, and a pressure sensor, and the air circuit interface adopts a generalized design to improve the vehicle model adaptability; moreover, the current safety factor is introduced to evaluate the vehicle rollback risk to improve safety; in addition, a scoring mechanism algorithm based on historical hill start data is proposed to predict the release timing of the current hill start assisted parking according to the historical parking score, achieving precise control of hill start assistance; at the same time, an anti-lock control method for emergency braking is proposed, which can improve vehicle stability and emergency braking deceleration; finally, for hybrid and pure electric vehicle models, a method for coupling braking energy recovery and electronic parking is proposed to achieve energy recovery during emergency braking.

[0138] Embodiment 3

[0139] Figure 8 It is a schematic structural diagram of an electronic parking control device provided by Embodiment 3 of the present invention. The embodiment of the present invention is applicable to the situation where a vehicle domain controller is used to control the parking of a commercial vehicle. The device can execute the electronic parking control method, and the device can be implemented in the form of hardware and / or software, and the device can be configured in an electronic device carrying the electronic parking control function.

[0140] See Figure 8 The shown electronic parking control device is applied to a vehicle domain controller and includes: a vehicle state data acquisition module 810 and a vehicle parking control module 820. Among them, the vehicle state data acquisition module 810 is used to acquire vehicle state data when the current vehicle is in a stationary state; the vehicle parking control module 820 is used to determine the parking control signal of the current vehicle according to the vehicle state data and send the parking control signal to the electronic parking valve body to control the electronic parking valve body to achieve the parking control of the current vehicle.

[0141] In the technical solution of the embodiment of the present invention, through the vehicle domain controller, when the current vehicle is in a stationary state, according to the vehicle state data, the parking control signal of the current vehicle is determined, and the parking control signal is sent to the electronic parking valve body to control the electronic parking valve body. The vehicle domain controller is introduced, and the performance redundancy of the vehicle domain controller is utilized to realize the parking control of the current vehicle. It is possible to avoid using an independent electronic parking controller and redundant wiring harnesses, and can reduce the cost of electronic parking control. Moreover, through a single vehicle domain controller, the parking control of the vehicle can be realized, which can avoid the impact on the real-time performance of parking control caused by switching back and forth between various controllers, and ensure the real-time performance of vehicle parking control. In addition, by controlling the integrated electronic parking valve body, the adaptability of the vehicle parking control method to different vehicle models can be improved, thereby improving the applicability, compatibility, and expandability of vehicle parking control.

[0142] In an alternative embodiment of the present invention, the vehicle state data includes the vehicle ignition-off state, the brake pedal switch signal, or the door switch state; correspondingly, the vehicle parking control module 820 includes: a vehicle parking application unit, configured to send a parking application signal to the electronic parking valve body when it is detected that the vehicle is turned off, the brake pedal switch signal is enabled and the enabling time of the brake pedal switch signal is greater than a preset enabling time, or when it is detected that the door is opened and the door opening time is greater than a preset door opening time, so as to control the intake solenoid valve of the electronic parking valve body to be powered off and the exhaust solenoid valve to be powered on, and realize the parking application of the current vehicle.

[0143] In an alternative embodiment of the present invention, the vehicle parking control module 820 further includes: a current slip ratio calculation unit, configured to obtain the current vehicle wheel speed and the current wheel acceleration of the current vehicle after sending a parking application signal to the electronic parking valve body, and calculate a current slip ratio according to the current vehicle wheel speed and the current wheel acceleration; a preset slip ratio comparison unit, configured to obtain a first preset slip ratio and a second preset slip ratio, and compare the current slip ratio with the first preset slip ratio and the second preset slip ratio; wherein the first preset slip ratio is greater than the second preset slip ratio; a parking braking force reduction unit, configured to send a parking braking force reduction signal to the electronic parking valve body when the current slip ratio is greater than the first preset slip ratio, so as to control the intake electromagnetic valve of the electronic parking valve body to be energized and reduce the parking braking force; a parking braking force increase unit, configured to send a parking braking force increase signal to the electronic parking valve body when the current slip ratio is less than the second preset slip ratio, so as to control the exhaust electromagnetic valve of the electronic parking valve body to be energized and increase the parking braking force; a parking braking force maintaining unit, configured to send a parking braking force maintaining signal to the electronic parking valve body when the current slip ratio is greater than or equal to the second preset slip ratio and less than or equal to the first preset slip ratio, so as to control both the intake electromagnetic valve and the exhaust electromagnetic valve of the electronic parking valve body to be de-energized and maintain the parking braking force.

[0144] In an alternative embodiment of the present invention, the vehicle parking control module 820 further includes: a motor parking braking unit, configured to send a motor braking torque request to a motor controller after sending a parking application signal to the electronic parking valve body, and use the motor to perform parking braking on the current vehicle; a current braking force detection unit, configured to detect the current braking force of the current vehicle; a current braking force supplement unit, configured to send a parking braking force increase signal to the electronic parking valve body when it is detected that the current braking force of the current vehicle is insufficient, so as to control the exhaust electromagnetic valve of the electronic parking valve body to be energized and increase the parking braking force of the current vehicle to supplement the current braking force required by the current vehicle.

[0145] In an alternative embodiment of the present invention, the vehicle state data includes the current engine torque, the current vehicle transmission ratio, the current vehicle transmission efficiency, the current tire rolling radius, the current vehicle load, the current slope, the current throttle pedal opening, and the current air reservoir pressure; correspondingly, the vehicle parking control module 820 includes: a current driving force calculation unit, configured to calculate the current driving force of the current vehicle according to the current engine torque, the current vehicle transmission ratio, the current vehicle transmission efficiency, and the current tire rolling radius; a current slope resistance calculation unit, configured to calculate the current slope resistance of the current vehicle according to the current vehicle load and the current slope; a vehicle parking release unit, configured to, when it is detected that the current driving force is greater than the current slope resistance, the current throttle pedal opening is greater than a preset throttle pedal opening, and the current air reservoir pressure is greater than or equal to a preset air reservoir pressure, send a parking release signal to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be powered off and the intake solenoid valve to be powered on, so as to realize the parking release of the current vehicle.

[0146] In an alternative embodiment of the present invention, the vehicle parking control module 820 further includes: a historical parking score acquisition unit, configured to, after sending the parking release signal to the electronic parking valve body, acquire the current vehicle load, the current slope of the current vehicle, and the historical vehicle load, the historical slope, the historical throttle pedal opening, and the historical parking score of each historical vehicle; a target historical vehicle screening unit, configured to match the historical vehicle load and the historical slope corresponding to each historical vehicle according to the current vehicle load and the current slope of the current vehicle to determine a target historical vehicle; a throttle pedal opening determination unit, configured to compare the historical parking scores corresponding to the historical throttle pedal openings in the target historical vehicle to determine the target throttle pedal opening of the current vehicle; a hill start assist control unit, configured to perform hill start assist control on the current vehicle by using the current throttle pedal opening.

[0147] The electronic parking control device provided by the embodiments of the present invention can execute the electronic parking control method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0148] In the technical solution of the embodiments of the present invention, the acquisition, storage, and application of the vehicle state data, the vehicle flameout state, the brake pedal switch signal, the door switch state, the current vehicle wheel speed, the current wheel acceleration, the first preset slip ratio, the second preset slip ratio, the current engine torque, the current vehicle transmission ratio, the current vehicle transmission efficiency, the current tire rolling radius, the current vehicle load, the current slope, the current throttle pedal opening, and the current air reservoir pressure, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0149] Example 4

[0150] Figure 9 FIG. shows a schematic structural diagram of an electronic device 900 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0151] As Figure 9 shown, the electronic device 900 includes at least one processor 901, and a memory communicatively connected to the at least one processor 901, such as a read-only memory (ROM) 902, a random access memory (RAM) 903, etc. The memory stores a computer program executable by the at least one processor. The processor 901 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 902 or the computer program loaded from the storage unit 908 into the random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the electronic device 900 can also be stored. The processor 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0152] Multiple components in the electronic device 900 are connected to the I / O interface 905, including: an input unit 906, such as a keyboard, a mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a magnetic disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the electronic device 900 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0153] The processor 901 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 901 executes the various methods and processes described above, such as the electronic parking control method.

[0154] In some embodiments, the electronic parking control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 900 via ROM 902 and / or communication unit 909. When the computer program is loaded into RAM 903 and executed by the processor 901, one or more steps of the electronic parking control method described above may be performed. Alternatively, in other embodiments, the processor 901 may be configured to execute the electronic parking control method by any other suitable means (e.g., by means of firmware).

[0155] The various implementations of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0156] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0157] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0158] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0159] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0160] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS (Virtual Private Server) services.

[0161] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0162] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An electronic parking control method, characterized in that, Applied to the vehicle domain controller, the method includes: When the current vehicle is in a stationary state, obtain vehicle status data; According to the vehicle status data, determine the parking control signal of the current vehicle, and send the parking control signal to the electronic parking valve body to control the electronic parking valve body and achieve the parking control of the current vehicle.

2. The method according to claim 1, wherein The vehicle status data includes the vehicle ignition-off state, the brake pedal switch signal, or the door switch state; Correspondingly, the step of determining the parking control signal of the current vehicle according to the vehicle status data, sending the parking control signal to the electronic parking valve body to control the electronic parking valve body, and achieving the parking control of the current vehicle includes: When it is detected that the vehicle is turned off, the brake pedal switch signal is enabled and the enabling time of the brake pedal switch signal is greater than the preset enabling time, or the door is detected to be opened and the door opening time is greater than the preset door opening time, send a parking application signal to the electronic parking valve body to control the intake solenoid valve of the electronic parking valve body to be powered off and the exhaust solenoid valve to be powered on, so as to achieve the parking application of the current vehicle.

3. The method according to claim 2, characterized in that, After sending the parking application signal to the electronic parking valve body, it further includes: Obtain the current vehicle wheel speed and the current wheel acceleration of the current vehicle, and calculate the current slip ratio according to the current vehicle wheel speed and the current wheel acceleration; Obtain a first preset slip ratio and a second preset slip ratio, and compare the current slip ratio with the first preset slip ratio and the second preset slip ratio; wherein, the first preset slip ratio is greater than the second preset slip ratio; When the current slip ratio is greater than the first preset slip ratio, send a parking braking force reduction signal to the electronic parking valve body to control the intake solenoid valve of the electronic parking valve body to be powered on and reduce the parking braking force; When the current slip ratio is less than the second preset slip ratio, send a parking braking force increase signal to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be powered on and increase the parking braking force; When the current slip ratio is greater than or equal to the second preset slip ratio and less than or equal to the first preset slip ratio, send a parking braking force holding signal to the electronic parking valve body to control both the intake solenoid valve and the exhaust solenoid valve of the electronic parking valve body to be powered off and maintain the parking braking force.

4. The method according to claim 2, wherein After sending the parking application signal to the electronic parking valve body, it further includes: Send a motor braking torque request to the motor controller, and use the motor to perform parking braking on the current vehicle; Detect the current braking force of the current vehicle; When it is detected that the current braking force of the current vehicle is insufficient, send a parking braking force increase signal to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be powered on and increase the parking braking force of the current vehicle to supplement the current braking force required by the current vehicle.

5. The method according to claim 1, characterized in that The vehicle status data includes the current engine torque, the current vehicle transmission ratio, the current vehicle transmission efficiency, the current tire rolling radius, the current vehicle load, the current slope, the current throttle pedal opening, and the current air reservoir pressure; Correspondingly, determining the parking control signal of the current vehicle according to the vehicle state data and sending the parking control signal to the electronic parking valve body to control the electronic parking valve body to implement the parking control of the current vehicle includes: Calculating the current driving force of the current vehicle according to the current engine torque, the current vehicle transmission ratio, the current vehicle transmission efficiency, and the current tire rolling radius; Calculating the current slope resistance of the current vehicle according to the current vehicle load and the current slope; When it is detected that the current driving force is greater than the current slope resistance, the current accelerator pedal opening is greater than a preset accelerator pedal opening, and the current air storage tank pressure is greater than or equal to the preset air storage tank pressure, sending a parking release signal to the electronic parking valve body to control the exhaust solenoid valve of the electronic parking valve body to be powered off and the intake solenoid valve to be powered on, so as to implement the parking release of the current vehicle.

6. The method according to claim 5, wherein After sending the parking release signal to the electronic parking valve body, it further includes: Obtaining the current vehicle load, the current slope of the current vehicle, and the historical vehicle load, historical slope, historical accelerator pedal opening, and historical parking score corresponding to each historical vehicle; Matching the historical vehicle load and historical slope corresponding to each historical vehicle according to the current vehicle load and current slope of the current vehicle to determine the target historical vehicle; Comparing the historical parking scores corresponding to the historical accelerator pedal openings in the target historical vehicle to determine the target accelerator pedal opening of the current vehicle; Using the current accelerator pedal opening to perform hill-start assist control on the current vehicle.

7. An electronic parking control device, characterized in that, Applied to the vehicle domain controller, the device includes: A vehicle state data acquisition module, configured to acquire vehicle state data when the current vehicle is in a stationary state; A vehicle parking control module, configured to determine the parking control signal of the current vehicle according to the vehicle state data and send the parking control signal to the electronic parking valve body to control the electronic parking valve body to implement the parking control of the current vehicle.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the electronic parking control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the electronic parking control method according to any one of claims 1-6 when executed by a processor.

10. A computer program product, characterized in that, The computer program product includes a computer program, and the computer program implements the electronic parking control method according to any one of claims 1-6 when executed by a processor.

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