Electronic parking control method and system and vehicle

Abstract

The invention discloses an electronic parking control method and system and a vehicle, and belongs to the vehicle parking technology. The method comprises the steps that when the automatic parking system is in an activated state, a take-over time node of parking controlled by the electronic parking system is obtained; at or before the take-over time node, the front wheel braking clamping force of the front wheel calipers of the vehicle is kept or increased; and after the take-over time node, the braking clamping force of the front wheel is gradually released. When an automatic parking system is activated, the actual gear of the vehicle may be a D gear, but the vehicle enters N gear control, when an EPB system is switched to take over, a front axle may output torque, the distance between the front axle and a rear axle is lengthened, and therefore the vehicle generates pitching, but before N gear automatic parking control is switched to EPB system control, the clamping force of the front axle is increased firstly, driving torque is prevented from being generated, and the clamping force of the front axle is increased. And after the EPB system takes over for a certain time, the clamping force of the front axle is gradually released to ensure that the vehicle does not generate large pitching, and the parking comfort is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle parking, and in particular to an electronic parking control method, system and vehicle. Background Art

[0002] The electronic parking brake design reduces the space occupied by the handbrake lever in the vehicle's armrest area, enhancing the aesthetics of the vehicle's center console. Currently, more and more vehicles are equipped with electronic parking brakes, replacing traditional mechanical ones. As the system continues to evolve, vehicles now have features such as automatic parking and automatic release upon shifting gears. When the automatic parking system is activated, all four wheels are braked to a stop. After a certain period of time, the electronic parking brake (EPB) takes over. During this time, torque may be applied to the front axle, increasing the distance between the front and rear axles and causing the vehicle to pitch. Summary of the Invention

[0003] The present invention aims to provide an electronic parking control method, system and vehicle to solve one or more technical problems existing in the prior art and at least provide a beneficial option or create conditions.

[0004] In order to solve the above-mentioned technical problems, the first aspect of the present invention provides an electronic parking control method, which is applied to a vehicle with an automatic parking system and an electronic parking system, including: when the automatic parking system is in an activated state, obtaining a takeover time node for the electronic parking system to control parking; at or before the takeover time node, maintaining or increasing the front wheel brake clamping force of the vehicle's front wheel caliper; after the takeover time node, gradually releasing the front wheel brake clamping force.

[0005] This technical solution has at least the following beneficial effects: when the automatic parking system is activated, the vehicle's actual gear may be D gear, but it enters N gear control. When the EPB system takes over, the front axle may output torque, causing the distance between the front and rear axles to be lengthened, thereby causing the vehicle to pitch. However, before the N gear automatic parking control is switched to the EPB system control, the clamping force of the front axle is first increased to prevent the generation of driving torque. After the EPB system takes over for a certain period of time, the clamping force of the front axle is gradually released to ensure that the vehicle does not produce a large pitch, thereby improving parking comfort.

[0006] Optionally, after the takeover time node, the front wheel brake clamping force is gradually released, including: after the takeover time node, obtaining the rear wheel brake clamping force of the vehicle's rear wheel caliper; when the rear wheel brake clamping force is greater than a first preset value, gradually releasing the front wheel brake clamping force.

[0007] Optionally, when the rear wheel brake clamping force is greater than a first preset value, the front wheel brake clamping force is gradually released, including: when the rear wheel brake clamping force is greater than the first preset value, obtaining the front wheel driving torque of the vehicle's front wheels; calculating the required brake clamping force of the front wheels based on the front wheel driving torque; when the difference between the front wheel brake clamping force and the required brake clamping force of the front wheels is greater than a second preset value, releasing the front wheel brake clamping force with a first rate curve; when the difference between the front wheel brake clamping force and the required brake clamping force of the front wheels is equal to or less than a second preset value, releasing the front wheel brake clamping force with a second rate curve.

[0008] Optionally, the vehicle includes a mechanical brake-by-wire system, and the electronic parking control method further includes: when the automatic parking system is in an activated state, obtaining the vehicle's road condition, vehicle status and driving torque; calculating the parking torque of the vehicle's four wheels based on the vehicle's road condition, vehicle status and driving torque; and controlling the mechanical brake-by-wire system to brake the wheels based on the parking torque.

[0009] Optionally, it also includes: obtaining the angular position and current of the brake motor of the mechanical wire control brake system, and calculating the theoretical braking torque based on the angular position and current of the brake motor; obtaining the actual clamping force of the vehicle wheel caliper, and verifying the angular position and current of the brake motor based on the actual clamping force and the theoretical braking torque.

[0010] Optionally, the road condition environment of the vehicle includes slope information of the road surface on which the vehicle is located; the calculating the parking torque of the four wheels of the vehicle based on the road condition environment of the vehicle, the vehicle state and the driving torque of the vehicle includes: determining the braking distribution ratio of the front wheel brake clamping force and the rear wheel brake clamping force based on the slope information; calculating the parking torque of the four wheels of the vehicle based on the braking distribution ratio, the road condition environment of the vehicle, the vehicle state and the driving torque of the vehicle.

[0011] Optionally, maintaining or increasing the front wheel brake clamping force of the vehicle's front wheel caliper at or before the takeover time node includes: when the parking slope in the slope information is greater than a third preset value, increasing the front wheel brake clamping force of the vehicle's front wheel caliper according to the slope information at or before the takeover time node; when the parking slope is less than or equal to the third preset value, maintaining the front wheel brake clamping force of the vehicle's front wheel caliper according to the slope information at or before the takeover time node.

[0012] A second aspect of the present invention provides an electronic parking control system, which is applied to a vehicle with an automatic parking system and an electronic parking system. The electronic parking control system includes: a first module, which is used to: when the automatic parking system is in an activated state, obtain a takeover time node for the electronic parking system to control parking; a second module, which is used to: at or before the takeover time node, maintain or increase the front wheel brake clamping force of the vehicle's front wheel caliper; and after the takeover time node, gradually release the front wheel brake clamping force.

[0013] A third aspect of the present invention provides a vehicle, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute any one of the above-mentioned electronic parking control methods.

[0014] A fourth aspect of the present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program is configured to execute any of the above-mentioned electronic parking control methods when running on a computer or a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of an electronic parking control method according to an embodiment of the present invention; Figure 2 Schematic diagram of a specific flow chart of an electronic parking control method according to an embodiment of the present invention; Figure 3 4 is a structural block diagram of an electronic parking control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0017] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. It should be noted that the method provided by the embodiment of the present invention is that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system containing at least one set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here. The method embodiment can also be executed in an electronic system / device including a memory and a processor, a similar control system, or the cloud. Taking an electronic system / device as an example, the electronic system / device may include one or more processors and a memory for storing data. Optionally, the above-mentioned electronic system / device may also include a communication device and a display device for communication functions. It will be understood by those skilled in the art that the above-mentioned structural description is only illustrative and does not limit the structure of the above-mentioned electronic system / device. For example, the electronic system / device may also include more or fewer components than the above-mentioned structural description, or have a configuration different from the above-mentioned structural description. like Figure 1-2 As shown, an electronic parking control method is applied to a vehicle having an automatic parking system and an electronic parking system, and the electronic parking control method includes the following steps: Step S100 : When the automatic parking system is in an activated state, a takeover time node of parking control by the electronic parking system is obtained.

[0018] Specifically, the vehicle's automatic parking system can be activated by inputting a command, such as pressing a start button, or by triggering certain activation conditions, such as when the vehicle has been stationary for an extended period or when the vehicle is rolling down a slope. When the automatic parking system is activated, the automatic parking system controls the vehicle's braking system for four-wheel braking. When certain switching conditions are met, the automatic parking system controls the vehicle's braking system for four-wheel braking, and the electronic parking system takes over, allowing the electronic parking system to control the vehicle's braking system for rear-wheel braking. Switching conditions include, for example, the automatic parking system controlling the vehicle's braking system for a preset time without receiving a throttle trigger signal, the vehicle door being opened, or the driver exiting the vehicle. It is understood that when the switching conditions are met, the time point for the electronic parking system to take over can be determined.

[0019] Step S200: at or before the takeover time node, maintain or increase the front wheel brake clamping force of the vehicle's front wheel caliper.

[0020] Specifically, at the takeover time node, that is, when the automatic parking system switches control to the electronic parking system, the automatic parking system will release the front wheel caliper's front wheel brake clamping force. At this time, by obtaining the front wheel caliper's front wheel brake clamping force in advance and maintaining or increasing the front wheel brake clamping force on the front wheel, the front axle still has clamping force when the electronic parking system takes over, preventing the front axle from generating driving torque and causing the vehicle to pitch significantly. In addition, the takeover time node can be estimated in advance based on the takeover conditions, and before the takeover time node, the front wheel caliper's front wheel brake clamping force can be controlled to maintain or increase the front wheel brake clamping force to ensure that the front axle still has clamping force when the electronic parking system takes over.

[0021] Step S300: After the takeover time node, gradually release the front wheel brake clamping force.

[0022] Specifically, after the takeover time node, when the electronic parking system takes over stably, the front wheel brake clamping force is gradually released, and the electronic parking system controls the vehicle braking system to perform rear wheel braking to achieve stable parking of the vehicle.

[0023] In an embodiment of the present invention, when the automatic parking system is activated, the actual gear position of the vehicle may be D gear, but it enters N gear control. When the EPB system takes over, the front axle may output torque, causing the distance between the front and rear axles to be lengthened, thereby causing the vehicle to pitch. However, before the N gear automatic parking control is switched to the EPB system control, the clamping force of the front axle is first increased to prevent the generation of driving torque. After the EPB system takes over for a certain period of time, the clamping force of the front axle is gradually released to ensure that the vehicle does not produce a large pitch, thereby improving parking comfort.

[0024] Optionally, step S300 includes step S310 and step S320.

[0025] Step S310: After the takeover time node, obtain the rear wheel brake clamping force of the vehicle's rear wheel caliper.

[0026] Step S320: When the rear wheel brake clamping force is greater than the first preset value, the front wheel brake clamping force is gradually released.

[0027] Specifically, the rear wheel brake clamping force of the vehicle's rear wheel caliper can be obtained by installing a clamping force sensor on the vehicle's rear wheel caliper. When the rear wheel brake clamping force is greater than a first preset value, it is considered that the electronic parking system has clamped the rear wheel stably, and the front wheel brake clamping force can be gradually released to enable the vehicle to stably enter the parking mode of the electronic parking system.

[0028] Among them, the first preset value is determined according to the control torque of the electronic parking system. For example, the electronic parking system will determine the rear wheel brake clamping force control value that should be applied to the rear wheel according to the slope of the road on which the vehicle is located. The first preset value can be determined by the rear wheel brake clamping force control value. For example, the first preset value can be equal to or slightly less than the rear wheel brake clamping force control value.

[0029] In other embodiments, the clamping time required for the electronic parking system to clamp the rear wheels after taking over can also be estimated based on the control logic of the electronic parking system, and the delayed release time is determined based on the clamping time. At the takeover time node, after the delayed release time, the vehicle braking system is controlled to gradually release the front wheel brake clamping force, so that the vehicle can stably enter the parking mode of the electronic parking system.

[0030] Optionally, step S320 further includes step S321, step S322, step S323 and step S324.

[0031] Step S321: When the rear wheel brake clamping force is greater than a first preset value, the front wheel driving torque of the vehicle's front wheels is obtained.

[0032] Step S322: Calculate the required front wheel brake clamping force based on the front wheel driving torque.

[0033] Step S323 , when the difference between the front wheel brake clamping force and the required front wheel brake clamping force is greater than a second preset value, releasing the front wheel brake clamping force according to the first rate curve.

[0034] Step S324 , when the difference between the front wheel brake clamping force and the required front wheel brake clamping force is equal to or less than a second preset value, releasing the front wheel brake clamping force according to a second rate curve.

[0035] Specifically, when the rear-wheel brake clamping force is greater than a first preset value, that is, when the electronic parking system clamps the rear wheels, the front-wheel drive torque of the vehicle's front wheels is acquired. The vehicle's drive torque can be estimated by receiving the gear position signal and throttle signal from the vehicle's powertrain module via CAN data, thereby estimating the front-wheel drive torque of the vehicle's front wheels. Furthermore, when the vehicle's road surface is sloped, the slope information can be used to calculate the gravity drive torque imposed on the vehicle by the slope, thereby correcting the front-wheel drive torque based on the gravity drive torque. Based on the front-wheel drive torque of the vehicle's front wheels, the required front-wheel brake clamping force required to balance the front-wheel drive torque and maintain front-wheel stability can be calculated. In other words, when the clamping force applied by the vehicle's braking system is equal to the required front-wheel brake clamping force, the front wheels can be kept just stable.

[0036] The difference between the front wheel brake clamping force and the required front wheel brake clamping force (i.e., the calculated value of the front wheel brake clamping force minus the required front wheel brake clamping force) is greater than a second preset value, and the front wheel brake clamping force is considered to be able to maintain the front wheel in a stable state, thereby preventing the generation of driving torque. Therefore, the front wheel brake clamping force can be released at a faster first rate curve until the calculated value of the front wheel brake clamping force minus the required front wheel brake clamping force is less than or equal to the second preset value. At this time, it is considered that the front wheel brake clamping force may not be able to maintain the stability of the front wheel, and therefore, the front wheel brake clamping force needs to be released at a slower second rate curve. The second preset value is a reference value for ensuring front wheel stability, and the second preset value can be obtained by setting a guarantee percentage greater than 1 and multiplying it by the required front wheel brake clamping force.

[0037] It can be understood that the first rate curve and the second rate curve are both functions of the relationship between the front wheel brake clamping force and time, and the unit change value of the front wheel brake clamping force in the first rate curve is greater than the unit change value of the front wheel brake clamping force in the second rate curve.

[0038] Optionally, the vehicle includes a mechanical brake-by-wire system, and the electronic parking control method further includes step S110, step S120 and step S130.

[0039] Step S110 , when the automatic parking system is in an activated state, the vehicle's road condition, vehicle state, and vehicle driving torque are obtained.

[0040] Step S120 , calculating the parking torque of the four wheels of the vehicle according to the vehicle's road conditions, vehicle state, and vehicle driving torque.

[0041] Step S130 : Controlling the mechanical brake-by-wire system to brake the wheels according to the parking torque.

[0042] Specifically, the vehicle's braking system is a mechanical brake-by-wire system, or EMB system. The mechanical brake-by-wire system drives the brake caliper through the brake motor to clamp the wheel, thereby achieving the braking effect. When the automatic parking system is activated, the vehicle's road environment, vehicle status, and vehicle driving torque are first obtained. The vehicle's road environment includes information about the road section the vehicle is on, such as parking lots, road sides, etc. The vehicle status includes gear information, throttle information, the temperature of the brake discs in the brake calipers of the four wheels, etc. The temperature of the brake disc can be obtained by obtaining the external ambient temperature near the brake disc through a temperature sensor, and then calculated based on the external ambient temperature. The gear information and throttle information can be obtained from the powertrain module through CAN data. By receiving the gear signal and throttle signal from the vehicle's powertrain module through CAN data, the vehicle's driving torque can be estimated.

[0043] Based on the vehicle's road conditions, state, and driving torque, the parking torque for each of the vehicle's four wheels is calculated to ensure safe and stable parking. The mechanical brake-by-wire system is controlled based on these four parking torques to park the vehicle. By performing a mechanical analysis of the vehicle based on the road conditions, state, and driving torque, and taking into account the final force applied to the vehicle, the total parking torque is calculated and evenly distributed to each wheel. By applying the appropriate parking torque to each wheel, the vehicle can be kept in a stable parking state.

[0044] Furthermore, step S130 also includes step S131 and step S132.

[0045] Step S131 , obtaining the rotational angle position and current of the brake motor of the mechanical wire-controlled brake system, and calculating the theoretical braking torque according to the rotational angle position and current of the brake motor.

[0046] Step S132: obtaining the actual clamping force of the vehicle wheel caliper, and verifying the rotational angle position and current of the brake motor according to the actual clamping force and the theoretical braking torque.

[0047] Specifically, when a mechanical brake-by-wire system brakes a wheel, it obtains the angular position and current of the brake motor in real time. Based on this, the theoretical braking torque (feedforward) is calculated. The theoretical braking torque is the braking torque that the brake motor theoretically generates at the corresponding wheel at that angular position and current. The actual clamping force or braking torque of the wheel caliper is obtained via a clamping force sensor installed on the wheel. By comparing the actual clamping force with the theoretical braking torque, it is possible to verify whether the control of the brake motor can produce the expected clamping force or braking torque. Based on the difference between the actual clamping force and the theoretical braking torque, the angular position and current of the brake motor are corrected (feedback). In other words, the actual clamping force or braking torque of each wheel is controlled through feedforward and feedback, thereby ensuring the accuracy and reliability of wheel braking.

[0048] Furthermore, the road condition environment of the vehicle also includes slope information of the road surface on which the vehicle is located. Step S120 includes step S121 and step S122.

[0049] Step S121 , determining a braking distribution ratio of the front wheel brake clamping force and the rear wheel brake clamping force according to the slope information.

[0050] Step S122 , calculating the parking torque of the four wheels of the vehicle according to the braking distribution ratio, the road condition of the vehicle, the vehicle state and the driving torque of the vehicle.

[0051] Specifically, when the vehicle is on a slope, due to the action of gravity, the braking torque required by the wheels at a lower position should be greater than the braking torque required by the wheels at a higher position. Therefore, reasonably distributing the braking torque of the four vehicles of the vehicle according to the parking slope of the vehicle can improve the stability of the vehicle during parking and the reliability after parking.

[0052] Slope information is acquired through an acceleration sensor, which can reveal the parking slope of the vehicle. The greater the parking slope, the smaller the proportion of parking torque allocated to the front wheels, and the smaller the front wheel brake clamping force compared to the rear wheel brake clamping force. For example, when the parking slope is between 0 and 4 degrees, the front-to-rear brake clamping force distribution ratio is 5:5; when the parking slope is between 4 and 8 degrees, the front-to-rear brake clamping force distribution ratio is 4:6; and when the parking slope is above 8 degrees, the front-to-rear brake clamping force distribution ratio is 3:7. Once the front-to-rear brake clamping force distribution ratio is determined, the total parking torque calculated based on the road conditions, vehicle state, and vehicle drive torque is used to calculate the parking torque for all four wheels.

[0053] Furthermore, step S200 includes step S210 and step S220.

[0054] Step S210: When the parking slope in the slope information is greater than a third preset value, at or before the takeover time node, the front wheel brake clamping force of the vehicle's front wheel caliper is increased according to the slope information.

[0055] Step S220: When the parking slope is less than or equal to a third preset value, at or before the takeover time node, the front wheel brake clamping force of the vehicle's front wheel calipers is maintained according to the slope information.

[0056] Specifically, when the vehicle parking slope is less than or equal to a third preset value, that is, the difference between the front wheel brake clamping force and the rear wheel brake clamping force is not very large, the front wheel brake clamping force is larger, and therefore, at or before the takeover time node, it is only necessary to maintain the current front wheel brake clamping force. When the vehicle parking slope is greater than the third preset value, the difference between the front wheel brake clamping force and the rear wheel brake clamping force is large, and the front wheel brake clamping force is smaller, and therefore, at or before the takeover time node, it is necessary to increase the front wheel brake clamping force to ensure that the front wheel does not generate a driving torque. The magnitude of the increased front wheel brake clamping force is associated with the vehicle parking slope, and the amount of increased front wheel brake clamping force can be a preset multiple of the vehicle parking slope. The third preset value can be set after multiple tests based on the impact of different vehicle parking slopes on the front wheel brake clamping force and the pitching of the vehicle when switching to the electronic parking system.

[0057] It is understandable that when the parking slope is greater than the third preset value, there are two situations: The first case: When the automatic parking system is activated while the vehicle is going uphill, the front wheel brake clamping force of the vehicle is less than the rear wheel brake clamping force. At or before the takeover time node, the front wheel brake clamping force is increased.

[0058] The second situation: When the automatic parking system is activated when the vehicle is going downhill, the front wheel brake clamping force of the vehicle is greater than the rear wheel brake clamping force. At or before the takeover time node, since part of the front wheel brake clamping force is used to balance the driving torque caused by gravity, the front wheel brake clamping force still needs to be increased to prevent the front wheel from generating driving torque.

[0059] The increased front wheel brake clamping force in the second case is greater than the increased front wheel brake clamping force in the first case, and the gradual release rate of the front wheel brake clamping force in the second case is less than the gradual release rate of the front wheel brake clamping force in the first case.

[0060] Through the description of the above embodiments, those skilled in the art will clearly understand that the methods according to the above embodiments can be implemented using software plus the necessary general-purpose hardware platform. Of course, hardware can also be used, but in many cases the former is the more preferred embodiment. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, or optical disk) and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention. In this embodiment, an electronic parking control system is also provided. The system includes a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it is used to implement the above-mentioned embodiments and preferred implementation methods. The details that have been explained will not be repeated here. As used below, the term "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the system described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

[0061] like Figure 3 As shown, an electronic parking control system is applied to a vehicle having an automatic parking system and an electronic parking system, and the electronic parking control system includes: The first module 400 is configured to execute the above step S100 , namely, to obtain a takeover time node of the electronic parking system when the automatic parking system is in an activated state.

[0062] The second module 500 is used to execute the above-mentioned steps S200 and S300, that is, to execute: at or before the takeover time node, maintain or increase the front wheel brake clamping force of the vehicle's front wheel caliper; after the takeover time node, gradually release the front wheel brake clamping force.

[0063] Optionally, the second module 500 is also used to execute the above-mentioned steps S310 and S320, that is, to execute: after taking over the time node, obtaining the rear wheel brake clamping force of the vehicle's rear wheel caliper; when the rear wheel brake clamping force is greater than the first preset value, gradually releasing the front wheel brake clamping force.

[0064] Optionally, the second module 500 is also used to execute the above-mentioned steps S321, S322, S323 and S324, that is, to execute: when the rear wheel brake clamping force is greater than a first preset value, obtaining the front wheel driving torque of the vehicle's front wheel; calculating the required brake clamping force of the front wheel based on the front wheel driving torque; when the difference between the front wheel brake clamping force and the required brake clamping force of the front wheel is greater than a second preset value, releasing the front wheel brake clamping force according to a first rate curve; when the difference between the front wheel brake clamping force and the required brake clamping force of the front wheel is equal to or less than a second preset value, releasing the front wheel brake clamping force according to a second rate curve.

[0065] Optionally, the first module 400 is also used to execute the above-mentioned steps S110, S120 and S130, that is, to execute: when the automatic parking system is in an activated state, obtaining the vehicle's road conditions, vehicle status and vehicle driving torque; calculating the parking torque of the vehicle's four wheels based on the vehicle's road conditions, vehicle status and vehicle driving torque; and controlling the mechanical wire control brake system to brake the wheels according to the parking torque.

[0066] Optionally, the first module 400 is also used to execute the above-mentioned steps S131 and S132, that is, to execute: obtaining the angular position and current of the brake motor of the mechanical wire control brake system, and calculating the theoretical braking torque based on the angular position and current of the brake motor; obtaining the actual clamping force of the vehicle wheel caliper, and verifying the angular position and current of the brake motor based on the actual clamping force and the theoretical braking torque.

[0067] Optionally, the first module 400 is also used to execute the above-mentioned steps S121 and S122, that is, to execute: determining the braking distribution ratio of the front wheel brake clamping force and the rear wheel brake clamping force based on the slope information; calculating the parking torque of the four wheels of the vehicle based on the braking distribution ratio, the vehicle's road conditions, the vehicle state and the vehicle's driving torque.

[0068] Optionally, the second module 500 is also used to execute the above-mentioned steps S210 and S220, that is, to execute: when the parking slope in the slope information is greater than a third preset value, at or before the takeover time node, the front wheel brake clamping force of the vehicle's front wheel caliper is increased according to the slope information; when the parking slope is less than or equal to the third preset value, at or before the takeover time node, the front wheel brake clamping force of the vehicle's front wheel caliper is maintained according to the slope information.

[0069] Alternatively, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementations, and this embodiment will not be described in detail here. The system embodiment described above is merely illustrative, and the units described as separate components may or may not be physically separate, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of this embodiment.

[0070] An embodiment of the present invention further provides a vehicle, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute an electronic parking control method in any of the above embodiments.

[0071] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle must have an electric motor that can output power or store mechanical energy as a generator. If the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0072] Optionally, in this embodiment, the processor in the vehicle may be configured to run a computer program to execute the steps of the control method in the aforementioned embodiment: Step S100 : When the automatic parking system is in an activated state, a takeover time node of parking control by the electronic parking system is obtained.

[0073] Step S110 , when the automatic parking system is in an activated state, the vehicle's road condition, vehicle state, and vehicle driving torque are obtained.

[0074] Step S120 , calculating the parking torque of the four wheels of the vehicle according to the vehicle's road conditions, vehicle state, and vehicle driving torque.

[0075] Step S121 , determining a braking distribution ratio of the front wheel brake clamping force and the rear wheel brake clamping force according to the slope information.

[0076] Step S122 , calculating the parking torque of the four wheels of the vehicle according to the braking distribution ratio, the road condition of the vehicle, the vehicle state and the driving torque of the vehicle.

[0077] Step S130 : Controlling the mechanical brake-by-wire system to brake the wheels according to the parking torque.

[0078] Step S131 , obtaining the rotational angle position and current of the brake motor of the mechanical wire-controlled brake system, and calculating the theoretical braking torque according to the rotational angle position and current of the brake motor.

[0079] Step S132: obtaining the actual clamping force of the vehicle wheel caliper, and verifying the rotational angle position and current of the brake motor according to the actual clamping force and the theoretical braking torque.

[0080] Step S200: at or before the takeover time node, maintain or increase the front wheel brake clamping force of the vehicle's front wheel caliper.

[0081] Step S210: When the parking slope in the slope information is greater than a third preset value, at or before the takeover time node, the front wheel brake clamping force of the vehicle's front wheel caliper is increased according to the slope information.

[0082] Step S220: When the parking slope is less than or equal to a third preset value, at or before the takeover time node, the front wheel brake clamping force of the vehicle's front wheel calipers is maintained according to the slope information.

[0083] Step S300: After the takeover time node, gradually release the front wheel brake clamping force.

[0084] Step S310: After the takeover time node, obtain the rear wheel brake clamping force of the vehicle's rear wheel caliper.

[0085] Step S320: When the rear wheel brake clamping force is greater than the first preset value, the front wheel brake clamping force is gradually released.

[0086] Step S321: When the rear wheel brake clamping force is greater than a first preset value, the front wheel driving torque of the vehicle's front wheels is obtained.

[0087] Step S322: Calculate the required front wheel brake clamping force based on the front wheel driving torque.

[0088] Step S323 , when the difference between the front wheel brake clamping force and the required front wheel brake clamping force is greater than a second preset value, releasing the front wheel brake clamping force according to the first rate curve.

[0089] Step S324 , when the difference between the front wheel brake clamping force and the required front wheel brake clamping force is equal to or less than a second preset value, releasing the front wheel brake clamping force according to a second rate curve.

[0090] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0091] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute an electronic parking control method in any of the above embodiments when running on a computer or a processor.

[0092] Optionally, in this embodiment, the computer program may be configured to store a computer program for executing the steps of the control method in the aforementioned embodiment: Step S100 : When the automatic parking system is in an activated state, a takeover time node of parking control by the electronic parking system is obtained.

[0093] Step S110 , when the automatic parking system is in an activated state, the vehicle's road condition, vehicle state, and vehicle driving torque are obtained.

[0094] Step S120 , calculating the parking torque of the four wheels of the vehicle according to the vehicle's road conditions, vehicle state, and vehicle driving torque.

[0095] Step S121 , determining a braking distribution ratio of the front wheel brake clamping force and the rear wheel brake clamping force according to the slope information.

[0096] Step S122 , calculating the parking torque of the four wheels of the vehicle according to the braking distribution ratio, the road condition of the vehicle, the vehicle state and the driving torque of the vehicle.

[0097] Step S130 : Controlling the mechanical brake-by-wire system to brake the wheels according to the parking torque.

[0098] Step S131 , obtaining the rotational angle position and current of the brake motor of the mechanical wire-controlled brake system, and calculating the theoretical braking torque according to the rotational angle position and current of the brake motor.

[0099] Step S132: obtaining the actual clamping force of the vehicle wheel caliper, and verifying the rotational angle position and current of the brake motor according to the actual clamping force and the theoretical braking torque.

[0100] Step S200: at or before the takeover time node, maintain or increase the front wheel brake clamping force of the vehicle's front wheel caliper.

[0101] Step S210: When the parking slope in the slope information is greater than a third preset value, at or before the takeover time node, the front wheel brake clamping force of the vehicle's front wheel caliper is increased according to the slope information.

[0102] Step S220: When the parking slope is less than or equal to a third preset value, at or before the takeover time node, the front wheel brake clamping force of the vehicle's front wheel calipers is maintained according to the slope information.

[0103] Step S300: After the takeover time node, gradually release the front wheel brake clamping force.

[0104] Step S310: After the takeover time node, obtain the rear wheel brake clamping force of the vehicle's rear wheel caliper.

[0105] Step S320: When the rear wheel brake clamping force is greater than the first preset value, the front wheel brake clamping force is gradually released.

[0106] Step S321: When the rear wheel brake clamping force is greater than a first preset value, the front wheel driving torque of the vehicle's front wheels is obtained.

[0107] Step S322: Calculate the required front wheel brake clamping force based on the front wheel driving torque.

[0108] Step S323 , when the difference between the front wheel brake clamping force and the required front wheel brake clamping force is greater than a second preset value, releasing the front wheel brake clamping force according to the first rate curve.

[0109] Step S324 , when the difference between the front wheel brake clamping force and the required front wheel brake clamping force is equal to or less than a second preset value, releasing the front wheel brake clamping force according to a second rate curve.

[0110] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here. In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. In some embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only exemplary. For example, the division of the modules can be a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, modules or indirect coupling or communication connection of modules, which can be electrical or other forms.

[0111] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0112] The embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

Claims

1. An electronic parking control method, applied to a vehicle with an automatic parking system and an electronic parking system, characterized in that: include: When the automatic parking system is in an activated state, obtaining a takeover time node of parking control by the electronic parking system; At or before the takeover time node, maintaining or increasing the front wheel brake clamping force of the front wheel caliper of the vehicle; After the takeover time node, the front wheel brake clamping force is gradually released.

2. The electronic parking control method according to claim 1, characterized in that: After the takeover time node, gradually releasing the front wheel brake clamping force includes: After the takeover time node, obtaining the rear wheel brake clamping force of the rear wheel caliper of the vehicle; When the rear wheel brake clamping force is greater than a first preset value, the front wheel brake clamping force is gradually released.

3. The electronic parking control method according to claim 2, characterized in that: When the rear wheel brake clamping force is greater than a first preset value, gradually releasing the front wheel brake clamping force comprises: When the rear wheel brake clamping force is greater than a first preset value, obtaining a front wheel driving torque of the front wheel of the vehicle; calculating the required brake clamping force of the front wheels according to the front wheel driving torque; When the difference between the front wheel brake clamping force and the required front wheel brake clamping force is greater than a second preset value, releasing the front wheel brake clamping force at a first rate curve; When the difference between the front wheel brake clamping force and the required front wheel brake clamping force is equal to or less than a second preset value, the front wheel brake clamping force is released at a second rate curve.

4. The electronic parking control method according to claim 1, characterized in that: The vehicle includes a mechanical brake-by-wire system, and the electronic parking control method further includes: When the automatic parking system is in an activated state, obtaining a road condition environment of the vehicle, a vehicle state, and a driving torque of the vehicle; Calculating the parking torque of the four wheels of the vehicle according to the road condition environment of the vehicle, the vehicle state and the driving torque of the vehicle; The mechanical brake-by-wire system is controlled to brake the wheels according to the parking torque.

5. The electronic parking control method according to claim 4, characterized in that: Also includes: Obtaining a rotational angle position and a current of a brake motor of the mechanical wire-controlled brake system, and calculating a theoretical braking torque according to the rotational angle position and the current of the brake motor; The actual clamping force of the vehicle wheel caliper is obtained, and the rotational angle position and current of the brake motor are verified according to the actual clamping force and the theoretical braking torque.

6. The electronic parking control method according to claim 4, characterized in that: The road condition of the vehicle includes slope information of the road surface on which the vehicle is located; and calculating the parking torque of the four wheels of the vehicle based on the road condition, the vehicle state, and the driving torque of the vehicle includes: determining a braking distribution ratio of the front wheel brake clamping force and the rear wheel brake clamping force according to the slope information; The parking torque of the four wheels of the vehicle is calculated according to the braking distribution ratio, the road environment of the vehicle, the vehicle state and the driving torque of the vehicle.

7. The electronic parking control method according to claim 6, characterized in that: Maintaining or increasing the front wheel brake clamping force of the front wheel caliper of the vehicle at or before the takeover time node includes: When the parking slope in the slope information is greater than a third preset value, at or before the takeover time node, increasing the front wheel brake clamping force of the vehicle's front wheel caliper according to the slope information; When the parking slope is less than or equal to a third preset value, at or before the takeover time node, the front wheel brake clamping force of the vehicle's front wheel calipers is maintained according to the slope information.

8. An electronic parking control system, applied to a vehicle with an automatic parking system and an electronic parking system, characterized in that: The electronic parking control system comprises: The first module is configured to: when the automatic parking system is in an activated state, obtain a takeover time node of the electronic parking system for controlling parking; The second module is used to: maintain or increase the front wheel brake clamping force of the vehicle's front wheel caliper at or before the takeover time node; and gradually release the front wheel brake clamping force after the takeover time node.

9. A vehicle comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the electronic parking control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, wherein the computer program is configured to execute the electronic parking control method according to any one of claims 1 to 7 when running on a computer or a processor.

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