Parking control system, control method thereof and vehicle

Abstract

The invention relates to a parking control system, a control method thereof and a vehicle, and relates to the technical field of vehicle parking. The system comprises a first processor, a first motor control module, a first caliper motor, a second processor, a second motor control module, a second caliper motor and a first enabling control module, redundant design can be achieved, and under the condition that one processor fails, parking and parking release functions can still be achieved through the other processor; and the control logics of the two processors are the same, so that the same software can be used, and the workload of software development and maintenance is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle parking control, in particular to a parking control system, a control method thereof and a vehicle. BACKGROUND

[0002] In a vehicle control system, the parking control system bears a vital safety function, and needs to ensure the reliable static parking ability of the vehicle. To meet the functional safety requirements of the vehicle, the parking control system needs to adopt a redundant design to ensure that the vehicle will not completely lose the parking ability due to local failure of the control link.

[0003] At present, the redundant design of the parking control system usually adopts a dual-processor architecture, one processor as a master controller and the other processor as a slave controller. Under normal circumstances, the caliper motor is driven by the master controller to control the lifting and release of the caliper. When the master controller fails, the slave controller replaces the master controller to drive the caliper motor. However, this architecture must design two different sets of software for the master controller and the slave controller, and the software needs to be developed and maintained independently, which is a large amount of work. SUMMARY

[0004] One of the purposes of the present application is to provide a parking control system, a control method thereof and a vehicle to solve the problem of large workload of redundant development and maintenance of the parking control system.

[0005] In order to achieve the above-mentioned purposes, the technical solutions adopted by the present application are as follows:

[0006] A parking control system, comprising: a first processor, a first motor control module, a first caliper motor, a second processor, a second motor control module, a second caliper motor and a first enable control module;

[0007] The first processor is connected with the first motor control module, and is used for transmitting a first motor control signal to the first motor control module; the second processor is connected with the second motor control module, and is used for transmitting a second motor control signal to the second motor control module;

[0008] The first enable control module is connected with the first processor and the first motor control module respectively, and is used for receiving a first enable control signal sent by the first processor and transmitting the first enable control signal to the first motor control module;

[0009] The first enable control module is also connected with the second processor and the second motor control module respectively, and is used for receiving a second enable control signal sent by the second processor and transmitting the second enable control signal to the second motor control module;

[0010] The first motor control module is connected with the first caliper motor, and is configured to control the first caliper motor according to the first motor control signal and the first enable control signal.

[0011] The second motor control module is connected with the second caliper motor, and is configured to control the second caliper motor according to the second motor control signal and the second enable control signal.

[0012] Further, the parking control system further comprises a first monitoring module and a second monitoring module.

[0013] The first monitoring module is connected with the first processor and the first enable control module respectively, and is configured to detect whether the first processor is faulty, and send a first fault signal to the first enable control module when the first processor is faulty.

[0014] The second monitoring module is connected with the second processor and the second enable control module respectively, and is configured to detect whether the second processor is faulty, and send a second fault signal to the second enable control module when the second processor is faulty.

[0015] The first enable control module is further configured to: stop receiving the first enable control signal sent by the first processor in the case of receiving the first fault signal; and stop receiving the second enable control signal sent by the second processor in the case of receiving the second fault signal.

[0016] Further, the first enable control module is further configured to: in the case of not receiving the first fault signal and the second fault signal, perform time synchronization processing on the received first enable control signal and second enable control signal, and simultaneously send the synchronized first enable control signal to the first motor control module and the synchronized second enable control signal to the second motor control module.

[0017] Further, the first enable control module is further configured to: perform self-checking on whether there is a fault, and send an enable fault signal to the first processor and the second processor if there is a fault.

[0018] The first processor and the second processor are further configured to: enable a backup link in the case of receiving the enable fault signal.

[0019] The backup link is configured to transmit the first enable control signal to the first motor control module and transmit the second enable control signal to the second motor control module.

[0020] Further, the backup link comprises a second enable control module and a third enable control module.

[0021] The second enablement control module is connected with the first processor and the first motor control module respectively, and is configured to receive the first enablement control signal sent by the first processor and transmit the first enablement control signal to the first motor control module.

[0022] The third enablement control module is connected with the second processor and the second motor control module respectively, and is configured to receive the second enablement control signal sent by the second processor and transmit the second enablement control signal to the second motor control module.

[0023] Further, the configuration of the first enablement control module is higher than the configurations of the second enablement control module and the third enablement control module.

[0024] Further, the first motor control module is further configured to: judge whether the steering indicated by the received first motor control signal and the first enablement control signal is consistent, and if consistent, output a corresponding drive current signal.

[0025] A control method of a parking control system, which can be applied to the first processor or the second processor in any of the above parking control systems, the method comprising:

[0026] receiving external input information, the external input information comprising vehicle state information and / or a parking request triggered by a driver;

[0027] generating corresponding motor control signals and enablement control signals according to the external input information and parking control logic and sending the motor control signals and the enablement control signals to a connected downstream control link.

[0028] A control device of a parking control system, which can be applied to the first processor or the second processor in any of the above parking control systems, the device comprising:

[0029] a receiving module configured to receive external input information, the external input information comprising vehicle state information and / or a parking request triggered by a driver;

[0030] a control module configured to generate corresponding motor control signals and enablement control signals according to the external input information and parking control logic and send the motor control signals and the enablement control signals to a connected downstream control link.

[0031] A vehicle comprising the parking control system according to any of the above.

[0032] An electronic device comprising: a processor, and a memory connected with the processor in communication;

[0033] The memory stores computer execution instructions;

[0034] The processor executes the computer execution instructions stored in the memory to implement the control method according to any of the above.

[0035] A computer readable storage medium, comprising: computer execution instructions stored in the computer readable storage medium, the computer execution instructions being executed by a processor to implement the control method according to any one of the preceding.

[0036] A computer program product, comprising a computer program, the computer program being executed by a processor to implement the control method according to any one of the preceding.

[0037] The present application has the following beneficial effects: two processors with the same function are used to control two independent caliper motors, not only the redundancy design can be realized, but also the parking and parking release functions can be realized through the other processor in the case of failure of one processor, and the control logic of the two processors is the same, so that the same software can be used, and the workload of software development and maintenance is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A structure diagram of a parking control system provided for an exemplary embodiment of the present application Figure 1

[0039] Figure 2 A structure diagram of a parking control system provided for an exemplary embodiment of the present application Figure 2

[0040] Figure 3 A control logic diagram of a parking control system provided for an exemplary embodiment of the present application Figure 1

[0041] Figure 4 A control logic diagram of a parking control system provided for an exemplary embodiment of the present application Figure 2

[0042] Figure 5 A structure diagram of an electronic device provided for an exemplary embodiment of the present application.

[0043] The above drawings have shown the specific embodiments of the present application, and the following will have more detailed description. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application by any means, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0044] ​​​​The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0045] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0046] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0047] The terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, product, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, product, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in a process, method, product, or apparatus that includes the elements is not precluded. For example, the terms "first," "second," etc., when used, are used to indicate names and do not imply any particular order.

[0048] A car's parking control system provides reliable static parking capabilities, preventing rolling accidents. To meet automotive functional safety requirements, parking control systems must employ a redundant design. This redundant design, through physically or logically isolated backup units, seamlessly takes over or maintains basic parking functionality in the event of a primary path failure, ensuring safety for both the driver and the surrounding environment.

[0049] At present, the redundancy design of the parking control system is mostly master-slave structure, two MCUs (microprocessors) and two caliper motors are used to control the caliper pulling up and releasing, one MCU is used as the master controller, and the other MCU is used as the slave controller, both of which can be independently controlled. Under normal circumstances, both caliper motors are controlled by the master controller, and the slave controller does not participate in the parking control; when the master controller fails, the slave controller takes over the control of the two caliper motors of the master controller, both of which are controlled by the slave controller, realizing the parking and parking release functions of the EPB (electronic parking system).

[0050] However, the control logic of the master controller and the slave controller is different, so the software of the two MCUs will also be quite different, and two independent sets of software need to be developed, which will increase the workload of software development verification and later maintenance.

[0051] Based on this, a technical concept is proposed, which uses two or more MCUs with the same function to control the caliper motor. Specifically, in one parking control system, multiple identical processing modules can be provided, each of which can include a separate MCU, a motor control module and a caliper motor, and the MCU, the motor control module and the caliper motor are connected in sequence, so that the MCU can drive the caliper motor by sending a motor control signal to the motor control module; at the same time, the parking control system can also be provided with an enable control module, which can be connected with the processor and the motor control module in each processing module, and the MCU in each processing module can send an enable control signal to the enable control module, and the enable control module can transmit the enable control signal to the motor control module in the processing module where the processor sending the enable control signal is located after receiving the enable control signal.

[0052] In the parking control system with the above architecture, the motor control module drives the caliper motor only when the received motor control signal and the enable control signal remain consistent, forming double control of the motor by the motor control signal and the enable control signal. With this architecture, the parking control system can not only achieve redundancy design, but also can realize the parking and parking release functions through the control of other MCUs in the case of failure of one MCU, and the control logic of these MCUs is the same, so the same software can be used, reducing the workload of software development and maintenance.

[0053] The application scenarios mentioned above are only examples, and those skilled in the art can expand the application according to specific requirements and scenarios, and the embodiments of the present application do not specifically limit this. The parking control system according to the exemplary embodiments of the present application, the control method thereof and the vehicle will be described below with reference to Figures 1 to 5

[0054] Figure 1 The structure of a parking control system provided for the exemplary embodiments of the present application​Figure 1 As shown in Figure 1 The parking control system can include a first processor, a first motor control module, a first caliper motor, a second processor, a second motor control module, a second caliper motor, and a first enable control module.

[0055] The first processor and the second processor can be MCUs of the same specification.

[0056] In the embodiment of the application, the number of processing modules is two, each processing module includes an independent MCU (first processor or second processor), a motor control module, and a caliper motor, and the two processing modules can share the first enable control module.

[0057] The first processor is connected to the first motor control module and is configured to transmit a first motor control signal to the first motor control module.

[0058] The first enable control module is connected to the first processor and the first motor control module, respectively, and is configured to receive a first enable control signal sent by the first processor and transmit the first enable control signal to the first motor control module.

[0059] The first enable control module is also connected to the second processor and the second motor control module, respectively, and is configured to receive a second enable control signal sent by the second processor and transmit the second enable control signal to the second motor control module.

[0060] The first motor control module is connected to the first caliper motor and is configured to control the first caliper motor according to the first motor control signal and the first enable control signal.

[0061] The second motor control module is connected to the second caliper motor and is configured to control the second caliper motor according to the second motor control signal and the second enable control signal.

[0062] The first motor control signal can include a motor forward rotation signal and a motor reverse rotation signal, the motor forward rotation signal being used to instruct the first caliper motor to perform a forward rotation action (caliper lifting), and the motor reverse rotation signal being used to instruct the first caliper motor to perform a reverse rotation action (caliper releasing). The principle of the second motor control signal is the same as that of the first motor control signal.

[0063] The first enable control signal can include a forward rotation enable signal and a reverse rotation enable signal, the forward rotation enable signal being used to authorize the first caliper motor to perform a forward rotation action, and the reverse rotation enable signal being used to authorize the first caliper motor to perform a reverse rotation action. The principle of the second enable control signal is the same as that of the first enable control signal.

[0064] The motor control signal and the enable control signal together constitute the dual control of the caliper motor by the motor control module. Take the control of the first caliper motor as an example:

[0065] The first motor control module is configured to determine whether the directions indicated by the received first motor control signal and the first enable control signal are consistent, and if they are consistent, output a corresponding driving current signal.

[0066] In this way, the first caliper motor only performs forward or reverse rotation when the first motor control module receives the first motor control signal and the first enable control signal indicating the same rotation direction. For example, if the first motor control module receives the motor forward rotation signal and the forward enable signal at the same time, the first motor control module outputs a forward drive current signal, and the first caliper motor performs forward rotation under the action of the current signal. If the first motor control module only receives one of the motor forward rotation signal and the forward enable signal, or if the first motor control module receives the motor forward rotation signal and the reverse enable signal, the first motor control module does not output a current signal, and the first caliper motor does not perform any rotation.

[0067] In the above embodiment, the parking control system may include a first processor, a first motor control module, a first caliper motor, a second processor, a second motor control module, a second caliper motor and a first enabling control module. Each processor, motor control module and caliper motor can form an independent parking control link with the first enabling control module, which not only realizes redundant design, but also can realize parking and parking release functions by another processor in the event of failure of one processor. Moreover, the control logic of the two processors is the same, so the same software can be used, reducing the workload of software development and maintenance.

[0068] Figure 2 A schematic diagram of a parking control system provided by an exemplary embodiment of the present invention Figure 2 . Figure 3 A control logic diagram of a parking control system provided by an exemplary embodiment of the present invention Figure 1 .

[0069] like Figure 2 As shown, the parking control system may further include a first monitoring module and a second monitoring module.

[0070] The first monitoring module is connected to the first processor and the first enabling control module respectively, and is used to detect whether the first processor is faulty and send a first fault signal to the first enabling control module when a fault occurs. The second monitoring module is connected to the second processor and the second enabling control module respectively, and is used to detect whether the second processor is faulty and send a second fault signal to the second enabling control module when a fault occurs.

[0071] As shown in Figure 3 , the first enable control module can obtain the first enable control signal (including the first motor forward rotation enable and the first motor reverse rotation enable) from the first processor and send the first enable control signal to the first motor control module.

[0072] The first enable control module can also obtain the first fault signal from the first monitoring module, which indicates that the first processor has a fault, at which time the first enable control module stops receiving the first enable control signal sent by the first processor. In this case, the first enable control module does not send the first enable control signal to the first motor control module, and the first motor control module does not output the drive current without receiving the first enable control signal, avoiding the caliper misoperation.

[0073] The control logic of the second enable control module can refer to Figure 3 and the control logic of the first enable control module described above, which will not be described again.

[0074] In one embodiment, the first enable control module is also used for self-checking whether there is a fault, and if there is a fault, sending an enable fault signal to the first processor and the second processor.

[0075] The first processor and the second processor are also used for enabling the backup link in the case of receiving the enable fault signal.

[0076] The backup link is used to transmit the first enable control signal to the first motor control module and transmit the second enable control signal to the second motor control module.

[0077] Figure 4 A control logic diagram of a parking control system provided for an exemplary embodiment of the present application is shown in Figure 2 .

[0078] As shown in Figure 4 , the backup link of the parking control system can include a second enable control module and a third enable control module.

[0079] The second enable control module is connected to the first processor and the first motor control module respectively, and is used for receiving the first enable control signal sent by the first processor and transmitting it to the first motor control module. The third enable control module is connected to the second processor and the second motor control module respectively, and is used for receiving the second enable control signal sent by the second processor and transmitting it to the second motor control module.

[0080] In the embodiment of the present application, the first enable control module can perform self-checking on itself, and if a fault is detected in the first enable control module, the first enable control module can send a fault signal to the first processor and the second processor respectively. After receiving the fault signal, the first processor and the second processor stop sending the first enable control signal and the second enable control signal to the first enable control module, and the first processor sends the first enable control signal to the second enable control module, and the second processor sends the second enable control signal to the third enable control module.

[0081] For the parking control system using two MCUs, the two MCUs often share an enable control link, and if a fault occurs in the shared part, the entire parking control system may face the risk of failure. Figure 3 The system shown in the figure shares the first enable control module, and if the first enable control module fails, the first processor and the second processor cannot control the caliper.

[0082] The above Figure 4 In the embodiment shown in the figure, in the case where the first enable control module has a fault, the first processor can use the second enable control module to transmit the first enable control signal, and the second processor can use the third enable control module to transmit the second enable control signal, and the control of the caliper can still be realized, providing the vehicle with parking ability.

[0083] Optionally, the configuration of the first enable control module is higher than that of the second enable control module and the third enable control module.

[0084] The configuration can include hardware configuration and software configuration.

[0085] There are some safety standards in the automotive industry, for example, ASIL (Automotive Safety Integrity Level) divides vehicle safety into four levels: A, B, C, and D. The safety level is often related to the configuration level, the higher the safety level, the higher the configuration required, and the higher the cost.

[0086] In the embodiments of the present application, for the components in the parking control system, the parts that normally implement parking control can be configured with a higher configuration, and the parts that are only enabled when redundancy is triggered can be configured with a lower configuration, so that the cost can be reduced. For example, the second enable control module and the third enable control module, which are only enabled when the first enable control module fails and have a lower frequency of use, can be configured with an ASIL B level requirement, while the first enable control module, the first processor, the second processor, the first motor control module and the second motor control module can be configured with an ASIL D level requirement. In this way, not only the design cost can be reduced, but also the safety level of the parking control can reach ASIL D in most cases (i.e. when the first enable control module is not faulty), maintaining the highest safety level.

[0087] The present application also provides a control method based on the parking control system in the above embodiments, which can include:

[0088] receiving external input information; generating corresponding motor control signals and enable control signals according to the external input information and the parking control logic and sending them to the connected downstream control link.

[0089] The external input information includes vehicle state information and / or driver triggered parking request. The vehicle state information can include brake pedal switch state, accelerator pedal position, door switch state, gear position signal, vehicle speed signal and ignition switch state, etc. The first processor and the second processor can read these information and determine whether the parking calipers need to be pulled up or released according to these information.

[0090] For example, the driver can trigger the parking request of the vehicle by operating the parking control button in the cockpit or by voice command, gesture command, etc. The first processor and the second processor can both detect the parking request. After detecting the request, the first processor can determine whether the parking calipers need to be forward or reverse rotated according to the request, and generate corresponding first motor control signals (such as first motor forward control signal) and first enable control signals (such as first motor forward enable signal) and send them to the downstream control link. The downstream control link can be the first motor control module and the first enable control module connected to the first processor, and the specific logic can refer to the above embodiments and Figure 3 The case of the second processor can refer to the first processor.

[0091] It should be noted that the first processor and the second processor in the parking control system of the present application can work simultaneously, and both of them can execute the above control method.

[0092] In some possible implementation manners, the control method can further include: detecting whether the first enabling control module has a fault; and if the first enabling control module has the fault, disabling the first enabling control module.

[0093] Exemplarily, whether the first enabling control module has a fault can be detected by the first monitoring module, the second monitoring module or other functional modules of the parking control system, and fault information is reported to the first processor and the second processor. The first processor and the second processor can both disable the first enabling control module by means of instructions, and the first processor can use the second enabling control module to transmit the first enabling control signal, and the second processor can use the third enabling control module to transmit the second enabling control signal, so as to realize the parking redundancy control.

[0094] The application further provides a vehicle, which can include the parking control system in any of the above embodiments.

[0095] Figure 5 A structural schematic diagram of an electronic device is provided for an exemplary embodiment of the application. As shown in the figure, the electronic device 500 includes: Figure 5

[0096] a processor 5001, a memory 5002, and a communication interface 5003;

[0097] The memory 5002 is configured to store executable instructions of the processor 5001, and the executable instructions can be computer executable instructions.

[0098] The processor 5001 is configured to execute the technical solutions in the foregoing method embodiments by executing the executable instructions.

[0099] Optionally, the memory 5002 can be independent or integrated with the processor 5001.

[0100] Optionally, when the memory 5002 is independent of the processor 5001, the electronic device 5000 can further include:

[0101] a bus 5004, the memory 5002 and the communication interface 5003 are connected to the processor 5001 through the bus 5004 and complete communication with each other, and the communication interface 5003 is configured to communicate with other devices.

[0102] ​Optionally, the communication interface 5003 can be implemented by a transceiver. The communication interface is used to realize the communication between the database access device and other devices (for example, a client, a read-write library and a read-only library). The storage can include a random access memory (RAM) and can also include a non-volatile memory, for example, at least one disk memory.

[0103] The bus 5004 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one line is represented in the figure, but it does not mean that there is only one bus or only one type of bus.

[0104] The processor described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0105] The electronic device is used to execute the technical solutions in any of the preceding method embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0106] The embodiment of the application further provides a readable storage medium, which can be a computer readable storage medium, and a computer program is stored on the readable storage medium, and the computer program is executed by a processor to implement the technical solutions provided by any of the preceding method embodiments.

[0107] The embodiment of the application further provides a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the technical solutions provided by any of the preceding method embodiments.

[0108] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes a ROM, a RAM, a magnetic disc or an optical disc and various storage medium capable of storing program codes.

[0109] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments. Each technical feature of the above embodiments can be combined arbitrarily, and in order to make the description concise, each technical feature of the above embodiments is not described in all possible combinations, however, as long as the combination of these technical features does not exist contradictory, it should be considered as the scope of the disclosure.

[0110] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0111] The above embodiments are only preferred examples for fully illustrating the present application, and the protection scope of the present application is not limited to this. Any equivalent replacement or transformation made by the skilled in the art based on the present application is within the protection scope of the present application.

Claims

1. A parking control system, characterized in that: include: a first processor, a first motor control module, a first caliper motor, a second processor, a second motor control module, a second caliper motor, and a first enable control module; The first processor is connected to the first motor control module and is used to transmit a first motor control signal to the first motor control module; the second processor is connected to the second motor control module and is used to transmit a second motor control signal to the second motor control module; The first enabling control module is connected to the first processor and the first motor control module respectively, and is configured to receive a first enabling control signal sent by the first processor and transmit the signal to the first motor control module; The first enabling control module is further connected to the second processor and the second motor control module respectively, and is configured to receive a second enabling control signal sent by the second processor and transmit the signal to the second motor control module; The first motor control module is connected to the first caliper motor and is configured to control the first caliper motor according to the first motor control signal and the first enable control signal; The second motor control module is connected to the second caliper motor and is configured to control the second caliper motor according to the second motor control signal and the second enable control signal.

2. The parking control system according to claim 1, characterized in that: The parking control system further includes a first monitoring module and a second monitoring module; The first monitoring module is connected to the first processor and the first enabling control module respectively, and is used to detect whether the first processor fails and send a first fault signal to the first enabling control module when a fault occurs; The second monitoring module is connected to the second processor and the second enabling control module respectively, and is used to detect whether the second processor fails and send a second fault signal to the second enabling control module when a fault occurs; The first enable control module is further configured to: upon receiving the first fault signal, stop receiving the first enable control signal sent by the first processor; and upon receiving the second fault signal, stop receiving the second enable control signal sent by the second processor.

3. The parking control system according to claim 2, characterized in that: The first enable control module is further configured to: when the first fault signal and the second fault signal are not received, perform time synchronization processing on the received first enable control signal and the second enable control signal, and simultaneously send the synchronized first enable control signal to the first motor control module and send the synchronized second enable control signal to the second motor control module.

4. The parking control system according to any one of claims 1 to 3, characterized in that: The first enabling control module is further configured to: self-check whether there is a fault, and if there is a fault, send an enabling fault signal to the first processor and the second processor; The first processor and the second processor are further configured to: enable a backup link in case of receiving the enable fault signal; The backup link is used to transmit the first enable control signal to the first motor control module, and to transmit the second enable control signal to the second motor control module.

5. The parking control system according to claim 4, characterized in that: The backup link includes a second enabling control module and a third enabling control module; The second enabling control module is connected to the first processor and the first motor control module respectively, and is configured to receive a first enabling control signal sent by the first processor and transmit the signal to the first motor control module; The third enabling control module is connected to the second processor and the second motor control module respectively, and is configured to receive a second enabling control signal sent by the second processor and transmit the second enabling control signal to the second motor control module.

6. The parking control system according to claim 5, characterized in that: The configuration of the first enabling control module is higher than the configurations of the second enabling control module and the third enabling control module.

7. The parking control system according to any one of claims 1 to 3, characterized in that: The first motor control module is further configured to determine whether the directions indicated by the received first motor control signal and the first enable control signal are consistent, and if so, output a corresponding drive current signal.

8. A control method for a parking control system, characterized in that: The first processor or the second processor applied to the parking control system according to any one of claims 1 to 6, the control method comprising: receiving external input information, the external input information including vehicle status information and / or a driver-triggered parking request; The corresponding motor control signal and enable control signal are generated according to the external input information and the parking control logic and sent to the connected downstream control link.

9. The control method according to claim 8, characterized in that: The control method further includes: detecting whether the first enabling control module has a fault; If a fault exists, the first enabling control module is disabled.

10. A vehicle, characterized in that: The vehicle parking control system comprises a parking control system as claimed in any one of claims 1 to 7.

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