Parking method, device and system, electronic equipment, storage medium and program product

Abstract

The invention provides a parking method, device and system, electronic equipment, a storage medium and a program product, and the method comprises the steps that when a vehicle achieves wheel locking through a braking device of an ABS, if a first operation parameter reaches a first threshold value, the vehicle is switched to achieve wheel locking through a driving motor, and if the first operation parameter reaches a second threshold value, wheel locking is achieved; when the wheel locking cannot be continuously realized based on the ABS, the wheel locking is realized based on the driving motor, and the parking time is prolonged through the switching of the two electronic parking modes.

Description

Technical Field

[0001] This invention relates to the field of electronic parking technology, and more particularly to a parking method, apparatus, system, electronic device, storage medium, and program product. Background Technology

[0002] Electronic parking brake refers to parking braking achieved through electronic control, which can solve the shortcomings of parking functions achieved through mechanical devices, such as insufficient intelligence and poor user experience.

[0003] Currently, electronic parking for electric two-wheeled vehicles is mainly achieved through the braking devices of the motor controller or ABS anti-lock braking system. However, when parking using the above methods, the parking time is limited and cannot be maintained for a long time. Summary of the Invention

[0004] This invention provides a parking method, apparatus, system, electronic device, storage medium, and program product to solve the problem of limited parking time when electronic parking is implemented using braking devices based on motor controllers or ABS anti-lock braking systems.

[0005] In a first aspect, the present invention provides a parking method, comprising:

[0006] When the vehicle is in a braking state where the wheels are locked by the ABS anti-lock braking system, if the first operating parameter reaches the first threshold, the system switches to locking the wheels by the drive motor.

[0007] Optionally, the method further includes:

[0008] When the vehicle is in a state where wheel locking is achieved through the drive motor, if the second operating parameter reaches the second threshold, the system switches to wheel locking through the braking device of the ABS anti-lock braking system.

[0009] Optionally, the method further includes:

[0010] When the braking device of the ABS anti-lock braking system or the drive motor cannot achieve wheel locking by itself, the braking device of the ABS anti-lock braking system and the drive motor are controlled to operate together to lock the wheels.

[0011] Optionally, the method further includes:

[0012] When the throttle is detected to be triggered, the wheel lock is released by the braking device of the ABS anti-lock braking system, and / or the wheel lock is released by the drive motor.

[0013] Optionally, the ABS anti-lock braking system includes a solenoid valve. When the solenoid valve is in a normally closed state, the braking device is in a pressure-holding state to achieve wheel locking.

[0014] Optionally, wheel locking can be achieved by performing position loop control on the drive motor.

[0015] Optionally, the first operating parameter may include the temperature of the solenoid valve, or the duration of wheel locking achieved by the braking device of the ABS anti-lock braking system.

[0016] And / or, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor; the motor controller is used to control the operation of the drive motor.

[0017] Secondly, the present invention provides a parking method applied to a hydraulic electronic control unit, comprising:

[0018] When wheel locking is achieved through the braking device of the ABS anti-lock braking system, if the first operating parameter reaches the first threshold, the first control information is sent to the motor controller, and the wheel locking through the braking device of the ABS anti-lock braking system is stopped, so that the vehicle can achieve wheel locking only through the drive motor.

[0019] The motor controller is used to perform position loop control on the drive motor to achieve wheel locking when it receives the first control information.

[0020] Optionally, the method further includes:

[0021] When wheel locking cannot be achieved by the braking device of the ABS anti-lock braking system alone, the first control information is sent to the motor controller, and the wheel locking is achieved by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking by the drive motor and the ABS anti-lock braking system together.

[0022] Optionally, the hydraulic electronic control unit is connected to one end of the solenoid valve, and the other end of the solenoid valve is connected to the braking device installed on the wheel; the hydraulic electronic control unit is used to control the opening and closing of the solenoid valve.

[0023] Optionally, the first operating parameter may include the temperature of the solenoid valve, or the duration of wheel locking achieved by the braking device of the ABS anti-lock braking system.

[0024] Optionally, wheel locking can be achieved through the braking mechanism of the ABS anti-lock braking system, including:

[0025] When the vehicle is under pressure, the solenoid valve is controlled to change from a normally open state to a normally closed state to control the hydraulic oil to continue to act on the braking device, so that the wheels remain locked after the user stops triggering the brake operation; the pressurized state means that the user triggers the brake operation to make the hydraulic oil act on the braking device to lock the wheels.

[0026] Optionally, controlling the solenoid valve to switch from the normally open state to the normally closed state includes:

[0027] When the electronic parking brake function is activated and a parking brake trigger message is received, the solenoid valve is controlled to change from the normally open state to the normally closed state.

[0028] Optionally, stopping wheel locking via the braking mechanism of the ABS anti-lock braking system includes:

[0029] After sending the first control information to the motor controller, the motor torque sent by the motor controller is received.

[0030] The pressure relief speed is determined based on the motor torque when performing the pressure relief operation; during the pressure relief operation, the solenoid valve is in the normally open state.

[0031] Optionally, the method further includes:

[0032] When the vehicle is detected to be in the pressurized state again, the solenoid valve is controlled to switch from the normally open state to the normally closed state, so as to control the hydraulic oil to continue to act on the braking device to achieve wheel locking.

[0033] The condition for the vehicle to return to the pressurized state is as follows: after the motor controller outputs a prompt message, pressurization is performed in response to a user-triggered braking operation; the prompt message indicates that the motor controller has determined that the vehicle can no longer achieve wheel locking through the drive motor.

[0034] Optionally, the prompt information includes a first prompt information or a second prompt information, wherein the first prompt information is generated when the second operating parameter reaches the second threshold; and the second prompt information is generated when the vehicle cannot achieve wheel locking by driving motor alone.

[0035] Optionally, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor.

[0036] Optionally, the parking trigger information is information generated when the parking trigger unit of the vehicle is triggered; or, the parking trigger information is information generated when the duration of the continuously detected braking operation is greater than a preset duration.

[0037] Optionally, the method further includes:

[0038] When the vehicle achieves wheel locking through the braking device of the ABS anti-lock braking system, if a throttle trigger information is received, the solenoid valve is controlled to change from the normally closed state to the normally open state, and the pressure relief speed is determined according to the obtained motor torque when performing the pressure relief operation.

[0039] Thirdly, the present invention provides a parking method, the method being applied to a motor controller, the method comprising:

[0040] After receiving the first control information, position loop control is performed on the drive motor to achieve wheel locking;

[0041] The first control information is information sent by the hydraulic electronic control unit when the first operating parameter reaches a first threshold after the wheel locking is achieved by the braking device of the ABS anti-lock braking system; after sending the first control information, the ABS anti-lock braking system stops executing the wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only by the drive motor.

[0042] Optionally, the first control information is the information sent by the hydraulic electronic unit when wheel locking cannot be achieved by the braking device of the ABS anti-lock braking system alone; after sending the first control information, the ABS anti-lock braking system continues to achieve wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking by the drive motor and the ABS anti-lock braking system together.

[0043] Optionally, the method further includes:

[0044] When the drive motor is subjected to position loop control to achieve wheel locking, the motor torque is sent to the hydraulic electronic control unit so that the hydraulic electronic control unit can determine the pressure relief speed when performing the pressure relief operation based on the motor torque; when performing the pressure relief operation, the solenoid valve is in the normally open state.

[0045] Optionally, the method further includes:

[0046] When the drive motor is subjected to position loop control to achieve wheel locking, if the second operating parameter reaches the second threshold, a first prompt message is generated. The first prompt message is used to prompt the user to trigger the braking operation to put the vehicle in a pressurized state, so that the hydraulic electronic control unit controls the solenoid valve to change from a normally open state to a normally closed state, so as to control the hydraulic oil to continuously act on the braking device to achieve wheel locking.

[0047] Optionally, the method further includes:

[0048] When performing position loop control on the drive motor to achieve wheel locking, if wheel locking cannot be achieved by the drive motor alone, a second prompt message is generated, and the position loop control on the drive motor to achieve wheel locking continues. The second prompt message is used to prompt the user to trigger the brake operation to put the vehicle in a pressurized state, so that the hydraulic electronic control unit controls the solenoid valve to change from a normally open state to a normally closed state, so as to control the hydraulic oil to continuously act on the braking device to achieve wheel locking.

[0049] Optionally, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor.

[0050] Optionally, the method further includes:

[0051] When the temperature of the current phase line in the drive motor is greater than the first temperature threshold, the operation of adjusting the motor stall position is performed to adjust the motor stall position from the current phase line to any other phase line.

[0052] Correspondingly, when the second operating parameter reaches the second threshold, a first prompt message is generated, including:

[0053] When the temperature of all three phase lines of the drive motor is greater than the first temperature threshold, or when the temperature of the motor controller is greater than the second temperature threshold, the first prompt message is generated and the motor torque is reduced.

[0054] Fourthly, the present invention provides a parking device applied to a controller, the controller being connected to a hydraulic electronic control unit and a motor controller, the hydraulic electronic control unit being used to achieve wheel locking via the braking device of the ABS anti-lock braking system; the motor controller being used to achieve wheel locking via a drive motor; comprising:

[0055] The first processing module is used to switch to wheel locking via the drive motor when the vehicle is in a state where the wheel locking is achieved by the braking device of the ABS anti-lock braking system, and the first operating parameter reaches the first threshold.

[0056] Fifthly, the present invention provides a parking device applied to a hydraulic electronic control unit, comprising:

[0057] The second processing module is used to send first control information to the motor controller when the first operating parameter reaches a first threshold after wheel locking is achieved by the braking device of the ABS anti-lock braking system, and to stop the wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only by the drive motor; wherein, the motor controller is used to perform position loop control on the drive motor to achieve wheel locking when receiving the first control information.

[0058] Sixthly, the present invention provides a parking device applied to a motor controller, the device comprising:

[0059] The control module is used to perform position loop control on the drive motor to achieve wheel locking after receiving the first control information;

[0060] The first control information is information sent by the hydraulic electronic control unit when the first operating parameter reaches a first threshold after the wheel locking is achieved by the braking device of the ABS anti-lock braking system; after sending the first control information, the ABS anti-lock braking system stops executing the wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only by the drive motor.

[0061] In a seventh aspect, the present invention provides a parking system, comprising: a hydraulic electronic control unit and a motor controller, one end of the hydraulic electronic control unit being connected to a braking device, the other end of the hydraulic electronic control unit being connected to one end of a solenoid valve, the other end of the solenoid valve being connected to a braking device disposed on a wheel; the hydraulic electronic control unit being further connected to the motor controller; the motor controller being connected to a throttle device and a drive motor respectively, the motor being disposed on a wheel; the hydraulic electronic control unit being used to execute the method described in any of the second aspects; and the motor controller being used to execute the method described in any of the third aspects.

[0062] Eighthly, the present invention provides an electronic device comprising: at least one processor and a memory;

[0063] The memory stores computer-executed instructions;

[0064] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform a method as described in any one of the first, second, or third aspects.

[0065] In a seventh aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the method of any one of the first, second, or third aspects.

[0066] Eighthly, the present invention provides a computer program product comprising a computer program that, when executed by a processor, implements the method as described in any one of the first, second, or third aspects.

[0067] The present invention provides a parking method, device, system, electronic device, storage medium and program product. The method includes: when the vehicle is in a state of wheel locking achieved by the braking device of the ABS anti-lock braking system, if the first operating parameter reaches the first threshold, switching to wheel locking achieved by the drive motor, and if wheel locking based on the ABS anti-lock braking system can no longer be achieved, switching to wheel locking based on the drive motor. By switching between the two electronic parking methods, the parking time is extended. Attached Figure Description

[0068] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0069] Figure 1 This is a schematic diagram illustrating an application scenario of a parking method provided by an embodiment of the present invention;

[0070] Figure 2 This is a schematic diagram of a parking method provided in an embodiment of the present invention;

[0071] Figure 3 A schematic diagram illustrating the process of another parking method provided in an embodiment of the present invention;

[0072] Figure 4 A schematic diagram of a hydraulic electronic control unit controlling the on / off state of a solenoid valve, provided as an embodiment of the present invention;

[0073] Figure 5 A schematic diagram illustrating the process of another parking method provided in an embodiment of the present invention;

[0074] Figure 6 This is a schematic diagram of a parking device provided in an embodiment of the present invention;

[0075] Figure 7 This is a schematic diagram of another parking device provided in an embodiment of the present invention;

[0076] Figure 8 This is a schematic diagram of another parking device provided in an embodiment of the present invention;

[0077] Figure 9 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention.

[0078] The accompanying drawings illustrate specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0079] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention.

[0080] In this document, it should be understood that the terminology used is for convenience of understanding only and does not imply any limitation on its meaning. Furthermore, any number of elements in the accompanying drawings is for illustrative purposes only and not for limitation, and any naming is for distinction only and has no limiting meaning.

[0081] The data involved in this invention can be data authorized by the user or fully authorized by all parties, and the collection, dissemination, and use of the data all comply with the requirements of relevant national laws and regulations.

[0082] For electric two-wheelers, the electronic parking brake function provides a better riding experience, allowing users to park on slopes without constantly applying the brakes. One implementation of electronic parking brakes involves using a position loop control mechanism on the motor controller to lock the wheels, or using an ABS anti-lock braking system to lock the wheels, ensuring the vehicle remains stable on flat roads or slopes without the risk of rolling away. Simultaneously, the user can easily continue riding by pressing the throttle, facilitating incline starts.

[0083] However, the parking time is limited when implementing electronic parking in any of the above methods. When electronic parking is implemented based on the motor controller, the motor and motor controller will heat up, making it impossible to park for a long time; when electronic parking is implemented based on the ABS anti-lock braking system, the solenoid valve will heat up, making it impossible to park for a long time.

[0084] Based on the above issues, and considering the combination of the two methods, when it is impossible to continue parking using one method, the other method can be used to park, thereby extending the parking time.

[0085] Figure 1 This is a schematic diagram illustrating an application scenario of a parking method provided in an embodiment of the present invention, such as... Figure 1As shown, the parking system includes an ABS anti-lock braking system control unit (including a hydraulic electronic control unit and a solenoid valve, the hydraulic electronic control unit controlling the on / off state of the solenoid valve) 3 and a motor controller 4 (MCU, Microcontroller Unit). The ABS anti-lock braking system control unit 3 is connected to the rear brake 1 and also to the braking device 5 (such as a caliper), which is mounted on the wheel 6. The MCU is connected to the throttle 2 and also to the motor mounted on the wheel 6. The ABS anti-lock braking system control unit 3 is also connected to the motor controller 4. This system allows for switching between two parking modes to extend the parking time.

[0086] Figure 2 A parking method provided in an embodiment of the present invention includes:

[0087] Step S201: When the vehicle is in a state where wheel locking is achieved through the braking device of the ABS anti-lock braking system, if the first operating parameter reaches the first threshold, switch to wheel locking through the drive motor.

[0088] The vehicle can achieve wheel locking based on the drive motor or the braking device of the ABS anti-lock braking system. When the vehicle uses the braking device of the ABS anti-lock braking system to achieve wheel locking, if the first operating parameter reaches the first threshold, it means that the wheels cannot be locked based on the ABS anti-lock braking system. At this time, the wheel locking can be switched to be achieved through the drive motor.

[0089] By switching between the two parking methods, wheel locking can be achieved using the other method when one method fails, thus extending the parking time.

[0090] For example, if the braking device based on the ABS anti-lock braking system achieves wheel locking for one minute, it can switch to continue wheel locking via the drive motor. After achieving wheel locking for one minute via the drive motor, it can switch back to the braking device based on the ABS anti-lock braking system to achieve wheel locking again.

[0091] The above method can be applied to a controller, which is connected to a hydraulic electronic control unit and a motor controller. The hydraulic electronic control unit is used to achieve wheel locking through the braking device of the ABS anti-lock braking system; the motor controller is used to achieve wheel locking through the drive motor. The controller can switch between two parking modes.

[0092] In one embodiment, the control device 3 of the ABS anti-lock braking system and the motor controller 4 can be combined into a single controller, or a single controller can simultaneously control the ABS anti-lock braking system and the motor controller.

[0093] The present invention provides a parking method, which includes: when the vehicle is in a state of wheel locking achieved by the braking device of the ABS anti-lock braking system, if the first operating parameter reaches the first threshold, switching to wheel locking achieved by the drive motor, and when it is no longer possible to achieve wheel locking based on the ABS anti-lock braking system, switching to wheel locking based on the drive motor. By switching between the two electronic parking methods, the parking time is extended.

[0094] Optionally, the method further includes:

[0095] When the vehicle is in a state where wheel locking is achieved through the drive motor, if the second operating parameter reaches the second threshold, the system switches to wheel locking through the braking device of the ABS anti-lock braking system.

[0096] When the vehicle is locking the wheels based on the drive motor, a second operating parameter can also be detected. When the second operating parameter reaches a second threshold, it means that the wheel locking cannot continue to be achieved based on the drive motor, and the vehicle can switch to locking the wheels through the braking device of the ABS anti-lock braking system.

[0097] By switching from wheel locking based on the drive motor to wheel locking based on the ABS anti-lock braking system, parking can be achieved by switching from parking based on the drive motor to parking based on the ABS anti-lock braking system, thereby extending the parking time.

[0098] Optionally, the method further includes:

[0099] When the braking device of the ABS anti-lock braking system or the drive motor cannot achieve wheel locking by itself, the braking device of the ABS anti-lock braking system and the drive motor are controlled to operate together to lock the wheels.

[0100] When parking is achieved using either the braking device or the drive motor based on the ABS anti-lock braking system, parking is only possible on slopes with a certain gradient. In real-world scenarios, there may be steeper slopes. For steeper slopes, both methods can be used simultaneously for electronic parking to improve parking capability.

[0101] The ABS anti-lock braking system provides a maximum braking force greater than the torque generated by the motor controller controlling the drive motor. Therefore, when using electronic parking brakes based on the ABS anti-lock braking system, the applicable slope gradient is also greater. Thus, when wheel locking cannot be achieved solely through the drive motor, the system can be switched to ABS anti-lock braking for wheel locking. If ABS anti-lock braking also fails to achieve wheel locking solely, both systems can be used simultaneously for wheel locking.

[0102] By using two parking methods simultaneously, parking capability can be improved to suit a wider range of slope scenarios.

[0103] Optionally, the method further includes:

[0104] When the throttle is detected to be triggered, the wheel lock is released by the braking device of the ABS anti-lock braking system, and / or the wheel lock is released by the drive motor.

[0105] When the throttle is detected to be triggered, the vehicle can be switched from parked to start riding. Optionally, the throttle can be a manual throttle, a foot throttle, or a button throttle, and correspondingly, the throttle can be triggered by the handbrake, foot brake, or button brake.

[0106] Specifically, when the throttle is detected to be triggered, the current parking mode can be determined. If two parking modes are used simultaneously, the wheel locks can be released by the braking device of the ABS anti-lock braking system and the wheel locks can be released by the drive motor. If only the wheel locks are achieved by the braking device of the ABS anti-lock braking system, the wheel locks can be released. If only the wheel locks are achieved by the drive motor, the wheel locks can be released.

[0107] Normal riding of the vehicle is achieved by disengaging the wheel lock via the ABS anti-lock braking system when the throttle is detected to be triggered, and / or by disengaging the wheel lock via the drive motor.

[0108] Optionally, the ABS anti-lock braking system includes a solenoid valve. When the solenoid valve is in a normally closed state, the braking device is in a pressure-holding state to achieve wheel locking.

[0109] The hydraulic electronic control unit (ECU) is connected to the braking system via solenoid valves to control the state of the braking system. The ECU controls the on / off state of the solenoid valves; when the solenoid valves are normally closed, the braking system is in a pressure-holding state. The pressure-holding state means that even without the user triggering the brakes, hydraulic fluid can still act on the braking system to lock the wheels.

[0110] Figure 3 This is a schematic diagram of a hydraulic electronic control unit controlling the on / off state of a solenoid valve, as provided in an embodiment of the present invention. Figure 3 As shown, the hydraulic electronic control unit 7 can control the opening and closing of the solenoid valve 9, and the oil filter screen 8 can filter impurities in the hydraulic oil.

[0111] The hydraulic electronic control unit 7 can achieve pressure holding operation by controlling the solenoid valve 9. Optionally, the hydraulic electronic control unit 7 is connected to the braking device 5 through the solenoid valve 9. The solenoid valve 9 can have two states: normally open (currently connected to the circuit) and normally closed. When the solenoid valve 9 is not energized, it is in the normally open state; when the solenoid valve 9 is energized, it is in the normally closed state. When the solenoid valve 9 is in the normally open state, hydraulic oil can flow through it.

[0112] The electric two-wheeler is equipped with an oil tank containing hydraulic oil. When the user manually triggers the brake device to pressurize the vehicle, the hydraulic oil flows out of the oil tank and passes through the ABS anti-lock braking system to act on the braking device (such as a caliper). The braking device is located on the wheel, thereby locking the wheel and putting the vehicle in a pressurized state.

[0113] Under pressure, hydraulic oil flows from the oil reservoir, passes through the hydraulic electronic control unit and solenoid valve, and then acts on the braking system. If the user releases the brake, the hydraulic oil flows back to the oil reservoir through the solenoid valve and the hydraulic electronic control unit. To ensure the vehicle remains locked even when the user releases the brake, the solenoid valve can be switched from a normally open to a normally closed state, i.e., energized. This prevents hydraulic oil from flowing back when the user releases the brake, thus ensuring continuous hydraulic oil supply to the braking system and maintaining pressure.

[0114] By keeping the solenoid valve in a normally closed state, the braking device can be kept in a pressure-holding state, thereby locking the wheels.

[0115] Optionally, wheel locking can be achieved by performing position loop control on the drive motor.

[0116] When wheel locking is achieved via the drive motor, position loop control can be used. This involves calculating the position error based on the motor's reference position and actual position, and then generating control commands. This process requires multiple adjustments to stabilize the vehicle at the reference position. Therefore, a slight swaying of the vehicle is expected during parking. When using an ABS anti-lock braking system for parking, this swaying issue is eliminated, improving the parking experience.

[0117] Electronic parking can be achieved based on the drive motor by using position loop control.

[0118] Optionally, the first operating parameter may include the temperature of the solenoid valve, or the duration of wheel locking achieved by the braking device of the ABS anti-lock braking system.

[0119] And / or, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor; the motor controller is used to control the operation of the drive motor.

[0120] The first operating parameter can be the temperature of the solenoid valve. Since the solenoid valve is energized when the braking device based on the ABS anti-lock braking system locks the wheels, it generates heat, causing its temperature to rise. If the temperature is too high, the solenoid valve may be damaged. Therefore, the temperature of the solenoid valve can be used to determine whether to switch to wheel locking via the drive motor.

[0121] In addition, the time it takes for the wheel to be locked by the braking device of the ABS anti-lock braking system can also be used to determine whether to switch to locking the wheel by the drive motor. Generally, the longer the time, the higher the temperature of the solenoid valve. Therefore, it is also possible to accurately determine whether to switch to locking the wheel by the drive motor.

[0122] When wheel locking is achieved using the drive motor, the temperature of both the motor controller and the drive motor will rise. Therefore, based on this information, it can be determined whether to switch to wheel locking via the ABS anti-lock braking system. Similarly, the duration of wheel locking via the drive motor can also be used to determine this.

[0123] In addition, the stall position of the drive motor can be used to determine the lock position. The stall position of the drive motor can be any of the three phases. When the temperature of one phase is high, it can be switched to another phase. When it is in the third phase and the temperature is high, it means that the drive motor can no longer be used to lock the wheels.

[0124] Different first threshold values ​​can be set for different first operating parameters, and different second threshold values ​​can be set for different second operating parameters. When the first operating parameter is the temperature of the solenoid valve, the first threshold value is the temperature value; or, when the first operating parameter is the duration for which the wheel is locked by the braking device of the ABS anti-lock braking system, the first threshold value is a preset duration.

[0125] By setting the first and second operating parameters, the decision to switch to parking mode can be made in several ways.

[0126] Figure 4 This is a schematic diagram of another parking method provided in an embodiment of the present invention, applied to a hydraulic electronic control unit, including:

[0127] Step S401: When wheel locking is achieved through the braking device of the ABS anti-lock braking system, if the first operating parameter reaches the first threshold, the first control information is sent to the motor controller, and the wheel locking through the braking device of the ABS anti-lock braking system is stopped, so that the vehicle can achieve wheel locking only through the drive motor.

[0128] The motor controller is used to perform position loop control on the drive motor to achieve wheel locking when it receives the first control information.

[0129] The parking system may include a hydraulic electronic control unit and a motor controller. The hydraulic electronic control unit can control the on and off of the solenoid valves, and the motor controller can control the drive motor, thereby realizing wheel locking through the braking device based on the ABS anti-lock braking system and wheel locking through the drive motor, respectively.

[0130] Switching between the two parking modes can be achieved through the interaction between the hydraulic electronic control unit and the motor controller.

[0131] When wheel locking is achieved through the braking device of the ABS anti-lock braking system, the hydraulic electronic control unit can obtain the first operating parameter. When the first operating parameter is greater than the first threshold, it can send the first control information to the motor controller, so that the motor controller can control the drive motor to achieve wheel locking.

[0132] Since the first operating parameter reaches the first threshold, it is no longer possible to achieve wheel locking based on the braking device of the ABS anti-lock braking system. Therefore, the wheel locking can be stopped by the braking device of the ABS anti-lock braking system, and wheel locking can be achieved solely based on the drive motor.

[0133] This invention provides a parking method, which includes: when wheel locking is achieved through the braking device of the ABS anti-lock braking system, if a first operating parameter reaches a first threshold, sending first control information to the motor controller and stopping the wheel locking through the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only through the drive motor. The motor controller, upon receiving the first control information, performs position loop control on the drive motor to achieve wheel locking. By switching from wheel locking based on the ABS anti-lock braking system to wheel locking based on the drive motor when wheel locking cannot continue, the parking time is extended through the switching between the two electronic parking methods.

[0134] Optionally, the method further includes:

[0135] When wheel locking cannot be achieved by the braking device of the ABS anti-lock braking system alone, the first control information is sent to the motor controller, and the wheel locking is achieved by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking by the drive motor and the ABS anti-lock braking system together.

[0136] When the slope is steep, the wheels cannot be locked by the braking device of the ABS anti-lock braking system or the drive motor alone. In this case, two parking methods can be used at the same time to meet the parking needs on steep slopes.

[0137] Specifically, when the braking device based on the ABS anti-lock braking system fails to lock the wheels, the system sends the first control information to the motor controller and continues to execute the braking device based on the ABS anti-lock braking system to lock the wheels, thereby achieving parking based on two parking methods simultaneously.

[0138] By using two parking methods simultaneously, parking capability can be improved to suit a wider range of slope scenarios.

[0139] Optionally, the hydraulic electronic control unit is connected to one end of the solenoid valve, and the other end of the solenoid valve is connected to the braking device installed on the wheel; the hydraulic electronic control unit is used to control the opening and closing of the solenoid valve.

[0140] Optionally, the first operating parameter may include the temperature of the solenoid valve, or the duration of wheel locking achieved by the braking device of the ABS anti-lock braking system.

[0141] Optionally, wheel locking can be achieved through the braking mechanism of the ABS anti-lock braking system, including:

[0142] When the vehicle is under pressure, the solenoid valve is controlled to change from a normally open state to a normally closed state to control the hydraulic oil to continue to act on the braking device, so that the wheels remain locked after the user stops triggering the brake operation; the pressurized state means that the user triggers the brake operation to make the hydraulic oil act on the braking device to lock the wheels.

[0143] The structure of the ABS anti-lock braking system, the specific method of wheel locking, and the setting of the first operating parameters described above can be found in the aforementioned embodiments, and will not be repeated here.

[0144] Optionally, controlling the solenoid valve to switch from the normally open state to the normally closed state includes:

[0145] When the electronic parking brake function is activated and a parking brake trigger message is received, the solenoid valve is controlled to change from the normally open state to the normally closed state.

[0146] The electronic parking brake function can be configured according to user needs. Optionally, it can be configured via an application on a terminal device. After configuration, the terminal device can send the settings to the vehicle's motor controller, allowing the hydraulic electronic control unit to determine whether to activate the electronic parking brake function. For example, the hydraulic electronic control unit can send a request to the motor controller, which can then provide feedback on the settings based on the request, thus enabling the hydraulic electronic control unit to obtain information on whether to activate the electronic parking brake function.

[0147] If the electronic parking brake function is confirmed to be enabled, it can be further determined whether a parking trigger message has been received, thereby determining whether the solenoid valve should be kept in the normally closed state. The parking trigger message can be information detected by the motor controller, indicating that the electronic parking brake needs to be activated by the user.

[0148] By allowing users to set whether the electronic parking brake function is enabled, it is possible to avoid the electronic parking brake being activated without the user's knowledge, thus improving the user experience.

[0149] Optionally, stopping wheel locking via the braking mechanism of the ABS anti-lock braking system includes:

[0150] After sending the first control information to the motor controller, the motor torque sent by the motor controller is received.

[0151] The pressure relief speed is determined based on the motor torque when performing the pressure relief operation; during the pressure relief operation, the solenoid valve is in the normally open state.

[0152] After the hydraulic electronic control unit sends the first control information to the motor controller, the motor controller will increase the motor torque. During this process, the hydraulic electronic control unit can perform a pressure relief operation, thereby achieving wheel locking based on the drive motor.

[0153] During the switching process, in order to make the entire switching process smooth and imperceptible, the pressure relief speed or pressure relief amount can be determined based on the motor torque. When the motor torque is large, the pressure relief amount is large, or the pressure relief speed is fast; when the motor torque is small, the pressure relief amount is small, or the pressure relief speed is slow.

[0154] Optionally, when performing a pressure relief operation, the hydraulic electronic control unit can first control the solenoid valve to be in the normally open state, that is, control the solenoid valve to be de-energized, so as to realize the return of hydraulic oil and thus achieve pressure relief.

[0155] By determining the depressurization speed based on the motor torque, the system achieves a smooth and seamless transition when the vehicle switches to wheel locking based on the drive motor, thus improving the user experience.

[0156] Optionally, the method further includes:

[0157] When the vehicle is detected to be in the pressurized state again, the solenoid valve is controlled to switch from the normally open state to the normally closed state, so as to control the hydraulic oil to continue to act on the braking device to achieve wheel locking.

[0158] The condition for the vehicle to return to the pressurized state is as follows: after the motor controller outputs a prompt message, pressurization is performed in response to a user-triggered braking operation; the prompt message indicates that the motor controller has determined that the vehicle can no longer achieve wheel locking through the drive motor.

[0159] When wheel locking is based on the drive motor, if the vehicle cannot be parked for an extended period, the motor controller can output a prompt message to remind the user to apply the brakes so that the vehicle can be repressurized. This allows the solenoid valve to be switched from the normally open state to the normally closed state again, thus locking the wheels.

[0160] Each time the control solenoid valve changes from the normally open state to the normally closed state to lock the vehicle, a braking operation is required to repressurize the vehicle so that the hydraulic oil acts on the braking device, thereby meeting the conditions for the vehicle to enter the pressure holding state.

[0161] By displaying a prompt message, the user can trigger the braking operation, thereby allowing the vehicle to enter a pressure-holding state.

[0162] Optionally, the prompt information includes a first prompt information or a second prompt information, wherein the first prompt information is generated when the second operating parameter reaches the second threshold; and the second prompt information is generated when the vehicle cannot achieve wheel locking by driving motor alone.

[0163] The motor controller can generate a prompt message when it determines that the vehicle can no longer lock the wheels based on the drive motor. The prompt message can be divided into two types. One is the first prompt message, which is generated when the temperature of the motor controller or the motor reaches a second threshold during wheel locking, which will cause the wheel locking method to be unable to continue. The other is the second prompt message, which is generated when the vehicle cannot park stably if the slope is too steep when locking the wheels based solely on the drive motor.

[0164] Optionally, the motor has three phases. When locking wheels based on the motor controller, position control can be performed on one phase first. If the temperature of that phase is too high, position control can be performed on another phase to reduce the temperature. When the temperature of all three phases exceeds a threshold, a first warning message can be generated; alternatively, when the temperature of the motor controller exceeds a certain threshold, a first warning message can also be generated. Alternatively, when the duration of wheel locking based on the drive motor exceeds a certain threshold, a first warning message can also be generated.

[0165] When wheel locking is achieved by driving the motor, if parking based on the drive motor cannot continue due to the second operating parameters or the slope being too steep, a prompt message can be accurately generated.

[0166] Optionally, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor.

[0167] Optionally, the parking trigger information is information generated when the parking trigger unit of the vehicle is triggered; or, the parking trigger information is information generated when the duration of the continuously detected braking operation is greater than a preset duration.

[0168] Optionally, the parking trigger information can be generated when the parking trigger unit is triggered. Alternatively, the parking trigger unit can be a button on the vehicle specifically designed for users to issue parking trigger information. Or, the parking trigger unit can be another button already installed on the vehicle, reused to issue parking trigger information; for example, the parking trigger unit could be a cruise control button.

[0169] Optionally, parking trigger information can also be generated if the duration of the user's continuous braking operation exceeds a preset duration. For example, if the preset duration is 2 seconds, parking trigger information can be generated if the user continuously brakes for 3 seconds.

[0170] Optionally, the motor controller can be connected to the braking device or the parking trigger unit to determine whether to generate parking trigger information.

[0171] By using the two methods described above to generate parking trigger information, users can generate parking trigger information based on either method, thus improving the user experience.

[0172] Optionally, the method further includes:

[0173] When the vehicle achieves wheel locking through the braking device of the ABS anti-lock braking system, if a throttle trigger information is received, the solenoid valve is controlled to change from the normally closed state to the normally open state, and the pressure relief speed is determined according to the obtained motor torque when performing the pressure relief operation.

[0174] When the throttle is triggered, the motor controller generates throttle trigger information, which is then sent to the hydraulic electronic control unit. Upon receiving this information, the hydraulic electronic control unit performs a pressure relief operation. Specifically, it first switches the solenoid valve from a normally closed to a normally open state, effectively de-energizing it. During the pressure relief operation, the relief speed is determined based on the motor torque. For example, a higher motor torque results in a larger pressure relief volume and a faster relief speed, while a lower motor torque results in a smaller pressure relief volume and a slower relief speed, thus achieving a smooth transition to the starting state.

[0175] The above method can accurately and smoothly switch the vehicle from the braking device of the ABS anti-lock braking system to the starting state.

[0176] Furthermore, if it is determined based on the first operating parameter that wheel locking cannot be achieved by the braking device of the ABS anti-lock braking system, and it is determined based on the second operating parameter that wheel locking cannot be achieved by the drive motor, the electronic parking function can be deactivated to avoid damage to components such as the vehicle's solenoid valve, motor, or motor controller, and the user is prompted to continue performing the braking operation to achieve wheel locking.

[0177] Figure 5 This is a schematic diagram of another parking method provided by an embodiment of the present invention. The method is applied to a motor controller and includes:

[0178] Step S501: After receiving the first control information, perform position loop control on the drive motor to achieve wheel locking;

[0179] The first control information is information sent by the hydraulic electronic control unit when the first operating parameter reaches a first threshold after the wheel locking is achieved by the braking device of the ABS anti-lock braking system; after sending the first control information, the ABS anti-lock braking system stops executing the wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only by the drive motor.

[0180] The above method describes the execution process on the motor controller side. For the specific implementation process, please refer to the aforementioned embodiments, which will not be repeated here.

[0181] This invention provides a parking method, which includes: upon receiving first control information, performing position loop control on the drive motor to achieve wheel locking; wherein, the first control information is information sent by the hydraulic electronic control unit when the first operating parameter reaches a first threshold during wheel locking via the braking device of the ABS anti-lock braking system; after sending the first control information, the ABS anti-lock braking system stops executing wheel locking via the braking device of the ABS anti-lock braking system, so that the vehicle achieves wheel locking only via the drive motor, and switches to wheel locking based on the drive motor when wheel locking based on the ABS anti-lock braking system cannot continue, thereby extending the parking time by switching between the two electronic parking methods.

[0182] Optionally, the first control information is the information sent by the hydraulic electronic unit when wheel locking cannot be achieved by the braking device of the ABS anti-lock braking system alone; after sending the first control information, the ABS anti-lock braking system continues to achieve wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking by the drive motor and the ABS anti-lock braking system together.

[0183] Optionally, the method further includes:

[0184] When the drive motor is subjected to position loop control to achieve wheel locking, the motor torque is sent to the hydraulic electronic control unit so that the hydraulic electronic control unit can determine the pressure relief speed when performing the pressure relief operation based on the motor torque; when performing the pressure relief operation, the solenoid valve is in the normally open state.

[0185] Optionally, the method further includes:

[0186] When the drive motor is subjected to position loop control to achieve wheel locking, if the second operating parameter reaches the second threshold, a first prompt message is generated. The first prompt message is used to prompt the user to trigger the braking operation to put the vehicle in a pressurized state, so that the hydraulic electronic control unit controls the solenoid valve to change from a normally open state to a normally closed state, so as to control the hydraulic oil to continuously act on the braking device to achieve wheel locking.

[0187] Optionally, the method further includes:

[0188] When performing position loop control on the drive motor to achieve wheel locking, if wheel locking cannot be achieved by the drive motor alone, a second prompt message is generated, and the position loop control on the drive motor to achieve wheel locking continues. The second prompt message is used to prompt the user to trigger the brake operation to put the vehicle in a pressurized state, so that the hydraulic electronic control unit controls the solenoid valve to change from a normally open state to a normally closed state, so as to control the hydraulic oil to continuously act on the braking device to achieve wheel locking.

[0189] Optionally, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor.

[0190] The above implementation method can be referred to the foregoing embodiments, and will not be repeated here.

[0191] Optionally, the method further includes:

[0192] When the temperature of the current phase line in the drive motor is greater than the first temperature threshold, the operation of adjusting the motor stall position is performed to adjust the motor stall position from the current phase line to any other phase line.

[0193] Correspondingly, when the second operating parameter reaches the second threshold, a first prompt message is generated, including:

[0194] When the temperature of all three phase lines of the drive motor is greater than the first temperature threshold, or when the temperature of the motor controller is greater than the second temperature threshold, the first prompt message is generated and the motor torque is reduced.

[0195] The motor has three phase lines. When the motor controller performs position control on the drive motor to achieve wheel locking, it can first perform position control on one phase line. When the temperature corresponding to that phase line is greater than the first temperature threshold, the operation of adjusting the motor stall position is performed, that is, adjusting the motor stall position from the current phase line to another phase line.

[0196] A first warning message is generated when the temperature of all three phase wires exceeds a first temperature threshold. Alternatively, a first warning message is generated when the temperature of the motor controller exceeds a second temperature threshold. The user can trigger braking based on the first warning message, thereby achieving wheel locking based on the ABS anti-lock braking system. Simultaneously, when the temperature of all three motor phase wires is high, a torque reduction operation can be performed to prevent damage to the motor or motor controller.

[0197] Alternatively, the motor torque can be reduced by gradually decreasing the current, causing the vehicle to coast slowly.

[0198] By generating a first prompt message to remind the user to perform the set operation, the vehicle switches to the braking device based on the ABS anti-lock braking system to lock the wheels. By reducing the motor torque, the drive motor and motor controller can be protected from damage before the switch is successful.

[0199] Figure 6This is a schematic diagram of a parking device provided in an embodiment of the present invention. It is applied to a controller, which is connected to a hydraulic electronic control unit and a motor controller. The hydraulic electronic control unit is used to achieve wheel locking via the braking device of the ABS anti-lock braking system; the motor controller is used to achieve wheel locking via a drive motor; the device includes:

[0200] The first processing module 601 is used to switch to wheel locking via the drive motor when the vehicle is in a state where the braking device of the ABS anti-lock braking system achieves wheel locking and the first operating parameter reaches the first threshold.

[0201] Optionally, the first processing module is further configured to:

[0202] When the vehicle is in a state where wheel locking is achieved through the drive motor, if the second operating parameter reaches the second threshold, the system switches to wheel locking through the braking device of the ABS anti-lock braking system.

[0203] Optionally, the first processing module 601 is further configured to:

[0204] When the braking device of the ABS anti-lock braking system or the drive motor cannot achieve wheel locking by itself, the braking device of the ABS anti-lock braking system and the drive motor are controlled to operate together to lock the wheels.

[0205] Optionally, the first processing module 601 is further configured to:

[0206] When the throttle is detected to be triggered, the wheel lock is released by the braking device of the ABS anti-lock braking system, and / or the wheel lock is released by the drive motor.

[0207] Optionally, the ABS anti-lock braking system includes a solenoid valve. When the solenoid valve is in a normally closed state, the braking device is in a pressure-holding state to achieve wheel locking.

[0208] Optionally, wheel locking can be achieved by performing position loop control on the drive motor.

[0209] Optionally, the first operating parameter may include the temperature of the solenoid valve, or the duration of wheel locking achieved by the braking device of the ABS anti-lock braking system.

[0210] And / or, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor; the motor controller is used to control the operation of the drive motor.

[0211] The parking device provided in this embodiment of the invention can achieve the above-mentioned functions. Figure 2The parking method shown in the embodiment has a similar implementation principle and technical effect, and will not be described again here.

[0212] Figure 7 This is a schematic diagram of another parking device provided in an embodiment of the present invention, applied to a hydraulic electronic control unit, including:

[0213] The second processing module 701 is used to send first control information to the motor controller when the first operating parameter reaches a first threshold after wheel locking is achieved by the braking device of the ABS anti-lock braking system, and to stop the wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only by the drive motor; wherein, the motor controller is used to perform position loop control on the drive motor to achieve wheel locking when receiving the first control information.

[0214] Optionally, the second processing module 701 is further configured to:

[0215] When wheel locking cannot be achieved by the braking device of the ABS anti-lock braking system alone, the first control information is sent to the motor controller, and the wheel locking is achieved by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking by the drive motor and the ABS anti-lock braking system together.

[0216] Optionally, the hydraulic electronic control unit is connected to one end of the solenoid valve, and the other end of the solenoid valve is connected to the braking device installed on the wheel; the hydraulic electronic control unit is used to control the opening and closing of the solenoid valve.

[0217] Optionally, the first operating parameter may include the temperature of the solenoid valve, or the duration of wheel locking achieved by the braking device of the ABS anti-lock braking system.

[0218] Optionally, when the second processing module 701 achieves wheel locking through the braking device of the ABS anti-lock braking system, it is specifically used for:

[0219] When the vehicle is under pressure, the solenoid valve is controlled to change from a normally open state to a normally closed state to control the hydraulic oil to continue to act on the braking device, so that the wheels remain locked after the user stops triggering the brake operation; the pressurized state means that the user triggers the brake operation to make the hydraulic oil act on the braking device to lock the wheels.

[0220] Optionally, when the second processing module 701 controls the solenoid valve to change from the normally open state to the normally closed state, it is specifically used for:

[0221] When the electronic parking brake function is activated and a parking brake trigger message is received, the solenoid valve is controlled to change from the normally open state to the normally closed state.

[0222] Optionally, when the second processing module 701 stops executing the wheel locking mechanism through the ABS anti-lock braking system, it is specifically used for:

[0223] After sending the first control information to the motor controller, the motor torque sent by the motor controller is received.

[0224] The pressure relief speed is determined based on the motor torque when performing the pressure relief operation; during the pressure relief operation, the solenoid valve is in the normally open state.

[0225] Optionally, the second processing module 701 is further configured to:

[0226] When the vehicle is detected to be in the pressurized state again, the solenoid valve is controlled to switch from the normally open state to the normally closed state, so as to control the hydraulic oil to continue to act on the braking device to achieve wheel locking.

[0227] The condition for the vehicle to return to the pressurized state is as follows: after the motor controller outputs a prompt message, pressurization is performed in response to a user-triggered braking operation; the prompt message indicates that the motor controller has determined that the vehicle can no longer achieve wheel locking through the drive motor.

[0228] Optionally, the prompt information includes a first prompt information or a second prompt information, wherein the first prompt information is generated when the second operating parameter reaches the second threshold; and the second prompt information is generated when the vehicle cannot achieve wheel locking by driving motor alone.

[0229] Optionally, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor.

[0230] Optionally, the parking trigger information is information generated when the parking trigger unit of the vehicle is triggered; or, the parking trigger information is information generated when the duration of the continuously detected braking operation is greater than a preset duration.

[0231] Optionally, the second processing module 701 is further configured to:

[0232] When the vehicle achieves wheel locking through the braking device of the ABS anti-lock braking system, if a throttle trigger information is received, the solenoid valve is controlled to change from the normally closed state to the normally open state, and the pressure relief speed is determined according to the obtained motor torque when performing the pressure relief operation.

[0233] The parking device provided in this embodiment of the invention can achieve the above-mentioned functions. Figure 4The parking method shown in the embodiment has a similar implementation principle and technical effect, and will not be described again here.

[0234] Figure 8 This is a schematic diagram of another parking device provided in an embodiment of the present invention, applied to a motor controller. The device includes:

[0235] The control module 801 is used to perform position loop control on the drive motor to achieve wheel locking after receiving the first control information;

[0236] The first control information is information sent by the hydraulic electronic control unit when the first operating parameter reaches a first threshold after the wheel locking is achieved by the braking device of the ABS anti-lock braking system; after sending the first control information, the ABS anti-lock braking system stops executing the wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only by the drive motor.

[0237] Optionally, the first control information is the information sent by the hydraulic electronic unit when wheel locking cannot be achieved by the braking device of the ABS anti-lock braking system alone; after sending the first control information, the ABS anti-lock braking system continues to achieve wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking by the drive motor and the ABS anti-lock braking system together.

[0238] Optionally, the control module 801 is further configured to:

[0239] When the drive motor is subjected to position loop control to achieve wheel locking, the motor torque is sent to the hydraulic electronic control unit so that the hydraulic electronic control unit can determine the pressure relief speed when performing the pressure relief operation based on the motor torque; when performing the pressure relief operation, the solenoid valve is in the normally open state.

[0240] Optionally, the control module 801 is further configured to:

[0241] When the drive motor is subjected to position loop control to achieve wheel locking, if the second operating parameter reaches the second threshold, a first prompt message is generated. The first prompt message is used to prompt the user to trigger the braking operation to put the vehicle in a pressurized state, so that the hydraulic electronic control unit controls the solenoid valve to change from a normally open state to a normally closed state, so as to control the hydraulic oil to continuously act on the braking device to achieve wheel locking.

[0242] Optionally, the control module 801 is further configured to:

[0243] When performing position loop control on the drive motor to achieve wheel locking, if wheel locking cannot be achieved by the drive motor alone, a second prompt message is generated, and the position loop control on the drive motor to achieve wheel locking continues. The second prompt message is used to prompt the user to trigger the brake operation to put the vehicle in a pressurized state, so that the hydraulic electronic control unit controls the solenoid valve to change from a normally open state to a normally closed state, so as to control the hydraulic oil to continuously act on the braking device to achieve wheel locking.

[0244] Optionally, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor.

[0245] Optionally, the control module 801 is further configured to:

[0246] When the temperature of the current phase line in the drive motor is greater than the first temperature threshold, the operation of adjusting the motor stall position is performed to adjust the motor stall position from the current phase line to any other phase line.

[0247] Accordingly, when the control module 801 generates the first prompt message when the second operating parameter reaches the second threshold, it is specifically used for:

[0248] When the temperature of all three phase lines of the drive motor is greater than the first temperature threshold, or when the temperature of the motor controller is greater than the second temperature threshold, the first prompt message is generated and the motor torque is reduced.

[0249] The parking device provided in this embodiment of the invention can achieve the above-mentioned functions. Figure 5 The parking method shown in the embodiment has a similar implementation principle and technical effect, and will not be described again here.

[0250] This invention also provides a parking system, including: a hydraulic electronic control unit and a motor controller. One end of the hydraulic electronic control unit is connected to a braking device, and the other end of the hydraulic electronic control unit is connected to one end of a solenoid valve. The other end of the solenoid valve is connected to a braking device mounted on a wheel. The hydraulic electronic control unit is also connected to the motor controller. The motor controller is connected to a throttle device and a drive motor, respectively, and the motor is mounted on the wheel. The hydraulic electronic control unit is used to execute a method applied to the hydraulic electronic control unit. The motor controller is used to execute a method applied to the motor controller.

[0251] Figure 9 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Figure 9As shown, the electronic device provided in this embodiment includes at least one processor 901 and a memory 902. The processor 901 and the memory 902 are connected via a bus 903.

[0252] In a specific implementation, at least one processor 901 executes computer execution instructions stored in memory 902, causing at least one processor 901 to execute the method in the above method embodiment.

[0253] The specific implementation process of processor 901 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0254] In the above Figure 9 In the illustrated embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0255] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0256] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0257] This invention also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the above embodiments.

[0258] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the above method embodiments.

[0259] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0260] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0261] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0262] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0263] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part 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, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0264] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A parking method, characterized in that, include: When the vehicle is in a braking state where the wheels are locked by the ABS anti-lock braking system, if the first operating parameter reaches the first threshold, the system switches to locking the wheels by the drive motor.

2. The method according to claim 1, characterized in that, The method further includes: When the vehicle is in a state where wheel locking is achieved through the drive motor, if the second operating parameter reaches the second threshold, the system switches to wheel locking through the braking device of the ABS anti-lock braking system.

3. The method according to claim 1, characterized in that, The method further includes: when the braking device of the ABS anti-lock braking system or the drive motor cannot achieve wheel locking by a single method, controlling the braking device of the ABS anti-lock braking system and the drive motor to operate together to lock the wheels.

4. The method according to claim 1, characterized in that, The method further includes: When the throttle is detected to be triggered, the wheel lock is released by the braking device of the ABS anti-lock braking system, and / or the wheel lock is released by the drive motor.

5. The method according to any one of claims 1-4, characterized in that, The ABS anti-lock braking system includes a solenoid valve. When the solenoid valve is in the normally closed state, the braking device is in a pressure-holding state to achieve wheel locking.

6. The method according to any one of claims 1-4, characterized in that, Wheel locking is achieved by using position loop control on the drive motor.

7. The method according to claim 2, characterized in that, The first operating parameter includes the temperature of the solenoid valve, or the duration of wheel locking achieved by the braking device of the ABS anti-lock braking system; And / or, the second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking via the drive motor, or the stall position of the drive motor; the motor controller is used to control the operation of the drive motor.

8. A parking method, characterized in that, Applications in hydraulic electronic control units include: When wheel locking is achieved through the braking device of the ABS anti-lock braking system, if the first operating parameter reaches the first threshold, the first control information is sent to the motor controller, and the wheel locking through the braking device of the ABS anti-lock braking system is stopped, so that the vehicle can achieve wheel locking only through the drive motor. The motor controller is used to perform position loop control on the drive motor to achieve wheel locking when it receives the first control information.

9. The method according to claim 8, characterized in that, The method further includes: When wheel locking cannot be achieved by the braking device of the ABS anti-lock braking system alone, the first control information is sent to the motor controller, and the wheel locking is achieved by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking by the drive motor and the ABS anti-lock braking system together.

10. The method according to claim 8, characterized in that, The hydraulic electronic control unit is connected to one end of the solenoid valve, and the other end of the solenoid valve is connected to the braking device installed on the wheel; the hydraulic electronic control unit is used to control the opening and closing of the solenoid valve.

11. The method according to claim 10, characterized in that, The first operating parameter includes the temperature of the solenoid valve, or the duration of wheel locking achieved by the braking device of the ABS anti-lock braking system.

12. The method according to claim 10, characterized in that, The method further includes: achieving wheel locking through the braking device of the ABS anti-lock braking system, including: When the vehicle is under pressure, the solenoid valve is controlled to change from a normally open state to a normally closed state to control the hydraulic oil to continue to act on the braking device, so that the wheels remain locked after the user stops triggering the brake operation; the pressurized state means that the user triggers the brake operation to make the hydraulic oil act on the braking device to lock the wheels.

13. The method according to claim 12, characterized in that, Controlling the solenoid valve to switch from the normally open state to the normally closed state includes: When the electronic parking brake function is activated and a parking brake trigger message is received, the solenoid valve is controlled to change from the normally open state to the normally closed state.

14. The method according to claim 12, characterized in that, Stopping the braking mechanism of the ABS anti-lock braking system from locking the wheels includes: After sending the first control information to the motor controller, the motor torque sent by the motor controller is received. The pressure relief speed is determined based on the motor torque when performing the pressure relief operation; during the pressure relief operation, the solenoid valve is in the normally open state.

15. The method according to claim 12, characterized in that, The method further includes: When the vehicle is detected to be in the pressurized state again, the solenoid valve is controlled to change from the normally open state to the normally closed state, so as to control the hydraulic oil to continue to act on the braking device to achieve wheel locking. The condition for the vehicle to return to the pressurized state is as follows: after the motor controller outputs a prompt message, pressurization is performed in response to a user-triggered braking operation; the prompt message indicates that the motor controller has determined that the vehicle can no longer achieve wheel locking through the drive motor.

16. The method according to claim 15, characterized in that, The prompt information includes a first prompt information or a second prompt information. The first prompt information is generated when the second operating parameter reaches the second threshold. The second prompt information is generated when the vehicle cannot achieve wheel locking by driving motor alone.

17. The method according to claim 16, characterized in that, The second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking achieved by the drive motor, or the stall position of the drive motor.

18. The method according to claim 13, characterized in that, The parking trigger information is the information generated when the parking trigger unit of the vehicle is triggered; or, the parking trigger information is the information generated when the duration of the braking operation is continuously detected to be longer than a preset duration.

19. The method according to any one of claims 8-18, characterized in that, The method further includes: When the vehicle achieves wheel locking through the braking device of the ABS anti-lock braking system, if a throttle trigger information is received, the solenoid valve is controlled to change from the normally closed state to the normally open state, and the pressure relief speed is determined according to the obtained motor torque when performing the pressure relief operation.

20. A parking method, characterized in that, The method is applied to a motor controller, and the method includes: After receiving the first control information, position loop control is performed on the drive motor to achieve wheel locking; The first control information is information sent by the hydraulic electronic control unit when the first operating parameter reaches a first threshold after the wheel locking is achieved by the braking device of the ABS anti-lock braking system; after sending the first control information, the ABS anti-lock braking system stops executing the wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only by the drive motor.

21. The method according to claim 20, characterized in that, The first control information is the information sent by the hydraulic electronic unit when wheel locking cannot be achieved by the braking device of the ABS anti-lock braking system alone; after sending the first control information, the ABS anti-lock braking system continues to achieve wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking by the drive motor and the ABS anti-lock braking system together.

22. The method according to claim 20, characterized in that, The method further includes: When the drive motor is subjected to position loop control to achieve wheel locking, the motor torque is sent to the hydraulic electronic control unit so that the hydraulic electronic control unit can determine the pressure relief speed when performing the pressure relief operation based on the motor torque; when performing the pressure relief operation, the solenoid valve is in the normally open state.

23. The method according to claim 20, characterized in that, The method further includes: When the drive motor is subjected to position loop control to achieve wheel locking, if the second operating parameter reaches the second threshold, a first prompt message is generated. The first prompt message is used to prompt the user to trigger the braking operation to put the vehicle in a pressurized state, so that the hydraulic electronic control unit controls the solenoid valve to change from a normally open state to a normally closed state, so as to control the hydraulic oil to continuously act on the braking device to achieve wheel locking.

24. The method according to claim 20, characterized in that, The method further includes: When performing position loop control on the drive motor to achieve wheel locking, if wheel locking cannot be achieved by the drive motor alone, a second prompt message is generated, and the position loop control on the drive motor to achieve wheel locking continues. The second prompt message is used to prompt the user to trigger the brake operation to put the vehicle in a pressurized state, so that the hydraulic electronic control unit controls the solenoid valve to change from a normally open state to a normally closed state, so as to control the hydraulic oil to continuously act on the braking device to achieve wheel locking.

25. The method according to claim 23, characterized in that, The second operating parameter includes at least one of the following: the temperature of the motor controller, the temperature of the drive motor, the duration of wheel locking achieved by the drive motor, or the stall position of the drive motor.

26. The method according to claim 25, characterized in that, The method further includes: When the temperature of the current phase line in the drive motor is greater than the first temperature threshold, the operation of adjusting the motor stall position is performed to adjust the motor stall position from the current phase line to any other phase line. Correspondingly, when the second operating parameter reaches the second threshold, a first prompt message is generated, including: When the temperature of all three phase lines of the drive motor is greater than the first temperature threshold, or when the temperature of the motor controller is greater than the second temperature threshold, the first prompt message is generated and the motor torque is reduced.

27. A parking device, characterized in that, The controller is connected to a hydraulic electronic control unit and a motor controller. The hydraulic electronic control unit is used to achieve wheel locking via the braking device of the ABS anti-lock braking system; the motor controller is used to achieve wheel locking via a drive motor; it includes: The first processing module is used to switch to wheel locking via the drive motor when the vehicle is in a state where the wheel locking is achieved by the braking device of the ABS anti-lock braking system, and the first operating parameter reaches the first threshold.

28. A parking device, characterized in that, Applications in hydraulic electronic control units include: The second processing module is used to send first control information to the motor controller when the first operating parameter reaches a first threshold after wheel locking is achieved by the braking device of the ABS anti-lock braking system, and to stop the wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only by the drive motor; wherein, the motor controller is used to perform position loop control on the drive motor to achieve wheel locking when receiving the first control information.

29. A parking device, said device being applied to a motor controller, characterized in that, The device includes: The control module is used to perform position loop control on the drive motor to achieve wheel locking after receiving the first control information; The first control information is information sent by the hydraulic electronic control unit when the first operating parameter reaches a first threshold after the wheel locking is achieved by the braking device of the ABS anti-lock braking system; after sending the first control information, the ABS anti-lock braking system stops executing the wheel locking by the braking device of the ABS anti-lock braking system, so that the vehicle can achieve wheel locking only by the drive motor.

30. A parking system, characterized in that, include: The system comprises a hydraulic electronic control unit and a motor controller, wherein one end of the hydraulic electronic control unit is connected to a braking device, and the other end of the hydraulic electronic control unit is connected to one end of a solenoid valve, the other end of the solenoid valve being connected to a braking device mounted on a wheel; the hydraulic electronic control unit is also connected to the motor controller; the motor controller is connected to a throttle device and a drive motor respectively, the motor being mounted on a wheel; the hydraulic electronic control unit is used to execute the method according to any one of claims 8-19; and the motor controller is used to execute the method according to any one of claims 20-26.

31. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method as described in any one of claims 1 to 26.

32. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the method as described in any one of claims 1 to 26.

33. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 26.

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