Parking method, vehicle, and storage medium

Abstract

A parking method, a vehicle, and a storage medium. The method comprises: detecting whether a parking apparatus, which corresponds to the present parking chip, fails; when it is detected that the parking apparatus, which corresponds to the present parking chip, fails, stopping the control over the failed parking apparatus; and sending a failure signal to the other parking chip, such that the other parking chip enters a failure mode, so as to control, on the basis of a preset first failure control strategy, a non-failed parking apparatus to perform parking.

Description

Parking method, vehicle, and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on the Chinese patent application with application number 202311596418.9 and application date November 27, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this disclosure as a reference. Technical Field

[0003] The present disclosure relates to the field of vehicle braking technology, and in particular to a parking method, a vehicle, and a storage medium. Background Art

[0004] In related technologies, the shortcomings of traditional mechanical parking brake systems are circumvented by adopting an electronic parking system, namely EPB (Electrical Park Brake). EPB has higher precision and control performance and is the core parking system for realizing advanced vehicle assisted driving, automatic driving and deep braking energy recovery.

[0005] However, in related technologies, the parking brake system not only has high requirements for the main chip, but also has certain requirements for the execution capability of the parking mechanism. Once the parking mechanism fails, if the vehicle continues to be parked according to the original parking parameters, it is easy to cause the vehicle to lose control, and it will be difficult to ensure the safety of the parking brake, which urgently needs to be improved.

[0006] Summary of the Invention

[0007] The present disclosure provides a parking method, a vehicle, and a storage medium. The method can determine whether a parking device serving as a parking actuator has failed based on actual operating parameters of the parking device. When the parking device is determined to have failed, a failure signal of a parking chip corresponding to the parking device is sent to another parking chip to drive the other parking chip to implement redundant parking control based on a failure control strategy, thereby reducing the impact of the failure of some parking devices on vehicle parking, improving the stability and safety of vehicle parking, and enhancing the driver's driving experience.

[0008] In a first aspect, a parking method is provided, wherein a vehicle includes a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, or a first parking device arranged corresponding to one of the front wheels of the vehicle and one of the rear wheels of the vehicle and a second parking device arranged corresponding to the other of the front wheels of the vehicle and the other of the rear wheels of the vehicle, a first control component for driving the first parking device, a second control component for driving the second parking device, and a communication device for communicating with the first control component or the second control component, wherein the first control component includes a first parking chip and the second control component includes a second parking chip, wherein the first parking chip and the second parking chip communicate with each other, wherein the method is applicable to any parking chip, and the method includes the following steps:

[0009] Check whether the parking device corresponding to this parking chip is invalid;

[0010] When it is detected that the parking device corresponding to the parking chip fails, stopping control of the failed parking device; and

[0011] A failure signal is sent to another parking chip, so that the other parking chip enters the failure mode, so as to control the parking device that has not failed to park according to the preset first failure control strategy.

[0012] Through the above technical solution, it is possible to determine whether the parking device serving as the parking actuator has failed based on the actual operating parameters of the parking device. When it is determined that the parking device has failed, the failure signal of the parking chip corresponding to the parking device is sent to another parking chip to drive the other parking chip to implement redundant parking control based on the failure control strategy, thereby reducing the impact of the failure of some parking devices on vehicle parking, improving the stability and safety of vehicle parking, and enhancing the driver's driving experience.

[0013] In conjunction with the first aspect, in some possible implementations, the method further includes:

[0014] receiving a failure signal of the other parking chip when detecting that the parking device corresponding to the parking chip is not failed;

[0015] The parking chip is controlled to enter the failure mode, and the parking device corresponding to the parking chip is controlled to park according to a preset second failure control strategy.

[0016] Through the above technical solution, it is possible to determine whether the parking device serving as the parking actuator has failed based on the actual operating parameters of the parking device. When it is determined that the parking device has failed, the failure signal of the parking chip corresponding to the parking device is sent to the parking chip to drive the parking chip to implement redundant parking control based on the failure control strategy, thereby reducing the impact of the failure of some parking devices on vehicle parking, improving the stability and safety of vehicle parking, and enhancing the driver's driving experience.

[0017] In conjunction with the first aspect, in some possible implementations, controlling the parking device corresponding to the parking chip to park the vehicle according to the preset second failure control strategy includes:

[0018] Obtaining a failure type of the other parking chip;

[0019] The preset second failure control strategy is matched from a preset database according to the failure type.

[0020] Through the above technical solution, the corresponding failure control strategy can be matched according to the failure type of the parking chip, thereby ensuring parking stability.

[0021] In combination with the first aspect, in some possible implementations, detecting whether the parking device corresponding to the parking chip has failed includes: collecting actual operating parameters of the parking device corresponding to the parking chip; and determining whether the parking device has failed using the actual operating parameters.

[0022] Through the above technical solution, the actual operating condition parameters can be used to determine the failure state of the parking device, thereby determining the corresponding parking strategy.

[0023] In combination with the first aspect, in some possible implementations, the actual operating condition parameter includes at least one of a parking system status signal, a solenoid valve push rod position parameter, and a caliper and solenoid valve current parameter.

[0024] Through the above technical solution, the configuration can determine the parking strategy according to the actual working condition parameters.

[0025] In conjunction with the first aspect, in some possible implementations, matching the preset second failure control strategy from a preset database according to the failure type includes:

[0026] Obtaining a driver's driving preference, environmental information of a current environment, and / or a current operating condition of the vehicle;

[0027] The preset database is queried according to the failure type, the driving preference, the environmental information and / or the current working condition to determine the preset second failure control strategy.

[0028] Through the above technical solution, the corresponding failure control strategy can be matched from the database based on the failure type of the parking chip, the driver's driving preferences and environmental information, thereby ensuring parking stability.

[0029] In conjunction with the first aspect, in some possible implementations, controlling the parking device corresponding to the parking chip to park according to the preset second failure control strategy further includes:

[0030] Obtaining the actual parking type of the vehicle;

[0031] Determining at least one optimization item of the parking chip according to the actual parking type;

[0032] The preset second failure control strategy is optimized based on the at least one optimization item to obtain an optimized second failure control strategy, and parking is performed according to the optimized second failure control strategy.

[0033] Through the above technical solution, the failure control strategy can be optimized according to the actual parking type, thereby achieving more targeted and stable parking.

[0034] In conjunction with the first aspect, in some possible implementations, while sending the failure signal to the other parking chip, the method further includes:

[0035] collecting failure information of the failed parking device;

[0036] generating a reference control parameter of the other parking chip according to the failure information;

[0037] The reference control parameter is sent to the other parking chip to perform parking in combination with the reference control parameter and the first failure control strategy control.

[0038] Through the above technical solution, another parking chip can adjust the control parameters according to the failure information to avoid loss of control due to imbalance of braking force when parking due to failure of the parking device.

[0039] In combination with the first aspect, in some possible implementations, the failure information includes at least one of the failure type, the failure condition of the parking mechanism corresponding to the failed parking device, and the wheel posture correspondingly controlled by the parking device.

[0040] Through the above technical solution, the content of the expiration information can be clarified.

[0041] In conjunction with the first aspect, in some possible implementations, the method further includes:

[0042] generating failure alarm information according to the failure information of the failed parking device;

[0043] The vehicle is controlled to remind the driver based on the failure warning information, and / or the failure warning information is sent to a preset terminal.

[0044] Through the above technical solution, an alarm can be issued according to the failure information, which facilitates timely fault handling.

[0045] In conjunction with the first aspect, in some possible implementations, after controlling the vehicle to remind the driver based on the failure warning information, the method further includes:

[0046] Send the failure alarm information to a preset terminal.

[0047] Through the above technical solution, an alarm can be issued according to the failure information, which facilitates timely fault rescue.

[0048] In combination with the first aspect, in some possible implementations, the preset terminal includes at least one of a car manufacturer's after-sales terminal, a traffic management department terminal, and a vehicle maintenance center terminal.

[0049] Through the above technical solution, rescue can be carried out with the help of external forces, thereby ensuring the safety of the vehicle and the driver.

[0050] In a second aspect, a parking device is provided, wherein a vehicle includes a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, or a first parking device arranged corresponding to one of the front wheels of the vehicle and one of the rear wheels of the vehicle and a second parking device arranged corresponding to the other of the front wheels of the vehicle and the other of the rear wheels of the vehicle, a first control component for driving the first parking device, a second control component for driving the second parking device, and a communication device for communicating with the first control component or the second control component, wherein the first control component includes a first parking chip and the second control component includes a second parking chip, wherein the first parking chip and the second parking chip communicate with each other, wherein the device is applicable to any parking chip, and the device includes:

[0051] A detection module is used to detect whether the parking device corresponding to the parking chip is invalid;

[0052] a first control module, configured to, upon detecting that a parking device corresponding to the parking chip has failed, stop controlling the failed parking device; and

[0053] The sending module is used to send a failure signal to another parking chip, so that the other parking chip enters the failure mode to control the parking device that has not failed to park according to a preset first failure control strategy.

[0054] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0055] a receiving module, configured to receive a failure signal of the other parking chip when detecting that the parking device corresponding to the parking chip is not failed;

[0056] The second control module is used to control the parking chip to enter the failure mode, and control the parking device corresponding to the parking chip to park according to a preset second failure control strategy.

[0057] With reference to the second aspect, in some possible implementations, the second control module includes:

[0058] a first acquiring unit, configured to acquire a failure type of the other parking chip;

[0059] A matching unit is configured to match the preset second failure control strategy from a preset database according to the failure type.

[0060] With reference to the second aspect, in some possible implementations, the detection module includes:

[0061] A first acquisition unit is used to acquire actual operating parameters of the parking device corresponding to the parking chip;

[0062] The first determining unit is configured to determine whether the parking device has failed by using the actual operating condition parameters.

[0063] In combination with the second aspect, in some possible implementations, the actual operating condition parameter includes at least one of a parking system status signal, a solenoid valve push rod position parameter, and a caliper and solenoid valve current parameter.

[0064] With reference to the second aspect, in some possible implementations, the matching unit includes:

[0065] an acquisition subunit, configured to acquire the driver's driving preference, environmental information of the current environment, and / or the current operating condition of the vehicle;

[0066] The determination subunit is configured to query the preset database according to the failure type, the driving preference, the environmental information and / or the current working condition to determine the preset second failure control strategy.

[0067] In conjunction with the second aspect, in some possible implementations, the second control module further includes:

[0068] a second acquiring unit, configured to acquire an actual parking type of the vehicle;

[0069] a second determining unit, configured to determine at least one optimization item of the parking chip according to the actual parking type;

[0070] The optimization unit is configured to optimize the preset second failure control strategy based on the at least one optimization item to obtain an optimized second failure control strategy, and perform parking according to the optimized second failure control strategy.

[0071] In conjunction with the second aspect, in some possible implementations, the sending module further includes:

[0072] a second collecting unit, configured to collect failure information of the failed parking device;

[0073] a generating unit, configured to generate a reference control parameter of the other parking chip according to the failure information;

[0074] A control unit is used to send the reference control parameter to the other parking chip to perform parking in combination with the reference control parameter and the first failure control strategy control.

[0075] In combination with the second aspect, in some possible implementations, the failure information includes at least one of the failure type, the failure condition of the parking mechanism corresponding to the failed parking device, and the wheel posture controlled by the parking device.

[0076] In conjunction with the second aspect, in some possible implementations, the method further includes:

[0077] a generating module, configured to generate failure alarm information according to failure information of the failed parking device;

[0078] A reminder module is used to control the vehicle to remind the driver based on the failure alarm information, and / or send the failure alarm information to a preset terminal.

[0079] In combination with the second aspect, in some possible implementations, the reminder module is further configured to send the failure alarm information to a preset terminal.

[0080] In combination with the second aspect, in some possible implementations, the preset terminal includes at least one of a car manufacturer's after-sales terminal, a traffic management department terminal, and a vehicle maintenance center terminal.

[0081] In a third aspect, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parking method as described in the above embodiment.

[0082] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the parking method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0083] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] The above and additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0085] FIG1a is a schematic diagram of a system architecture of a parking method according to one embodiment of the present disclosure;

[0086] FIG1 b is a schematic diagram of a system architecture of a parking method according to another embodiment of the present disclosure;

[0087] FIG2 is a schematic diagram of a system architecture of a parking method according to another embodiment of the present disclosure;

[0088] FIG3 is a schematic diagram of a system architecture of a parking method according to another embodiment of the present disclosure;

[0089] FIG4 is a flow chart of a parking method according to an embodiment of the present disclosure;

[0090] FIG5a is a first structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0091] FIG5 b is a second structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0092] FIG5c is a third structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0093] FIG5 d is a fourth structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0094] FIG5e is a fifth structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0095] FIG5f is a sixth structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0096] FIG5g is a seventh structural diagram of a parking device provided according to an embodiment of the present disclosure;

[0097] FIG5h is a structural schematic diagram eight of a parking device provided according to an embodiment of the present disclosure;

[0098] FIG6 is a schematic structural diagram of a vehicle provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0099] The technical solutions in the present disclosure will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present disclosure, "multiple" means two or more than two.

[0100] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0101] The traditional parking brake system is in the form of a mechanical parking brake handle, which can lock the drive shaft or rear wheel braking through a lever and a cable. When the driver needs to stop the vehicle, the driver can manually pull up the parking brake lever to contact the brake plate with the wheel and stop the vehicle from moving forward. This is cumbersome and laborious, and the risk of accidents is relatively high. In addition, since the operation of mechanical parking requires driver intervention, it is not compatible with autonomous driving technology, which has imposed certain restrictions on the future development of automobiles.

[0102] Based on improvements to traditional parking brake systems, related technologies can achieve electronic parking brakes through EPB (Electrical Park Brake) with higher precision and control performance, thereby reducing driver intervention, reducing the impact of terrain factors on braking effectiveness, improving parking brake safety, and providing an auxiliary basis for braking and parking in autonomous driving technology. However, EPB requires a parking mechanism to achieve vehicle deceleration and parking control. When the parking chip that drives the parking mechanism fails, it often causes the parking brake to fail, resulting in major safety accidents, making it difficult to ensure parking brake safety and not conducive to improving the driver's driving experience.

[0103] At the same time, when the parking mechanism fails, it often causes the vehicle to fail to park, causing traffic accidents. For vehicles with parking mechanisms driven by different parking chips, when any of the parking mechanisms fails, it is easy to cause uneven distribution of parking force, causing accidents such as vehicle rollover.

[0104] Before explaining the vehicle parking update method provided by the embodiment of the present disclosure, the system architecture involved in the embodiment of the present disclosure is first explained.

[0105] Next, the applicable scenarios or system architectures of the embodiments of the present disclosure will be exemplified, referring to Figures 1a, 1b, 2, and 3.

[0106] 1a , 1b and 2 , the system architecture of the embodiment of the present disclosure may include: a first parking device 100 , a second parking device 200 , a first control component 300 , a second control component 400 and a communication device 500 .

[0107] The first parking device 100 and the second parking device 200 are respectively provided corresponding to the front wheels and the rear wheels;

[0108] Alternatively, the first parking device 100 is provided corresponding to one of the front wheels of the vehicle and one of the rear wheels of the vehicle, and the second parking device 200 is provided corresponding to the other of the front wheels of the vehicle and the other of the rear wheels of the vehicle;

[0109] Among them, each parking device controls the wheel by driving the corresponding parking mechanism. Each parking mechanism is set corresponding to a wheel of the vehicle. The corresponding relationship between the parking device and the wheel can be divided into three types: Type 2, Type II and Type X.

[0110] For example, the structure of type II is described as follows:

[0111] The first parking device 100 is provided corresponding to the two front wheels of the vehicle, and the second parking device 200 is provided corresponding to the two rear wheels of the vehicle;

[0112] Alternatively, the first parking device 100 is provided corresponding to the two rear wheels of the vehicle, and the second parking device 200 is provided corresponding to the two front wheels of the vehicle.

[0113] Based on the above-mentioned second-type structure, the second-type parking control of the vehicle is realized.

[0114] The structure of type II is described as follows:

[0115] The first parking device 100 is provided corresponding to the front and rear wheels on the left side of the vehicle, and the second parking device 200 is provided corresponding to the front and rear wheels on the right side of the vehicle;

[0116] Alternatively, the first parking device 100 is provided corresponding to the front and rear wheels on the right side of the vehicle, and the second parking device 200 is provided corresponding to the front and rear wheels on the left side of the vehicle.

[0117] The Type II parking control of the vehicle is realized based on the above-mentioned Type II structure.

[0118] The structure of the X-type is described as follows:

[0119] The first parking device 100 is provided corresponding to the left front wheel and the right rear wheel of the vehicle, and the second parking device 200 is provided corresponding to the right front wheel and the left rear wheel of the vehicle;

[0120] Alternatively, the first parking device 100 is provided corresponding to the right front wheel and the left rear wheel of the vehicle, and the second parking device 200 is provided corresponding to the left front wheel and the right rear wheel of the vehicle.

[0121] Based on the above X-shaped structure, the X-shaped parking control of the vehicle is realized.

[0122] In addition, the first control component 300 includes a first parking chip 301;

[0123] The second control component 400 includes a second parking chip 401;

[0124] The first control assembly 300 and the second control assembly 400 can respectively drive the first parking device 100 and the second parking device 200;

[0125] On this basis, the first parking chip 301 and the second parking chip 401 can determine a parking strategy that matches the corresponding relationship between the parking device and the wheels to ensure the stability of vehicle parking.

[0126] It should be noted that the first control component 300 and the second control component 400 are not limited to the first parking chip 301 and the second parking chip 401. The first control component 300 and the second control component 400 can also respectively include corresponding actuators, corresponding drive units and other structures to achieve parking through combined linkage.

[0127] The communication device 500 can communicate with the first control component 300 or the second control component 400, and after the communication device 500 sends a parking signal to any control component, any control component forwards the parking signal to the other control component to realize the transmission of the parking signal, wherein the first control component 300 and the second control component 400 can communicate with each other, and the first parking chip 301 and the second parking chip 401 can communicate with each other.

[0128] Specifically, as shown in Figure 3, the first control component 300 and the second control component 400 can be a front controller and a rear controller, respectively, to control the corresponding parking mechanism, such as an EMB (Electromechanical Brake System) actuator, based on the relationship between the first parking device 100 and the second parking device 200 and the corresponding settings of the wheels.

[0129] The communication device 500 receives signals from the first control component 300 and the second control component 400 respectively, and as a redundancy, ensures that after the first control component 300 and the second control component 400 fail, the communication device 500 can still send instructions to the parking mechanism actuators of the four wheels through the parking chip.

[0130] The power supplies are respectively used for the four parking mechanism actuators, the first control assembly 300 and the second control assembly 400. One of the power supplies is a redundant power supply to prevent the electronic parking system from not working due to a power failure.

[0131] FIG4 is a schematic flowchart of a parking method provided in an embodiment of the present disclosure.

[0132] Exemplarily, as shown in FIG4 , the method is applied to any parking chip, and the method includes the following steps:

[0133] In step S401 , it is detected whether the parking device corresponding to the parking chip is invalid.

[0134] During the actual implementation process, the embodiment of the present disclosure can be applied to any parking chip to detect whether the parking device corresponding to the parking chip, which may be the first parking device or the second parking device, has failed. The embodiment of the present disclosure can detect whether the first parking device or the second parking device has failed by, for example, using the vehicle controller to collect the actual operating parameters of the first parking device or the second parking device corresponding to the parking chip.

[0135] Optionally, in one embodiment of the present disclosure, detecting whether a parking device corresponding to the parking chip has failed includes: collecting actual operating parameters of the parking device corresponding to the parking chip; and determining whether the parking device has failed using the actual operating parameters. The actual operating parameters include at least one of a parking system status signal, a solenoid valve push rod position parameter, and a caliper and solenoid valve current parameter.

[0136] Among them, the actual operating parameters may include the EPB status signal (through which the status of the wheel-end parking device, such as locked / released, is determined), the solenoid valve push rod position of the parking mechanism (through which the displacement is reflected whether the parking status has changed and whether the parking device has failed), or the current size of the caliper and solenoid valve of the parking mechanism (based on the target current and actual current to determine whether the parking device has failed), etc.

[0137] In step S402 , when it is detected that the parking device corresponding to the parking chip is disabled, control of the disabled parking device is stopped.

[0138] The embodiment of the present disclosure can stop controlling the failed parking device or end the current operation process of the failed parking device when detecting that the parking device corresponding to the parking chip fails, so as to avoid the failed parking device affecting the normal parking action of the vehicle due to the failure.

[0139] In step S403 , a failure signal is sent to another parking chip, so that the other parking chip enters a failure mode, so as to control the parking device that has not failed to park the vehicle according to a preset first failure control strategy.

[0140] As a possible implementation method, the embodiment of the present disclosure can generate and send a failure signal from the parking chip to another parking chip. Based on the failure signal, the other parking chip in the embodiment of the present disclosure can enter a failure mode, so that the other parking chip can control the non-failed parking device to park according to a first failure control strategy, wherein the first failure control strategy can be obtained from the failure signal or from a pre-set failure strategy.

[0141] It is understandable that, since the parking devices correspond to different wheels, the first failure control strategies of the embodiments of the present disclosure are also different.

[0142] Optionally, in one embodiment of the present disclosure, while sending a failure signal to another parking chip, the process also includes: collecting failure information of the failed parking device; generating reference control parameters for the other parking chip based on the failure information; and sending the reference control parameters to the other parking chip to perform parking control in combination with the reference control parameters and the first failure control strategy. The failure information includes at least one of the following: the failure type, the failure status of the parking mechanism corresponding to the failed parking device, and the wheel position controlled by the parking device.

[0143] In some embodiments, while the parking chip sends a failure signal, failure information of the failed parking device can be collected, where the failure information may include the failure type (overvoltage / undervoltage / mechanical failure / communication failure / failure due to long response time, or recoverable failure / irrecoverable failure), the failure condition of the parking mechanism corresponding to the failed parking device (complete failure of the parking mechanism, or loss of data feedback from the parking mechanism), the wheel position controlled by the parking device, etc.

[0144] It is understandable that in order to ensure smooth parking of the vehicle, when one parking device of the vehicle fails, the other parking device needs to adjust the parking parameters to compensate for the imbalance of the parking brake force.

[0145] For example, when the disabled parking device controls the vehicle's two front wheels, while the working parking device controls the vehicle's two rear wheels, the rear wheels can be braked under the parking command, while the front wheels will lose parking control. At this time, if the parking force applied to the rear wheels remains unchanged, it is very likely that the vehicle will roll down the slope due to insufficient parking force, which will not only pose a safety hazard but also shorten the service life of the rear wheel parking mechanism.

[0146] Similarly, when the disabled parking device controls the left front and left rear wheels of the vehicle, and the non-disabled parking device controls the right front and right rear wheels of the vehicle, since the left front and rear wheels lose control, the vehicle relies solely on the parking force of the right front and rear wheels, which is very likely to cause one side of the vehicle to rush forward, posing a major safety hazard.

[0147] When the disabled parking device corresponds to the left front wheel and right rear wheel of the vehicle, and the non-disabled parking device corresponds to the right front wheel and left rear wheel of the vehicle, if the parking force remains unchanged, it is difficult to completely park the vehicle by relying on the braking force of the right front wheel and left rear wheel, and it is very likely that the vehicle will roll down the slope due to insufficient parking force.

[0148] The parking force, i.e. the clamping force of the parking device corresponding to the parking mechanism, can be calculated by the longitudinal acceleration a x The slope A of the road on which the signal and vehicle are located is calculated as:

[0149] A=tan(arcsin(a x / g)*100%,

[0150] Clamping force F = G*sinA+gain.

[0151] Therefore, the embodiment of the present disclosure can generate reference control parameters for another parking chip based on the failure information, and send the reference control parameters to the other parking chip to perform parking in combination with the reference control parameters and the first failure control strategy control, so that the vehicle can be parked smoothly.

[0152] Through the above technical solution, another parking chip can adjust the control parameters according to the failure information to avoid loss of control due to imbalance of braking force when parking due to failure of the parking device.

[0153] Optionally, in one embodiment of the present disclosure, it also includes: when it is detected that the parking device corresponding to the current parking chip has not failed, receiving a failure signal from another parking chip; controlling the current parking chip to enter a failure mode, and controlling the parking device corresponding to the current parking chip to park according to a preset second failure control strategy.

[0154] During the actual implementation process, the parking chip of the embodiment of the present disclosure can receive a failure signal sent by another parking chip when the corresponding parking device has not failed, thereby entering a failure mode, so that the parking chip controls the parking device corresponding to the parking chip according to the preset second failure control strategy to park, thereby driving the parking chip to implement redundant parking control based on the failure control strategy, reducing the impact of the failure of some parking devices on vehicle parking, improving the stability and safety of vehicle parking, and improving the driver's driving experience.

[0155] Optionally, in one embodiment of the present disclosure, controlling the parking device corresponding to the parking chip to park according to a preset second failure control strategy includes: obtaining the failure type of another parking chip; and matching the preset second failure control strategy from a preset database according to the failure type.

[0156] As a possible implementation method, the embodiment of the present disclosure can obtain the failure type of another parking chip, and then determine the second failure control strategy based on the failure type, wherein the failure information may include the failure type (overvoltage / undervoltage / mechanical failure / communication failure / failure due to long response time, or recoverable failure / irrecoverable failure), the failure condition of the parking mechanism corresponding to the failed parking device (complete failure of the parking mechanism, or loss of data feedback from the parking mechanism), the wheel position controlled by the parking device, etc.

[0157] Among them, the method of determining the second failure control strategy is the same as that of the first failure control strategy. The preset database can be constructed by technical personnel in this field, and the second failure control strategy preset in the preset database can also be set accordingly by technical personnel in this field according to the actual structure and function of the vehicle. No specific restrictions are made here.

[0158] Through the above technical solution, the corresponding failure control strategy can be matched according to the failure type of the parking chip, thereby ensuring parking stability.

[0159] Optionally, in one embodiment of the present disclosure, a preset second failure control strategy is matched from a preset database according to the failure type, including: obtaining the driver's driving preferences, environmental information of the current environment and / or the current working condition of the vehicle; querying the preset database according to the failure type, driving preferences, environmental information and / or the current working condition to determine the preset second failure control strategy.

[0160] In some embodiments, the embodiments of the present disclosure can identify the driver's driving preferences, such as speed preference, energy-saving preference, etc., by obtaining historical driving data of the vehicle, such as system response time, the mapping relationship between acceleration and accelerator pedal travel, vehicle steering strategy, etc. For example, when the vehicle system response time is short and the accelerator pedal can achieve acceleration within a short travel, etc., it can be determined that the driver's driving preference is an aggressive preference. Therefore, under the aggressive preference, the embodiments of the present disclosure can shorten the parking response time, improve the parking response speed, increase the parking device data feedback rate, etc., to achieve a rapid parking response.

[0161] The disclosed embodiment can also obtain the current environment of the vehicle, such as plateau environment, rainy and snowy environment, etc., based on the vehicle's weather system, navigation, sensors, etc., and thus determine the friction between the vehicle and the road based on different environmental information to determine the parking force required when the vehicle is parked.

[0162] The disclosed embodiment can also obtain the current working condition of the vehicle, such as climbing condition, mountain road condition, etc., based on the vehicle's controller, so as to determine the parking force required for the vehicle to remain parked based on different working conditions.

[0163] The embodiment of the present disclosure may query a preset database based on the failure type of the vehicle, the driver's driving preference, environmental information and / or the current working condition, thereby determining a preset second failure control strategy.

[0164] For example, when the vehicle's failure type is a hardware failure type, the driving preference is an aggressive preference, the environmental information is a rainy and snowy environment, and the operating condition is an urban road condition, the second failure control strategy that can be matched by the embodiment of the present disclosure is to increase the frequency of parking data collection and feedback, improve the parking response speed, and increase the parking force of the non-failed parking device on the basis of the parking force determined based on the rainy and snowy environment and the urban road condition, so as to cope with the slippery ground conditions in the rainy and snowy environment while parking quickly, and cope with the multi-vehicle condition on the urban road, so as to achieve effective and stable parking of the vehicle.

[0165] For example, when parking on a slope in winter, the road conditions change after a period of time (such as the road surface being icy). At this time, if the vehicle has a tendency to move due to the hardware failure of any rear wheel, the parking strategy can be actively adjusted through the parking chip while the vehicle is powered on: the parking force of the other rear wheel is reduced, and the braking force of the two front wheels is increased to maintain vehicle stability.

[0166] When the vehicle is powered off, the vehicle status sensor will request to power on and re-determine the parking force of the vehicle's non-failed parking device through the parking chip, such as reducing the parking force of the other rear wheel and increasing the parking force of the two front wheels.

[0167] Through the above technical solution, the corresponding failure control strategy can be matched from the database based on the failure type of the parking chip, the driver's driving preferences and environmental information, thereby ensuring parking stability.

[0168] Optionally, in one embodiment of the present disclosure, controlling the parking device corresponding to the parking chip to park according to a preset second failure control strategy also includes: obtaining the actual parking type of the vehicle; determining at least one optimization item of the parking chip according to the actual parking type; optimizing the preset second failure control strategy based on the at least one optimization item to obtain the optimized second failure control strategy, and performing parking according to the optimized second failure control strategy.

[0169] In other embodiments, the actual parking type of the vehicle may be obtained, so as to optimize the second failure control strategy according to the actual parking type.

[0170] When the actual parking type is such that the parking mechanism corresponding to the current parking chip is connected to the two front wheels of the vehicle, and the parking mechanism corresponding to the other parking chip is connected to the two rear wheels of the vehicle, at least one optimization item of the current parking chip may be to control the clamping force of the parking mechanisms corresponding to the two front wheels, thereby increasing the clamping force of the parking mechanisms corresponding to the front wheels compared to the original four-wheel parking.

[0171] When the actual parking type is a type in which the parking mechanism corresponding to this parking chip is connected to the two left wheels of the vehicle, and the parking mechanism corresponding to the other parking chip is connected to the two right wheels of the vehicle, at least one optimization item of this parking chip can be to control the clamping force of the parking mechanism corresponding to the two left wheels. Compared with the original four-wheel parking, the clamping force of the parking mechanism corresponding to the two wheels with the non-deactivated parking device is increased. At the same time, the front and rear braking force distribution ratio is adjusted according to the vehicle yaw control;

[0172] When the actual parking type is that the parking mechanism corresponding to this parking chip is connected to the left front wheel and the right rear wheel of the vehicle, and the parking mechanism corresponding to another parking chip is connected to the right front wheel and the left rear wheel of the vehicle, at least one optimization item of this parking chip can be to determine the clamping force of the parking mechanism corresponding to the wheel of the non-failed parking device and the left and right clamping force distribution ratio based on the yaw of the entire vehicle.

[0173] Through the above technical solution, the failure control strategy can be optimized according to the actual parking type, thereby achieving more targeted and stable parking.

[0174] Optionally, in one embodiment of the present disclosure, it also includes: generating failure alarm information according to the failure information of the failed parking device; controlling the vehicle to remind the driver based on the failure alarm information, and / or sending the failure alarm information to a preset terminal.

[0175] The disclosed embodiment may also generate failure alarm information according to the failure information of the failed parking device, thereby facilitating the driver to respond in a timely manner based on the alarm information.

[0176] The embodiments of the present disclosure can determine the severity of the failure information and issue corresponding warnings based on the severity.

[0177] For example, when the severity of the failure information is judged to be general, that is, it can be controlled through manual operation of the driver, and when parking is completed, an alarm message can be sent to the driver to facilitate the driver to take over the vehicle parking action in time.

[0178] When the severity of the failure information is judged to be serious, that is, when the parking action is difficult to complete only through the driver's control, an alarm message can be sent to a preset terminal.

[0179] Optionally, in one embodiment of the present disclosure, the preset terminal includes at least one of a car manufacturer's after-sales terminal, a traffic management department terminal, and a vehicle maintenance center terminal.

[0180] The disclosed embodiment implements remote alarm by sending alarm information to a preset terminal, so that maintenance and rescue personnel can carry out maintenance and rescue work in a timely manner based on the alarm information. The preset terminal can be an after-sales terminal of an automobile manufacturer, a terminal of a traffic management department, a terminal of a vehicle maintenance center, etc.

[0181] Through the above technical solution, an alarm can be issued according to the failure information, which facilitates timely fault handling or rescue.

[0182] In summary, the present disclosure can determine whether a parking device serving as a parking actuator has failed based on actual operating parameters of the parking device. When it is determined that the parking device has failed, a failure signal of the parking chip corresponding to the parking device is sent to another parking chip to drive the other parking chip to implement redundant parking control based on a failure control strategy, thereby reducing the impact of the failure of some parking devices on vehicle parking, improving the stability and safety of vehicle parking, and enhancing the driver's driving experience.

[0183] 5a-5h are schematic structural diagrams of a parking device provided in an embodiment of the present disclosure.

[0184] Exemplarily, as shown in FIG5 a , the parking device 50 is applied to any parking chip, and the device 50 includes: a detection module 501 , a first control module 502 and a sending module 503 .

[0185] Specifically, the detection module 501 is used to detect whether the parking device corresponding to the parking chip is invalid.

[0186] The first control module 502 is configured to stop controlling the disabled parking device when detecting that the parking device corresponding to the parking chip has failed.

[0187] The sending module 503 is configured to send a failure signal to another parking chip, causing the other parking chip to enter a failure mode, so as to control the parking device that has not failed to park the vehicle according to a preset first failure control strategy.

[0188] Optionally, as shown in FIG. 5 b , in one embodiment of the present disclosure, the parking device 50 further includes: a receiving module 504 and a second control module 505 .

[0189] The receiving module 504 is configured to receive a failure signal from another parking chip when it is detected that the parking device corresponding to the parking chip is not failed.

[0190] The second control module 505 is used to control the parking chip to enter the failure mode, and control the parking device corresponding to the parking chip to park according to a preset second failure control strategy.

[0191] Optionally, as shown in FIG. 5 c , in one embodiment of the present disclosure, the second control module 505 includes: a first acquiring unit 5051 and a matching unit 5052 .

[0192] The first acquiring unit 5051 is used to acquire the failure type of another parking chip.

[0193] The matching unit 5052 is configured to match a preset second failure control strategy from a preset database according to the failure type.

[0194] Optionally, as shown in FIG. 5 d , in an embodiment of the present disclosure, the detection module 501 includes: a first acquisition unit 5011 and a first determination unit 5012 .

[0195] The first acquisition unit 5011 is used to acquire actual operating parameters of the parking device corresponding to the parking chip.

[0196] The first determining unit 5012 is configured to determine whether the parking device has failed by using the actual operating condition parameters.

[0197] Optionally, in one embodiment of the present disclosure, the actual operating condition parameter includes at least one of a parking system status signal, a solenoid valve push rod position parameter, a caliper and a solenoid valve current parameter.

[0198] Optionally, as shown in FIG. 5 e , in one embodiment of the present disclosure, the matching unit 5052 includes: an acquiring subunit 50521 and a determining subunit 50522 .

[0199] Among them, the acquisition subunit 50521 is used to obtain the driver's driving preferences, environmental information of the current environment and / or the current working condition of the vehicle.

[0200] The determination subunit 50522 is used to query a preset database based on the failure type, driving preference, environmental information and / or current working conditions to determine a preset second failure control strategy.

[0201] Optionally, as shown in FIG. 5 f , in one embodiment of the present disclosure, the second control module 505 further includes: a second acquiring unit 5053 , a second determining unit 5054 and an optimizing unit 5055 .

[0202] The second acquiring unit 5053 is used to acquire the actual parking type of the vehicle.

[0203] The second determining unit 5054 is configured to determine at least one optimization item of the parking chip according to the actual parking type.

[0204] The optimization unit 5055 is configured to optimize the preset second failure control strategy based on at least one optimization item to obtain an optimized second failure control strategy, and perform parking according to the optimized second failure control strategy.

[0205] Optionally, as shown in FIG. 5 g , in one embodiment of the present disclosure, the sending module 503 further includes: a second collecting unit 5031 , a generating unit 5032 and a control unit 5033 .

[0206] The second collecting unit 5031 is used to collect failure information of a failed parking device.

[0207] The generating unit 5032 is configured to generate reference control parameters for another parking chip according to the failure information.

[0208] The control unit 5033 is used to send reference control parameters to another parking chip to perform parking in combination with the reference control parameters and the first failure control strategy control.

[0209] Optionally, in one embodiment of the present disclosure, the failure information includes at least one of the failure type, the failure condition of the parking mechanism corresponding to the failed parking device, and the wheel posture corresponding to the control of the parking device.

[0210] Optionally, as shown in FIG. 5 h , in one embodiment of the present disclosure, the parking device 50 further includes: a generating module 506 and a reminding module 507 .

[0211] The generating module 506 is configured to generate failure alarm information according to failure information of the failed parking device.

[0212] The reminder module 507 is used to control the vehicle to remind the driver based on the failure alarm information, and / or send the failure alarm information to a preset terminal.

[0213] Optionally, in one embodiment of the present disclosure, the reminder module 507 is further configured to send failure alarm information to a preset terminal.

[0214] Optionally, in one embodiment of the present disclosure, the preset terminal includes at least one of a car manufacturer's after-sales terminal, a traffic management department terminal, and a vehicle maintenance center terminal.

[0215] In summary, the present disclosure can determine whether a parking device serving as a parking actuator has failed based on actual operating parameters of the parking device. When it is determined that the parking device has failed, a failure signal of the parking chip corresponding to the parking device is sent to another parking chip to drive the other parking chip to implement redundant parking control based on a failure control strategy, thereby reducing the impact of the failure of some parking devices on vehicle parking, improving the stability and safety of vehicle parking, and enhancing the driver's driving experience.

[0216] FIG6 is a schematic diagram of the structure of a vehicle provided by an embodiment of the present disclosure. The vehicle may include:

[0217] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0218] When the processor 602 executes the program, the parking method provided in the above embodiment is implemented.

[0219] The vehicle also includes:

[0220] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0221] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0222] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0223] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to enable communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, control buses, and the like. For ease of illustration, FIG6 shows only one thick line, but this does not imply that there is only one bus or only one type of bus.

[0224] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0225] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0226] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above parking method is implemented.

[0227] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0228] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "N" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0229] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a custom logical function or step of a process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure pertain.

[0230] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0231] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0232] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0233] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0234] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. A person of ordinary skill in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A parking method, wherein: The vehicle comprises a first parking device and a second parking device respectively arranged corresponding to the front wheels and the rear wheels, or a first parking device arranged corresponding to one of the front wheels of the vehicle and one of the rear wheels of the vehicle and a second parking device arranged corresponding to the other of the front wheels of the vehicle and the other of the rear wheels of the vehicle, a first control component driving the first parking device, a second control component driving the second parking device, and a communication device communicating with the first control component or the second control component, wherein the first control component comprises a first parking chip, and the second control component comprises a second parking chip, wherein the first parking chip and the second parking chip communicate with each other, wherein the method is applied to any parking chip, and the method comprises the following steps: Check whether the parking device corresponding to the parking chip is invalid; When it is detected that the parking device corresponding to the parking chip fails, stopping the control of the failed parking device; and A failure signal is sent to another parking chip, so that the other parking chip enters the failure mode, so as to control the parking device that has not failed to park according to a preset first failure control strategy.

2. The method according to claim 1, wherein: Also includes: When it is detected that the parking device corresponding to the parking chip is not invalid, receiving the invalidation signal of the other parking chip; The parking chip is controlled to enter the failure mode, and the parking device corresponding to the parking chip is controlled to park according to a preset second failure control strategy.

3. The method according to claim 2, wherein: The controlling the parking device corresponding to the parking chip to park according to the preset second failure control strategy includes: Obtaining a failure type of the other parking chip; The preset second failure control strategy is matched from a preset database according to the failure type.

4. The method according to any one of claims 1 to 3, wherein: The detecting whether the parking device corresponding to the parking chip is invalid comprises: Collecting actual operating parameters of the parking device corresponding to the parking chip; The actual operating condition parameters are used to determine whether the parking device fails.

5. The method according to any one of claims 1 to 4, wherein: The actual operating condition parameters include at least one of a parking system status signal, a solenoid valve push rod position parameter, and a caliper and solenoid valve current parameter.

6. The method according to claim 1, wherein: The matching the preset second failure control strategy from a preset database according to the failure type includes: Acquiring a driver's driving preference, environmental information of a current environment, and / or a current operating condition of the vehicle; The preset database is queried according to the failure type, the driving preference, the environmental information and / or the current working condition to determine the preset second failure control strategy.

7. The method according to claim 1, wherein: The method of controlling the parking device corresponding to the parking chip to park according to the preset second failure control strategy also includes: Obtaining the actual parking type of the vehicle; Determining at least one optimization item of the parking chip according to the actual parking type; The preset second failure control strategy is optimized based on the at least one optimization item to obtain an optimized second failure control strategy, and parking is performed according to the optimized second failure control strategy.

8. The method according to claim 1, wherein: While sending the failure signal to the other parking chip, the method further includes: collecting failure information of the failed parking device; generating a reference control parameter of the other parking chip according to the failure information; The reference control parameter is sent to the other parking chip to perform parking in combination with the reference control parameter and the first failure control strategy control.

9. The method according to claim 8, wherein: The failure information includes at least one of the failure type, the failure condition of the parking mechanism corresponding to the failed parking device, and the wheel posture corresponding to the control of the parking device.

10. The method according to claim 8, wherein: Also includes: generating failure alarm information according to the failure information of the failed parking device; The vehicle is controlled to remind the driver based on the failure warning information.

11. The method according to claim 10, wherein: After controlling the vehicle to remind the driver based on the failure warning information, the method further includes: The failure alarm information is sent to a preset terminal.

12. The method according to claim 11, wherein: The preset terminal includes at least one of a vehicle manufacturer's after-sales terminal, a traffic management department terminal, and a vehicle maintenance center terminal.

13. A vehicle, wherein: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parking device method according to any one of claims 1 to 12.

14. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program, and when the computer program is executed, the parking method according to any one of claims 1 to 12 is implemented.

Images