Parking brake control method, apparatus and system

Abstract

A parking brake control method, apparatus and system. The method comprises: when a communication link corresponding to a parking brake control apparatus fails, the parking brake control apparatus detecting the state of a first hardwire, wherein the state of the first hardwire is controlled by a vehicle body control apparatus; and on the basis of the state of the first hardwire, the parking brake control apparatus determining to execute parking brake.

Description

Parking brake control method, device and system

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202411337119.8, filed on September 24, 2024, and entitled "Parking brake control method, device and system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of vehicles, and in particular to a parking brake control method, device and system. BACKGROUND

[0004] With the development of the intelligent automobile industry, the safety requirements for vehicles are becoming higher and higher. In the case of partial system failure of the vehicle, the vehicle can be stably stopped, which can maximize the safety of the vehicle and bring users a safer experience, and protect the safety of users' lives and property.

[0005] The brake system composed of the electronic stability controller (ESC) system and the electrical park brake (EPB) system is a commonly used solution in the current automobile industry. The traditional pull rod hand brake is changed into an electronic brake, and the parking brake function is pulled up by the ESC or intelligent driving control system when using the intelligent driving function. However, once the communication network segment where the ESC and the EPB are located fails, the vehicle may lose control and slide, thereby affecting the safety of the user's driving. Therefore, how to ensure that the parking can be realized when the communication network segment where the ESC and the EPB are located fails, so as to improve the safety of the vehicle has become a problem to be solved at present. SUMMARY

[0006] The present application proposes a parking brake control method, device and system, which can realize parking when the communication link or network segment corresponding to the parking brake device (such as the electrical park brake EPB system) fails, thereby improving the safety of the vehicle.

[0007] In a first aspect, an embodiment of the present application provides a parking brake control method, which can be applied to a parking brake control device connected to a body control device through a first hard wire. The method can be executed by the parking brake control device or by a component (such as a chip, a chip system, or a circuit, etc.) capable of supporting the functions required by the parking brake control device to implement the method. Taking the case where the method is executed by the parking brake control device as an example, the method comprises: detecting a state of the first hard wire when a communication link corresponding to the parking brake control device fails, the state of the first hard wire being controlled by the body control device; and determining, by the parking brake control device, whether to perform parking brake according to the state of the first hard wire.

[0008] In the embodiment of the present application, when the communication link corresponding to the parking brake control device fails, the parking brake control device can also determine not to perform parking brake according to the state of the first hard wire. That is, in the case where the communication link corresponding to the parking brake control device fails, the parking brake control device can determine whether to perform parking brake according to the detected state of the first hard wire.

[0009] By way of example, the method of the embodiment of the present application is applied to the brake system of a vehicle, the parking brake control device can be an EPB control unit in an EPB system, the body control device can be a body controller, and the first hard wire can be a KL15 hard wire.

[0010] In the scheme of the present application, in the case where the communication link or network segment corresponding to the parking brake control device (or parking brake device) fails, the parking brake control device can determine to perform parking brake by detecting the state of the first hard wire controlled by the body control device and according to the state of the first hard wire, thereby achieving parking and improving the safety of the vehicle.

[0011] In the above, the parking brake device and the parking brake control device are located in the same communication link or network segment. In a possible design, the parking brake control device is included in the parking brake device. For example, the parking brake device is an EPB system, and the parking brake control device is an EPB control unit in the EPB system.

[0012] In combination with the first aspect, in a possible implementation, the parking brake control device determines to perform parking brake according to the state of the first hard wire, comprising: the state of the first hard wire changes from being on to being off, and the parking brake control device determines to perform parking brake. Through this implementation, the parking brake control device can effectively and accurately determine to perform parking brake.

[0013] In the embodiment of the present application, when the communication link corresponding to the parking brake control device fails, if the parking brake control device detects that the state of the first hard wire is on, the parking brake control device can determine not to perform parking brake.

[0014] With reference to the first aspect, in a possible implementation, when the communication link corresponding to the parking brake control device is normal, the method further includes: the parking brake control device receiving a first control instruction from the service brake control device or the intelligent driving control device or other control device, the first control instruction being used to instruct to perform parking brake; and the parking brake control device determining to perform parking brake according to the first control instruction.

[0015] By this implementation, when the parking brake control device detects that the communication link (or communication network segment) corresponding to the parking brake control device is normal, the parking brake control device can normally receive the parking instruction from the service brake control device or the intelligent driving control device or other control device to perform parking brake.

[0016] In the second aspect, the embodiments of the present application provide a parking brake control method, which can be applied to a body control device. The body control device is connected with a parking brake control device through a first hard wire. The method can be executed by the body control device or by components (such as chips, chip systems or circuits, etc.) capable of supporting the functions required by the body control device to implement the method. Taking the case that the method is executed by the body control device as an example, the method includes: the body control device obtaining first information, the first information being used to indicate that a communication link corresponding to the parking brake control device is faulty; and the body control device controlling the state of the first hard wire according to the first information.

[0017] In the embodiments of the present application, the first information obtained by the body control device can come from an intelligent driving control device.

[0018] Exemplarily, when the method of the embodiments of the present application is applied to the brake system of a vehicle, the parking brake control device can be an EPB control unit in an electronic parking brake (EPB) system, the body control device can be a body controller, the first hard wire can be a KL15 hard wire, and the intelligent driving control device can be an intelligent driving domain controller. The body controller can receive the first information from the intelligent driving domain controller, the first information being used to indicate that the communication link corresponding to the parking brake control device is faulty, and then the body controller can control the state of the KL15 hard wire.

[0019] In the present application, when the body control device determines that the communication link (or communication network segment) corresponding to the parking brake control device is faulty, the body control device can control the state of the first hard wire, so that the parking brake control device can determine to perform parking brake according to the state of the first hard wire, to achieve parking and improve the safety of the vehicle.

[0020] With reference to the second aspect, in a possible implementation manner, the method further includes: the vehicle body control device receiving second information from the intelligent driving control device, the second information being used to indicate that the speed of the vehicle is less than or equal to a first threshold (for example, the first threshold is 3 km / h). Through this implementation manner, the stability and safety during the implementation of the parking can be ensured while the parking is implemented.

[0021] With reference to the second aspect, in a possible implementation manner, the method further includes: the vehicle body control device receiving third information from the intelligent driving control device, the third information being used to indicate that the vehicle is in an automatic driving state. Through this implementation manner, it can be known that the vehicle is in the automatic driving state before the communication link corresponding to the parking brake control device fails, and the parking brake control device determines to implement the parking brake according to the state of the first hard line, so that the safety requirement in the automatic driving process can be met.

[0022] With reference to the second aspect, in a possible implementation manner, the vehicle body control device controls the state of the first hard line according to the first information, including: the vehicle body control device controls the first hard line to change from being turned on to being turned off according to the first information. Through this implementation manner, when it is determined that the communication link corresponding to the parking brake control device fails, the vehicle body control device controls the state of the first hard line to change from being turned on to being turned off, so that the parking brake control device can effectively determine to implement the parking brake according to the state of the first hard line.

[0023] With reference to the second aspect, in a possible implementation manner, the vehicle body control device includes a relay, and the relay is used to control the state of the first hard line. Through this implementation manner, the state of the first hard line can be effectively controlled to change.

[0024] The third aspect, the embodiments of the present application provide a parking brake control system, which can be applied to a vehicle. The parking brake control system is used to acquire first information and control the state of a first hard line according to the first information, wherein the first information is used to indicate that a communication link corresponding to a parking brake control device fails; the parking brake control system is also used to detect the state of the first hard line and determine to implement the parking brake according to the state of the first hard line.

[0025] With reference to the third aspect, in a possible design, the parking brake control system is applied to a vehicle, and the parking brake control system is also used to acquire second information, the second information being used to indicate that the speed of the vehicle is less than or equal to a first threshold. For example, the first threshold is 3 km / h.

[0026] With reference to the third aspect, in a possible design, the parking brake control system is applied to a vehicle, and the parking brake control system is also used to acquire third information, the third information being used to indicate that the vehicle is in an automatic driving state.

[0027] With reference to the third aspect, in a possible design, the parking brake control system, when controlling the state of the first hard-wire according to the first information, is specifically configured to: control the first hard-wire to change from being turned on to being turned off according to the first information.

[0028] With reference to the third aspect, in a possible design, the parking brake control system, when determining to perform the parking brake according to the state of the first hard-wire, is specifically configured to: determine to perform the parking brake when the state of the first hard-wire changes from being turned on to being turned off.

[0029] With reference to the third aspect, in a possible design, the parking brake control system, when the communication link corresponding to the parking brake control device is normal, is further configured to: acquire a first control instruction, and determine to perform the parking brake according to the first control instruction, where the first control instruction is used to instruct to perform the parking brake.

[0030] With reference to the third aspect, in a possible design, the parking brake control system includes: a vehicle body control device and a parking brake control device, and the vehicle body control device is connected to the parking brake control device through the first hard-wire.

[0031] The parking brake control system, when acquiring the first information and controlling the state of the first hard-wire according to the first information, can be specifically configured to: acquire the first information by the vehicle body control device, and control the state of the first hard-wire according to the first information by the vehicle body control device.

[0032] The parking brake control system, when detecting the state of the first hard-wire and determining to perform the parking brake according to the state of the first hard-wire, can be specifically configured to: detect the state of the first hard-wire by the parking brake control device, and determine to perform the parking brake according to the state of the first hard-wire by the parking brake control device.

[0033] With reference to the third aspect, in a possible design, the vehicle body control device includes a relay, and the vehicle body control device controls the state of the first hard-wire through the relay.

[0034] With reference to the third aspect, in a possible design, the parking brake control system further includes: an intelligent driving control device, and the parking brake control system, when acquiring the second information, can be specifically configured to: acquire the second information by the vehicle body control device from the intelligent driving control device.

[0035] In the above, the parking brake control system, when acquiring the first information, can be specifically configured to: acquire the first information by the vehicle body control device from the intelligent driving control device.

[0036] In a possible design, in combination with the third aspect, when the parking brake control system is used to obtain the third information, the parking brake control system can be configured to: obtain, by the body control device, the third information from the intelligent driving control device.

[0037] In a possible design, in combination with the third aspect, the parking brake control system further includes: a service brake control device.

[0038] In a possible design, in combination with the third aspect, when the parking brake control system obtains the first control instruction and determines to perform the parking brake according to the first control instruction, the parking brake control system can be configured to: obtain, by the parking brake control device, the first control instruction from the service brake control device or the intelligent driving control device, and determine, by the parking brake control device, to perform the parking brake according to the first control instruction.

[0039] In the embodiments of the present application, when the communication link corresponding to the parking brake control device is normal, the parking brake control device can further obtain the first control instruction from other control devices to determine to perform the parking brake according to the first control instruction.

[0040] In a possible design, in combination with the third aspect, the parking brake control system can further include: a parking brake execution device, and / or a service brake execution device; wherein the parking brake execution device is connected to the parking brake control device, and the parking brake control device controls the parking brake execution device to perform the parking brake; and the service brake execution device is connected to the service brake control device, and the service brake control device controls the service brake execution device to perform the service brake.

[0041] In a possible design, in combination with the third aspect, the parking brake control system can further include: a parking brake execution device, and / or a service brake execution device; wherein the parking brake execution device is connected to the parking brake control device, and the parking brake control device controls the parking brake execution device to perform the parking brake; and the service brake execution device is connected to the service brake control device, and the service brake control device controls the service brake execution device to perform the service brake.

[0042] [According to Rule 91 Correction 22.10.2025] In a possible design, the apparatus includes: a processor configured to support the apparatus to perform the corresponding functions of the parking brake control device in the above method. The apparatus can further include a memory coupled with the processor, which stores the necessary program instructions and data of the apparatus. Optionally, the apparatus further includes a communication interface configured to support the apparatus to communicate with other devices, such as to transmit and receive data or signals. Exemplarily, the communication interface can be a transceiver, a circuit, a bus, a module or other types of communication interfaces.

[0043] In a possible design, the apparatus includes corresponding functional modules for implementing the steps in the above method, respectively. The functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0044] In a possible design, the apparatus includes a processing unit and a communication unit, which can perform the corresponding functions in the above method examples, details of which can be referred to the description of the method in the first aspect.

[0045] In a fifth aspect, the present application provides an apparatus, which is a vehicle body control apparatus or a chip corresponding to the vehicle body control apparatus. The apparatus has the functions of the above second aspect and any possible implementation manner thereof. The apparatus can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0046] [Corrected according to Rule 91 on 22.10.2025] In a possible design, the apparatus includes a processor configured to support the apparatus to perform the corresponding functions of the vehicle body control apparatus in the above method. The apparatus can further include a memory coupled to the processor, which stores program instructions and data necessary for the apparatus. Optionally, the apparatus further includes a communication interface configured to support communication between the apparatus and other apparatuses, for example, receiving and sending data or signals. Exemplarily, the communication interface can be a transceiver, a circuit, a bus, a module or other types of communication interfaces.

[0047] In a possible design, the apparatus includes corresponding functional modules for implementing the steps in the above method, respectively. The functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0048] In a possible design, the apparatus includes a processing unit and a communication unit, which can perform the corresponding functions in the above method examples, details of which can be referred to the description of the method in the second aspect.

[0049] In a sixth aspect, an apparatus is provided, which includes a processor and an interface circuit. The interface circuit is configured to receive signals from other apparatuses outside the apparatus and transmit the signals to the processor, or send signals from the processor to other apparatuses outside the apparatus. The processor is configured to implement the method in the first aspect and any possible implementation manner thereof, or implement the method in the second aspect and any possible implementation manner thereof, by means of a logic circuit or executing code instructions.

[0050] In a seventh aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program. When the computer program is run on a computer, the computer program enables the computer to perform the method in the first aspect and any possible implementation manner of the first aspect, or perform the method in the second aspect and any possible implementation manner of the second aspect.

[0051] In an eighth aspect, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is run on a computer, the computer program enables the computer to perform the method in the first aspect and any possible implementation manner of the first aspect, or perform the method in the second aspect and any possible implementation manner of the second aspect.

[0052] In a ninth aspect, an embodiment of the present application provides a chip, which includes a processor coupled with a memory, and is configured to execute a computer program or an instruction stored in the memory. When the computer program or the instruction is executed, the method in the first aspect and any possible implementation manner of the first aspect is implemented, or the method in the second aspect and any possible implementation manner of the second aspect is implemented.

[0053] In a tenth aspect, the present application provides a vehicle, which includes the parking brake control device in the first aspect and any possible implementation manner thereof, and further includes the body control device in the second aspect and any possible implementation manner thereof. The parking brake control device is connected with the body control device through a first hard line. When a communication link corresponding to the parking brake control device fails, the parking brake control device detects a state of the first hard line, and the state of the first hard line is controlled by the body control device. The parking brake control device determines to perform parking brake according to the state of the first hard line. In this scheme, when the communication link (or communication network segment) corresponding to the parking brake control device fails, the parking brake control device determines to perform parking brake according to the state of the first hard line by detecting the state of the first hard line, and thus parking can be effectively implemented, and the safety of the vehicle is improved.

[0054] In an eleventh aspect, the present application further provides a vehicle, which includes the parking brake control system in the third aspect. In this scheme, the parking brake control system can determine to perform parking brake according to the state of the first hard line by detecting the state of the first hard line when the communication link (or communication network segment) corresponding to the parking brake control device fails, and thus parking can be effectively implemented, and the safety of the vehicle is improved.

[0055] The embodiments of the present application can be further combined to provide more implementations on the basis of the implementation of each of the aspects described above.

[0056] The technical effects that any one of the third aspect to the eleventh aspect and any possible implementation (or possible design) thereof can achieve can be correspondingly referred to the description of the technical effects that any one of the first aspect and the second aspect and any possible implementation of the first aspect and the second aspect can achieve, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0057] FIG. 1 shows an architecture schematic diagram of a vehicle braking system;

[0058] FIG. 2 shows a method flow schematic diagram executed by a vehicle body control device according to an embodiment of the present application;

[0059] FIG. 3 shows a method flow schematic diagram executed by a parking brake control device according to an embodiment of the present application;

[0060] FIG. 4 shows an architecture schematic diagram of a parking brake control system according to an embodiment of the present application;

[0061] FIG. 5 shows a structure schematic diagram of a device (vehicle body control device or parking brake control device) according to an embodiment of the present application;

[0062] FIG. 6 shows a structure schematic diagram of a device (vehicle body control device or parking brake control device) according to an embodiment of the present application;

[0063] FIG. 7 shows a device structure schematic diagram of a chip according to an embodiment of the present application. DETAILED DESCRIPTION

[0064] The embodiments of the present application provide a parking brake control method and device and system, which can realize parking when the communication link or network segment corresponding to the parking brake device (for example, an electronic parking brake EPB system) fails, thereby improving the safety of the vehicle. The method and device and system are based on the same technical concept, and the implementation of the device and the method and the system can be referred to each other because the principles of the method and the device and the system for solving problems are similar, and the repeated parts will not be repeated. Moreover, in each embodiment of the present application, the terms and / or descriptions of each embodiment are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0065] It should be noted that the technical solutions of the embodiments of the present application can be applied to the Internet of Vehicles, such as vehicle to everything (V2X), long term evolution-vehicle (LTE-V), vehicle to vehicle (V2V), etc. For example, it can be applied to a vehicle with intelligent / automatic driving mobile function, or other devices with intelligent / automatic driving mobile function in the vehicle. The other devices include, but are not limited to, a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, a vehicle-mounted unit, a vehicle-mounted radar, or a vehicle-mounted camera and other sensors. The vehicle can implement the parking brake control method provided by the present application through the vehicle-mounted terminal, vehicle-mounted controller, vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip, vehicle-mounted unit, vehicle-mounted radar, or vehicle-mounted camera, etc. Of course, the technical solutions in the embodiments of the present application can also be used for other intelligent terminals with mobile control function except vehicles, or set in other intelligent terminals with mobile parking control function except vehicles, or set in the components of the intelligent terminal. The intelligent terminal can be an intelligent transportation device, an intelligent home device, a robot, etc. For example, it includes, but is not limited to, an intelligent terminal or a controller, a chip, a radar, or a camera and other sensors, and other components in the intelligent terminal, etc.

[0066] It should be noted that "at least one" in the embodiments of the present application means one or more, and "multiple" means two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following cases: A exists alone, A and B exist together, B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and rear associated objects. "At least one of the following" or similar expressions means any combination of these items, including single item or any combination of multiple items. For example, at least one of a, b, or c, can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0067] In addition, unless otherwise specified, the present application refers to "first", "second", etc. ordinal numbers are used to distinguish multiple objects, and are not used to limit the priority or importance of multiple objects. For example, the first information, the second information, are only used to distinguish different information, and do not mean that the priority or importance of the two information is different.

[0068] For ease of understanding, the following will be introduced in conjunction with the drawings and embodiments.

[0069] With the development of the intelligent automobile industry, the safety requirements for vehicles are becoming higher and higher. In the case of partial system failure of the vehicle, the vehicle can be stopped stably, which can maximize the safety of the vehicle and bring a safer experience to the user, and protect the safety of the user's life and property.

[0070] Referring to FIG. 1, the brake system composed of the electronic stability controller (ESC) system and the electrical park brake (EPB) system is a commonly used solution in the current automobile industry. The traditional pull rod hand brake is changed into an electronic brake, and the park brake function is pulled up by the ESC system or the intelligent driving control system when the intelligent / automatic driving function is used.

[0071] For example, FIG. 1 shows a schematic diagram of a brake system architecture, which includes an intelligent driving domain controller, a body controller, an electronic stability control ESC system, and an electronic park brake EPB system.

[0072] The purposes of the several systems, controllers, and network lines shown in FIG. 1 will be introduced in detail below.

[0073] Intelligent driving domain controller: It is the core component of automobile intelligent control, mainly responsible for processing data processing and operation required for automatic driving, including data from various sensors (such as millimeter wave radar, camera, laser radar, etc.), and ensuring data security and processing of underlying core data.

[0074] The intelligent driving domain controller plays a crucial role in automobile intelligent control. It not only undertakes the data processing and operation tasks required for automatic driving, but also is responsible for ensuring the security of data and the processing of underlying core data. As the center of automobile intelligent control, the intelligent driving domain controller integrates various sensors and controllers to centrally manage the electronic control unit (ECU) of the vehicle, thereby realizing intelligent control and management of the vehicle. This controller integrates various sensors and controllers to centrally manage the electronic control unit (ECU) of the vehicle, thereby realizing fast response and efficient control of the entire vehicle system.

[0075] Body controller: In automobile engineering, it refers to the electronic control unit (ECU) used to control the body electrical system, and is one of the important components of the vehicle. The important task of the body controller is to simplify the operation and reduce the manual operation of the occupants to avoid distracting the attention of the occupants.

[0076] The common functions of the body controller can include controlling power windows, power mirrors, air conditioning, headlights, turn signals, anti-theft locking systems, central locking, defrosting devices, etc. The body controller can be connected to other vehicle ECUs through a bus.

[0077] ESC system: an active safety control system that monitors the vehicle's own driving state through sensors, and when the vehicle is in an unstable condition such as emergency avoidance of obstacles, turning, etc., and in the case of oversteering or understeering, uses power system intervention and brake system intervention to help the vehicle overcome the tendency to deviate from the ideal trajectory, providing better safety for vehicle travel.

[0078] The ESC system includes sensors, electronic control units ECU, and ESC actuators, etc. Among them, the sensors are responsible for real-time monitoring of the vehicle's driving state, including steering sensors, wheel speed sensors, lateral acceleration sensors, etc. These sensors work together to provide the ECU with vehicle operating data. The electronic control unit ECU is used to analyze the data provided by the sensors to determine whether the vehicle's engine or braking system needs to be intervened, monitor the vehicle's motion state, and intervene in the control of the vehicle's engine and braking system. The actuator is used to intervene in the vehicle's engine and braking system according to the instructions of the ECU, including adjusting the distribution of braking force, etc., to ensure stable driving of the vehicle.

[0079] EPB system: used to replace the traditional mechanical lever and tire steel cable, i.e. using an electronic handbrake button to replace the traditional pull rod handbrake, which is safer than the traditional pull rod handbrake and does not change the braking effect due to the force of the driver.

[0080] The EPB system includes an EPB control unit and a parking brake actuator, etc. Among them, the EPB control unit is located on the central channel in the vehicle and is the core of the EPB system, responsible for all control and diagnosis. The control unit integrates a lateral acceleration sensor, a longitudinal acceleration sensor, and a yaw rate sensor, which are used to calculate the real-time inclination of the vehicle, thereby controlling the operation of the EPB system. The parking brake actuator is responsible for implementing the parking power actuator, which is installed with the brake caliper of the rear wheel, and through the parking motor and gear mechanism, it acts according to the instructions of the EPB control unit, pushing the brake block against the brake disc to achieve parking brake.

[0081] Controller Area Network Bus (CAN): The controller area network bus (CAN) can be commonly used to transmit data between microcontrollers and other devices. The CAN bus can be used in the fields of automobiles, industrial automation, and robots, etc.

[0082] Gateway (GW): Gateway can also be called inter-network connector, protocol converter. Gateway realizes network interconnection above network layer, is a complex network interconnection device, and is only used for network interconnection of two different high-layer protocols. Gateway can be used for wide area network interconnection and local area network interconnection. Gateway is a computer system or device that acts as a translation responsibility. Using different communication protocols, data formats or languages, even two systems with completely different architectures, gateway is a translator.

[0083] KL15 hardwire: KL15 hardwire is a standard power signal in automotive electronics, commonly used for power supply of controllers. When KL15 hardwire is activated, it indicates that the power supply has been connected, and also means that the vehicle ignition system or the signal for starting the vehicle is turned on. Among them, the activation of KL15 hardwire can be understood as: when KL15 hardwire changes from OFF state to ON state, this usually occurs in the process of vehicle ignition or starting, which can be regarded as the action of the user turning the key, that is, Ignition On, which is commonly known as cold start. Therefore, KL15 changes from OFF state to ON state, which means that the vehicle changes from the off state to the state of preparing to drive (or called vehicle power on), and KL15 changes from ON state to OFF state, which means that the vehicle changes from the driving state to the off state (or called vehicle power off).

[0084] In the brake system shown in FIG. 1, the ESC system and the EPB system access a single network segment, that is, connect the gateway through CAN1. The intelligent driving domain controller accesses a double network segment, that is, connects the gateway through CAN1 or CAN2. The body controller accesses a single network segment where the ESC and the EPB are not located, that is, the body controller connects the gateway through CAN3. The body controller and the EPB include at least one KL15 hardwire, and the body controller can control the state of the KL15 hardwire.

[0085] Specifically, the body controller includes a relay inside, and the body controller can control the state of the KL15 hardwire of the vehicle by controlling the opening and closing of the relay. Generally, when the vehicle is powered on, the body controller can control the KL15 hardwire to be turned on (i.e., from OFF state to ON state); when the vehicle is powered off, the body controller can control the KL15 hardwire to be turned off (i.e., from ON state to OFF state).

[0086] When the vehicle brakes, the ESC system performs driving brake and the EPB performs parking brake. When the intelligent driving function is running, the ESC system or the intelligent driving controller sends a parking instruction to the EPB system, and the EPB system performs parking brake according to the parking instruction.

[0087] However, when the ESC system and the EPB system are in a communication network segment CAN 1 fault, the vehicle cannot be parked through the EPB system, and thus the vehicle may be out of control and slide, thereby affecting the driving safety.

[0088] The application provides a parking brake control method, device and system, which can realize parking when a communication link or network segment corresponding to a parking brake device (for example, an electronic parking brake EPB system) is faulty, thereby improving the safety of the vehicle.

[0089] The technical scheme of the application embodiment can be applied to, but is not limited to, a vehicle using an electronic stability control ESC system and an electronic parking brake EPB system as a braking system. The application embodiment is not limited to the structure of the vehicle, for example, the vehicle can be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a mower, an entertainment vehicle, an amusement park vehicle, construction equipment, a trolley, a golf cart, a train, and the like.

[0090] The application provides a parking brake control system.

[0091] In the application embodiment, the parking brake control system can be applied to, but is not limited to, a vehicle, and can also be applied to, set in, or set in a component of another intelligent terminal having a mobile parking control function other than a vehicle. The intelligent terminal can be an intelligent transportation device, an intelligent home device, a robot, and the like. For example, the intelligent terminal or the controller, chip, radar, or other sensors such as a camera, and other components in the intelligent terminal, and the like.

[0092] The function of the parking brake control system of the application embodiment can include the following:

[0093] The parking brake control system is configured to acquire first information, and control the state of a first hard line according to the first information; the first information is used to indicate that a communication link corresponding to the parking brake control device is faulty; the parking brake control system is also configured to detect the state of the first hard line, and determine to execute parking brake according to the state of the first hard line.

[0094] In a possible implementation, the parking brake control system is applied to a vehicle, and the parking brake control system is also configured to acquire second information, and the second information is used to indicate that the speed of the vehicle is less than or equal to a first threshold value. For example, the first threshold value is 3 kilometers per hour (km / h). Optionally, the implementation can be executed before the parking brake control system acquires the first information. Through the implementation, the stability and safety of the parking brake control system in executing parking can be ensured while the parking brake control system realizes parking.

[0095] In a possible implementation, the parking brake control system is applied to a vehicle, and the parking brake control system can further be configured to acquire third information, the third information being used to indicate that the vehicle is in an automatic driving state. Optionally, the implementation can be performed before the parking brake control system acquires the first information (i.e., can be performed before the communication link corresponding to the parking brake control device fails).

[0096] In a possible implementation, when the parking brake control system controls the state of the first hard line according to the first information, the parking brake control system can be specifically configured to: control the first hard line to change from being turned on to being turned off according to the first information.

[0097] In a possible implementation, when the parking brake control system determines to perform the parking brake according to the state of the first hard line, the parking brake control system can be specifically configured to: when the state of the first hard line changes from being turned on to being turned off, determine to perform the parking brake.

[0098] In the embodiments of the present application, if the state of the first hard line is turned on when the communication link corresponding to the parking brake control device fails, the parking brake control system can determine not to perform the parking brake.

[0099] In a possible implementation, when the communication link corresponding to the parking brake control device is normal, the parking brake control system can further be configured to acquire a first control instruction and determine to perform the parking brake according to the first control instruction, where the first control instruction is used to instruct to perform the parking brake. Through the implementation, when the communication link or network segment corresponding to the parking brake control device can normally communicate, the parking brake control system can perform the parking brake by normally receiving the parking instruction.

[0100] In combination with the parking brake control system described above, the specific structure of the parking brake control system and the functions of the devices in the parking brake control system are described below.

[0101] In the embodiments of the present application, the parking brake control system can include: (1) a vehicle body control device; (2) a parking brake control device; (3) a service brake control device; and (4) an intelligent driving control device.

[0102] In the embodiments of the present application, the vehicle body control device and the parking brake control device are connected through a first hard line (for example, a KL15 hard line), and the service brake control device and the intelligent driving control device can communicate with the parking brake control device or the vehicle body control device.

[0103] (1) The vehicle body control device can be configured to control the state of the first hard line.

[0104] In a possible implementation of the foregoing, when the parking brake control system acquires the first information and controls the state of the first hard-wire according to the first information, the parking brake control system can be specifically configured to: acquire the first information by the vehicle body control device, and control the state of the first hard-wire according to the first information by the vehicle body control device.

[0105] In the embodiments of the present application, the first information acquired by the vehicle body control device can come from the intelligent driving control device.

[0106] For example, in the case of a failure of the communication link corresponding to the parking brake control device, the intelligent driving control device can send the first information to the vehicle body control device, and the first information can be used to indicate the failure of the communication link corresponding to the parking brake control device.

[0107] In a possible design, the vehicle body control device includes a relay, and the vehicle body control device controls the state of the first hard-wire through the relay. For example, the vehicle body control device is a vehicle body controller, and the first hard-wire is KL15, and the vehicle body controller controls the KL15 hard-wire to be turned on or turned off through an internal relay.

[0108] In a possible implementation of the foregoing, when the parking brake control system acquires the second information, the parking brake control system can be specifically configured to: acquire the second information by the vehicle body control device from the intelligent driving control device, and the second information can be used to indicate that the speed of the vehicle is less than or equal to a first threshold. For example, the first threshold is 3 kilometers per hour (km / h).

[0109] For example, in the case of a failure of the communication link corresponding to the parking brake control device, after detecting or judging that the vehicle speed is less than or equal to 3 km / h (i.e., an example of the first threshold), the intelligent driving control device can send the second information to the vehicle body control device, and the second information can be used to indicate that the speed of the vehicle is less than or equal to 3 km / h, and the second information can also be used to instruct or request the vehicle body control device to control the state of the first hard-wire.

[0110] In a possible implementation of the foregoing, when the parking brake control system acquires the third information, the parking brake control system can be specifically configured to: acquire the third information by the vehicle body control device from the intelligent driving control device, and the third information can be used to indicate that the vehicle is in an automatic driving state.

[0111] That is, before the failure of the communication link corresponding to the parking brake control device, during the automatic driving process, the intelligent driving control device can send the third information to the vehicle body control device, and the third information can be used to indicate that the vehicle is in an automatic driving state.

[0112] (2) Parking brake control device: used to control the execution of parking brake when the vehicle is braking.

[0113] When the communication link or network segment corresponding to the parking brake control device fails, the parking brake control device can be configured to detect the state of the first hard-wire, and control the parking brake to be executed according to the state of the first hard-wire.

[0114] In the possible implementation, when the parking brake control system detects the state of the first hard-wire and determines the parking brake to be executed according to the state of the first hard-wire, the parking brake control system can be specifically configured to: detect, by the parking brake control device, the state of the first hard-wire, and determine, by the parking brake control device, the parking brake to be executed according to the state of the first hard-wire.

[0115] When the communication link or network segment corresponding to the parking brake control device is normal, the parking brake control device can receive a first control instruction (i.e., a parking instruction) from the service brake control device or the intelligent driving control device or another control device, and control the parking brake to be executed according to the first control instruction.

[0116] In the possible implementation, when the parking brake control system acquires the first control instruction and determines the parking brake to be executed according to the first control instruction, the parking brake control system can be specifically configured to: acquire, by the parking brake control device, the first control instruction from the service brake control device or the intelligent driving control device, and determine, by the parking brake control device, the parking brake to be executed according to the first control instruction.

[0117] In the embodiments of the present application, when the communication link corresponding to the parking brake control device is normal, the parking brake control device can also acquire the first control instruction from another control device, and determine the parking brake to be executed according to the first control information.

[0118] In a possible design, the parking brake control system can further include a parking brake execution device, the parking brake execution device being connected to the parking brake control device, and the parking brake control device controlling the parking brake execution device to execute the parking brake.

[0119] (3) Service brake control device: used for controlling the service brake to be executed when the vehicle brakes.

[0120] For example, the service brake control device is a service brake controller.

[0121] When the communication link or network segment corresponding to the parking brake control device is normal, the service brake control device can send a first control instruction (e.g., a parking instruction) to the parking brake control device to instruct the parking brake.

[0122] When the communication link or network segment corresponding to the parking brake control device fails, the service brake control device can reduce the speed of the vehicle to below a first threshold (e.g., 3 km / h). In the embodiments of the present application, the speed of the vehicle can also be reduced by another control device, which is not limited in this regard.

[0123] In a possible design, the parking brake control system can further include a service brake execution device, the service brake execution device being connected with the service brake control device, and the service brake control device controls the service brake execution device to execute service braking.

[0124] (4) Intelligent driving control device: used for controlling data processing and operation required for automatic driving when the vehicle brakes.

[0125] For example, the intelligent driving control device is an intelligent driving domain controller.

[0126] When the parking brake control device corresponds to a normal communication link or network segment, the intelligent driving control device can send a first control instruction (such as a parking instruction) to the parking brake control device to indicate parking.

[0127] When the parking brake control device corresponds to a faulty communication link or network segment, the intelligent driving control device can send first information to the body control device, the first information being used to indicate that the communication link corresponding to the parking brake control device is faulty.

[0128] When the parking brake control device corresponds to a faulty communication link or network segment, and the speed of the vehicle has been reduced to a low speed (for example, the speed of the vehicle is less than or equal to 3 km / h), the intelligent driving control device can further send second information to the body control device, the second information being used to indicate that the speed of the vehicle is less than or equal to a first threshold (for example, the first threshold is 3 km / h).

[0129] In the embodiments of the present application, the second information can also be used to indicate or request the body control device to control the state of the first hard line.

[0130] In addition, the intelligent driving control device can further send third information to the body control device before the parking brake control device corresponds to a faulty communication link or network segment, the third information being used to indicate that the vehicle is in an automatic driving state.

[0131] The parking brake control system described in the embodiments of the present application is used to more clearly illustrate the technical solutions of the embodiments of the present application, and does not constitute a limitation on the parking brake control system provided by the embodiments of the present application. Compared with the parking brake control system described above, the actual application of the parking brake control system can include more or fewer devices. In addition, those skilled in the art can know that, as the application scenario changes, the devices included in the parking brake control system can also change accordingly, such as name change or device change. However, for similar technical problems of the system, the technical solutions provided by the embodiments of the present application can also be applicable.

[0132] As can be seen from the above, when the communication link or network segment corresponding to the parking brake control device fails, the parking brake control system can mainly achieve parking braking through the joint operation of the body control device and the parking brake control device. Based on the above, the technical solution for achieving parking braking through the body control device and the parking brake control device in the embodiments of this application is described in detail below.

[0133] This application provides a parking brake control method, which can be applied to a vehicle body control device. The vehicle body control device and the parking brake control device are connected via a first hard wire. This method can be executed by the vehicle body control device or by a component (such as a chip, chip system, or circuit) that supports the functions required by the vehicle body control device to implement this method. Taking the method executed by the vehicle body control device as an example, the method may include the following steps:

[0134] S201: The vehicle control unit obtains first information, which is used to indicate a communication link failure corresponding to the parking brake control unit.

[0135] In this embodiment, the first information obtained by the vehicle body control device may come from the intelligent driving control device, the service brake control device, or other control devices, and is not limited thereto.

[0136] S202: The body control device controls the state of the first hard line based on the first information.

[0137] In one possible implementation, the vehicle body control device controls the state of the first hard wire according to the first information, including: controlling the first hard wire to change from being conductive to being disconnected according to the first information.

[0138] In one possible implementation, the body control device includes a relay, which can control the state of the first hardwire via the internal relay.

[0139] For example, when the method of this application embodiment is applied to the braking system of a current vehicle, the body control device can be a body controller, the parking brake control device can be an EPB control unit in an electronic parking brake (EPB) system, and the first hardwire can be a KL15 hardwire. When the communication link corresponding to the EPB system fails, the body controller can control the KL15 hardwire to change from conductive to disconnected via an internal relay.

[0140] In one possible implementation, the method may further include: the vehicle control device receiving second information from the intelligent driving control device, the second information indicating that the vehicle speed is less than or equal to a first threshold. Optionally, this implementation can be executed after a communication link corresponding to the parking brake control device fails and the vehicle speed is less than or equal to the first threshold (e.g., the first threshold is 3 km / h).

[0141] In a possible implementation, the method can further include: receiving, by the vehicle body control device, third information from the intelligent driving control device, the third information being used to indicate that the vehicle is in an automatic driving state. Optionally, the implementation can be performed before S201.

[0142] Based on the above method, in the case that the communication link corresponding to the parking brake control device fails, the vehicle body control device can control the state of the first hard wire to change (i.e., from on to off), so that the parking brake control device can effectively detect the change in the state of the first hard wire, and then determine to perform parking brake, thereby achieving parking.

[0143] The embodiments of the present application provide another parking brake control method, which can be applied to a parking brake control device connected with a vehicle body control device through a first hard wire. The method can be executed by the parking brake control device, or by components (such as chips, chip systems or circuits, etc.) capable of supporting the functions required by the parking brake control device to implement the method. Taking the case that the method is executed by the parking brake control device as an example, the method can include the following steps:

[0144] S301: When the communication link corresponding to the parking brake control device fails, the parking brake control device detects the state of the first hard wire, which is controlled by the vehicle body control device.

[0145] S302: The parking brake control device determines to perform parking brake according to the state of the first hard wire.

[0146] In the embodiments of the present application, when the communication link corresponding to the parking brake control device fails, the parking brake control device can also determine not to perform parking brake according to the state of the first hard wire.

[0147] That is, in the case that the communication link corresponding to the parking brake control device fails, the parking brake control device can determine whether to perform parking brake by detecting the state of the first hard wire and according to the state of the first hard wire.

[0148] In a possible implementation, the parking brake control device determines to perform parking brake according to the state of the first hard wire, including: the state of the first hard wire changes from on to off, and it is determined to perform parking brake.

[0149] Exemplarily, the method of the embodiment of the present application is applied to the brake system of the current vehicle, the parking brake control device can be an EPB control unit in an electronic parking brake (EPB) system, the vehicle body control device can be a vehicle body controller, and the first hard wire can be a KL15 hard wire. When the vehicle body controller detects that the communication link or network segment corresponding to the EPB system fails, the vehicle body controller can determine to perform parking brake according to the state of the first hard wire changing from on to off.

[0150] In the embodiment of the present application, when the communication link corresponding to the parking brake control device fails, if the parking brake control device detects that the state of the first hard wire is the on state, the parking brake control device determines not to perform parking brake.

[0151] In a possible implementation, when the communication link corresponding to the parking brake control device is normal, the method can further include: the parking brake control device receiving a first control instruction from a service brake control device or an intelligent driving control device or other control device, the first control instruction being used to instruct to perform parking brake; and the parking brake control device determining to perform parking brake according to the first control instruction.

[0152] Based on the above method, in the case that the communication link corresponding to the parking brake control device fails, the parking brake control device can control the execution of parking brake by detecting the state of the first hard wire controlled by the vehicle body control device, to ensure the realization of parking, thereby improving the safety of the vehicle.

[0153] The method for controlling parking brake provided by the embodiment of the present application is described in detail below through specific embodiments.

[0154] FIG. 4 shows that the embodiment of the present application can be applied to a parking brake control system which can be applied to a vehicle, as shown in FIG. 4, the parking brake control system includes: an intelligent driving domain controller 401 (an example of the intelligent driving control device in the present application), an electronic stability control (ESC) system 402, an electronic parking (EPB) system 403, and a vehicle body controller 404 (an example of the vehicle body control device in the present application).

[0155] As shown in FIG. 4, the intelligent driving domain controller 401 accesses a double-path network segment, that is, connects a gateway through CAN1 and CAN2. The ESC system 402 and the EPB system 403 access a single-path network segment, that is, the ESC system 402 and the EPB system 403 both connect the gateway through CAN1. The vehicle body controller 404 accesses the single-path network segment in which the ESC system 402 and the EPB system 403 are located, that is, connects the gateway through CAN3.

[0156] When the vehicle brakes, the ESC system 402 is used to perform service brake, and the EPB system 403 is used to perform parking brake.

[0157] The ESC system 402 can include an ESC control unit (an example of the service brake control device in the present application) and an ESC actuator or execution mechanism (an example of the service brake execution device in the present application), etc.

[0158] The EPB system 403 can include an EPB control unit (an example of the parking brake control device in the present application) and a parking brake execution mechanism (an example of the parking brake execution device in the present application), etc.

[0159] The vehicle body controller 404 is connected to the EPB system 403 by a KL15 hardwire (an example of the first hardwire in the present application).

[0160] The vehicle body controller 404 can be configured to control the state of the KL15 hardwire, specifically, the vehicle body controller 404 can control the KL15 hardwire to be turned on or turned off by an internal relay.

[0161] When the automatic driving function is running, in the case that the communication network segment (CAN1) where the EPB system 403 is located is in normal communication, the intelligent driving domain controller 401 or the ESC system 402 (or other control systems or controllers) can send a parking instruction (an example of the first control instruction in the present application) to the EPB control unit (an example of the parking brake control device in the present application) in the EPB system 403. After receiving the parking instruction, the EPB control unit (an example of the parking brake control device in the present application) can control the parking brake execution mechanism in the EPB system 403 to park according to the parking instruction.

[0162] When the automatic driving function is running, in the case that the communication network segment (CAN1) where the EPB system 403 is located is in a fault condition, when the intelligent driving domain controller 401 detects that the communication network segment (CAN1) where the EPB system 403 is located is in a fault condition (i.e., communication failure, or unable to communicate), and detects that the speed of the current vehicle (the vehicle speed can be reduced by the ESC or the motor, etc. braking measures) is reduced to less than or equal to 3km / h (an example of the first threshold in the present application), the intelligent driving domain controller 401 can send a control instruction (an example of the first information in the present application) to the vehicle body controller 404 (an example of the vehicle body control device in the present application) to indicate the vehicle body controller 404 to pull down the KL15 hardwire (i.e., to disconnect the KL15 hardwire).

[0163] The vehicle body controller 404 (an example of the vehicle body control device in the present application) is routed through the gateway, and after receiving the control instruction from the intelligent driving domain controller through CAN3, the KL15 hardwire can be controlled by the internal relay to change from the on state to the off state (i.e., the KL15 hardwire changes from the on ON state to the off OFF state). Correspondingly, the EPB control unit (an example of the parking brake control device in the present application) in the EPB system 403 can detect the state of the KL15 hardwire when detecting that the communication network segment (CAN1) where it is located fails, and if it is detected that the KL15 hardwire changes from the on state to the off state (i.e., the KL15 hardwire changes from the on ON state to the off OFF state), the EPB control unit (an example of the parking brake control device in the present application) can control the parking brake actuator in the EPB system 403 to perform parking brake to achieve parking.

[0164] For other functions of each device or system shown in FIG. 4, reference can be made to the above description of each device or system shown in FIG. 1, which will not be described in detail here.

[0165] Based on the above, the technical scheme of the embodiments of the present application can be applied to the current parking brake system. When the vehicle automatic driving function is running, whether the communication network segment CAN1 where the EPB system is located is in normal communication or the communication network segment CAN1 where the EPB system is located fails to cause invalid communication, the technical scheme provided by the embodiments of the present application can guarantee safe parking control and improve the safety of the vehicle without the need to add a communication link or change the hardware.

[0166] The parking brake control system shown in FIG. 4 is an example of a parking brake control system to which the technical scheme of the embodiments of the present application can be applied. Of course, compared with the parking brake control system shown in FIG. 4, the parking brake control system to which the technical scheme of the embodiments of the present application is actually applied can include more or fewer devices or components, or the connection relationship between the devices or components is different. In one possible implementation, the parking brake control system to which the technical scheme of the embodiments of the present application is applied can only include control units / modules in each system or device, such as the control unit in the ESC system, the control unit in the EPB system, the intelligent driving domain controller, the vehicle body controller, etc.

[0167] Based on the same technical concept, as shown in FIG. 5, the embodiments of the present application also provide a device 500 for implementing the functions of the vehicle body control device or the parking brake control device in the above method. For example, the device 500 can be a software module or a chip system. In the embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices. The device 500 can include a communication unit 501 and a processing unit 502.

[0168] In the embodiments of the present application, the communication unit 501 can also be referred to as a transceiver unit, and can include a transmitting unit and / or a receiving unit, which are respectively used to perform the steps of transmitting and receiving by the vehicle body control device or the parking brake control device in the above method embodiments. The processing unit 502 can be used to read instructions and / or data in the storage module, so that the device 500 implements the above method embodiments.

[0169] Optionally, the device 500 can further include a storage unit 503, which is equivalent to a storage module, and can be used to store instructions and / or data.

[0170] In the following, the device provided by the embodiments of the present application will be described in detail in combination with FIG. 5 to FIG. 6. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments, and therefore, the contents not described in detail can be implemented in the manner shown in FIG. 2 and FIG. 3, and will not be described here again for the sake of brevity.

[0171] The communication unit 501 can also be referred to as a transceiver circuit, a transceiver, a transceiver device, etc. The processing unit 502 can also be referred to as a processor, a processing board, a processing module, a processing device, etc. Optionally, the devices in the communication unit 501 used to implement the receiving function can be regarded as a receiving unit, and the devices in the communication unit 501 used to implement the transmitting function can be regarded as a transmitting unit, that is, the communication unit 501 includes a receiving unit and a transmitting unit. The communication unit can also be referred to as a transceiver, a transceiver, or a transceiver circuit, etc. The receiving unit can also be referred to as a receiver, a receiver, or a receiving circuit, etc. The transmitting unit can also be referred to as a transmitter, a transmitter, or a transmitting circuit, etc.

[0172] When the device 500 performs the vehicle body control device in the flowchart shown in FIG. 2 in the above embodiments:

[0173] The communication unit 501 is configured to obtain first information, the first information being used to indicate that the communication link corresponding to the parking brake control device fails; and the processing unit 502 is configured to control the state of the first hard line according to the first information.

[0174] When the device 500 performs the parking brake control device in the flowchart shown in FIG. 3 in the above embodiments:

[0175] The communication unit 501 is configured to implement the communication between the parking brake control device and other devices.

[0176] The processing unit 502 detects the state of the first hard line when the communication link corresponding to the parking brake control device fails, and the state of the first hard line is controlled by the body control device; the processing unit 502 is also configured to determine to perform parking brake according to the state of the first hard line.

[0177] The above is only an example, and the communication unit 501 and the processing unit 502 can also perform other functions, and more detailed descriptions can be referred to the related descriptions in the method embodiments shown in FIG. 2 and FIG. 3, which are not described here.

[0178] As shown in FIG. 6, the device 600 provided by the embodiment of the present application, the device shown in FIG. 6 can be a hardware circuit implementation of the device shown in FIG. 5. The device 600 can be applied to the flowcharts shown above to perform the functions of the body control device or the parking brake control device in the above method embodiments. For ease of illustration, FIG. 6 only shows the main components of the device.

[0179] As shown in FIG. 6, the device 600 includes a communication interface 601 and a processor 602. The communication interface 601 and the processor 602 are coupled to each other. It can be understood that the communication interface 601 can be a transceiver or an input / output interface, or an interface circuit such as a transceiver circuit. Optionally, the device 600 can also include a memory 603 for storing instructions executed by the processor 602 or storing input data required by the processor 602 to run instructions or storing data generated after the processor 602 runs instructions.

[0180] When the device 600 is used to implement the methods shown in FIG. 2 and FIG. 3 above, the communication interface 601 is used to implement the functions of the communication unit 501 described above, and the processor 602 is used to implement the functions of the processing unit 502 described above.

[0181] The specific connection medium between the communication interface 601, the processor 602 and the memory 603 is not limited in the embodiment of the present application. In FIG. 6, the memory 603, the processor 602 and the communication interface 601 are connected through a communication bus 604, which is represented by a thick line in FIG. 6. The connection mode between other components is only illustrative and is not limited. The communication bus 604 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in FIG. 6, but it does not mean that there is only one bus or only one type of bus.

[0182] When the above device is a chip, FIG. 7 shows a simplified device structure schematic diagram of a chip, which includes an interface circuit 701 and one or more processors 702. Optionally, the chip 700 can also include a bus. Wherein:

[0183] The processor 702 can be an integrated circuit chip having a processing capability for signals. In implementation, each step of the method for determining service node information can be completed by integrated logic circuits of hardware or instructions in the form of software in the processor 702. The processor 702 can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method and step disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can be any conventional processor.

[0184] The interface circuit 701 can be used for sending or receiving data, instructions or information. The processor 702 can process the data, instructions or other information received by the interface circuit 701, and can send the processed information out through the interface circuit 701.

[0185] Optionally, the chip 700 further includes a memory 703, which can include read-only memory and random access memory, and provide operation instructions and data for the processor. Part of the memory 703 can also include a non-volatile random access memory (NVRAM).

[0186] Optionally, the memory stores executable software modules or data structures, and the processor can execute corresponding operations by calling operation instructions stored in the memory (which can be stored in an operating system).

[0187] Optionally, the chip can be used in a vehicle body control device or a parking brake control device related to the embodiments of the present application. Optionally, the interface circuit 701 can be used to output the execution result of the processor 702. The parking brake control method provided by one or more embodiments of the present application can refer to the foregoing embodiments, which will not be described here.

[0188] It should be noted that the functions of the interface circuit 701 and the processor 702 respectively can be realized by hardware design, software design or a combination of software and hardware, which is not limited here.

[0189] The embodiment of the present application further provides a computer readable storage medium, which stores computer instructions for implementing the method executed by the vehicle body control device or the parking brake control device in the method embodiment.

[0190] For example, the computer program is executed by a computer, so that the computer can implement the method executed by the vehicle body control device or the parking brake control device in the method embodiment.

[0191] The embodiment of the present application further provides a computer program product containing instructions, which are executed by a computer to make the computer implement the method executed by the vehicle body control device or the parking brake control device in the method embodiment.

[0192] The embodiment of the present application further provides a chip, which comprises a processor, and is used for calling computer degrees or computer instructions stored in the memory, so that the processor executes the parking brake control method in the implementation mode shown in FIG. 2 and FIG. 3.

[0193] In a possible implementation mode, the input of the chip corresponds to the receiving operation in the implementation mode shown in FIG. 2 and FIG. 3, and the output of the chip corresponds to the sending operation in the implementation mode shown in FIG. 2 and FIG. 3.

[0194] Optionally, the processor is coupled with the memory through an interface.

[0195] Optionally, the chip further comprises a memory, which stores computer degrees or computer instructions.

[0196] The processor mentioned in any of the above can be a general central processor, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the program execution of the parking brake control method in the implementation mode shown in FIG. 2 and FIG. 3. The memory mentioned in any of the above can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), etc.

[0197] It should be noted that, for the convenience and brevity of description, the explanation and beneficial effects of the related content in any of the above provided devices can refer to the corresponding service node information determination method embodiments provided above, which will not be described herein.

[0198] In the present application, the devices can also include a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer can include central processing units (CPUs), memory management modules (MMUs), memories (also known as main memories), and other hardware. The operating system of the operating system layer can be any one or more computer operating systems that implement business processing through processes, such as Linux operating systems, Unix operating systems, Android operating systems, iOS operating systems, or windows operating systems. The application layer can include browsers, address books, word processing software, instant messaging software, and the like.

[0199] It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical functional division. In actual implementation, there can be another division manner. In addition, the functional modules in each embodiment of the present application can be integrated in one processor, or can be physically separated, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0200] Those skilled in the art can clearly understand that the application can be implemented by a hardware only or a combination of hardware and software, or in an embodiment thereof. When the software is implemented, the above functions can be stored in or transmitted by a computer readable medium, as one or more instructions or codes. The computer readable medium includes a computer storage medium and a communication medium, and the communication medium includes any medium that facilitates the transfer of computer program from one place to another. The storage medium can be any available medium that can be accessed by a computer. For example, but not limited to, the computer readable medium can include RAM, ROM, electrically erasable programmable read only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage medium or other magnetic storage devices, or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer. In addition, any connection can be properly included in the computer readable medium. For example, if the software is transmitted from a website, server or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wireless technologies such as infrared, radio and microwave, the coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwave are included in the definition of the medium. As used in the embodiments of the present application, a disk and a disc include compact discs (CD), laser discs, optical discs, digital video discs (DVD), floppy disks and Blu-ray discs, wherein the disk usually magnetically copies data, and the disc uses laser to optically copy data. The combination of the above should also be included in the protection scope of the computer readable medium.

[0201] In summary, the above only describes the embodiments of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made according to the disclosure of the present application should be included in the protection scope of the present application.

Claims

1. A parking brake control method characterized by, The method is applied to a parking brake control device connected with a body control device through a first hard wire, and comprises: When a communication link corresponding to the parking brake control device fails, a state of the first hard wire is detected, and the state of the first hard wire is controlled by the body control device; According to the state of the first hard wire, it is determined to execute parking brake.

2. The method of claim 1, wherein, According to the state of the first hard wire, it is determined to execute parking brake, comprising: The state of the first hard wire changes from on to off, and it is determined to execute parking brake.

3. The method according to claim 1 or 2, characterized in that, When the communication link corresponding to the parking brake control device is normal, the method further comprises: Receiving a first control instruction from a service brake control device or an intelligent driving control device, the first control instruction being used to instruct to execute parking brake; According to the first control instruction, it is determined to execute parking brake.

4. A parking brake control method characterized by, The method is applied to a body control device connected with a parking brake control device through a first hard wire, and comprises: Obtaining first information, the first information being used to indicate that a communication link corresponding to the parking brake control device fails; According to the first information, the state of the first hard wire is controlled.

5. The method of claim 4, wherein, The method further comprises: Receiving second information from an intelligent driving control device, the second information being used to indicate that a speed of a vehicle is less than or equal to a first threshold.

6. The method according to claim 4 or 5, characterized in that, The method further comprises: Receiving third information from an intelligent driving control device, the third information being used to indicate that the vehicle is in an automatic driving state.

7. The method according to any one of claims 4-6, characterized in that, According to the first information, the state of the first hard wire is controlled, comprising: According to the first information, the first hard wire is controlled to change from on to off.

8. The method according to any one of claims 4-7, characterized in that, The body control device comprises a relay, and the relay is used to control the state of the first hard wire.

9. A parking brake control system, characterized in that: The parking brake control system is used to obtain first information and control the state of a first hard wire according to the first information, wherein the first information is used to indicate that a communication link corresponding to a parking brake control device fails; The parking brake control system is further used to detect the state of the first hard wire and determine to execute parking brake according to the state of the first hard wire.

10. The system of claim 9, wherein, The system is applied to a vehicle, and the parking brake control system is further used to obtain second information, the second information being used to indicate that a speed of the vehicle is less than or equal to a first threshold.

11. The system of claim 9 or 10, wherein, The system is applied to a vehicle, and the parking brake control system is further used to obtain third information, the third information being used to indicate that the vehicle is in an automatic driving state.

12. The system of any one of claims 9-11, wherein, When the parking brake control system controls the state of the first hard wire according to the first information, it is specifically used to control the first hard wire to change from on to off according to the first information.

13. The system of any of claims 9-12, wherein, When the parking brake control system determines to execute parking brake according to the state of the first hard wire, it is specifically used to determine to execute parking brake when the state of the first hard wire changes from on to off.

14. The system of any one of claims 9-13, characterized in that, The parking brake control system is further configured to obtain a first control instruction when the communication link corresponding to the parking brake control device is normal, and determine to perform parking brake according to the first control instruction, wherein the first control instruction is used to instruct to perform parking brake.

15. The system of any of claims 9-14, wherein, The parking brake control system comprises a vehicle body control device and the parking brake control device, and the vehicle body control device is connected with the parking brake control device through the first hard line. When obtaining first information and controlling the state of the first hard line according to the first information, the parking brake control system is specifically configured to obtain the first information through the vehicle body control device, and control the state of the first hard line through the vehicle body control device according to the first information. When detecting the state of the first hard line and determining to perform parking brake according to the state of the first hard line, the parking brake control system is specifically configured to detect the state of the first hard line through the parking brake control device, and determine to perform parking brake through the parking brake control device according to the state of the first hard line.

16. The system of claim 15, wherein, The vehicle body control device comprises a relay, and the vehicle body control device controls the state of the first hard line through the relay.

17. The system of claim 15 or 16, wherein, The parking brake control system further comprises an intelligent driving control device. When obtaining second information, the parking brake control system is specifically configured to obtain the second information from the intelligent driving control device through the vehicle body control device.

18. The system of claim 17, wherein, When obtaining third information, the parking brake control system is specifically configured to obtain the third information from the intelligent driving control device through the vehicle body control device.

19. The system of any of claims 15-18, wherein, The parking brake control system further comprises a service brake control device. When obtaining a first control instruction and determining to perform parking brake according to the first control instruction, the parking brake control system is specifically configured to obtain the first control instruction from the service brake control device or the intelligent driving control device through the parking brake control device, and determine to perform parking brake through the parking brake control device according to the first control instruction.

20. The system of any of claims 15-19, wherein, The parking brake control system further comprises a parking brake execution device and / or a service brake execution device. The parking brake execution device is connected with the parking brake control device, and the parking brake control device controls the parking brake execution device to perform parking brake. The service brake execution device is connected with the service brake control device, and the service brake control device controls the service brake execution device to perform service brake.

21. A parking brake control device characterized by comprising: The processor is coupled with the memory; The processor is configured to execute computer programs or instructions stored in the memory, so that the parking brake control device performs the method in any one of claims 1 to 3.

22. A vehicle body control device characterized by comprising: The processor is coupled with the memory; The processor is configured to execute computer programs or instructions stored in the memory, so that the parking brake control device performs the method in any one of claims 4 to 8.

23. A computer-readable storage medium, characterized in that, The computer readable storage medium stores therein computer readable programs or instructions which, when run on an apparatus, cause the method of any one of claims 1 to 3 to be performed, or cause the method of any one of claims 4 to 8 to be performed.

24. A computer program product, characterised in that, The computer program product comprises computer programs or instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1 to 3, or cause the computer to perform the method of any one of claims 4 to 8.

25. A chip, characterized by The chip is configured to read and execute computer programs or instructions in a memory to implement the method of any one of claims 1 to 3, or to implement the method of any one of claims 4 to 8.

26. A vehicle characterized by The apparatus comprises a parking brake control device configured to implement the method of any one of claims 1 to 3, and a body control device configured to implement the method of any one of claims 4 to 8.

27. A vehicle characterized by The apparatus comprises a parking brake control system according to any one of claims 9 to 20.

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