CN114248741A - Vehicle control method and system and vehicle - Google Patents
Vehicle control method and system and vehicle Download PDFInfo
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- CN114248741A CN114248741A CN202010996975.XA CN202010996975A CN114248741A CN 114248741 A CN114248741 A CN 114248741A CN 202010996975 A CN202010996975 A CN 202010996975A CN 114248741 A CN114248741 A CN 114248741A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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Abstract
The disclosure relates to a vehicle control method, a system and a vehicle, wherein the method comprises the following steps: under the condition of receiving a parking request of a user, a vehicle control unit of a vehicle sends a parking instruction to a parking system of the vehicle; the vehicle control unit determines whether the vehicle is parked successfully after the parking system executes the parking instruction; and under the condition that the parking of the vehicle is failed, the vehicle control unit sends a braking instruction to a braking system of the vehicle, and the braking instruction is used for keeping the vehicle in a parking state until the parking of the vehicle is successful. This openly realizes the parking of vehicle through the dual redundant passageway of parking system and braking system, can improve the reliability and the stability of vehicle parking function to a certain extent, promotes the security performance of vehicle, has solved the harm that the parking failure brought, has higher practicality.
Description
Technical Field
The present disclosure relates to the field of vehicles, and in particular, to a vehicle control method, system and vehicle.
Background
The vehicle is the vehicle that people used commonly in daily life, and along with the continuous development of vehicle field technique, the functional configuration of vehicle obtains constantly promoting, and the degree of automation of vehicle is also higher and higher. For example, an electronic Parking system (EPL) may be configured in the vehicle, and the vehicle may be automatically parked without a driver pulling a handbrake.
The parking function of the vehicle directly influences the safety degree of the vehicle, particularly when the vehicle is parked on a ramp, the effective parking can avoid the safety risk caused by the vehicle sliding, and the parking safety control method is particularly important for the safety of the vehicle. However, the electronic control system in the vehicle is more and more complex, the risk of failure of the electronic parking system is increased, and if effective parking of the vehicle cannot be realized, the safety of the vehicle cannot be ensured.
Disclosure of Invention
The present disclosure is directed to a vehicle control method, system and vehicle to solve the problems of the related art.
In order to achieve the above object, in a first aspect, the present disclosure provides a vehicle control method including:
under the condition of receiving a parking request of a user, a vehicle controller of a vehicle sends a parking instruction to a parking system of the vehicle;
the vehicle control unit determines whether the vehicle is parked successfully after the parking system executes the parking instruction;
and under the condition that the parking of the vehicle is failed, the vehicle control unit sends a braking instruction to a braking system of the vehicle, wherein the braking instruction is used for keeping the vehicle in a parking state until the parking of the vehicle is successful.
Optionally, the determining, by the vehicle control unit, whether the vehicle is parked successfully after the parking system executes the parking instruction includes:
a parking controller of the parking system acquires position information of a rotating mechanism of a parking motor after the parking system executes the parking instruction;
the parking controller sends the position information to the whole vehicle controller;
and the vehicle control unit determines parking state information of the vehicle according to the position information, wherein the parking state information is used for representing the successful parking or the failed parking of the vehicle.
Optionally, the determining, by the vehicle control unit, whether the vehicle is parked successfully after the parking system executes the parking instruction includes:
a parking controller of the parking system acquires position information of a rotating mechanism of a parking motor after the parking system executes the parking instruction;
the parking controller determines parking state information of the vehicle according to the position information, wherein the parking state information is used for representing the successful parking or the failed parking of the vehicle;
the parking controller sends the parking state information to the whole vehicle controller;
and the vehicle control unit determines whether the vehicle is parked successfully according to the parking state information.
Optionally, the position information comprises a rotation angle of the rotation mechanism;
the parking controller of the parking system acquires the position information of the rotating mechanism of the parking motor after the parking system executes the parking instruction, and the method comprises the following steps:
the parking controller acquires the rotation angle of the rotating mechanism after the parking system respectively acquired by the position sensors executes the parking instruction;
the determining parking state information of the vehicle according to the position information includes:
determining that the vehicle has failed to park if any of the plurality of the rotation angles is less than a preset angle threshold;
determining that the vehicle is parked successfully if each of a plurality of the rotation angles is greater than or equal to the preset angle threshold.
Optionally, in case the vehicle fails to park, the method further comprises:
the vehicle control unit sends parking fault prompt information and a current gear display instruction to a display device of the vehicle, wherein the parking fault prompt information is used for prompting a user that the current parking of the vehicle is failed, and the current gear display instruction is used for the display device to display that the current gear of the vehicle is an N gear under the condition that the parking of the vehicle is failed until the current gear is a P gear after the parking of the vehicle is successful.
Optionally, the method further comprises:
under the condition that the vehicle is in a parking state, if a parking controller of the parking system does not receive an unlocking instruction which is sent by the vehicle control unit and used for unlocking the vehicle and receives rotation information which is used for indicating that a rotation mechanism of a parking motor in the parking system rotates, the parking controller controls a loop between a motor driving assembly and the parking motor to be disconnected so as to enable the parking motor to be in a locking state, wherein the motor driving assembly is used for driving the parking motor to work.
Optionally, the drive assembly includes a first motor half-bridge drive mechanism and a second motor half-bridge drive mechanism, the first motor half-bridge drive mechanism is connected to the parking motor through a first loop, and the second motor half-bridge drive mechanism is connected to the parking motor through a second loop;
the control motor drive assembly and the circuit disconnection between the parking motor, including:
controlling at least one of the first circuit and the second circuit to open.
In a second aspect, the present disclosure provides a vehicle control system, which includes a vehicle control unit, a parking system, and a braking system;
the vehicle control unit is used for sending a parking instruction to a parking system of a vehicle under the condition of receiving a parking request of a user;
the vehicle control unit is further used for determining whether the vehicle is parked successfully after the parking system executes the parking instruction;
the vehicle control unit is further used for sending a braking instruction to a braking system of the vehicle under the condition that the parking of the vehicle is failed, wherein the braking instruction is used for keeping the vehicle in a parking state until the parking of the vehicle is successful.
Optionally, the parking controller of the parking system is configured to obtain position information of a rotating mechanism of a parking motor after the parking system executes the parking instruction;
the parking controller is also used for sending the position information to the whole vehicle controller;
and the vehicle control unit is used for determining parking state information of the vehicle according to the position information, wherein the parking state information is used for representing the successful parking or the failed parking of the vehicle.
Optionally, the parking controller of the parking system is configured to obtain position information of a rotating mechanism of a parking motor after the parking system executes the parking instruction;
the parking controller is further used for determining parking state information of the vehicle according to the position information, wherein the parking state information is used for representing the successful parking or the failed parking of the vehicle;
the parking controller is also used for sending the parking state information to the whole vehicle controller;
and the vehicle control unit is used for determining whether the vehicle is parked successfully or not according to the parking state information.
Optionally, the position information comprises a rotation angle of the rotation mechanism;
the parking controller is used for acquiring the rotation angle of the rotating mechanism after the parking system respectively acquired by the position sensors executes the parking instruction;
the parking controller or the vehicle control unit is used for determining that the vehicle is in parking failure under the condition that any one of the plurality of rotation angles is smaller than a preset angle threshold;
the parking controller or the vehicle control unit is used for determining that the vehicle is parked successfully under the condition that each of the plurality of rotation angles is larger than or equal to the preset angle threshold.
Optionally, the vehicle control unit is further configured to send parking failure prompt information and a current gear display instruction to a display device of the vehicle, where the parking failure prompt information is used to prompt the user that the vehicle is currently parked in a failed manner, and the current gear display instruction is used for the display device to display that the current gear of the vehicle is N gear under the condition that the vehicle is parked in the failed manner, until the current gear is P gear after the vehicle is parked in the failed manner.
Optionally, the parking controller of the parking system is configured to, when the vehicle is in a parking state, control a circuit between the motor driving assembly and the parking motor to be disconnected if an unlocking instruction for unlocking the vehicle sent by the vehicle control unit is not received and rotation information for indicating that a rotation mechanism of the parking motor in the parking system rotates is received, so that the parking motor is in a locked state, where the motor driving assembly is configured to drive the parking motor to operate.
Optionally, the drive assembly includes a first motor half-bridge drive mechanism and a second motor half-bridge drive mechanism, the first motor half-bridge drive mechanism is connected to the parking motor through a first loop, and the second motor half-bridge drive mechanism is connected to the parking motor through a second loop;
the parking controller is used for controlling at least one of the first loop and the second loop to be disconnected so as to enable the parking motor to be in a locked state.
In a third aspect, the present disclosure provides a vehicle including the vehicle control system of any one of the second aspects.
The present disclosure includes the following beneficial effects: firstly, under the condition of receiving a parking request of a user, a vehicle control unit of a vehicle sends a parking instruction to a parking system of the vehicle, and determines whether the vehicle is parked successfully after the parking system executes the parking instruction, and then under the condition that the vehicle is parked unsuccessfully, the vehicle control unit sends a braking instruction to a braking system of the vehicle, wherein the braking instruction is used for keeping the vehicle in a parking state until the vehicle is parked successfully. So, this disclosure realizes the parking of vehicle jointly through the two redundant passageways of parking system and braking system, rather than only utilizing the parking system to realize the parking, can improve the reliability and the stability of parking function to a certain extent, promotes the security performance of vehicle, has solved the harm that the parking failure brought, has higher practicality.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a vehicle control method according to an exemplary embodiment.
FIG. 2 is a block diagram illustrating a vehicle control system according to an exemplary embodiment.
FIG. 3 is a block diagram illustrating a vehicle control system according to another exemplary embodiment.
FIG. 4 is a flowchart illustrating a method of determining whether a vehicle is parked successfully after a park command is executed by a parking system, according to an exemplary embodiment.
FIG. 5 is a flowchart illustrating a method of determining whether a vehicle is parked successfully after a park command is executed by a parking system, according to another exemplary embodiment.
FIG. 6 is a schematic illustration of a parking system shown according to an exemplary embodiment.
FIG. 7 is a schematic illustration of a parking system according to another exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
FIG. 1 is a flow chart illustrating a vehicle control method according to an exemplary embodiment. As shown in fig. 1, the method may include S101 to S103.
In S101, when a parking request from a user is received, a vehicle control unit of a vehicle transmits a parking command to a parking system of the vehicle.
Fig. 2 is a block diagram illustrating a vehicle control system according to an exemplary embodiment, and as shown in fig. 2, the vehicle control system 200 may include a vehicle control unit 201, a parking system 202, and a braking system 203. A Vehicle Control Unit (VCU) is a central control unit of a Vehicle and is used for controlling the operation of the Vehicle. The Parking system 202 may be an electronic Parking system (EPL) for implementing an automatic Parking function. The braking system 203 may be an electronic braking system (EPB) for implementing an automatic braking function.
As shown in fig. 2, the vehicle control unit 201 may send a parking command to the parking system 202 after receiving a parking request from a user, and the parking command may be a parking lock engagement request, for example.
In S102, the vehicle control unit determines whether the vehicle is parked successfully after the parking system executes the parking instruction.
The vehicle control unit 201 may determine whether the vehicle is parked successfully after the parking system 202 executes the parking command. In an embodiment, the parking system 202 may transmit parking lock state information to the vehicle controller 201, and the vehicle controller 201 may determine whether the vehicle is parked successfully by determining whether the parking lock is locked.
In S103, in the case of a failed parking of the vehicle, the vehicle control unit sends a braking instruction to a braking system of the vehicle, where the braking instruction is used to keep the vehicle in a parking state until the vehicle is parked successfully.
For example, if the parking lock state information sent by the parking system 202 to the vehicle controller 201 is that the parking lock is unlocked, it may indicate that the parking is failed. The inventor finds through research that the parking system 202 may not successfully complete parking due to mechanical failure and the like, and therefore, the parking of the vehicle is achieved only by the parking system 202, and reliability and stability are not high. In the present disclosure, in order to avoid a safety problem caused by vehicle slipping, in the case of a failure in parking of the vehicle, the vehicle control unit 201 may send a braking command to the braking system 203, where the braking command is used to maintain the vehicle in a stopped state until the parking system 202 successfully completes parking. Thus, the parking system 202 and the braking system 203 jointly complete the parking of the vehicle, the reliability and the stability of the parking function can be improved, and the safety of the vehicle is ensured.
According to the technical scheme, firstly, under the condition that a parking request of a user is received, a vehicle control unit of a vehicle sends a parking instruction to a parking system of the vehicle, whether the vehicle is parked successfully after the parking system executes the parking instruction is determined, and then under the condition that the vehicle is parked unsuccessfully, the vehicle control unit sends a braking instruction to a braking system of the vehicle, wherein the braking instruction is used for keeping the vehicle in a parking state until the vehicle is parked successfully. So, this disclosure realizes the parking of vehicle jointly through the two redundant passageways of parking system and braking system, rather than only utilizing the parking system to realize the parking, can improve the reliability and the stability of parking function to a certain extent, promotes the security performance of vehicle, has solved the harm that the parking failure brought, has higher practicality.
Fig. 3 is a block diagram illustrating a vehicle control system according to another exemplary embodiment, and as shown in fig. 3, the vehicle control system 300 may further include an electronic shifter 204 and a display device 205 in addition to the vehicle control unit 201, the parking system 202, and the braking system 203. The display device 205 may be, for example, a meter of a vehicle.
In an embodiment, the vehicle control unit 201 may obtain the parking request of the user through the electronic gear shifter. When a parking request is made by a user, the shift position can be switched to the P shift position, and the electronic gear shifter 204 can acquire shift position switching information triggered by the user and send the shift position switching information to the vehicle controller 201, so that the vehicle controller 201 can receive the parking request of the user.
As described above, the vehicle control unit 201 may determine whether the parking of the vehicle is successful according to the state information of the parking lock, for example. In the present disclosure, it may also be determined whether the vehicle is parked successfully according to the position information of the rotating mechanism of the parking motor. In one embodiment, the parking system 202 may determine whether the vehicle is parked successfully according to the position information of the rotating mechanism, and send the determination result to the vehicle control unit 201. In another embodiment, the vehicle controller 201 may determine whether the vehicle is parked successfully according to the position information of the rotating mechanism. These two embodiments are described below.
In an embodiment, whether the vehicle is parked successfully is determined by the vehicle controller 201 according to the position information of the rotating mechanism, and the embodiment may include S401 to S403 as shown in fig. 4.
In S401, the parking controller of the parking system acquires position information of the rotating mechanism of the parking motor after the parking system executes the parking instruction.
The rotation mechanism of the parking motor may be a gear in the parking motor, and the position information may include a rotation angle of the rotation mechanism, for example, a rotation angle of the gear. The parking motor is provided with a rotating mechanism, the rotating mechanism is arranged on the parking motor, and the rotating mechanism is arranged on the parking motor.
In S402, the parking controller transmits the position information to the vehicle control unit.
In S403, the vehicle controller determines parking state information of the vehicle according to the position information, where the parking state information is used to represent that the vehicle has been parked successfully or unsuccessfully.
The parking controller may send the acquired position information of the rotating mechanism to the vehicle control unit 201. Then, the vehicle control unit 201 may determine whether the vehicle is parked successfully according to the position information.
In another embodiment, the parking controller determines whether the vehicle is parked successfully according to the position information of the rotating mechanism, and sends the determination result to the vehicle controller 201, and this embodiment may include S501 to S504 as shown in fig. 5.
In S501, the parking controller of the parking system acquires position information of the rotating mechanism of the parking motor after the parking system executes the parking instruction. The embodiment of step S501 may refer to step S401, which is not described herein.
In S502, the parking controller determines parking state information of the vehicle according to the position information. The parking state information is used to characterize a successful or failed parking of the vehicle.
In this disclosure, after the parking controller acquires the position information of the rotating mechanism, the parking controller may determine whether the parking of the vehicle is successful according to the position information.
In S503, the parking controller transmits the parking state information to the vehicle control unit.
In S504, the vehicle control unit determines whether the vehicle is parked successfully according to the parking state information.
According to the scheme, the parking controller in the parking system can judge whether the vehicle is parked successfully or not according to the position information of the rotating mechanism and send the judgment result to the whole vehicle controller, or the parking controller can send the position information to the whole vehicle controller and the whole vehicle controller judges whether the vehicle is parked successfully or not.
It should be noted that, as to the number of position sensors provided in the parking motor, the present disclosure is not particularly limited, and one or more position sensors may be provided. In an embodiment of the present disclosure, in order to ensure the accuracy of the acquired rotation angle, a plurality of mutually independent position sensors may be provided to simultaneously acquire the rotation angle of the rotating mechanism, and in this embodiment, the parking controller of the parking system acquires the position information of the rotating mechanism of the parking motor after the parking system executes the parking command, which may include:
the parking controller acquires the rotation angle of the rotating mechanism after the parking system respectively acquired by the position sensors executes a parking instruction.
Accordingly, regardless of whether the parking controller determines the parking state information of the vehicle according to the position information or the vehicle controller 201 determines the parking state information of the vehicle according to the position information, the parking controller or the vehicle controller 201 may determine the parking state information of the vehicle as follows:
determining that the vehicle has failed to park if any one of the plurality of rotation angles is less than a preset angle threshold; determining that the vehicle is parked successfully in a case where each of the plurality of rotation angles is greater than or equal to a preset angle threshold
For example, taking the example of providing two independent position sensors, the rotation angles of the rotating mechanism respectively acquired by the two position sensors are denoted as C1、C2These two angles of rotation are then compared with a preset angle threshold, which may be preset, for example 90 °. If two rotation angles C are obtained1、C2All greater than or equal to 90 deg., a successful parking of the vehicle may be indicated. On the contrary, if two rotation angles C are obtained1、C2Less than 90 deg. or less than 90 deg. in total, a parking failure of the vehicle may be indicated.
It should be noted that, the above description is given by taking two position sensors as an example, but the embodiment of the present disclosure is not limited, the number of the position sensors is not specifically limited by the present disclosure, and the value of the preset angle threshold is also not specifically limited.
According to the technical scheme, whether the vehicle is parked successfully or not can be accurately and quickly determined through the position information of the rotating mechanism of the parking motor. The rotation angle of the rotating mechanism can be acquired by using a plurality of mutually independent position sensors, and the parking result is judged by the rotation angle acquired by the position sensors respectively, so that the judged parking result is more accurate and reliable, and the harm caused by false alarm fault due to only one position sensor is avoided. Moreover, a plurality of independent position sensors can be used for realizing the ASIL B (automatic Safety integrity Level B) grade, so that the Safety of the vehicle can be improved to a certain extent, and the damage caused by parking failure and false alarm fault is avoided.
In one possible implementation, in case of a parking failure of the vehicle, the method may further include:
the vehicle control unit sends parking fault prompting information and a current gear display instruction to a display device of the vehicle, wherein the parking fault prompting information is used for prompting a user that the vehicle is in a current parking failure, and the current gear display instruction is used for displaying that the current gear of the vehicle is an N gear under the condition that the vehicle is in the parking failure by the display device until the current gear is a P gear after the vehicle is in the parking failure.
For example, as shown in fig. 3, in the case where it is determined that the parking of the vehicle has failed, the vehicle control unit 201 may send a parking failure prompt message and a current gear display command to the display device 205 (e.g., a meter) to prompt a user that the parking has failed, and the current gear display command is used to display the current actual gear of the vehicle.
Since the parking is failed and the current actual gear of the vehicle is not the P gear, the display device 205 may display that the current gear of the vehicle is the N gear (neutral gear) in case of the parking failure of the vehicle, and the hybrid controller 201 may automatically send a braking instruction to the braking system 203, the braking system 203 may execute the braking instruction to keep the vehicle in a parking state, and after the parking of the vehicle is successful, the display device 205 may display that the current gear of the vehicle is the P gear. Therefore, the user can be timely reminded under the condition of parking failure, and the user can timely know the current actual gear of the vehicle.
Through the technical scheme, the vehicle control unit can coordinate the brake system to ensure effective parking under the condition that the parking system fails due to failure. This is disclosed through utilizing the dual redundant passageway of parking system and braking system, can improve the reliability and the stability of parking, has avoided the harm that the parking failure brought to have higher practicality.
The above describes in detail a case where the vehicle is parked, and the parking result of the vehicle after the parking command is executed by the parking system, i.e., whether the parking has failed during the parking. In another case, in a case where the vehicle is already in a parked state and the driver has left the vehicle, the vehicle may roll due to unintended unlocking of the parking lock, or the like, in which case measures are also required to ensure the safety of the vehicle.
In a possible implementation manner, under the condition that the vehicle is in the parking state, if the parking controller of the parking system does not receive an unlocking instruction for unlocking the vehicle sent by the vehicle control unit and receives rotation information for indicating that the rotating mechanism of the parking motor in the parking system rotates, the parking controller may control a loop between the motor driving assembly and the parking motor to be disconnected, so that the parking motor is in the locked state, wherein the motor driving assembly is used for driving the parking motor to work.
FIG. 6 is a schematic illustration of a parking system shown according to an exemplary embodiment. As shown in fig. 6, the parking controller and the vehicle controller may exchange information through the CAN communication interface. If the parking controller does not receive the parking lock unlocking instruction sent by the whole vehicle controller, but receives the rotation information of the rotation of the rotating mechanism of the parking motor, the rotation information can indicate that the rotation angle of the rotating mechanism changes, and can indicate that the vehicle has the possibility of sliding, at the moment, the parking controller can control the circuit between the motor driving assembly and the parking motor to be disconnected, so that the parking motor is ensured to be in a locking state, the vehicle sliding phenomenon caused by unexpected unlocking of the parking lock and other reasons is avoided, and the vehicle safety is ensured.
According to the technical scheme, the parking motor can be in a locking state by cutting off a loop between the motor driving assembly and the parking motor, so that the damage caused by vehicle sliding is avoided, and the vehicle is ensured to be in a safe state.
FIG. 7 is a schematic illustration of a parking system according to another exemplary embodiment. As shown in fig. 7, in one possible implementation, the driving assembly may include a first motor half-bridge driving mechanism and a second motor half-bridge driving mechanism, the first motor half-bridge driving mechanism is connected to the parking motor through a first loop, and the second motor half-bridge driving mechanism is connected to the parking motor through a second loop;
control the circuit disconnection between motor drive assembly and the parking motor, include:
at least one of the first circuit and the second circuit is controlled to be disconnected.
Illustratively, referring to the motor drive assembly of fig. 6, as shown in fig. 7, the motor drive assembly includes a first motor half-bridge drive mechanism and a second motor half-bridge drive mechanism. The first motor half-bridge driving mechanism is connected with the parking motor through the safety switch to form a first loop, and the parking motor is driven to work through the control current 1. The second motor half-bridge driving mechanism is connected with the parking motor through the safety switch to form a second loop, and the parking motor is driven to work through the control current 2. Wherein, the safety switch can respectively control the first loop and the second loop. In the case of a possibility of vehicle slipping, the parking motor can be ensured to be in a locked state by the safety switch cutting off the first circuit or the second circuit or cutting off the first circuit and the second circuit simultaneously.
Through the technical scheme, when the vehicle possibly slides, the loop between the motor driving assembly and the parking motor can be immediately cut off, and the vehicle is ensured to be in a safe state. In the disclosure, the circuit where the two half-bridge driving mechanisms of the motor are located is utilized to control at least one of the two circuits to be disconnected, so that the reliability of the system can be enhanced, for example, when the first circuit cannot be immediately cut off, the damage of vehicle sliding caused by untimely cut-off of the control circuit can be avoided by cutting off the second circuit.
The present disclosure also provides a vehicle control system, such as the vehicle control system shown in fig. 2, which may include: parking system, vehicle control unit, braking system.
The vehicle control unit is used for sending a parking instruction to a parking system of a vehicle under the condition of receiving a parking request of a user;
the vehicle control unit is further used for determining whether the vehicle is parked successfully after the parking system executes the parking instruction;
the vehicle control unit is further used for sending a braking instruction to a braking system of the vehicle under the condition that the parking of the vehicle is failed, wherein the braking instruction is used for keeping the vehicle in a parking state until the parking of the vehicle is successful.
The present disclosure includes the following beneficial effects: according to the technical scheme, firstly, under the condition that a parking request of a user is received, a vehicle control unit of a vehicle sends a parking instruction to a parking system of the vehicle, whether the vehicle is parked successfully after the parking system executes the parking instruction is determined, and then under the condition that the vehicle is parked unsuccessfully, the vehicle control unit sends a braking instruction to a braking system of the vehicle, wherein the braking instruction is used for keeping the vehicle in a parking state until the vehicle is parked successfully. So, this disclosure realizes the parking of vehicle jointly through the two redundant passageways of parking system and braking system, rather than only utilizing the parking system to realize the parking, can improve the reliability and the stability of parking function to a certain extent, promotes the security performance of vehicle, has solved the harm that the parking failure brought, has higher practicality.
Optionally, the parking controller of the parking system is configured to obtain position information of a rotating mechanism of a parking motor after the parking system executes the parking instruction;
the parking controller is also used for sending the position information to the whole vehicle controller;
and the vehicle control unit is used for determining parking state information of the vehicle according to the position information, wherein the parking state information is used for representing the successful parking or the failed parking of the vehicle.
Optionally, the parking controller of the parking system is configured to obtain position information of a rotating mechanism of a parking motor after the parking system executes the parking instruction;
the parking controller is further used for determining parking state information of the vehicle according to the position information, wherein the parking state information is used for representing the successful parking or the failed parking of the vehicle;
the parking controller is also used for sending the parking state information to the whole vehicle controller;
and the vehicle control unit is used for determining whether the vehicle is parked successfully or not according to the parking state information.
Optionally, the position information comprises a rotation angle of the rotation mechanism; the parking controller is used for acquiring the rotation angle of the rotating mechanism after the parking system respectively acquired by the position sensors executes the parking instruction; the parking controller or the vehicle control unit is used for determining that the vehicle is in parking failure under the condition that any one of the plurality of rotation angles is smaller than a preset angle threshold; the parking controller or the vehicle control unit is used for determining that the vehicle is parked successfully under the condition that each of the plurality of rotation angles is larger than or equal to the preset angle threshold.
Optionally, the vehicle control unit is further configured to send parking failure prompt information and a current gear display instruction to a display device of the vehicle, where the parking failure prompt information is used to prompt the user that the vehicle is currently parked in a failed manner, and the current gear display instruction is used for the display device to display that the current gear of the vehicle is N gear under the condition that the vehicle is parked in the failed manner, until the current gear is P gear after the vehicle is parked in the failed manner.
Optionally, the parking controller of the parking system is configured to, when the vehicle is in a parking state, control a circuit between the motor driving assembly and the parking motor to be disconnected if an unlocking instruction for unlocking the vehicle sent by the vehicle control unit is not received and rotation information for indicating that a rotation mechanism of the parking motor in the parking system rotates is received, so that the parking motor is in a locked state, where the motor driving assembly is configured to drive the parking motor to operate.
Optionally, the drive assembly includes a first motor half-bridge drive mechanism and a second motor half-bridge drive mechanism, the first motor half-bridge drive mechanism is connected to the parking motor through a first loop, and the second motor half-bridge drive mechanism is connected to the parking motor through a second loop; the parking controller is used for controlling at least one of the first loop and the second loop to be disconnected so as to enable the parking motor to be in a locked state.
With regard to the systems in the above embodiments, the specific manner in which each system performs operations has been described in detail in relation to the embodiments of the method, and will not be elaborated upon here.
The present disclosure also provides a vehicle including the vehicle control system provided in any one of the above embodiments.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the functional module, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A vehicle control method, characterized by comprising:
under the condition of receiving a parking request of a user, a vehicle controller of a vehicle sends a parking instruction to a parking system of the vehicle;
the vehicle control unit determines whether the vehicle is parked successfully after the parking system executes the parking instruction;
and under the condition that the parking of the vehicle is failed, the vehicle control unit sends a braking instruction to a braking system of the vehicle, wherein the braking instruction is used for keeping the vehicle in a parking state until the parking of the vehicle is successful.
2. The method of claim 1, wherein the vehicle control unit determining whether the vehicle is parked successfully after the parking system executes the parking command comprises:
a parking controller of the parking system acquires position information of a rotating mechanism of a parking motor after the parking system executes the parking instruction;
the parking controller sends the position information to the whole vehicle controller;
and the vehicle control unit determines parking state information of the vehicle according to the position information, wherein the parking state information is used for representing the successful parking or the failed parking of the vehicle.
3. The method of claim 1, wherein the vehicle control unit determining whether the vehicle is parked successfully after the parking system executes the parking command comprises:
a parking controller of the parking system acquires position information of a rotating mechanism of a parking motor after the parking system executes the parking instruction;
the parking controller determines parking state information of the vehicle according to the position information, wherein the parking state information is used for representing the successful parking or the failed parking of the vehicle;
the parking controller sends the parking state information to the whole vehicle controller;
and the vehicle control unit determines whether the vehicle is parked successfully according to the parking state information.
4. The method according to claim 2 or 3, wherein the positional information comprises a rotation angle of the rotation mechanism;
the parking controller of the parking system acquires the position information of the rotating mechanism of the parking motor after the parking system executes the parking instruction, and the method comprises the following steps:
the parking controller acquires the rotation angle of the rotating mechanism after the parking system respectively acquired by the position sensors executes the parking instruction;
the determining parking state information of the vehicle according to the position information includes:
determining that the vehicle has failed to park if any of the plurality of the rotation angles is less than a preset angle threshold;
determining that the vehicle is parked successfully if each of a plurality of the rotation angles is greater than or equal to the preset angle threshold.
5. The method of claim 1, wherein in the event of a failure of the vehicle to park, the method further comprises:
the vehicle control unit sends parking fault prompt information and a current gear display instruction to a display device of the vehicle, wherein the parking fault prompt information is used for prompting a user that the current parking of the vehicle is failed, and the current gear display instruction is used for the display device to display that the current gear of the vehicle is an N gear under the condition that the parking of the vehicle is failed until the current gear is a P gear after the parking of the vehicle is successful.
6. The method of claim 1, further comprising:
under the condition that the vehicle is in a parking state, if a parking controller of the parking system does not receive an unlocking instruction which is sent by the vehicle control unit and used for unlocking the vehicle and receives rotation information which is used for indicating that a rotation mechanism of a parking motor in the parking system rotates, the parking controller controls a loop between a motor driving assembly and the parking motor to be disconnected so as to enable the parking motor to be in a locking state, wherein the motor driving assembly is used for driving the parking motor to work.
7. The method of claim 6, wherein the drive assembly includes a first motor half-bridge drive and a second motor half-bridge drive, the first motor half-bridge drive being connected to the parking motor by a first circuit, the second motor half-bridge drive being connected to the parking motor by a second circuit;
the control motor drive assembly and the circuit disconnection between the parking motor, including:
controlling at least one of the first circuit and the second circuit to open.
8. The vehicle control system is characterized by comprising a vehicle control unit, a parking system and a braking system;
the vehicle control unit is used for sending a parking instruction to a parking system of a vehicle under the condition of receiving a parking request of a user;
the vehicle control unit is further used for determining whether the vehicle is parked successfully after the parking system executes the parking instruction;
the vehicle control unit is further used for sending a braking instruction to a braking system of the vehicle under the condition that the parking of the vehicle is failed, wherein the braking instruction is used for keeping the vehicle in a parking state until the parking of the vehicle is successful.
9. The system of claim 8, wherein the parking controller of the parking system is configured to obtain position information of a rotating mechanism of a parking motor after the parking system executes the parking command;
the parking controller is also used for sending the position information to the whole vehicle controller;
and the vehicle control unit is used for determining parking state information of the vehicle according to the position information, wherein the parking state information is used for representing the successful parking or the failed parking of the vehicle.
10. A vehicle characterized in that the vehicle includes the vehicle control system of claim 8 or 9.
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| CN202010996975.XA CN114248741B (en) | 2020-09-21 | 2020-09-21 | Vehicle control method and system and vehicle |
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| CN114248741B (en) | 2024-08-30 |
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