CN110228453A - A kind of parking control method, device and the vehicle of vehicle - Google Patents
A kind of parking control method, device and the vehicle of vehicle Download PDFInfo
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- CN110228453A CN110228453A CN201910481743.8A CN201910481743A CN110228453A CN 110228453 A CN110228453 A CN 110228453A CN 201910481743 A CN201910481743 A CN 201910481743A CN 110228453 A CN110228453 A CN 110228453A
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- Prior art keywords
- backup
- parking
- vehicle
- controller
- working condition
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Classifications
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
Abstract
The embodiment of the invention discloses parking control method, device and the vehicles of a kind of vehicle.This method comprises: determining the first working condition of the master controller when monitoring the switching signal of parking switch；Main confirmation message is generated based on first working condition and is sent to the backup controller；When first working condition is normal condition, then the first control command is generated based on the switching signal, and the vehicle parking is controlled by first control command.The technical solution of the embodiment of the present invention controls vehicle parking by controller, certification is interacted between each controller, improves the accuracy of parking function, reduces the security risk of vehicle parking, it can be achieved that remote vehicle controls.
Description
Technical field
The present embodiments relate to automobile technical field more particularly to parking control method, device and the vehicles of a kind of vehicle
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Background technique
With the development of the times, automobile becomes indispensable component part in current life, remote vehicle control technology
Will rapidly it be developed.Important component of the parking system as remote vehicle control field, has also obtained quick hair
Exhibition, develops to electronic type parking system from mechanical parking system.
There must be redundancy parking system in Current statutory requirements vehicle, existing redundancy parking system is mostly mechanical parking
Braking (parking brake) and dynamical system parking (P grades) are mutually redundant parking system, and the control of tradition machinery parking braking (parking brake) must
It must be realized by interior driver, but under the scene that remote vehicle drives, driver does not drive in the car, leads to existing stay
Vehicle control method is unable to satisfy the requirement of redundancy parking, and there are huge security risks for remote vehicle control.
Summary of the invention
The present invention provides parking control method, device and the vehicle of a kind of vehicle, to realize under remote vehicle control background
Parking control, to improve the safety of vehicle drive.
In a first aspect, being applied to master controller, this method packet the embodiment of the invention provides the parking control method of vehicle
It includes:
When monitoring the switching signal of parking switch, the first working condition of the master controller is determined；
Main confirmation message is generated based on first working condition and is sent to the backup controller；
When first working condition is normal condition, then the first control command is generated based on the switching signal, and
The vehicle parking is controlled by first control command.
Second aspect, the embodiment of the invention also provides a kind of parking control methods of vehicle, are applied to backup controller,
This method comprises:
When monitoring the switching signal of parking switch, the second working condition of the backup controller is determined；
Backup confirmation message is generated based on first working condition and is sent to the master controller；
Determine master controller the first working condition be malfunction, and second working condition be normal condition when,
The second control command is then generated based on the switching signal, and the vehicle parking is controlled by second control command.
The third aspect, the embodiment of the invention also provides a kind of parking control devices of vehicle, are applied to master controller, should
Device includes:
Main selftest module when for monitoring the switching signal of parking switch, determines the first work of the master controller
State；
Main sending module, for generating main confirmation message based on first working condition and being sent to the Standby control
Device；
Main control module, for when first working condition is normal condition, then being generated based on the switching signal
First control command, and the vehicle parking is controlled by first control command.
Fourth aspect, the embodiment of the invention also provides a kind of parking control devices of vehicle, are applied to backup controller,
The device includes:
Backup selftest module when for monitoring the switching signal of parking switch, determines the second of the backup controller
Working condition；
Backup sending module, for generating backup confirmation message based on first working condition and being sent to the master control
Device processed；
Backup control module, for determining that the first working condition of master controller is malfunction, and described second works
When state is normal condition, then the second control command is generated based on the switching signal, and pass through the second control command control
Make the vehicle parking.
5th aspect, the embodiment of the invention also provides a kind of vehicles, comprising:
At least two controllers, including master controller and backup controller；
At least two memories, including main memory and backup of memory；
Main memory, for storing one or more programs, when one or more of programs are one or more of
Master controller executes, so that one or more of master controllers realize staying for the vehicle as described in any in claim 1-4
Vehicle control method；
Backup of memory, for storing one or more programs, when one or more of programs are by one or more
A backup controller executes, so that one or more of backup controllers realize staying as described in any in claim 5-8
The control method of vehicle system；
Parking switch, for generating switching signal, to control the opening and closing of vehicle parking；
Stopping caliper, for realizing vehicle parking according to control command.
The technical solution of the embodiment of the present invention, by determining master controller in the switching signal for monitoring parking switch
The first working condition, main confirmation message is generated based on working condition and is sent to backup controller, when working condition is normal
When state, the first control command is generated based on switching signal, based on the first control command to vehicle parking, solves remote vehicle
There is security risk in control, improve the safety of vehicle parking, can enhance the safety of vehicle drive.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the parking control method for vehicle that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of the parking control method of vehicle provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of flow chart of the parking control method for vehicle that the embodiment of the present invention three provides；
Fig. 4 is a kind of structural schematic diagram of the parking control device for vehicle that the embodiment of the present invention four provides；
Fig. 5 is a kind of structural schematic diagram of the parking control device for vehicle that the embodiment of the present invention five provides；
Fig. 6 is a kind of structural schematic diagram for vehicle that the embodiment of the present invention six provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure, in addition, in the absence of conflict, this
The feature in embodiment and embodiment in invention can be combined with each other.
Method provided in an embodiment of the present invention is applied in vehicle, and the vehicle includes master controller and backup controller,
Wherein, master controller and backup controller can individually realize that the parking to vehicle controls, for example, master controller can root
Get vehicle-state according to the Slope Transducer or wheel speed sensors of vehicle, can based on vehicle-state by master controller to staying
Vehicle clamp carry out control and realize parking, it is to be understood that same function, master controller control also may be implemented in backup controller
The parking system for making the parking system realized and backup controller control realization can be the parking system being mutually redundant.
Embodiment one
Fig. 1 is a kind of flow chart of the parking control method for vehicle that the embodiment of the present invention one provides, the embodiment of the present invention
The case where being applicable to vehicle parking, this method are applied to master controller, can be executed by the parking device of vehicle, the device
It can be realized by the way of hardware and/or software, this method comprises the following steps:
Step 101 when monitoring the switching signal of parking switch, determines the first working condition of the master controller.
Wherein, parking switch can be the trigger switch of vehicle parking function, may include dynamical system parking position switch
With electronic parking switch etc.；Switching signal can be the signal triggered when parking switch opens and closes, may include simulation letter
Number and numerical signal etc.；Working condition can be the label that master controller is presently in state, specifically can be used 0 or 1 into
Line flag, for example, master controller is in normal condition when working condition is 0, when working condition is 1, master controller is in
Abnormality.
The switching signal of parking switch is monitored specifically, circuit or sensor can be used, when monitoring out
When OFF signal changes, it may be said that the open and-shut mode of bright parking switch is changed, and first to master controller can be gone
Working condition carries out detecting determining main controller state in which, and the mode of detection may include: the controller for obtaining master controller
State parameter, judges whether controller state meets threshold condition, determines that the first working condition of master controller is if meeting
Otherwise normal condition determines that working condition is malfunction；Wherein, controller state parameter may include corresponding parking function
Parked state parameter and controller self attributes parameter etc., threshold condition can be the parameter area of master controller normal operation,
Such as electric current and range of voltage values etc..
Step 102 generates main confirmation message based on first working condition and is sent to the backup controller.
Wherein, main confirmation message can be the information of the generation of the first working condition based on master controller, main confirmation letter
Breath specifically can be analog signal and numerical signal, for example, can be specially high level, backup controller, which can be in vehicle, to be made
For the controller of backup, vehicle parking can be controlled when master controller breaks down.
In embodiments of the present invention, main confirmation message can be generated according to the working condition of main controller, for example, working as main control
When first working condition of device is normal condition, it can export high level as main confirmation message to backup controller, work as master
When first working condition of controller is abnormality, it can export low level as main confirmation message to backup controller,
The first working condition of master controller can be learnt by main confirmation message backup controller.
Step 103, when first working condition be normal condition when, then based on the switching signal generate first control
Order, and the vehicle parking is controlled by first control command.
Wherein, normal condition can be the state of main controller controls vehicle parking, and the first control command can be master control
The order for being used to control vehicle parking that device processed generates, specifically can be level signal or command signal.
Specifically, the available switching signal of master controller is simultaneously believed based on switch when master controller is in normal condition
Number to the first control command is generated, the state that vehicle is presently in can be determined according to switching signal, such as gets switch letter
When shutdown signal in number, it can determine that vehicle is currently at parked state, stopping caliper may be at clamping state, according to opening
The first control command that OFF signal generates may include unclamping the order of stopping caliper, and the first control command, which can be used for closing, stays
Further sensor can also be arranged in vehicle on stopping caliper, and master controller can be based on switching signal and sensing data
The first control command is generated, may include the size of the clamping force of stopping caliper in the first control command, can be further improved
Accurate control of the master controller to vehicle parking.
The technical solution of the embodiment of the present invention, by determining master controller in the switching signal for monitoring parking switch
The first working condition, main confirmation message is generated based on working condition and is sent to backup controller, when working condition is normal
When state, the first control command is generated based on switching signal, based on the first control command to vehicle parking, solves remote vehicle
There is security risk in control, improve the safety of vehicle parking, can enhance the safety of vehicle drive.
Embodiment two
Fig. 2 is a kind of flow chart of the parking control method of vehicle provided by Embodiment 2 of the present invention；The embodiment of the present invention
It is to be embodied based on examples detailed above, is applied to master controller, method provided in an embodiment of the present invention further include:
Step 201 when monitoring the switching signal of parking switch, determines the first working condition of the master controller.
Specifically, being monitored using circuit or sensor to the switching signal of parking switch, believe when monitoring to switch
When number changing, it may be said that the open and-shut mode of bright parking switch is changed, and the first work to master controller can be gone
State carries out detecting determining main controller state in which.
Step 202 generates main confirmation message based on first working condition and is sent to the backup controller.
In embodiments of the present invention, main confirmation message can be determined based on the different working condition of master controller, if master control
Device processed is that main confirmation message can be determined as successful information by normal condition, if master controller is that malfunction can be by main confirmation
Information is determined as failure information.
Step 203, when first working condition be normal condition when, then based on the switching signal generate first control
Order, and the vehicle parking is controlled by first control command.
In embodiments of the present invention, if the first working condition of master controller is normal condition, can be believed according to switch
Number corresponding opening and closing state generates the first control command of control vehicle parking, and the first control command can correspond to control
The stopping caliper work that vehicle parking uses.
Step 204, when first working condition be malfunction when, then according to have to the backup controller it is standby
The reception result of part confirmation message carries out the operation of the first setting strategy.
Wherein, backup confirmation message can be the information that backup controller is determined according to itself working condition, master controller
The working condition of backup controller can be determined according to backup confirmation message, the first setting strategy can be preset carry out parking
The strategy of control, for example, if master controller is in malfunction, it, can be by Standby control when getting backup confirmation message
Device realizes vehicle parking function.
Specifically, when the first working condition of master controller is malfunction, it can be in conjunction with corresponding backup controller
The reception result of backup confirmation message determines the operation of the first setting strategy of processing vehicle parking, wherein the first setting strategy
It can be strategy of the preset in advance in vehicle main control device, can be touched by the working condition and backup confirmation message that main control is gone
The operation for sending out different, the first operation set in strategy are associated with working condition and backup confirmation message.
Step 205 obtains the parked state parameter generated after the vehicle parking, and the parked state parameter is sent to
The backup controller.
Wherein, parked state parameter can be the state parameter generated after vehicle parking, may include parking switch signal
Parameter, stopping caliper state parameter and vehicle sensors parameter etc., the state after can be used for characterizing vehicle parking.
In embodiments of the present invention, the parameter that master controller can be used for characterizing vehicle parked state is joined as parked state
Number, parked state parameter can be occurred in a manner of protocol package or level signal to backup controller, can be controlled by backup
Device control storage parked state parameter processed, ensures that vehicle parking function identical with master controller may be implemented in backup controller.
It is understood that master controller the parked state parameter of generation can occur to backup after realizing vehicle parking
Controller, correspondingly, the parking shape generated after vehicle parking can also be obtained after backup controller realizes vehicle parking function
State parameter parked state parameter can occur to master controller.
The technical solution of the embodiment of the present invention, by monitoring that the switching signal of parking switch is to determine master controller
First working condition, and the main confirmation message of generation is sent to backup controller, if working condition is normal condition, give
Switching signal generates the first control command and controls vehicle parking, if working condition is malfunction, according to backup controller
The reception result for the backup confirmation message having and the first setting strategy carry out corresponding operation, obtain staying for vehicle parking generation
Car state parameter, and vehicle parked state parameter is occurred to backup controller.
On the basis of the above embodiments, according to the reception knot for having backup confirmation message to the backup controller
Fruit carries out the operation of the first setting strategy, comprising:
If not receiving backup confirmation message in the preset time for the switching signal for monitoring parking switch, described in determination
The working condition of backup controller is malfunction, and carries out parking fault alarm operation；If monitoring opening for parking switch
Backup confirmation message is received in the preset time of OFF signal, then when backup confirmation message indicates the work of the backup controller
When state is normal condition, the backup controller is waited to carry out the parking control of the vehicle；When backup confirmation message indicates
When the working condition of the backup controller is malfunction, the operation of parking fault alarm is carried out.
Wherein, preset time can be with the maximum duration of the backup controller backup confirmation message to be obtained such as master controller.
Specifically, after monitoring the switching signal of parking switch, if backup controller has not been obtained within a preset time
Backup confirmation message, can determine backup controller working condition be malfunction, determining backup controller be failure
Alarm operation can be carried out to parking failure after state, for example, showing fault message in instrument board or issuing alarm voice；If
The backup information of backup controller, and the working condition of backup information characterization backup controller are got within a preset time
For normal condition, then backup controller is waited to carry out parking control to vehicle；If the Standby control got within a preset time
The working condition of the backup information characterization backup controller of device is malfunction, then confirms that master controller and backup controller are located
In malfunction, parking fault alarm operation can be carried out.It is accurately controlled by the backup confirmation message based on backup controller
Vehicle parking ensures that failure is found in time, the safety of vehicle can be improved.
Embodiment three
Fig. 3 is a kind of flow chart of the parking control method for vehicle that the embodiment of the present invention three provides, the embodiment of the present invention
The case where being applicable to vehicle parking, this method are applied to backup controller, can be executed by the parking device of vehicle, the dress
Setting can be realized by the way of hardware and/or software, and this method comprises the following steps:
Step 301 when monitoring the switching signal of parking switch, determines the second working condition of the backup controller.
Wherein, the second working condition can be the state that backup controller is presently in, and may include normal condition and event
Barrier state.
The switching signal of parking switch is monitored specifically, circuit or sensor can be used, when monitoring out
When OFF signal changes, it may be said that the open and-shut mode of bright parking switch is changed, and to backup controller can be gone
Two working conditions carry out detecting determining backup controller state in which, and the mode of detection may include: acquisition backup controller
Controller state parameter, judge whether controller state meets threshold condition, if meet if determine backup controller work
State is normal condition, otherwise determines that working condition is malfunction；Wherein, controller state parameter may include corresponding parking
Parked state parameter and controller self attributes parameter of function etc., threshold condition can be the ginseng of backup controller normal operation
Number range, such as electric current and range of voltage values etc..
Step 302 generates backup confirmation message based on first working condition and is sent to the master controller.
Specifically, backup confirmation message can be generated according to the working condition of backup control device, for example, when backup controller
When working condition is normal condition, it can export high level as backup confirmation message to master controller, work as backup controller
Working condition when being abnormality, can export using low level as backup confirmation message to master controller, really by backup
Recognize information, master controller can learn the working condition of backup controller.
Step 303, the first working condition for determining master controller are malfunction, and second working condition is normal
When state, then the second control command is generated based on the switching signal, and the vehicle is controlled by second control command
Parking.
Wherein, the second control command can be backup controller and be used to control vehicle parking based on what switching signal generated
Control command.
Determine that the first working condition of master controller is malfunction and the second working condition is normal shape specifically, working as
When state, can by backup controller be based on switching signal generate the second control command, and according to the second control command to vehicle into
Parking is realized in row control, further, sensor can also be set on stopping caliper, master controller can be based on switch letter
Number and sensing data generate the first control command, may include the size of the clamping force of stopping caliper in the second control command,
It can be further improved accurate control of the backup controller to vehicle parking.
The technical solution of the embodiment of the present invention, by determining Standby control in the switching signal for monitoring parking switch
Second working condition of device generates backup confirmation message based on the second working condition and occurs determining master control to master controller
The first working condition of device processed is malfunction, and the second working condition is normal condition, then generates the second control according to switching signal
System order realizes vehicle parking according to the second control command, solves remote vehicle control problem, can reduce vehicle parking failure
Occurrence probability improves the safety of vehicle.
On the basis of the above embodiments, the first working condition for determining master controller is malfunction, comprising:
Main confirmation message is not received in the preset time for the switching signal for monitoring parking switch, alternatively, received
The first working condition that main confirmation message indicates the master controller is malfunction.
Wherein, preset time can be backup controller main confirmation message to be obtained be most after monitoring switching signal etc.
High latency.
Specifically, determining that if the mode that the first working condition of master controller is malfunction may include: from monitoring
Switching signal to parking switch starts, if the backup controller waiting time is more than that master controller transmission has not been obtained in preset time
Main confirmation message, it is believed that the first working condition of master controller be malfunction, alternatively, if backing up within a preset time
It is event that controller, which gets the main confirmation signal of master controller and the first working condition of main confirmation signal characterization master controller,
Barrier state.It is understood that after the first working condition for determining master controller is malfunction, if the second work shape
State is malfunction, carries out parking fault alarm.If the first working condition and the second working condition are malfunction, can be true
Determine master controller and backup controller be in malfunction, can not normal control vehicle parking, parking failure can be carried out
Alarm operation.
On the basis of the above embodiments, the second control command is generated based on the switching signal, comprising:
The open and-shut mode in the switching signal is extracted, and obtain stopping caliper clamps state；According to the opening and closing shape
State determines the second control instruction with the state that clamps in preset control instruction relation table.
Wherein, open and-shut mode can be the state parameter that characterization switching signal control vehicle parking starts or terminates, tool
Body can be analog information or digital information, and the state of clamping can be the state whether stopping caliper carries out parking, parking card
The state that clamps of pincers may indicate that vehicle is in parked state, and the non-state that clamps of stopping caliper can illustrate that vehicle is in non-and stays
Car state, can notify the sensor being arranged at stopping caliper to obtain, and control instruction relation table can have control with associated storage
The relation table of instruction and switching signal open and-shut mode, can determine corresponding second control instruction according to different switching signals.
The parameter that vehicle parking unlatching or vehicle parking are closed is characterized in switching signal specifically, can extract, it can be with
State is clamped using the sensor acquisition stopping caliper being arranged at stopping caliper, according to open and-shut mode and state can be clamped
It is searched in preset control instruction relation table, it can be using the instruction found as the second control instruction.
Further, the embodiment of the present invention, can in order to ensure that master controller is synchronous with the parking function of backup controller
With the parked state parameter generated after realizing vehicle parking in acquisition backup controller, parked state parameter is sent to master control
Device processed realizes the consistency of data in master controller and backup controller, it is ensured that vehicle parking function is accurately realized.
Example IV
Fig. 4 is a kind of structural schematic diagram of the parking control device for vehicle that the embodiment of the present invention four provides；This can be performed
The parking control method of vehicle provided by invention any embodiment has the corresponding functional module of execution method and beneficial to effect
Fruit.The device can be can integrate in the host controller by software and or hardware realization, which specifically includes: main self-test mould
Block 401, main sending module 402 and main control module 403.
Wherein, main selftest module 401 when for monitoring the switching signal of parking switch, determines the master controller
First working condition.
Main sending module 402, for generating main confirmation message based on first working condition and being sent to the backup
Controller.
Main control module 403, for when first working condition is normal condition, then it is raw to be based on the switching signal
The vehicle parking is controlled at the first control command, and by first control command.
The technical solution of the embodiment of the present invention, through main selftest module in the switching signal for monitoring parking switch, really
Determine the first working condition of master controller, main sending module is based on working condition and generates main confirmation message and be sent to Standby control
Device, main control module generate the first control command when working condition is normal condition, based on switching signal, based on the first control
Order solves the problems, such as that there are security risks for remote vehicle control, improves the safety of vehicle parking to vehicle parking, can
Enhance the safety of vehicle drive.
It on the basis of the above embodiments, further include major error module, wherein major error module, for working as described first
When working condition is malfunction, then according to the reception result for having backup confirmation message to the backup controller, carry out
The operation of first setting strategy.
On the basis of the above embodiments, major error module includes processing unit, if specifically for monitoring that parking opens
Backup confirmation message is not received in the preset time of the switching signal of pass, determines the working condition of the backup controller for event
Barrier state, and carry out parking fault alarm operation；
If receiving backup confirmation message in the preset time for the switching signal for monitoring parking switch, when backup is true
When the working condition for recognizing backup controller described in information indicating is normal condition, the backup controller is waited to carry out the vehicle
Parking control；
When the working condition that backup confirmation message indicates the backup controller is malfunction, parking failure report is carried out
Alert operation.
On the basis of the above embodiments, the device further include: main Switching Module, for being given birth to after obtaining the vehicle parking
At parked state parameter, the parked state parameter is sent to the backup controller.
Embodiment five
Fig. 5 is a kind of structural schematic diagram of the parking control device for vehicle that the embodiment of the present invention five provides；This can be performed
The parking control method of vehicle provided by invention any embodiment has the corresponding functional module of execution method and beneficial to effect
Fruit.The device can be can integrate in backup controller by software and or hardware realization, which specifically includes: backup is certainly
Examine module 501, backup sending module 502 and backup control module 503.
Wherein, backup selftest module 501 when for monitoring the switching signal of parking switch, determines the Standby control
Second working condition of device.
Backup sending module 502, for generating backup confirmation message based on first working condition and being sent to described
Master controller.
Backup control module 503, for determining that the first working condition of master controller is malfunction, and second work
When to make state be normal condition, then the second control command generated based on the switching signal, and pass through second control command
Control the vehicle parking.
The technical solution of the embodiment of the present invention, through backup selftest module in the switching signal for monitoring parking switch,
Determine the second working condition of backup controller, it is concurrent that backup sending module is based on the second working condition generation backup confirmation message
It is raw to master controller, backup control module is determining that the first working condition of master controller is malfunction, and the second working condition
For normal condition, then the second control command is generated according to switching signal, vehicle parking is realized according to the second control command, is solved
Remote vehicle control problem can reduce vehicle parking failure occurrence probability, improve the safety of vehicle.
On the basis of the above embodiments, backup control module includes fault recognition unit, is specifically used for: monitoring to stay
Main confirmation message is not received in the preset time of the switching signal of stopping switch, alternatively, described in received main confirmation message mark
First working condition of master controller is malfunction.
On the basis of the above embodiments, backup control module includes:
Parameter acquiring unit, for extracting the open and-shut mode in the switching signal, and obtain stopping caliper clamps shape
State.
Instruction generation unit, for true in preset control instruction relation table with the state that clamps according to the open and-shut mode
Fixed second control instruction.
Embodiment six
Fig. 6 is a kind of structural schematic diagram for vehicle that the embodiment of the present invention six provides, as shown in fig. 6, the vehicle includes extremely
Few two controllers, at least two memories, input unit 62 and output device 63；The quantity of controller can be two in vehicle
It is a or multiple, with two controllers in Fig. 6, for master controller 601 and backup controller 602；Master controller 601 in vehicle
Bus can be passed through with backup controller 602, main memory 611 and backup of memory 612, input unit 62 and output device 63
Or other modes connect, in Fig. 6 for being connected by vehicle bus.
Main memory 611 is used as a kind of computer readable storage medium, and it is executable to can be used for storing software program, computer
Program and module, if the corresponding program module of parking control method of the vehicle in the embodiment of the present invention is (for example, vehicle is stayed
Main selftest module 401, main sending module 402 and main control module 403 in truck control device).Master controller 601 passes through operation
Software program, instruction and the module being stored in main memory 611, thereby executing the various function application and data of vehicle
Processing, that is, realize the parking control method of above-mentioned vehicle.
Backup of memory 612 is used as a kind of computer readable storage medium, and can be used for storing software program, computer can hold
Line program and module, can also be if the corresponding program module of parking control method of the vehicle in the embodiment of the present invention is (for example, vehicle
Parking control device in backup selftest module 501, backup sending module 502 and backup control module 503).Backup control
Software program, instruction and the module that device 602 processed is stored in backup of memory 612 by operation, thereby executing each of vehicle
Kind functional application and data processing, that is, realize the parking control method of above-mentioned vehicle.
Main memory 611 and backup of memory 612 can mainly include storing program area and storage data area, wherein storage
It program area can application program needed for storage program area, at least one function；Storage data area can be stored to be made according to terminal
With the data etc. created.In addition, main memory 611 and backup of memory 612 may include high-speed random access memory, also
It may include nonvolatile memory, for example, at least a disk memory, flush memory device or other nonvolatile solid states are deposited
Memory device.In some instances, main memory 611 and backup of memory 612 can further comprise relative to 601 He of master controller
The remotely located memory of backup controller 602, these remote memories can pass through network connection to vehicle.Above-mentioned network
Example includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 62 can be used for receiving the number or character information of input, and generate with the user setting of vehicle and
The related key signals input of function control.Output device 63 may include that vehicle-carrying display screen and instrument board etc. show equipment.
Parking switch 64 can control the opening and closing of vehicle parking for generating switching signal.
Stopping caliper 65, for according to control command realize vehicle parking, can according to control command lock clamp or
Open clamp.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes method described in each embodiment of the present invention.
It is worth noting that, in the embodiment of the parking control device of above-mentioned vehicle, included each unit and module
It is only divided according to the functional logic, but is not limited to the above division, as long as corresponding functions can be realized；
In addition, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of parking control method of vehicle, which is characterized in that the vehicle includes master controller and backup controller, described
Method is applied to master controller, comprising:
When monitoring the switching signal of parking switch, the first working condition of the master controller is determined；
Main confirmation message is generated based on first working condition and is sent to the backup controller；
When first working condition is normal condition, then the first control command is generated based on the switching signal, and pass through
First control command controls the vehicle parking.
2. the method according to claim 1, wherein further include: when first working condition is malfunction
When, then according to the reception result for having backup confirmation message to the backup controller, carry out the operation of the first setting strategy.
3. according to the method described in claim 2, it is characterized in that, the basis has backup really to the backup controller
Recognize the reception result of information, carry out the operation of the first setting strategy, comprising:
If not receiving backup confirmation message in the preset time for the switching signal for monitoring parking switch, the backup is determined
The working condition of controller is malfunction, and carries out parking fault alarm operation；
If receiving backup confirmation message in the preset time for the switching signal for monitoring parking switch, when backup confirmation letter
When the working condition of the breath mark backup controller is normal condition, the backup controller is waited to carry out staying for the vehicle
Vehicle control；
When the working condition that backup confirmation message indicates the backup controller is malfunction, parking fault alarm behaviour is carried out
Make.
4. the method according to claim 1, wherein generating control command based on the switching signal to control
The vehicle is realized after parking, further includes:
The parked state parameter generated after the vehicle parking is obtained, the parked state parameter is sent to the Standby control
Device.
5. a kind of parking control method of vehicle, which is characterized in that the vehicle includes master controller and backup controller, described
Method is applied to backup controller, comprising:
When monitoring the switching signal of parking switch, the second working condition of the backup controller is determined；
Backup confirmation message is generated based on second working condition and is sent to the master controller；
The first working condition for determining master controller is malfunction, and when second working condition is normal condition, then base
The second control command is generated in the switching signal, and the vehicle parking is controlled by second control command.
6. according to the method described in claim 5, it is characterized in that, the first working condition of the determining master controller is failure
State, comprising:
Main confirmation message is not received in the preset time for the switching signal for monitoring parking switch, alternatively, received master is true
The first working condition for recognizing master controller described in information indicating is malfunction.
7. according to the method described in claim 5, it is characterized in that, described generate the second control life based on the switching signal
It enables, comprising:
The open and-shut mode in the switching signal is extracted, and obtain stopping caliper clamps state；
According to the open and-shut mode and clamp state determining second control instruction in preset control instruction relation table.
8. a kind of parking control device of vehicle, which is characterized in that the vehicle includes master controller and backup controller, described
Device is integrated in master controller, comprising:
Main selftest module when for monitoring the switching signal of parking switch, determines the first working condition of the master controller；
Main sending module, for generating main confirmation message based on first working condition and being sent to the backup controller；
Main control module, for when first working condition is normal condition, then generating first based on the switching signal
Control command, and the vehicle parking is controlled by first control command.
9. a kind of parking control device of vehicle, which is characterized in that the vehicle includes master controller and backup controller, described
Device is integrated in backup controller, comprising:
Backup selftest module when for monitoring the switching signal of parking switch, determines the second work of the backup controller
State；
Backup sending module, for generating backup confirmation message based on first working condition and being sent to the main control
Device；
Backup control module, for determining that the first working condition of master controller is malfunction, and second working condition
When for normal condition, then the second control command is generated based on the switching signal, and pass through second control command control institute
State vehicle parking.
10. a kind of vehicle, which is characterized in that the vehicle includes:
At least two controllers, including master controller and backup controller；
At least two memories, including main memory and backup of memory；
Main memory, for storing one or more programs, when one or more of programs are by one or more of master controls
Device processed executes, so that one or more of master controllers realize the parking control of the vehicle as described in any in claim 1-4
Method processed；
Backup of memory, for storing one or more programs, when one or more of programs are by one or more of standby
Part controller executes, so that one or more of backup controllers realize the parking system as described in any in claim 5-8
The control method of system；
Parking switch, for generating switching signal, to control the opening and closing of vehicle parking；
Stopping caliper, for realizing vehicle parking according to control command.
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| CN201910481743.8A CN110228453B (en) | 2019-06-04 | 2019-06-04 | Parking control method and device for vehicle and vehicle |
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| CN201910481743.8A CN110228453B (en) | 2019-06-04 | 2019-06-04 | Parking control method and device for vehicle and vehicle |
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| CN116653901A (en) * | 2023-07-28 | 2023-08-29 | 小米汽车科技有限公司 | Parking brake control method, system, device and vehicle |
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