CN113561956A - Parking control circuit, parking control method, parking control device and computer readable storage medium - Google Patents
Parking control circuit, parking control method, parking control device and computer readable storage medium Download PDFInfo
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- CN113561956A CN113561956A CN202110760012.4A CN202110760012A CN113561956A CN 113561956 A CN113561956 A CN 113561956A CN 202110760012 A CN202110760012 A CN 202110760012A CN 113561956 A CN113561956 A CN 113561956A
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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
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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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- 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
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Abstract
The application discloses a parking control method and device and a computer readable storage medium, and the scheme provided by the application comprises the following steps: when the control unit monitors that the vehicle has abnormal parking action, one group of the first switch group and the second switch group is controlled to be fully turned on and the other group is controlled to be fully turned off by the control unit; generating a torque in a reverse direction to a control torque for parking control in a parking actuator according to a loop formed by the turned-on switch group; and controlling the vehicle to stop the abnormal parking action according to the torque opposite to the control torque. According to the scheme of the embodiment of the application, when the abnormal parking action of the vehicle is detected, the sliding of the parking actuator can be rapidly stopped by controlling the corresponding switch to be turned off and turned on to form the reverse torque, so that the parking safety of the vehicle is improved.
Description
Technical Field
The present disclosure relates to the field of vehicle parking technologies, and in particular, to a parking control circuit, a parking control method, a parking control device, and a computer readable storage medium.
Background
The correct execution of the parking control of the vehicle is related to the safety of the whole vehicle, and when the vehicle has abnormal parking action, for example, when the vehicle is parked on a slope, the parking system will generally enter a parking state, i.e., the pawl of the ratchet-pawl mechanical structure enters a ratchet state. If the internal program execution is wrong due to some electrical fault, causing the parking system to execute an unexpected action, the off-parking program is started under the condition that the vehicle is in the parking-keeping state, so that the pawl is disengaged from the ratchet wheel, the parking failure can be caused, and the vehicle slides on the slope, and the safety of the surroundings is endangered. A normal abnormal parking control method is to turn off all the parking switches of the parking system in order to end the undesired operation.
Although the parking switch is controlled to be completely switched off, the power supply can be disconnected to supply current to the parking actuator, so that the parking actuator cannot normally control the motor to rotate to execute corresponding parking action. However, when the parking actuator is actuated and has a certain current and rotation speed, the off switch does not immediately turn off the parking actuator, but continues to slide for a certain distance. If the sliding distance is too long, there is a possibility that the pawl has already escaped from the ratchet wheel, i.e., changed from the park-holding state to the out-of-park state, resulting in a risk of vehicle safety.
How to improve the safety of vehicle parking is the technical problem to be solved at present.
Disclosure of Invention
An embodiment of the application aims to provide a parking control circuit, a parking control method, a parking control device and a computer readable storage medium, which are used for solving the problem of low safety of an existing vehicle abnormal parking control mode.
In order to solve the above technical problem, the present specification is implemented as follows:
in a first aspect, a parking control circuit is provided, including: a power source; the parking switch comprises a first switch group and a second switch group, wherein the first switch group comprises a plurality of first switches, and first ends of the first switches are respectively connected to a first pole of a power supply; the second switch group comprises a plurality of second switches in one-to-one correspondence with the plurality of first switches, the first ends of the plurality of second switches are respectively connected to the second ends of the corresponding first switches, and the second ends of the plurality of second switches are respectively connected to the second pole of the power supply; the multi-path control ends of the parking actuator are respectively and correspondingly connected between the second ends of the first switches and the first ends of the second switches, and the first output end of the parking actuator outputs control torque for parking control; and the control unit is respectively connected with the control ends of the first switches and the second switches so as to control the first switches and the second switches to be switched on or off, so that the parking execution vehicle generates torque opposite to the control torque.
Optionally, the first switch and the second switch respectively include a bipolar transistor and a reverse diode arranged in parallel; alternatively, the first switch and the second switch each include a field effect transistor.
Optionally, the control unit is further connected to a second output terminal of the parking actuator to receive the detected current information output by the parking actuator, and connected to an output terminal of the parking mechanical structure to receive the parking position information output by the parking mechanical structure, and the first output terminal of the parking actuator is connected to an input terminal of the parking mechanical structure.
In a second aspect, a parking control method is provided, which is applied to the parking control circuit of the first aspect, and includes: when the control unit monitors that the vehicle has abnormal parking action, one group of the first switch group and the second switch group is controlled to be fully turned on and the other group is controlled to be fully turned off by the control unit; generating a torque opposite to the control torque in the parking actuator according to a loop formed by the turned-on switch group; and controlling the vehicle to stop the abnormal parking action according to the torque opposite to the control torque.
Optionally, the control unit monitors that the vehicle has an abnormal parking action, including at least one of:
the control unit monitors whether abnormal parking action exists when the vehicle executes parking entering action, parking disengaging action or maintains a parking state by receiving detection current information output by a second output end of the parking actuator;
the control unit monitors whether the vehicle performs parking entering action, parking disengaging action or abnormal parking action exists or not by receiving parking position information output by an output end of the parking mechanical structure;
the control unit monitors whether abnormal parking action exists when the vehicle executes parking entering action, parking disengaging action or maintains a parking state by detecting current information output by the parking switch.
Optionally, the abnormal parking action comprises at least one of:
when the vehicle executes the parking entering action, the parking mechanical structure moves towards the direction of disengaging from the parking;
when the vehicle executes the parking disengaging action, the parking mechanical structure moves towards the parking entering direction;
when the vehicle is kept in a parking state, the parking position of the parking mechanical structure is undesirably moved;
when the vehicle executes the parking entering action, the current of the parking actuator is in a reverse current with the current in the parking entering state;
when the vehicle executes the parking separation action, the current of the parking actuator is the reverse current when the parking separation state occurs;
when the vehicle is held in the parked state, a current is present in the parking actuator.
Optionally, generating a torque in the parking actuator opposite to the control torque comprises: generating a torque opposite to the control torque based on a negative voltage generated by the current motor rotation of the parking actuator; controlling the vehicle to stop the abnormal parking action according to the torque opposite to the control torque, comprising: the motor stops rotating based on the reverse torque to control the vehicle to stop the abnormal parking action.
Optionally, the method further includes: when the control unit receives a target instruction, the switches in the first switch group and the second switch group are controlled to be switched on or switched off according to a switch state corresponding to the target instruction, and the target instruction comprises a parking entering instruction or a parking leaving instruction; generating a control torque for controlling the vehicle to execute an entering parking action or an exiting parking action in the parking actuator according to a loop formed by the conducting switches in the first switch group and the second switch group and the power supply correspondingly; and controlling the vehicle to perform the parking entering action or the parking leaving action according to the control torque.
In a third aspect, a parking control device is provided, comprising a memory and a processor electrically connected to the memory, the memory storing a computer program executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to the second aspect.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the method according to the second aspect.
Through this application embodiment, when the control unit monitors that there is unusual parking action in the vehicle, control unit control first switch group and second switch group one group is all switched on and another group is all switched off. According to a loop formed by the switch group which is conducted at the moment, torque opposite to the control torque is generated in the parking actuator, the control torque is correspondingly generated by driving the parking actuator to rotate by current provided by a power supply in the original loop, and the abnormal parking action of the vehicle is controlled to stop according to the torque opposite to the control torque, so that the current in the parking actuator can be quickly attenuated, the control torque is further attenuated, the rotating speed of a motor of the parking actuator is quickly reduced to zero, the sliding distance of the parking actuator after the parking switch is switched off can be effectively shortened, the safe parking of the whole vehicle can be ensured, and the safety of the parking of the vehicle is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a circuit configuration diagram of a parking control circuit according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating a parking control method according to a first embodiment of the present application.
Fig. 3 is a state diagram of a parking actuator when a switch is turned off in a conventional parking control method.
FIG. 4 is a schematic diagram of a state of a parking actuator when a switch is turned off in a parking control method according to an embodiment of the present application.
Fig. 5 shows an example of the switch control logic of the parking control method according to the embodiment of the present application.
Fig. 6 is a flowchart illustrating a parking control method according to a second embodiment of the present application.
Fig. 7 is a block diagram showing the structure of the parking control apparatus according to the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The reference numbers in the present application are only used for distinguishing the steps in the scheme and are not used for limiting the execution sequence of the steps, and the specific execution sequence is described in the specification.
In order to solve the problems existing in the prior art, an embodiment of the application provides a parking control circuit, which comprises a power supply, a parking switch, a parking actuator and a control unit. The parking switch comprises a first switch group and a second switch group, wherein the first switch group comprises a plurality of first switches, and first ends of the first switches are respectively connected to a first pole of a power supply; the second switch group comprises a plurality of second switches in one-to-one correspondence with the plurality of first switches, first ends of the plurality of second switches are respectively connected to second ends of the corresponding first switches, and second ends of the plurality of second switches are respectively connected to second poles of the power supply. The multi-path control ends of the parking actuator are respectively and correspondingly connected between the second ends of the first switches and the first ends of the second switches, and the first output end of the parking actuator outputs control torque for parking control. And the control unit is respectively connected with the control ends of the first switches and the second switches so as to control the first switches and the second switches to be switched on or off, so that the parking execution vehicle generates torque opposite to the control torque.
Next, the parking control circuit of the present application will be described in conjunction with the embodiment of fig. 1, and fig. 1 is a circuit configuration diagram of the parking control circuit of the embodiment of the present application.
As shown in fig. 1, the parking switch includes a first switch group 20 and a second switch group 30, the first switch group 20 includes two first switches U _ HS and V _ HS, the second switch group 30 includes two second switches U _ LS and V _ LS, the first switch U _ HS and the second switch U _ LS are correspondingly connected in series, and the first switch V _ HS and the second switch V _ LS are correspondingly connected in series. One ends of the first switches U _ HS and V _ HS are respectively connected to, for example, the positive electrode of the power supply 10, the other ends thereof are respectively connected to one ends of the second switches U _ LS and V _ LS in one-to-one correspondence, and the other ends of the second switches U _ LS and V _ LS are respectively connected to the negative electrode of the power supply.
Parking actuator 40 in the embodiment of fig. 1 comprises two control terminals, one of which is connected between first switch U _ HS and the corresponding second switch U _ LS in series, and the other of which is connected between first switch V _ HS and the corresponding second switch V _ LS in series. An output of the parking actuator 40 is connected to an input of the parking mechanism 60, and the parking mechanism 60 is connected to the ratchet-pawl mechanism 70.
The control unit 50 is connected to the control terminals of the first switches U _ HS, V _ HS and the second switches U _ LS, V _ LS, respectively, as indicated by the dashed arrows, and the control unit 50 sends control commands to the switches to control the on/off of the first switches U _ HS, V _ HS and the second switches U _ LS, V _ LS, respectively. Therefore, the parking actuator can drive the motor of the parking actuator to rotate according to the current in the loop formed by the power supply 10 and the corresponding conducting switch, and further generate the control torque for parking control, so as to control the parking mechanism 60 and the ratchet-pawl mechanism 70 to execute the parking action or the parking action of the vehicle. The ratchet-pawl mechanism 70 is typically located within the drive train of the vehicle drive train, and when the pawl enters the ratchet, the ratchet is locked, thereby locking the drive train to achieve the entry into park function. Conversely, when the pawl disengages the ratchet, the ratchet may rotate with the drive train, thereby performing an out-of-park function. The parking actuator 40 effects the execution of the entry-to-park or exit-from-park motion by pushing the parking mechanism 60 so that the pawl enters or disengages the ratchet.
Of course, the present application is not limited to the specific embodiments described above, and other mechanical structures that may be used for vehicle park lock similar to a ratchet-pawl mechanism, for example, fall within the scope of the present application.
In one embodiment, as shown in fig. 1, the first switch and the second switch each comprise a switching tube with a backward diode function. Optionally, the first switch and the second switch respectively include a bipolar transistor and a reverse diode arranged in parallel. For example, an Insulated Gate Bipolar Transistor (IGBT) switch is connected in parallel with a reverse diode to form a switching tube, or the first switch and the second switch respectively include field effect transistors. For example, a Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET) with a self-contained backward diode function alone forms a switching tube. The first switch and the second switch may also be other transistors with an inverting function, and the application is not limited to the above-described embodiments.
In one embodiment, as shown in fig. 1, the control unit 50 is further connected to a second output terminal of the parking actuator 40 to receive the detected current information output by the parking actuator 40, and to an output terminal of the parking mechanism 60 to receive the parking position information output by the parking mechanism 60. The detected current information indicates the current condition in the current parking actuator 40, such as whether current is present, the magnitude of the current, and the like. The parking position information indicates the current position of the parking mechanism 60, such as the angular direction in which the ratchet-pawl mechanism 70 is pushed to rotate, the magnitude of the angle, and so on.
Thereby, the control unit 50 can monitor the parking state of the vehicle to find out whether there is an abnormal parking action of the vehicle. The parking control method will be described in detail below, and will not be described in detail here.
In the embodiment of fig. 1, the parking control circuit includes a first switch group and a second switch group, each of which includes two switches, and the two switches of the first switch group are respectively connected in series with the two switches of the second switch group in a one-to-one correspondence. Correspondingly, the parking actuator 40 of the parking control circuit includes two control terminals, which are respectively connected between two switches connected in series correspondingly.
It is apparent that the parking control circuit of the present application is not limited to this specific embodiment, and for example, the parking control circuit includes a first switch group and a second switch group each including three switches, and the three switches of the first switch group are connected in series with the three switches of the second switch group in a one-to-one correspondence. Correspondingly, the parking actuator 40 of the parking control circuit includes three control terminals, which are respectively connected between the three switches connected in series in a one-to-one correspondence manner.
Referring now to fig. 2, fig. 2 is a flowchart illustrating a parking control method according to a first embodiment of the present application, which is applied to the parking control circuit described above.
As shown in fig. 2, the method comprises the steps of:
102, when the control unit monitors that the vehicle has abnormal parking action, controlling one group of the first switch group and the second switch group to be fully turned on and the other group to be fully turned off through the control unit;
and step 106, controlling the vehicle to stop the abnormal parking action according to the torque opposite to the control torque.
Based on the solution provided by the foregoing embodiment, optionally, in step 102, the monitoring, by the control unit, that the vehicle has an abnormal parking action includes at least one of:
the control unit monitors whether abnormal parking action exists when the vehicle executes parking entering action, parking disengaging action or maintains a parking state by receiving detection current information output by a second output end of the parking actuator;
the control unit monitors whether abnormal parking action exists when the vehicle executes parking entering action, parking disengaging action or parking state maintaining through receiving parking position information output by an output end of the parking mechanical structure;
the control unit monitors whether abnormal parking action exists when the vehicle executes parking entering action, parking disengaging action or maintains a parking state by detecting current information output by the parking switch.
The above abnormal parking action includes at least one of:
when the vehicle executes the parking entering action, the parking mechanical structure moves towards the direction of disengaging from the parking;
when the vehicle executes the parking disengaging action, the parking mechanical structure moves towards the parking entering direction;
when the vehicle is kept in a parking state, the parking position of the parking mechanical structure is undesirably moved;
when the vehicle executes the parking entering action, the current of the parking actuator is in a reverse current with the current in the parking entering state;
when the vehicle executes the parking separation action, the current of the parking actuator is the reverse current when the parking separation state occurs;
when the vehicle is held in the parked state, a current is present in the parking actuator.
The above-mentioned abnormal parking action belongs to undesired position movement of the parking mechanism, for example, when the vehicle performs a normal parking entering action, the control torque generated by the motor inside the parking actuator 40 will drive the parking mechanism 60 to perform the parking entering action, and accordingly the parking mechanism 60 will push the ratchet-pawl mechanism 70 to move from the parking position where the angle is increased from 0 degree to 60 degrees.
If the position sensor detects that the ratchet-pawl mechanism 70 moves from the parking position of 60 degrees to a position where the angle gradually decreases, or moves to a gradually decreasing angle at some angle in the middle of the execution of the parking entry motion, the parking mechanism 60 sends the parking position information to the control unit 50, and then the control unit 50 monitors that the vehicle has an abnormal parking motion when the parking entry motion is executed.
Accordingly, when the parking position information detected by the position sensor indicates that the ratchet and pawl mechanism 70 moves to the parking position with an increasing angle when the vehicle performs the parking disengaging action, after the parking mechanism 60 sends the parking position information to the control unit 50, the control unit 50 may monitor that the vehicle performs the parking disengaging action and an abnormal parking action exists.
When the vehicle performs the parking entry action, the current in the parking actuator 40 should be in a forward direction, and a reverse current opposite to that in the parking entry state occurs, the control unit 50 monitors that there is an abnormal parking action when the vehicle performs the parking entry action.
Alternatively, when the vehicle performs the parking disengagement operation, the current in the parking actuator 40 should be in a reverse direction, and a forward current opposite to that in the parking disengagement state is generated, and the control unit 50 monitors that there is an abnormal parking operation when the vehicle performs the parking disengagement operation.
When the vehicle is in the parking state, the current in the parking actuator 40 should be zero, and if the current is present in the parking actuator, a torque for pushing the parking mechanism 60 to perform the parking-in action or the parking-out action is generated according to the direction of the current. At this time, a current sensor disposed inside or outside the parking actuator 40 detects a current flowing inside the parking actuator, and after the parking actuator 40 sends the detected current information to the control unit 50, the control unit 50 monitors that an abnormal parking motion exists when the vehicle is in a parking state.
In step 102, the control unit 50 controls one of the first switch set and the second switch set to be fully turned on and the other to be fully turned off when the abnormal parking motion of the vehicle is monitored. For example, the two first switches U _ HS and V _ HS of the first switch group 20 are controlled to be turned on, while the two second switches U _ LS and V _ LS included in the second switch group 30 are controlled to be turned off. Alternatively, the two first switches U _ HS and V _ HS of the first switch group 20 are controlled to be turned off, while the two second switches U _ LS and V _ LS included in the second switch group 30 are controlled to be turned on.
Thus, in step 104, the current in the circuit formed by the first switches U _ HS and V _ HS being conductive or the circuit formed by the second switches U _ LS and V _ LS being conductive causes parking actuator 40 to generate a torque opposite to the control torque for parking control.
As described above, the control torque is a torque for controlling the vehicle to normally perform the parking entry action or the parking exit action. If there is any kind of abnormal parking action of the vehicle, the control unit 50 may send a control command to control the corresponding switch to be turned on or off.
Based on the solution provided by the foregoing embodiment, optionally, in step 104, generating a torque opposite to the control torque in the parking actuator includes: a torque in the opposite direction to the control torque is generated based on a negative voltage generated by the current motor rotation of the parking actuator.
The motor rotation of the parking actuator 40 may be that the motor is driven to rotate by the current in the loop formed by the power source 10, the conduction switch and the parking actuator 40 when the parking is normally performed, or the motor of the parking actuator is driven to rotate by the current corresponding to the abnormal parking action when the vehicle is kept in the parking state.
The current motor rotation of the parking actuator 40 is the motor rotation after the control unit 50 finds that there is an abnormal parking motion of the vehicle, and controls one of the first switch group 20 and the second switch group 30 to be fully turned on and the other to be fully turned off. Since the rotation speed and current of the motor of the parking actuator 40 are not immediately attenuated to zero after the control unit 50 performs the control, the negative voltage generated by the current rotation of the motor forms a torque in the reverse direction of the control torque corresponding to the rotation speed of the motor in the circuit of the on-switch.
In the parking control circuit shown in fig. 1, the first switch group 20 and the second switch group 30 respectively include two switches, and the parking control circuit of the embodiment is a two-phase dc parking device. Take the example of controlling the first switches U _ HS and V _ HS included in the first switch group 20 of fig. 1 to be fully turned on, and controlling the second switches U _ LS and V _ LS included in the second switch group 30 to be fully turned off. When the motor of the parking actuator has the rotating speed, a torque in the opposite direction of the control torque corresponding to the rotating speed of the motor is formed in the conducted first switches U _ HS and V _ HS.
Taking the upper end of the power source 10 as a positive electrode and the lower end as a negative electrode, the current provided by the power source 10 flows into the upper control end and flows out of the lower control end of the parking actuator 40. Since U _ LS and V _ LS are switching transistors, current can only flow in the top-to-bottom direction after being turned on, and current can only flow in the bottom-to-top direction through the backward diode. In this way, the reverse current generated inside the parking actuator 40 flows out from the lower control terminal, flows into the upper end of the switching transistor on the left side of the second switch V _ HS from bottom to top along the reverse diode on the right side of the second switch V _ HS, flows out from the lower end of the switching transistor on the left side of the second switch V _ HS, and then flows into the upper control terminal of the parking actuator 40.
In this manner, parking actuator 40 generates a current in a loop formed by the turned-on first switches U _ HS and V _ HS in a direction opposite to the current direction in the loop formed by power supply 10.
Due to the presence of this reverse current, a torque in the opposite direction to the control torque is generated in the parking actuator, and the motor of the parking actuator 40 can be quickly stopped from rotating.
In the parking control circuit in which the first switch group 20 and the second switch group 30 respectively include three switches, the parking control circuit is a three-phase ac parking device. In this embodiment, by controlling the circuit formed by one of the first switch group and the second switch group which is fully on and the other of which is fully off, a torque in the opposite direction to the control torque for the current-driven motor in the circuit formed by the power source 10 is generated in the parking actuator.
Based on the solution provided by the foregoing embodiment, optionally, in step 106, controlling the vehicle to stop the abnormal parking operation according to the torque of the control torque reversal includes: the motor stops rotating based on the reverse torque to control the vehicle to stop the abnormal parking action.
When the vehicle is monitored to have the abnormal resident vehicle, all switches included in one of the first switch group or the second switch group are turned on through the control unit, and all switches of the other switch group are turned off. However, at this time, since the motor has inductance, the control torque generated by the rotation of the motor does not suddenly change to zero. The reverse voltage generated when the motor rotates can generate reverse torque in a loop formed by the conducting switch, so that the control torque of the motor is gradually attenuated to zero. Only the reverse torque remains in the circuit after that, which suppresses the rapid decrease in the rotational speed of the motor, and the reverse torque decreases as the rotational speed decreases. Until the rotational speed is zero, the reverse torque also becomes zero.
The reverse torque of the motor during rotation can form the effect similar to braking, the rotating speed of the parking actuator is quickly reduced, and the sliding distance is effectively shortened.
Fig. 3 and 4 respectively show state diagrams of a parking actuator after a switch is turned off by a conventional parking control method and a parking control method according to an embodiment of the present application when an abnormal parking motion occurs in a vehicle.
As described above, when a parking abnormality of a vehicle is found, the related art controls all parking switches to enter an off state, so that a power supply is cut off to supply a corresponding driving current to a parking actuator to drive a motor to rotate, but turning off all parking switches cannot immediately stop the motor of the parking actuator, and the parking actuator may also slide for a certain distance.
As shown in fig. 3, it is assumed that the parking system is in the parking-maintained state at the time origin. At time t0, the internal program execution is incorrect due to some electrical electronic fault, initiating an out-of-park procedure, causing current to flow in the park actuator, which causes the motor to generate torque. The torque pushes the parking mechanism to move. At time t1, if this undesired current generation or position movement is found, the shut-off path is triggered to close all the parking electronic switches so that the current in the parking actuator decays to zero and the torque of the motor also decays to zero. However, due to the rotational inertia of the motor, the parking actuator may slide a distance, and the length of the sliding distance depends on the resistance of the mechanical mechanism connected with the parking actuator. For example, at time t2 shown in fig. 3, the motor speed of the parking actuator is zero and the parking actuator is completely stopped.
However, as shown in fig. 4, at the time t0 and the time t1, since current flows in some electric fail-safe actuators, the current drives the motor to generate torque, as in fig. 3. The torque pushes the parking mechanism to move. At time t1, the control unit discovers this undesired current generation or position shift, and triggers the off path of the embodiment of the present application to turn on all switches of one of the first and second switch sets while turning off all switches of the other set. This off path generates a reverse torque inside the parking actuator, unlike the state of the art when all switches are off. The direction of the reverse torque is just opposite to the direction of the current motor rotating speed, so that the rotating speed of the motor can be quickly reduced, and the sliding distance of the parking actuator is shortened. For example, as shown in fig. 4, at time t2 ', the motor speed of the parking actuator is zero, the parking actuator is completely stopped, and time t 2' in fig. 4, at which the parking actuator speed becomes zero, is significantly less than corresponding time t2 in fig. 3. When the parking actuator stops sliding, the reverse torque disappears naturally, and faults such as system overload cannot be caused.
The switch-on of all the switches of which of the first and second switch groups is also dependent on the ability of the switches to execute instructions from the control unit. When a switch fails to execute a command from the control unit due to a fault, the control unit needs to select a group of suitable switches to execute a corresponding conducting state according to an actual fault state. For example, if there is at least one faulty switch among the first switches of the first switch group, the control unit needs to select all the switches of the second switch group to be turned on.
Taking the parking switch of the parking control circuit of the embodiment of fig. 1 as an example, for example, when the first switch U _ HS has an open-circuit fault and cannot respond to the on command, the control unit needs to command the two second switches (U _ LS and V _ LS) of the second switch group 30 to enter the on state.
For another example, when the first switch U _ HS fails to respond to the command due to a short-circuit fault, the control unit needs to command the two first switches (U _ HS and V _ HS) of the first switch group to enter the conducting state. At this time, although the first switch U _ HS cannot respond to the command, the short-circuit fault thereof just can meet the requirement of conduction.
If at least one switch in the first switch group and the second switch group has a fault and cannot form a conducting loop, all switches of the parking switch including the first switch group and the second switch group can be turned off.
Turning on or off logic of the entire parking switch is described below in connection with the embodiment of fig. 1. as shown in fig. 5, the logic includes the following steps:
220, under the condition that the single tube fault exists in the lower second switch group and is a short circuit, turning off all switches of the upper first switch group and turning on all switches of the lower second switch group;
in step 232, all switches of the parking switch are turned off.
By adopting the parking control circuit and the parking control method, when the control unit monitors that the vehicle has abnormal parking action, one group of the first switch group and the second switch group is controlled to be fully turned on and the other group is controlled to be fully turned off by the control unit. According to a loop formed by the conducted switch group, torque opposite to the control torque is generated in the parking actuator, abnormal parking action of the vehicle is controlled to stop according to the torque opposite to the control torque, therefore, current in the parking actuator can be quickly attenuated, the control torque generated by the current corresponding to the rotation of the driving motor is attenuated, the motor rotating speed of the parking actuator is quickly reduced to zero, the sliding distance of the parking actuator after the parking switch is turned off can be effectively shortened, and the shortened sliding distance can ensure safe parking of the whole vehicle.
In particular, the risk of vehicle movement due to the failure of the park-holding function of the vehicle as a result of the pawl being completely disengaged from the ratchet can be avoided; or, the problem that the vehicle cannot normally run due to the fact that the pawl excessively enters the ratchet wheel to cause failure of the parking disengaging function of the vehicle can be avoided, and bad experience is brought to a driver.
According to the parking control method, the parking switch is controlled to be turned on or off, so that the vehicle can be stopped as soon as possible to execute the abnormal parking action when the vehicle has the abnormal parking action, and the vehicle can be controlled to execute the normal parking action. Fig. 6 is a flowchart illustrating a parking control method according to a second embodiment of the present application, which controls a normal parking action of a vehicle.
As shown in fig. 6, the method comprises the following steps:
and step 306, controlling the vehicle to perform an entering parking action or an exiting parking action according to the control torque.
Taking the parking switch of fig. 1 as an example, in step 304, when the control unit receives an entering parking command, the first switch U _ HS in the first switch group 20 and the second switch V _ LS in the second switch group 30 may be turned on, so that the current output by the positive electrode of the power supply 10 enters through the upper end of the first switch U _ HS, the lower end flows out to the control end above the parking actuator 40, and flows out from the control end below the parking actuator 40 to enter the upper end of the second switch V _ LS, and the lower end flows out to the negative electrode of the power supply. Through a loop formed by the power supply 10 and the conducting switch, the parking actuator 40 outputs a forward current to the parking mechanical structure 60 corresponding to the control torque generated by the driving motor, drives the parking mechanical structure 60 to rotate in the forward direction, pushes the pawl to enter the ratchet wheel, and thus executes the parking entering action of the vehicle.
Also taking the parking switch of fig. 1 as an example, in step 304, when the control unit receives an out-of-parking command, the first switch V _ HS in the first switch group 20 and the second switch U _ LS in the second switch group 30 may be turned on, so that the current output from the positive pole of the power supply 10 enters through the upper end of the first switch V _ HS, the lower end flows out to the control end below the parking actuator 40, and flows out from the control end above the parking actuator 40, enters the second switch U _ LS from the upper end, and flows out from the lower end to the negative pole of the power supply. Through a loop formed by the power supply 10 and the conducting switch, the parking actuator 40 outputs negative current to the parking mechanical structure 60 corresponding to the control torque generated by the driving motor, drives the parking mechanical structure 60 to rotate in the reverse direction, pushes the pawl to be pulled out from the ratchet wheel, and thus executes the parking disengaging action of the vehicle.
Optionally, an embodiment of the present application further provides a parking control device, and fig. 7 is a block diagram of the parking control device according to the embodiment of the present application.
As shown in the figure, the parking control apparatus 2000 includes a memory 2200 and a processor 2400 electrically connected to the memory 2200, where the memory 2200 stores a computer program executable by the processor 2400, and the computer program, when executed by the processor, implements the processes of any one of the above-mentioned embodiments of the parking control method, and can achieve the same technical effects, and is not repeated herein to avoid repetition.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of any one of the above-mentioned embodiments of the parking control method, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A parking control circuit, comprising:
a power source;
a parking switch including a first switch group and a second switch group, wherein the first switch group includes a plurality of first switches, first ends of which are respectively connected to a first pole of a power supply; the second switch group comprises a plurality of second switches in one-to-one correspondence with the plurality of first switches, first ends of the plurality of second switches are respectively connected to second ends of the corresponding first switches, and second ends of the plurality of second switches are respectively connected to a second pole of the power supply;
the multi-path control ends of the parking actuator are respectively and correspondingly connected between the second ends of the plurality of first switches and the first ends of the plurality of corresponding second switches, and the first output end of the parking actuator outputs control torque for parking control;
and the control unit is respectively connected with the control ends of the first switches and the second switches so as to control the first switches and the second switches to be switched on or off, so that the parking execution vehicle generates torque opposite to the control torque.
2. Parking control circuit according to claim 1,
the first switch and the second switch respectively comprise a bipolar transistor and a reverse diode which are arranged in parallel; alternatively, the first and second electrodes may be,
the first switch and the second switch each include a field effect transistor.
3. The parking control circuit of claim 1, wherein the control unit is further coupled to a second output of the parking actuator to receive sensed current information output by the parking actuator, and to an output of a parking mechanism coupled to an input of the parking mechanism to receive parking position information output by the parking mechanism.
4. A parking control method applied to the parking control circuit according to any one of claims 1 to 3, characterized by comprising:
when the control unit monitors that the vehicle has abnormal parking action, one group of the first switch group and the second switch group is controlled to be fully turned on and the other group of the first switch group and the second switch group is controlled to be fully turned off by the control unit;
generating a torque in the parking actuator in a direction opposite to the control torque according to a loop formed by the turned-on switch group;
and controlling the vehicle to stop the abnormal parking action according to the torque opposite to the control torque.
5. The parking control method of claim 4, wherein the control unit monitors the presence of abnormal parking action of the vehicle, including at least one of:
the control unit monitors whether abnormal parking action exists when the vehicle executes parking entering action, parking disengaging action or maintains a parking state by receiving detection current information output by a second output end of the parking actuator;
the control unit monitors whether abnormal parking action exists when the vehicle executes parking entering action, parking disengaging action or parking state maintaining through receiving parking position information output by an output end of the parking mechanical structure;
the control unit monitors whether abnormal parking action exists when the vehicle executes parking entering action, parking disengaging action or maintains a parking state by detecting current information output by the parking switch.
6. The parking control method according to claim 4 or 5, characterized in that the abnormal parking action includes at least one of:
when the vehicle executes the parking entering action, the parking mechanical structure moves towards the direction of disengaging from the parking;
when the vehicle executes the parking disengaging action, the parking mechanical structure moves towards the parking entering direction;
when the vehicle is kept in a parking state, the parking position of the parking mechanical structure is undesirably moved;
when the vehicle executes the parking entering action, the current of the parking actuator is in a reverse current with the current in the parking entering state;
when the vehicle executes the parking separation action, the current of the parking actuator is the reverse current when the parking separation state occurs;
when the vehicle is held in the parking state, a current is present in the parking actuator.
7. The parking control method according to claim 4,
generating a torque in the parking actuator that opposes the control torque, including:
generating a torque opposite to the control torque based on a negative voltage generated by the current motor rotation of the parking actuator;
controlling the vehicle to stop the abnormal parking action according to the torque opposite to the control torque, comprising:
the motor stops rotating based on the reverse torque to control the vehicle to stop an abnormal parking action.
8. The parking control method according to claim 4, characterized by further comprising:
when the control unit receives a target instruction, the switches in the first switch group and the second switch group are controlled to be switched on or switched off according to the switch state corresponding to the target instruction, and the target instruction comprises a parking entering instruction or a parking leaving instruction;
generating a control torque for controlling a vehicle to execute an entering parking action or an exiting parking action in the parking actuator according to a loop formed by the conducting switches in the first switch group and the second switch group and the power supply correspondingly;
and controlling the vehicle to execute an entering parking action or an exiting parking action according to the control torque.
9. A parking control apparatus, characterized by comprising: a memory and a processor electrically connected to the memory, the memory storing a computer program executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to any one of claims 4 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 4 to 8.
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| CN202110760012.4A CN113561956B (en) | 2021-07-05 | 2021-07-05 | Parking control circuit, parking control method, parking control device and computer readable storage medium |
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| CN202110760012.4A CN113561956B (en) | 2021-07-05 | 2021-07-05 | Parking control circuit, parking control method, parking control device and computer readable storage medium |
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| CN113561956B CN113561956B (en) | 2022-10-04 |
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