CN114001157B

CN114001157B - Parking control method and device and vehicle

Info

Publication number: CN114001157B
Application number: CN202010740984.2A
Authority: CN
Inventors: 胡如现; 刘德超; 刘剑
Original assignee: Beiqi Foton Motor Co Ltd
Current assignee: Beiqi Foton Motor Co Ltd
Priority date: 2020-07-28
Filing date: 2020-07-28
Publication date: 2023-04-18
Anticipated expiration: 2040-07-28
Also published as: CN114001157A

Abstract

The invention provides a parking control method, a parking control device and a vehicle, which are applied to a parking controller of a parking mechanism, wherein the parking mechanism comprises a ratchet wheel and a pawl which are mutually matched, the parking controller is electrically connected with a motor, the output end of the motor is mechanically connected with the pawl, and the method comprises the following steps: when a parking requirement of the vehicle is detected, the motor is electrified according to a preset frequency and a preset modulation ratio so as to control the motor to drive the pawl to operate towards the ratchet wheel; calculating the current stroke of the pawl according to the number of the electrifying cycles; and if the pawl and the ratchet wheel are reliably combined according to the electrifying current and the current stroke of the motor, the motor is stopped to be electrified. According to the invention, a complete parking process can be realized without installing a position sensor in the gearbox or the motor, so that the problems of high cost and inconvenience for later maintenance of a parking mechanism caused by the use of the position sensor can be avoided.

Description

Parking control method and device and vehicle

Technical Field

The invention relates to the technical field of automobiles, in particular to a parking control method and device and a vehicle.

Background

In recent years, with the development of parking technology, an automatic parking function has gradually become a vehicle standard. When the automatic parking function is started, a driver is not required to tread a brake or use a hand brake all the time, the vehicle can be in a static state all the time, accidents caused by 'vehicle sliding' on an uphill slope can be effectively prevented, convenience is brought to the driver, and rear-end accidents caused by paralysis carelessly when the vehicle runs in a road condition needing to be started and stopped frequently are reduced.

At present, a parking mechanism for realizing a parking function in a manner of driving a ratchet wheel and a pawl needs to detect the mileage or position of the pawl so as to judge the reliable combination of the pawl and the ratchet wheel, and further realize the parking function. In order to detect the ratchet wheel mileage or position, a position sensor is required to be arranged inside the gearbox to directly detect the ratchet wheel position, or the position sensor inside the motor is used for calculating the ratchet wheel mileage so as to deduce the relative position of the ratchet wheel and the pawl.

However, the mode of detecting the mileage or the position of the pawl by the parking mechanism needs to use the position sensor, but the environment where the position sensor or the motor is located is severe, the requirement on a position detection device is high, the cost of the parking mechanism is high, and the parking mechanism is not easy to maintain in a later period due to the special installation position.

Disclosure of Invention

In view of this, the present invention aims to provide a parking control method, a parking control device and a vehicle, so as to solve the problems that in the existing parking control technology, the device cost is high and the later maintenance is inconvenient in a manner of detecting the mileage of a pawl by using a position sensor inside a gearbox or a motor.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a parking control method is applied to a parking controller of a parking mechanism, the parking mechanism comprises a motor, a ratchet wheel and a pawl which are matched with each other, the parking controller is electrically connected with the motor, and the output end of the motor is mechanically connected with the pawl, and the method comprises the following steps:

when a parking requirement of the vehicle is detected, the motor is electrified according to a preset frequency and a preset modulation ratio so as to control the motor to drive the pawl to operate towards the ratchet wheel;

calculating the current stroke of the pawl according to the number of the power-on cycles;

and if the pawl is determined to be reliably combined with the ratchet wheel according to the electrifying current of the motor and the current stroke, the motor is stopped to be electrified.

The parking control method, wherein if it is determined that the pawl and the ratchet wheel are reliably combined according to the current flowing through the motor and the current stroke, stopping the current flowing through the motor, includes:

when the motor is electrified according to a preset frequency and a preset modulation ratio, if the detected current is greater than a preset current threshold value, restarting the motor;

after the motor is restarted, if the electrifying current is maintained in a state of being larger than a preset current threshold value and the current stroke reaches a preset stroke interval, the pawl and the ratchet wheel are determined to be reliably combined, and the motor is stopped to be electrified.

The parking control method, wherein if it is determined that the pawl and the ratchet wheel are reliably combined according to the current flowing through the motor and the current stroke, the motor is stopped to be supplied with current, further comprising:

after the motor is restarted, if the electrifying current is maintained in a state of being larger than a preset current threshold value and the current stroke does not reach a lower limit value of a preset stroke interval, determining that the motor is abnormally locked, stopping electrifying the motor, and reporting the abnormality.

after the motor is restarted, if the electrifying current is not in a state larger than a preset current threshold value, determining that the motor is out of step;

and when the motor is determined to be out of step, correcting the current stroke according to the out-of-step time length.

The parking control method, wherein the method further comprises:

and when the motor is electrified according to a preset frequency and a preset modulation ratio, if the current stroke is larger than the upper limit value of the preset stroke interval, determining that the pawl and the ratchet wheel are in contact failure, and stopping electrifying the motor.

Another objective of the present invention is to provide a parking control device, wherein the parking control device is applied to a parking controller of a parking mechanism, the parking mechanism includes a motor, and a ratchet and a pawl that are adapted to each other, the parking controller is electrically connected to the motor, and an output end of the motor is mechanically connected to the pawl, the device includes:

the first control module is used for electrifying the motor according to a preset frequency and a preset modulation ratio when the parking requirement of the vehicle is detected so as to control the motor to drive the pawl to operate towards the ratchet wheel;

the calculating module is used for calculating the current stroke of the pawl according to the number of the electrifying cycles;

and the second control module is used for stopping electrifying the motor if the pawl and the ratchet wheel are reliably combined according to the electrifying current and the current stroke of the motor.

Further, in the parking control apparatus, the second control module includes:

the restarting unit is used for restarting the motor if the detected current is larger than a preset current threshold value when the motor is electrified according to a preset frequency and a preset modulation ratio;

and the first control unit is used for determining that the pawl and the ratchet wheel are reliably combined and stopping electrifying the motor if the electrifying current is maintained in a state of being larger than a preset current threshold value and the current stroke reaches a lower limit value of a preset stroke interval after the motor is restarted.

Further, in the parking control apparatus, the second control module further includes:

and the second control unit is used for determining abnormal stalling of the motor, stopping electrifying the motor and reporting abnormality if the electrifying current is maintained in a state of being larger than a preset current threshold value and the current stroke does not reach a lower limit value of a preset stroke interval after the motor is restarted.

the determining unit is used for determining that the motor is out of step if the electrifying current is not in a state larger than a preset current threshold value after the motor is restarted;

and the correction unit is used for correcting the current stroke according to the out-of-step time length when the motor is determined to be out of step.

Further, the apparatus further comprises:

and the third control module is used for determining the contact fault of the pawl and the ratchet wheel and stopping electrifying the motor if the current stroke is larger than the upper limit value of the preset stroke interval when the motor is electrified according to the preset frequency and the preset modulation ratio.

Compared with the prior art, the parking control method and the parking control device have the following advantages that:

when a parking requirement of the vehicle is detected, the motor is electrified according to a preset frequency and a preset modulation ratio so as to control the motor to drive the pawl to operate towards the ratchet wheel, the current stroke of the pawl is calculated according to the number of electrified cycles, and then whether the pawl is reliably combined with the ratchet wheel or not is determined according to the electrified current of the motor and the current stroke. Because the motor is electrified according to the preset frequency and the preset modulation ratio, and the rotating distance of the motor in each electrifying period is fixed, the rotating distance of the motor can be determined according to the electrifying period number, namely the current stroke of the pawl can be correspondingly determined, and when the pawl runs to be reliably combined with the ratchet wheel, the electrifying current of the motor can be instantly increased to generate a sudden change phenomenon, so that whether the pawl is reliably combined with the ratchet wheel can be accurately judged according to the determined current stroke and the electrifying current of the motor, and the motor is stopped to be electrified when the pawl is determined to be reliably combined with the ratchet wheel, so that the parking process is completed. The realization of above-mentioned parking process need not to be used for detecting the position sensor of pawl mileage at gearbox inside or motor internally mounted, therefore can avoid leading to parking mechanism cost higher because of position sensor's use, and the problem of the later maintenance of being not convenient for.

It is a further object of the present invention to propose a storage medium having a plurality of instructions stored thereon, wherein the instructions are adapted to be loaded by a processor and to perform the parking control method as described above.

Another objective of the present invention is to provide an electronic device, comprising:

a processor adapted to implement instructions; and

a storage medium adapted to store a plurality of instructions adapted to be loaded by a processor and to perform the parking control method as described above.

It is a further object of the invention to propose a vehicle, wherein the vehicle comprises a parking control device as described above.

The storage medium, the electronic device and the vehicle have the same advantages as the parking control method and the parking control device in comparison with the prior art, and are not repeated herein.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:

FIG. 1 is a flow chart illustrating a parking control method according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating a parking control method according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a parking control device according to an embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, a schematic flow chart of a parking control method provided by an embodiment of the present invention is shown, and the parking control method is applied to a parking controller of a parking mechanism, where the parking mechanism includes a motor, and a ratchet and a pawl that are adapted to each other, the parking controller is electrically connected to the motor, and an output end of the motor is mechanically connected to the pawl, and the method includes steps S100 to S300.

In the embodiment of the invention, the ratchet wheel and the pawl are mutually matched, namely, the parking function can be realized by controlling the combination of the pawl and the ratchet wheel, and the parking release can be realized by controlling the separation of the pawl and the ratchet wheel. Because the output end of the motor is mechanically connected with the pawl, the pawl can be controlled to be close to the ratchet wheel by controlling the rotation of the motor, and the combination of the pawl and the ratchet wheel can be correspondingly realized, so that the parking is realized; meanwhile, the pawl can be controlled to be far away from the ratchet wheel by controlling the rotation of the motor, and the pawl can be correspondingly separated from the ratchet wheel, so that the parking is released.

In practical application, the motor is a synchronous motor, so that the rotation of a motor stator magnetic field generated by the change of the electrification of the motor is synchronous with the rotation of a motor rotor, namely the number of the rotation turns of the rotor can be determined by the number of the electrification cycles. The motor may be a dc brushless motor.

And S100, when a parking requirement of the vehicle is detected, electrifying the motor according to a preset frequency and a preset modulation ratio so as to control the motor to drive the pawl to operate towards the ratchet wheel.

In the step S100, the parking requirement indicates that the vehicle needs to be subjected to parking control, and whether the vehicle needs to be parked is determined by the current operating state of the vehicle, so that whether the vehicle has the parking requirement can be determined according to the current operating state of the vehicle; when the vehicle is determined to have a parking requirement, a pawl and a ratchet wheel are required to be controlled to be combined to achieve parking; the pawl and the ratchet wheel are originally in the separation device, so that the motor is electrified according to the preset frequency and the preset modulation ratio, specifically, the stator of the motor is electrified according to the preset frequency and the preset modulation ratio, and the motor can be driven to drive the pawl to operate towards the ratchet wheel.

The preset frequency and the preset modulation ratio are fixed values, and calibration and adjustment are specifically required to be performed in advance according to the actual condition of the motor. In addition, when the motor is electrified according to the preset frequency and the preset modulation ratio, the power supply provides pulse voltage with fixed size and continuously changed direction for the stator of the motor according to the preset frequency, and the back electromotive force of the rotor of the motor, which is applied to the pulse voltage, changes in a cosine wave manner along with the rotation of the rotor, so that the electrified current formed on the stator by the pulse motor changes in a sine wave manner.

And step S200, calculating the current stroke of the pawl according to the number of the electrifying cycles.

In the above step S200, the current stroke is a distance traveled by the pawl from the time when the motor is energized to the current time when the parking demand of the vehicle is detected. Because the rotor of the motor and the stator magnetic field of the motor are switched to synchronously rotate, and the stator magnetic field switching of the motor is consistent with the electrifying frequency of the motor, if the number of pole pairs of the motor is M, the stator magnetic field rotates 1/M of a circle every time the motor passes through one electric cycle, and correspondingly, the number of rotation circles of the output end of the motor is also 1/M; the distance that the output end of the motor drives the pawl to run every 1 turn is a fixed value, and if the fixed value is N, the distance that the motor drives the pawl to run in 1 electrical cycle is 1/MN; and then the current stroke of the pawl can be determined to be Q/MN according to the number Q of the current electrifying cycles of the motor from the moment when the parking requirement of the vehicle is detected to the current moment.

And step S300, if the pawl and the ratchet wheel are reliably combined according to the electrifying current and the current stroke of the motor, the motor is stopped to be electrified.

In the step S300, when the motor normally drives the pawl to operate, the energization current of the motor is a sine wave, and when the pawl is combined with the ratchet, the counter electromotive force applied to the stator is suddenly reduced due to sudden increase of the resistance, so that the energization current is suddenly increased, and the phenomenon of sudden change of the energization current occurs; meanwhile, when the vehicle is in the non-parking state, the distance between the pawl and the ratchet wheel is kept in a preset stroke interval, so that when the vehicle enters the parking state from the non-parking state, the distance traveled by the pawl is in the preset stroke interval; therefore, whether the pawl is reliably combined with the ratchet wheel or not can be judged more accurately according to the combination of the current of the motor and the current stroke of the pawl, and the motor is stopped to be electrified when the reliable combination of the pawl and the ratchet wheel is determined, so that the parking process is finished.

In the process of realizing parking, the embodiment of the invention does not perform closed-loop control on the rotating speed and the current of the motor, and only performs hardware protection on the current, namely performs open-loop control on the motor. When the number of pole pairs of the motor is determined, the actual mileage of the pawl can be calculated according to the number of the electric cycles. Because the running distance of the pawl is judged according to the number of the electrifying cycles of the motor, a position sensor for detecting the mileage of the pawl does not need to be arranged inside the gearbox or inside the motor.

Compared with the prior art, the parking control method has the following advantages:

because the motor is electrified according to the preset frequency and the preset modulation ratio, and the rotating distance of the motor in each electrifying period is fixed, the rotating distance of the motor can be determined according to the electrifying period number, namely the current stroke of the pawl can be correspondingly determined, and when the pawl runs to be reliably combined with the ratchet wheel, the electrifying current of the motor can generate a sudden change phenomenon, so that whether the pawl is reliably combined with the ratchet wheel can be accurately judged according to the determined current stroke and the electrifying current of the motor, and the motor is stopped to be electrified when the pawl is determined to be reliably combined with the ratchet wheel, so that the parking process is finished. The realization of above-mentioned parking process need not to be used for detecting the position sensor of pawl mileage at gearbox inside or motor internally mounted, therefore can avoid leading to parking mechanism cost higher because of position sensor's use, and the later maintenance's of being not convenient for problem, simultaneously because reduced the use of sensor, also reduced the trouble and got ready, saved vehicle use cost.

Optionally, in an embodiment, the step S300 includes steps S301 to S302:

step S301, when the motor is electrified according to the preset frequency and the preset modulation ratio, if the detected current is larger than a preset current threshold value, the motor is restarted.

In step S301, the preset current threshold is a current threshold for defining whether the motor is normally powered on and rotating; when the motor normally runs, the energizing current of the stator of the motor is a sine wave, and the current peak value is less than or equal to the preset current threshold value; therefore, when the motor is powered on according to the preset frequency and the preset modulation ratio, if the detected current is greater than the preset current threshold, the motor is in an abnormal operation state, which may be caused by the sudden change of the rotation resistance borne by the rotor or caused by the asynchronous operation of the rotor and the stator of the motor, so that the motor needs to be restarted, that is, the motor is powered on again after being powered off firstly, so as to determine the reason why the power-on current of the stator of the motor is greater than the preset current threshold.

Step S302, after the motor is restarted, if the electrifying current is maintained in a state of being larger than a preset current threshold value and the current stroke reaches a lower limit value of a preset stroke interval, the pawl and the ratchet wheel are determined to be reliably combined, and the motor is stopped to be electrified.

In step S302, since the distance between the pawl and the ratchet is kept within a predetermined stroke interval when the vehicle is in the non-parking state, the distance traveled by the pawl should be within the predetermined stroke interval when the vehicle enters the parking state from the non-parking state; the preset stroke interval is determined according to a standard distance between the pawl and the ratchet wheel when the vehicle is in a non-parking state in advance, and a fault-tolerant distance is set based on a mechanical transmission error, namely the preset stroke interval can be set to be the standard distance +/-fault-tolerant distance.

After the motor is restarted, if the current stroke reaches a preset stroke interval, the pawl enters a distance interval which is reliably combined with the ratchet wheel, and the pawl is possibly combined with the ratchet wheel at any time; if the current is detected to be maintained in a state of being larger than the preset current threshold value, the pawl is reliably combined with the ratchet wheel, so that the rotor of the motor cannot rotate continuously, namely, the parking purpose is achieved, the motor is stopped to be electrified, and the parking process is completed.

Alternatively, in an embodiment of the parking control method according to the embodiment of the present invention, the step S300 is after the step S301, and further includes the step S303:

step S303, after the motor is restarted, if the electrifying current is maintained in a state of being larger than a preset current threshold value and the current travel does not reach a lower limit value of a preset travel interval, determining that the motor is abnormally locked, stopping electrifying the motor, and reporting the abnormality.

In the step S303, if the current stroke does not reach the preset stroke interval, it indicates that the pawl does not enter the distance interval that is reliably combined with the ratchet wheel, and indicates that the pawl cannot be combined with the ratchet wheel at this time; if the situation that the electrifying current is maintained to be larger than the preset current threshold value is detected at the same time, the situation that the motor is locked due to the fact that the rotor is in contact with the stator and the output end of the motor is locked and the like is indicated, therefore, the motor is controlled to be powered off, the motor is prevented from being burnt, and abnormal conditions are reported to remind a driver.

Alternatively, in an embodiment of the parking control method according to the embodiment of the present invention, the step S300 is after the step S301, and further includes steps S304 to S305:

step S304, after the motor is restarted, if the electrifying current is not in a state larger than a preset current threshold value, determining that the motor is out of step.

In step S304, after the motor is restarted, if it is detected that the energization current is not maintained in a state greater than the preset current threshold, it indicates that the rotor of the motor has recovered to the normal rotation state, that is, the motor is in the out-of-step state before the restart.

And S305, when the motor is determined to be out of step, correcting the current stroke according to the out-of-step time length.

In the step S305, since the motor is still in the energized state when the motor is out of step, that is, the number of energization cycles is still continuously accumulated, and the current stroke in the step S200 is determined based on the number of energization cycles, when the motor is out of step, the current stroke calculated in the step S200 is greater than the actual mileage of the pawl, and therefore, the current stroke needs to be corrected according to the out-of-step duration corresponding to the motor being in the out-of-step state, so as to deduct the mileage of the pawl calculated by the number of energization cycles of the motor in the out-of-step stage.

Specifically, the out-of-step period is divided by the power-on period of the motor to determine the number of out-of-step periods, the number of out-of-step periods is multiplied by the distance of the motor driving the pawl to travel in 1 power-on period to obtain a deviation mileage, the deviation mileage is subtracted from the current stroke determined in step S200 to obtain the corrected actual travel mileage of the pawl, and the position of the ratchet wheel of the pawl can be accurately determined based on the actual travel mileage.

After step S305, the current stroke is updated according to the corrected pawl mileage and the number of energization cycles after restart, and the pawl/ratchet wheel position state is obtained.

Alternatively, in an implementation manner, the parking control method provided by the embodiment of the present invention further includes step S306:

step S306, when the motor is electrified according to a preset frequency and a preset modulation ratio, if the current stroke is larger than the upper limit value of the preset stroke interval, determining that the pawl and the ratchet wheel are in contact failure, and stopping electrifying the motor.

In the step S306, if the current stroke is greater than the upper limit value of the preset stroke interval, that is, when the distance from the motor to the pawl exceeds the distance range that is reliably combined with the ratchet, the pawl is not reliably combined with the ratchet, so that the resistance applied to the output end of the motor is not suddenly increased, that is, the energization electric quantity of the motor is not suddenly increased to be greater than the preset current threshold, and therefore, a contact fault between the pawl and the ratchet can be determined, energization of the motor is stopped, and a fault is reported.

In practical application, please refer to fig. 2, which shows a flowchart for executing the parking control method according to the embodiment of the present invention.

As shown in fig. 2, when the vehicle needs to be parked in step S211, the motor is started first, and in step S212, the stator of the motor is energized at a fixed frequency and a modulation ratio; then, in step S213, it is detected whether the energization current transmits a sudden change;

if no sudden change of the current is detected in step S213, it indicates that the motor rotor can rotate normally, so the process proceeds to step S214, and the formation of the pawl is calculated according to the number of the energization cycles, and then the process returns to step S212;

in step S213, if it is detected that the current suddenly changes, the method proceeds to step S215, restarts the motor and continues to determine whether the current is still in a sudden change state, and proceeds to step S216 if the current sudden change state disappears, or proceeds to step S217 if the current sudden change state does not disappear;

in step S216, determining that the motor is out of step once, correcting the operating mileage of the pawl according to the out-of-step duration, and then returning to step S211 to continue electrifying the stator of the motor according to the fixed frequency and the modulation ratio;

in step S217, determining whether the actual mileage of the pawl is within a target position range in which the pawl can be reliably coupled with the ratchet wheel according to the number of the power-on cycles, and if the actual mileage of the pawl is within the target position range in which the pawl can be reliably coupled with the ratchet wheel, determining that the pawl is reliably coupled with the ratchet wheel, which indicates that the parking function is implemented, so that the step S218 is performed, the control is ended, and the parking process is completed; if the actual mileage of the pawl is judged not to be within the range of the target position where the pawl can be reliably engaged with the ratchet wheel, the flow proceeds to step S219, abnormal stalling of the motor is determined, and power supply to the motor is stopped.

Another objective of the present invention is to provide a parking control device, wherein the parking control device is applied to a parking controller of a parking mechanism, the parking mechanism includes a ratchet and a pawl that are adapted to each other, the parking controller is electrically connected to a motor, and an output end of the motor is mechanically connected to the pawl, wherein, referring to fig. 3, fig. 3 shows a schematic structural diagram of a parking control device according to an embodiment of the present invention, and the parking control device includes:

the first control module 10 is used for electrifying the motor according to a preset frequency and a preset modulation ratio when the parking requirement of the vehicle is detected, so as to control the motor to drive the pawl to operate towards the ratchet wheel;

the calculating module 20 is used for calculating the current stroke of the pawl according to the number of the electrifying cycles;

and the second control module 30 is used for stopping electrifying the motor if the pawl and the ratchet wheel are reliably combined according to the electrifying current of the motor and the current stroke.

In the device according to the embodiment of the present invention, because the first control module 10 powers on the motor according to the preset frequency and the preset modulation ratio, and the rotating distance of the motor in each power-on period is fixed, the calculating module 20 can determine the rotating distance of the motor according to the power-on period number, that is, can correspondingly determine the current stroke of the pawl, and when the pawl is operated to be reliably combined with the ratchet, the current of the motor is instantly increased to generate a sudden change phenomenon, so that the second control module 30 can accurately judge whether the pawl is reliably combined with the ratchet according to the determined current stroke and the current of the motor, and when the pawl is determined to be reliably combined with the ratchet, the motor is stopped to be powered on, and the parking process is completed. Above-mentioned process need not to be used for detecting the position sensor of pawl mileage at gearbox inside or motor internally mounted, therefore can avoid leading to parking mechanism cost higher because of position sensor's use, and the problem of the later maintenance of being not convenient for has reduced the product fault point simultaneously.

Further, in the parking control apparatus, the second control module includes:

and the second control unit is used for determining abnormal locked rotor of the motor, stopping electrifying the motor and reporting abnormality if the electrified current is maintained in a state of being larger than a preset current threshold value and the current stroke does not reach a lower limit value of a preset stroke interval after the motor is restarted.

Further, the apparatus further comprises:

It is a further object of the present invention to provide a storage medium having a plurality of instructions stored thereon, wherein the instructions are adapted to be loaded by a processor and to perform the parking control method as described above.

It is still another object of the present invention to provide an electronic device, which includes:

a processor adapted to implement instructions; and

In summary, according to the parking control method, the parking control device and the vehicle provided by the application, when a parking requirement of the vehicle is detected, the motor is powered on according to the preset frequency and the preset modulation ratio so as to control the motor to drive the pawl to operate towards the ratchet wheel, the current stroke of the pawl is calculated according to the number of the power-on cycles, and then whether the pawl is reliably combined with the ratchet wheel or not is determined according to the power-on current of the motor and the current stroke. Because the motor is electrified according to the preset frequency and the preset modulation ratio, and the rotating distance of the motor in each electrifying period is fixed, the rotating distance of the motor can be determined according to the electrifying period number, namely the current stroke of the pawl can be correspondingly determined, and when the pawl runs to be reliably combined with the ratchet wheel, the electrifying current of the motor can be instantly increased to generate a sudden change phenomenon, so that whether the pawl is reliably combined with the ratchet wheel can be accurately judged according to the determined current stroke and the electrifying current of the motor, and the motor is stopped to be electrified when the pawl is determined to be reliably combined with the ratchet wheel, so that the parking process is completed. The realization of above-mentioned parking process need not to be used for detecting the position sensor of pawl mileage at gearbox inside or motor internally mounted, therefore can avoid leading to parking mechanism cost higher because of position sensor's use, and the later maintenance's of being not convenient for problem, simultaneously because reduced the use of sensor, also reduced the trouble and got ready, saved vehicle use cost.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.

In a typical configuration, the computer device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium. Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, other magnetic storage devices, or any other non-transmission medium that may be used to store information that may be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (fransitory media), such as modulated data signals and carrier waves.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrases "comprising one of \ ...does not exclude the presence of additional like elements in a process, method, article, or terminal device that comprises the element.

The parking control method, the parking control device and the vehicle provided by the invention are described in detail, and specific examples are applied to explain the principle and the implementation of the invention, and the description of the embodiments is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. The parking control method is characterized by being applied to a parking controller of a parking mechanism, wherein the parking mechanism comprises a motor, a ratchet wheel and a pawl which are matched with each other, the parking controller is electrically connected with the motor, and the output end of the motor is mechanically connected with the pawl, and the method comprises the following steps:

when a parking requirement of the vehicle is detected, electrifying the motor according to a preset frequency and a preset modulation ratio so as to control the motor to drive the pawl to operate towards the ratchet wheel;

calculating the current stroke of the pawl according to the number of the electrifying cycles;

if the pawl and the ratchet wheel are reliably combined according to the electrifying current of the motor and the current stroke, the motor is stopped to be electrified;

if the pawl and the ratchet wheel are reliably combined according to the electrifying current and the current stroke of the motor, the motor is stopped to be electrified, and the method comprises the following steps:

after the motor is restarted, if the electrifying current is maintained in a state of being larger than a preset current threshold value and the current stroke reaches a lower limit value of a preset stroke interval, the pawl and the ratchet wheel are determined to be reliably combined, and the motor is stopped to be electrified.

2. The parking control method according to claim 1, wherein the stopping of the energization of the motor if it is determined that the pawl and the ratchet are reliably engaged according to the energization current of the motor and the present stroke further comprises:

3. The parking control method according to claim 1, wherein the stopping of the energization of the motor if it is determined that the pawl and the ratchet are reliably engaged according to the energization current of the motor and the present stroke further comprises:

and when the motor is determined to be out of step, correcting the current stroke according to the out-of-step duration.

4. The parking control method according to claim 1, characterized by further comprising:

5. The utility model provides a parking control device which characterized in that is applied to parking controller of parking mechanism, parking mechanism includes motor and mutual adaptation's ratchet and pawl, parking controller with the motor electricity is connected, the output of motor with pawl mechanical connection, the device includes:

the second control module is used for stopping electrifying the motor if the pawl is determined to be reliably combined with the ratchet wheel according to the electrifying current of the motor and the current stroke;

the second control module includes:

6. The parking control apparatus of claim 5, wherein the second control module further comprises:

7. The parking control apparatus of claim 5, wherein the second control module further comprises:

and the correction unit is used for correcting the current stroke according to the out-of-step duration when the motor is determined to be out of step.

8. The parking control apparatus according to claim 5, characterized by further comprising:

9. A vehicle characterized by comprising the parking control apparatus according to any one of claims 5 to 8.