CN114179762B

CN114179762B - Parking control method after vehicle parking, vehicle control unit and vehicle

Info

Publication number: CN114179762B
Application number: CN202111624765.9A
Authority: CN
Inventors: 张博; 张超群; 校辉; 刘昕
Original assignee: Modern Auto Co Ltd
Current assignee: Modern Auto Co Ltd
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2023-04-07
Anticipated expiration: 2041-12-28
Also published as: CN114179762A

Abstract

The invention provides a parking control method after a vehicle is stopped, a vehicle control unit and a vehicle, wherein the method is suitable for a parking system of the vehicle, and the parking system comprises a friction plate and a brake disc; the parking control method includes: the method comprises the steps of obtaining environmental information of the current environment of a vehicle, controlling a driving system of the vehicle to output driving torque according to whether the environmental information meets parking control conditions preset by the vehicle or not, releasing a friction plate and a brake disc, circularly executing the motion of the vehicle in a preset moving mode and controlling the friction plate and the brake disc to clamp and brake the vehicle in a preset time interval within a preset time, and finally controlling the friction plate and the brake disc to clamp and brake the vehicle after reaching a preset time threshold value so as to brake the vehicle to stop. The automatic parking system of vehicle among the prior art has been solved to this scheme because when sleet low temperature weather, friction disc and brake disc freeze together easily, has that the security is lower, produce noise easily and shake the problem that influences and take experience.

Description

Parking control method after vehicle parking, vehicle control unit and vehicle

Technical Field

The invention relates to the field of vehicle parking control, in particular to a parking control method after a vehicle is parked, a vehicle controller and the vehicle.

Background

With the development of science and technology, automatic control equipment on automobiles is more and more widely used. Among them, the automatic parking system is also widely used as a reliable and convenient electronic device. An automatic parking system (AUTO HOLD) is a technical application that can realize an automatic hand brake during vehicle operation. This technique allows the driver to avoid having to brake for long periods of time while the vehicle is stopped and to avoid unnecessary coasting of the vehicle in the event that the automatic electronic parking brake is activated.

When the vehicle is not used, the automatic parking equipment can hold the brake disc tightly through the friction plate of the braking system to realize vehicle parking. However, in the north, particularly in winter, due to frequent rain and snow saving and low temperature weather, more water is present on the braking system of the vehicle in the rain and snow low temperature weather. When the parking time of the vehicle is too long, the temperature outside the vehicle is too low, and the water in the braking system freezes due to low temperature, so that the friction plate and the brake disc are frozen together. At this time, when the vehicle is reused, the friction plate and the brake disc cannot be automatically separated due to freezing, and the parking system cannot be automatically released. After the vehicle starts, the vehicle can normally run only by dragging the parking wheel to forcibly separate the friction plate from the brake disc through the power system, great vehicle shaking and noise are generated in the process, and great influence is brought to the use comfort of the vehicle. In addition, if the ground is covered with ice and snow, the friction force between the ground and the wheels is insufficient, the friction plate and the brake disc cannot be separated forcibly, the parking wheel is in a locked sliding state when the vehicle runs, the wheels lose the ground adhesion force, the stability of the vehicle is easy to lose when the vehicle runs, and traffic accidents are caused.

Therefore, in the existing automatic parking system, because the friction plate and the brake disc are easy to freeze together in rainy, snowy and low-temperature weather, the safety is low, and noise and shaking are easy to generate to influence the riding experience.

Disclosure of Invention

The invention aims to solve the problems that in the prior art, a friction plate and a brake disc are easy to freeze together in the automatic parking system of a vehicle in rainy, snowy and low-temperature weather, so that the safety is low, noise and vibration are easy to generate, and the riding experience is influenced.

In order to solve the above problems, the parking control method for a vehicle after parking disclosed in the embodiment of the present invention is applicable to a parking system of a vehicle, where the parking system includes a friction plate and a brake disc; and is provided with

The parking control method includes:

s1: acquiring environmental information of the current environment of the vehicle, and judging whether the vehicle meets a preset parking control condition according to the environmental information;

if yes, executing step S2;

if not, continuously judging whether the vehicle meets the preset parking control condition;

s2: controlling a driving system of the vehicle to output a driving torque, and releasing the friction plate and the brake disc to enable the vehicle to move in a preset moving mode;

s3: controlling the friction plate and the brake disc to clamp so as to brake the vehicle;

s4: circularly executing the step S2 to the step S3 at preset time intervals within preset time;

s5: and controlling the friction plate and the brake disc to clamp so as to brake the vehicle.

By adopting the scheme, the environmental information of the current environment of the vehicle is firstly acquired, whether the vehicle meets the preset parking control condition or not is judged according to the environmental information, if the environmental condition meets the preset parking control condition, the vehicle controls the parking system to output the driving torque, the friction plate and the brake disc are released, the vehicle moves in the preset moving mode, and then the friction plate and the brake disc are controlled to be clamped tightly to brake the vehicle. The scheme circularly releases and clamps the friction plate and the brake disc at preset time intervals in preset time, so that the vehicle can move and brake alternately, and the friction plate and the brake disc of the vehicle cannot be frozen together even under the condition of low ambient temperature. When the vehicle is used again, the parking system can be automatically released, the situation that the vehicle cannot be separated due to freezing is avoided, and the safety of the vehicle in a special environment is improved.

According to another embodiment of the present invention, in the parking control method after the vehicle is stopped according to the embodiment of the present invention, in step S1, the environmental information includes rainfall information, snowfall information, and an outside temperature; acquiring rainfall information and snowfall information by using a rainfall sensor or a wiper control device of the vehicle; acquiring the temperature outside a vehicle by using a temperature sensor outside the vehicle of an air conditioning system of the vehicle; and the preset parking control conditions are as follows: rainfall or snowfall before the vehicle stops; the temperature outside the vehicle is less than a preset temperature threshold value; and the above conditions are satisfied simultaneously.

By adopting the scheme, the temperature outside the vehicle is acquired by utilizing the temperature sensor outside the vehicle of the air conditioning system of the vehicle, so that the vehicle can accurately acquire whether the current environmental condition of the vehicle is rainy or snowy weather through the rainfall sensor or the wiper control device. And the temperature outside the vehicle is obtained through the temperature sensor outside the vehicle so as to more accurately judge whether the environment where the vehicle is located is rainy or snowy weather with possibility of icing, so that the execution time of the parking control method can be more accurately judged.

According to another embodiment of the present invention, the temperature threshold of the parking control method after the vehicle is stopped is in a range of 0 ℃ to 3 ℃.

By adopting the scheme, the temperature of the frozen water is 0-3 ℃, so that the temperature threshold range of the outside temperature of the vehicle is set to be 0-3 ℃, and the vehicle can more accurately acquire whether the environmental condition is in cold rainy and snowy weather which can be frozen.

According to another embodiment of the present invention, in the parking control method after the vehicle is stopped according to the embodiment of the present invention, in step S2, the preset moving manner is: the vehicle firstly creeps forwards for a preset first distance in the length direction and then creeps backwards for a preset second distance; wherein the first distance is equal to the second distance.

Adopt above-mentioned scheme, the actuating system output drive torque of vehicle makes the vehicle move with predetermined moving means, the mode of motion is behind a certain distance of wriggling forward in length direction, wriggling the same distance backward, therefore, the relative not removal of taking place the position of vehicle, the condition of having avoided the vehicle to remove great distance and then bumping with other barriers towards same direction takes place, can also make the vehicle by the friction disc and the brake disc of release bump the motion incessantly, make the friction disc and the brake disc of vehicle can not freeze under the condition of sleet weather parking.

According to another embodiment of the present invention, the first distance and the second distance range from 5cm to 15cm in the parking control method after the vehicle is parked.

With the above arrangement, the first distance and the second distance are set to 5cm to 15cm, since the vehicle does not have a large moving distance, and the passengers in the vehicle do not feel discomfort due to the creep of the vehicle.

According to another specific embodiment of the present invention, in the parking control method after the vehicle is stopped according to the embodiment of the present invention, in step S4, the predetermined time range is: 10min to 30min; the preset time interval ranges are: 2min to 5min.

By adopting the scheme, the preset time is 10min to 30min, and in the range of 10min to 30min, the brake disc is cooled enough to stop melting frozen ice and snow or the water content of the brake system is nearly completely frozen, then the two parking brakes are all tightly held, normal parking is realized, the freezing degree of the brakes after parking is greatly reduced or can be completely eliminated, and the problem that vehicle energy is wasted due to overlong time for executing the parking control method is solved. And the preset time interval is 2min to 5min, and in the time interval range, the friction plate and the brake plate are not completely frozen and are easy to separate, so that the problem of vehicle energy waste caused by too short interval time between braking movement and braking operation is avoided.

According to another specific embodiment of the present invention, the parking control method after the vehicle is stopped according to the embodiment of the present invention further includes, when executing step S4:

acquiring the voltage of a storage battery of the vehicle, the rotating speed of wheels and the moving direction of the vehicle in real time, judging whether the storage battery is in a power-shortage state according to the voltage of the storage battery, and judging whether the vehicle slips backwards according to the rotating speed of the wheels and the moving direction of the vehicle;

if the battery is in a power-lack state, or the vehicle rolls back, or the battery is in a power-lack state and the vehicle rolls back, immediately executing the step S5;

and if the battery is not in the power-lack state and the vehicle does not roll back, continuously judging whether the battery is in the power-lack state or not or whether the vehicle rolls back or not.

By adopting the scheme, when the vehicle controls the driving system of the vehicle to output the driving torque and crawls and brakes the vehicle, the voltage of the storage battery of the vehicle, the rotating speed of the wheels and the moving direction of the vehicle are required to be acquired in real time so as to judge whether the storage battery is in a power-deficient state according to the voltage of the storage battery and judge whether the vehicle slips backwards according to the rotating speed of the wheels and the moving direction of the vehicle. From this, when the battery of vehicle is in insufficient voltage state, perhaps when the vehicle takes place the phenomenon of sliding backwards, the vehicle is braked immediately, presss from both sides tight friction disc and brake disc to guarantee that the vehicle can not lead to the actuating system of vehicle can not normally carry out parking control because of insufficient voltage, in order to prevent that friction disc and brake disc from freezing, perhaps when the vehicle takes place the phenomenon of sliding backwards, control the vehicle braking immediately, in order to improve the security of vehicle, reduce the risk that the occurence of failure.

According to another specific embodiment of the present invention, the method for controlling parking after parking a vehicle according to the embodiment of the present invention, before step S1, further includes:

acquiring gradient information of a vehicle, and judging whether the current gradient of the vehicle is smaller than a preset gradient threshold value or not according to the gradient information;

if yes, executing the step S1;

if not, the friction plate and the brake disc are controlled to be clamped, and whether the current gradient of the vehicle is smaller than a preset gradient threshold value or not is continuously judged.

By adopting the scheme, before the vehicle is subjected to the S1 step for parking control, the gradient of the road where the vehicle is located at present needs to be acquired, so that the condition that if the vehicle is located on the road with a certain gradient at present, if the parking control is carried out, danger can occur to the vehicle due to the action of gravity in the creeping process, and the safety of passengers in the vehicle is threatened. Therefore, the safety of the vehicle is further improved by comparing the acquired gradient information of the vehicle with a preset gradient threshold value for ensuring the safety of the vehicle.

The invention also provides a vehicle control unit, comprising:

a memory for storing a control program;

and a processor which, when processing the control program, executes the steps of the parking control method after the vehicle is stopped as described in any of the above embodiments.

With the adoption of the scheme, the vehicle control unit executes the parking control method of the vehicle by controlling the processor to execute the control program stored in the memory.

The invention further provides a vehicle, which comprises the vehicle control unit described in the embodiment, and the vehicle control unit is arranged on the vehicle, so that the problems that in the prior art, the friction plate and the brake disc are easy to freeze together in the low-temperature weather of rain and snow, the safety is low, and the riding experience is influenced by noise and vibration are easy to generate in the automatic parking system of the vehicle.

The invention has the beneficial effects that:

the invention provides a parking control method after a vehicle is stopped, a vehicle controller and the vehicle, which are suitable for a parking system of the vehicle, wherein the parking system comprises a friction plate and a brake disc; the parking control method includes: the method comprises the steps of obtaining environmental information of the current environment of a vehicle, judging whether the environmental information meets parking control conditions preset by the vehicle or not, outputting driving torque by a driving system for controlling the vehicle, releasing a friction plate and a brake disc, circularly executing the motion of the vehicle in a preset moving mode and controlling the friction plate and the brake disc to clamp and brake the vehicle in a preset time interval, and finally controlling the friction plate and the brake disc to clamp and brake the vehicle after reaching a preset time threshold value. In addition, the vehicle also acquires the voltage of a storage battery, the rotating speed of wheels and the moving direction of the vehicle in real time so as to ensure that a driving system of the vehicle cannot normally execute a parking control method due to power shortage or immediately control vehicle braking when the vehicle slips backwards, and the safety of the vehicle is improved. And the vehicle also acquires the gradient information of the vehicle to prevent the vehicle from generating danger due to the action of gravity in the creeping process if the vehicle is on a road with a certain gradient and the parking control is carried out, so that the safety of passengers in the vehicle is threatened.

Drawings

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

FIG. 2 is a schematic environmental condition flow diagram of a parking control method after a vehicle is stopped according to an embodiment of the present invention;

FIG. 3 is a vehicle movement flow diagram illustrating a parking control method after a vehicle is stopped according to an embodiment of the present invention;

FIG. 4 is a flow chart illustrating the detection voltage, wheel speed and direction of vehicle movement for a parking control method after a vehicle is stopped according to an embodiment of the present invention;

fig. 5 is a flow chart illustrating a road gradient detection process of the parking control method after the vehicle is stopped according to the embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention has been described in connection with the embodiments for the purpose of covering alternatives or modifications as may be extended based on the claims of the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.

The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the present embodiment can be understood as specific cases by those of ordinary skill in the art.

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Because the friction disc and the brake disc are easy to freeze together when the automatic parking system of the vehicle is in rainy and snowy low-temperature weather in order to solve the problems in the prior art, the safety is low, noise is easy to generate, and the riding experience is influenced by shaking. The embodiment of the invention discloses a parking control method after a vehicle is stopped, a vehicle control unit and a vehicle. Referring to fig. 1, a parking control method after a vehicle is parked according to an embodiment of the present invention is applied to a parking system of a vehicle, the parking system including a friction plate and a brake disc; the parking control method includes:

s1: acquiring environmental information of the current environment of the vehicle, and judging whether the vehicle meets a preset parking control condition according to the environmental information; if yes, executing step S2; if not, continuously judging whether the vehicle meets the preset parking control condition or not;

By adopting the scheme, the environmental information of the current environment of the vehicle is obtained firstly, whether the vehicle meets the preset parking control condition of the vehicle is judged according to the environmental information, if the environmental condition meets the preset parking control condition, and if not, the vehicle continues to judge whether the vehicle meets the preset parking control condition. If so, the vehicle controls the parking system to output driving torque, releases the friction plate and the brake disc to enable the vehicle to move in a preset moving mode, and then controls the friction plate and the brake disc to clamp tightly to brake the vehicle. The scheme circularly releases and clamps the friction plate and the brake disc at preset time intervals within preset time, so that the vehicle can alternately perform preset movement and braking within the range of the preset time intervals, and the friction plate and the brake disc of the vehicle cannot be frozen together even under the condition of low ambient temperature. When the vehicle is used again, the parking system can be automatically released, the vehicle cannot be separated due to freezing, and the safety of the vehicle in parking in a special environment is improved.

Next, a parking control method after a vehicle is stopped according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 5.

Firstly, step S1 is executed, the environmental information of the current environment of the vehicle is obtained, and whether the vehicle meets the preset parking control condition or not is judged according to the environmental information.

Further, as shown in fig. 2, the environment information includes rainfall information, snowfall information, and an outside temperature of the vehicle, and the rainfall information and the snowfall information are acquired by using a rainfall sensor or a wiper control device of the vehicle, and the outside temperature is acquired by using an outside temperature sensor of an air conditioning system of the vehicle, and compared with a parking control condition preset by the vehicle to determine whether the parking control condition preset by the vehicle is simultaneously satisfied. The preset parking control conditions of the vehicle comprise that the vehicle is rained or snowed before parking, and the temperature outside the vehicle is smaller than a preset temperature threshold value.

Specifically, the environmental information is obtained by monitoring the rain or the rain wiper using state record in the wiper control module through a rain sensor of the vehicle to obtain the rain information and the snow information, and the temperature outside the vehicle is obtained by using an outside temperature sensor through an air conditioning system of the vehicle, so that the vehicle can accurately obtain whether the current environmental condition of the vehicle is the rain and snow weather through the rain sensor or the wiper control device. And whether the outside temperature is lower than a preset threshold value is obtained through the outside temperature sensor so as to more accurately judge whether the environment where the vehicle is located is rainy or snowy weather with possibility of icing, and therefore the execution time of the parking control method can be more accurately judged.

Still further, the temperature threshold ranges from 0 ℃ to 3 ℃. In the embodiment, if the vehicle acquires rainfall information or snowfall information and acquires the temperature outside the vehicle lower than 0 ℃, 1 ℃, 2 ℃ or 3 ℃, or other values in the range, the step S2 is started to be executed, and if the vehicle does not meet the parking control condition preset by the vehicle, the parking system of the vehicle continues to judge whether the vehicle meets the preset parking control condition. Therefore, the temperature threshold range of the temperature outside the vehicle is set to be 0-3 ℃, so that the vehicle can more accurately acquire whether the environmental condition is in cold and icy rainy and snowy weather.

Then, step S2 is performed, the drive system of the vehicle is controlled to output the driving torque, and the friction plate and the brake disc are released to move the vehicle in a preset moving manner.

Specifically, when the vehicle outputs the driving torque by controlling the driving system of the vehicle, the friction plates and the brake disc are released. In the present embodiment, the vehicle outputs driving force to the driving wheels through the driving system, and then controls the brake to release the friction plates and the brake disc so that the vehicle can be moved.

Further, as shown in fig. 3, the vehicle may move in a predetermined moving manner, and the vehicle may creep forward a predetermined first distance and then backward a predetermined second distance in the length direction thereof; wherein the first distance is equal to the second distance.

Particularly, the vehicle is relatively prevented from moving, so that not only can the friction plate and the brake disc of the vehicle be prevented from being frozen, but also the vehicle can be prevented from leaving the parking place, and the safety of the vehicle is improved.

Further, the first distance and the second distance range from 5cm to 15cm.

Specifically, the first and second distances may be 5cm, 10cm, 15cm, or other values within this range. In this embodiment, the vehicle can move forward by 10cm first, then crawl backward by 10cm, from this, avoided the vehicle to move great distance and then take place with the condition that other barriers bump towards the same direction, the vehicle still can make the friction disc and the brake disc that the vehicle was released bump the motion ceaselessly for the friction disc and the brake disc of vehicle can not freeze under the condition of sleet weather parking.

Then, the vehicle controls the friction plate and the brake disc to be clamped, so as to brake the vehicle.

Specifically, after the friction plate and the brake disc are released by the vehicle and the vehicle creeps forwards and backwards, the vehicle controls the friction plate and the brake disc to be clamped tightly so as to brake the vehicle, and the waste of electric energy of the vehicle caused by real-time creep of the vehicle can be avoided.

Next, steps S2 to S3 are cyclically executed at preset time intervals within a predetermined time.

Specifically, the friction plate and the brake disc are released and clamped circularly at preset time intervals within preset time, so that the vehicle alternately performs preset movement and braking within the range of the preset time intervals, the friction plate and the brake disc of the vehicle are not easy to freeze together, and the safety of the vehicle in parking in a special environment is improved.

Further, in step S4, the predetermined time ranges are: 10min to 30min; the preset time interval ranges are: 2min to 5min.

Specifically, the predetermined time in the step S4 is 10min to 30min, and since the time for temporarily stopping the vehicle is mostly 10min to 30min, which may be 10min, 15min, 30min, or other values in the range, in the range of 10min to 30min, after the brake disc is sufficiently cooled and the frozen ice and snow are no longer melted or the moisture of the brake system is nearly completely frozen, the two parking brakes are all tightly held, so that the normal parking is realized, the freezing degree of the brakes after the parking is greatly reduced or completely eliminated, the problem that the vehicle energy is wasted due to the overlong time for executing the parking control method is avoided, and the electric energy stored by the vehicle is also avoided being wasted. And, the preset time interval is 2min to 5min, which may be 2min, 3min, 4min or 5min, or other values within this range. In the time interval range, the friction plate and the brake plate are not completely frozen and are easy to separate, so that the problem that the energy of the vehicle is wasted due to too short interval time between braking movement and braking operation is solved. In rainy and snowy weather, the vehicle is controlled to move at intervals, so that the friction plate and the brake disc can be prevented from being frozen, and the electric energy of the vehicle is wasted because the vehicle does not need to move in real time. In this embodiment, when the vehicle is within a predetermined 15 minutes, or other values within this range, the vehicle is creeping forward and backward at intervals of 3 minutes to keep the friction plates and brake discs from freezing.

And finally, controlling the friction plate and the brake disc to clamp so as to brake the vehicle.

Specifically, after the vehicle is controlled in the process of cycle for a period of time, the brake disc of the vehicle and the brake disc are cooled enough to be not melted with frozen ice and snow or the moisture of the brake system is nearly completely frozen, then the two parking brakes are all tightly held to realize normal parking, the freezing degree of the brakes after parking is greatly reduced or can be completely eliminated, and the electric energy stored by the vehicle due to the execution of parking control can be prevented from being wasted.

Further, as shown in fig. 4, when step S4 is executed, the method further includes: acquiring the voltage of a storage battery of the vehicle, the rotating speed of wheels and the moving direction of the vehicle in real time, judging whether the storage battery is in a power-shortage state according to the voltage of the storage battery, and judging whether the vehicle slips backwards according to the rotating speed of the wheels and the moving direction of the vehicle; if the battery is in a power-lack state, or the vehicle rolls back, or the battery is in a power-lack state and the vehicle rolls back, immediately executing the step S5; and if the battery is not in the power-lack state and the vehicle does not roll back, continuously judging whether the battery is in the power-lack state or not or whether the vehicle rolls back or not.

Specifically, while step S4 is executed, it is necessary to obtain the voltage of the battery of the vehicle in real time to determine whether the battery is in a power-deficient state, in this embodiment, the method for determining whether the vehicle is in the power-deficient state is that a parking system of the vehicle checks a voltage sensor in a power supply system of the vehicle, if the voltage of the battery is lower than a certain value, it indicates that the vehicle is in the power-deficient state, and the range of the certain value may be set by actual conditions, and this embodiment is not particularly limited.

And, whether the vehicle rolls backward or not is judged by the wheel rotation speed and the moving direction of the vehicle, wherein the moving direction of the vehicle is backward in the vehicle length direction, and the wheel rotation speed can be set according to actual conditions, which is not specifically limited in this embodiment. Thus, if the battery is not in a power-deficient state and the vehicle is not rolling backward, it is continuously determined whether the battery is in a power-deficient state or the vehicle is rolling backward. If the vehicle acquires that the battery of current vehicle is in insufficient voltage state, perhaps when the vehicle takes place the phenomenon of swift current after, the vehicle is braked immediately, presss from both sides tight friction disc and brake disc to guarantee that the vehicle can not lead to the actuating system of vehicle can not normally carry out parking control because of insufficient voltage, in order to prevent that friction disc and brake disc from freezing, perhaps when the vehicle takes place the phenomenon of swift current after, control the vehicle braking at once, in order to improve the security of vehicle.

Further, as shown in fig. 5, before step S1, the method further includes: acquiring the information of the slope of the vehicle, and judging whether the current slope of the vehicle is smaller than a preset slope threshold value or not according to the information of the slope; if yes, executing the step S1; if not, the friction plate and the brake disc are controlled to be clamped, and whether the current gradient of the vehicle is smaller than a preset gradient threshold value or not is continuously judged.

Specifically, before the vehicle is subjected to the parking control in the step S1, the gradient of the road where the vehicle is currently located is acquired, so as to prevent the vehicle from colliding with other obstacles due to vehicle sliding caused by gravity in the creeping process if the vehicle is currently located on the road with a certain gradient, and further causing accidents and damaging the vehicle body. In the present embodiment, the gradient threshold value preset by the vehicle is specifically set according to the road gradient described in the national road gradient code so that the vehicle does not move on the road by itself. Therefore, the step S1 is executed if the road gradient is smaller than the preset gradient threshold value by comparing the acquired gradient information of the vehicle with the preset gradient threshold value for ensuring the safety of the vehicle. If the road gradient exceeds a gradient threshold value preset by the vehicle, the parking control can not be executed by the vehicle parking system, and the safety of the vehicle is further improved.

More specifically, in the present embodiment, the grade information of the vehicle is obtained by a gradiometer mounted on the vehicle to measure the road grade of the vehicle in real time, or the road grade may be measured in another manner, which is not limited in the present embodiment.

Based on the method, the embodiment of the invention also provides a vehicle control unit. The vehicle control unit provided by the embodiment of the invention comprises:

a memory for storing a control program;

Specifically, the vehicle control unit executes a parking control method of the vehicle by the control processor executing a control program stored in the memory.

Based on the method, the embodiment of the invention also provides a vehicle. The vehicle provided by the embodiment of the invention comprises the vehicle control unit.

Specifically, when the road gradient of the parking system of the vehicle is smaller than the preset road gradient threshold value, the vehicle controller controls the parking system of the vehicle to output the driving torque in cold rain and snow days, and the storage battery of the vehicle is not in a power-shortage state and the vehicle does not slip backwards, the driving system of the vehicle is controlled to output the driving torque at the preset time interval in the preset time, and the friction plate and the brake disc are released to enable the vehicle to creep forwards and backwards so as to effectively solve the problems that in the prior art, the safety of the vehicle is low, noise and shaking are easily generated, and the riding experience is influenced.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

1. The parking control method after the vehicle is stopped is characterized by being applicable to a parking system of the vehicle, wherein the parking system comprises a friction plate and a brake disc; and is

The parking control method includes:

if yes, executing step S2;

if not, continuously judging whether the vehicle meets a preset parking control condition;

s2: controlling a driving system of the vehicle to output driving torque, and releasing the friction plate and the brake disc to enable the vehicle to move in a preset moving mode;

s3: controlling the friction plate and the brake disc to be clamped so as to brake the vehicle;

s4: performing the steps S2 to S3 cyclically at preset time intervals within a predetermined time;

acquiring the voltage of a storage battery of the vehicle, the rotating speed of wheels and the moving direction of the vehicle in real time, judging whether the storage battery is in a power-shortage state according to the voltage of the storage battery, and judging whether the vehicle rolls backwards or not according to the rotating speed of the wheels and the moving direction of the vehicle;

if the battery is in a power-loss state, or the vehicle rolls backward, or the battery is in a power-loss state and the vehicle rolls backward, immediately executing the step S5;

if the battery is not in a power-deficient state and the vehicle does not roll backward, continuously judging whether the storage battery is in a power-deficient state or whether the vehicle rolls backward;

s5: and controlling the friction plate and the brake disc to be clamped so as to brake the vehicle.

2. The parking control method after parking of a vehicle according to claim 1, wherein in step S1, the environmental information includes rainfall information, snowfall information, and an outside temperature of the vehicle; and is

Acquiring the rainfall information and the snowfall information by using a rainfall sensor or a wiper control device of the vehicle;

acquiring the outside temperature by using an outside temperature sensor of an air conditioning system of the vehicle; and is provided with

The preset parking control conditions are as follows:

rainfall or snowfall before the vehicle stops;

the temperature outside the vehicle is less than a preset temperature threshold value; and is provided with

The above conditions are satisfied simultaneously.

3. The parking control method after a vehicle is parked according to claim 2, wherein the temperature threshold ranges from 0 ℃ to 3 ℃.

4. The parking control method after parking of a vehicle according to claim 1, wherein the predetermined moving manner in step S2 is:

the vehicle creeps forwards for a preset first distance and then backwards for a preset second distance in the length direction of the vehicle; wherein

The first distance is equal to the second distance.

5. The parking control method after parking of the vehicle according to claim 4, wherein the first distance and the second distance range from 5cm to 15cm.

6. The parking control method after a vehicle is stopped according to claim 1, wherein in the step S4, the predetermined range of time is: 10min to 30min;

the preset range of the time interval is as follows: 2min to 5min.

7. The parking control method after parking of the vehicle according to any one of claims 1-6, characterized by, before step S1, further comprising:

acquiring gradient information of the vehicle, and judging whether the current gradient of the vehicle is smaller than a preset gradient threshold value according to the gradient information;

if yes, executing the step S1;

if not, the friction plate and the brake disc are controlled to be clamped tightly, and whether the current gradient of the vehicle is smaller than a preset gradient threshold value or not is continuously judged.

8. A vehicle control unit, comprising:

a memory for storing a control program;

a processor which, when processing the control program, executes the steps of the parking control method after parking of the vehicle according to any one of claims 1 to 7.

9. A vehicle characterized by comprising the vehicle control unit according to claim 8.