CN116252795A

CN116252795A - Parking starting method and device, vehicle-mounted terminal and medium

Info

Publication number: CN116252795A
Application number: CN202310028171.4A
Authority: CN
Inventors: 杨振; 郭涛
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2023-01-09
Filing date: 2023-01-09
Publication date: 2023-06-13

Abstract

The embodiment of the application is suitable for the technical field of vehicles and provides a parking starting method, a device, a vehicle-mounted terminal and a medium, wherein the method comprises the following steps: after the automatic parking function of the vehicle is activated, determining the state of the vehicle; and if the vehicle is in a static state, controlling the driving motor to execute a preset torque request so as to control the driving motor not to be in a torque zero crossing interval when the vehicle is parked and started. Through the method, abnormal sound vibration of the vehicle can be reduced in the starting process of parking.

Description

Parking starting method and device, vehicle-mounted terminal and medium

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a parking starting method, a parking starting device, a vehicle-mounted terminal and a vehicle medium.

Background

Zero crossing of the motor is involved when the operating mode of the motor is switched. The current magnitude and direction of the energizing coil are adjusted by the zero crossing of the motor, when the current direction is switched, the rotation direction of the motor is switched, and the occlusal surface between the driving motor and the axle correspondingly changes. Because a gap exists between the driving motor and the axle, if the rotation of the motor changes sharply, the occlusal surface collides sharply, and abnormal sound is caused.

When parking is started, the vehicle generally easily generates zero crossing of a motor, so that abnormal sound is generated when the vehicle is started during parking, on one hand, the driving experience of a driver is affected, and on the other hand, parts in the vehicle are easily worn.

Disclosure of Invention

In view of this, the embodiments of the present application provide a parking start method, apparatus, vehicle-mounted terminal, and medium, so as to improve and reduce abnormal sound vibration in a parking start stage.

A first aspect of an embodiment of the present application provides a parking start method, including:

after the automatic parking function of the vehicle is activated, determining the state of the vehicle;

and if the vehicle is in a static state, controlling the driving motor to execute a preset torque request so as to control the driving motor not to be in a torque zero crossing interval when the vehicle is parked and started.

A second aspect of the embodiments of the present application provides a parking start apparatus, including:

the system comprises a determining module, a control module and a control module, wherein the determining module is used for determining the state of a vehicle after the automatic parking function of the vehicle is activated;

and the control module is used for controlling the driving motor to execute a preset torque request if the vehicle is in a static state so as to control the driving motor not to be in a torque zero crossing interval when the vehicle is parked and started.

A third aspect of an embodiment of the present application provides a parking system, including: parking controller, braking controller, power controller and driving motor, wherein:

the parking controller is used for sending an acceleration request to the brake controller during parking, and the acceleration request is used for indicating the torque of the driving motor to change;

the brake controller is used for determining a torque request for the driving motor according to the acceleration request and the received motor expected torque request; and sending the torque request to the drive motor via the power controller; wherein the motor desired torque request is generated by the drive motor and sent to the brake controller by the power controller;

and the driving motor is used for driving according to the torque request so as to drive the vehicle to the target parking space.

A fourth aspect of the embodiments of the present application provides a vehicle-mounted terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method according to the first aspect.

A fifth aspect of embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as described in the first aspect above.

A sixth aspect of the embodiments of the present application provides a vehicle, where the vehicle is capable of achieving parking start of the vehicle by the method described in the first aspect.

A seventh aspect of the embodiments of the present application provides a computer program product for causing an in-vehicle terminal to perform the method of the first aspect described above when the computer program product is run on the in-vehicle terminal.

Compared with the prior art, the embodiment of the application has the following advantages:

according to the method and the device for automatically parking the vehicle, after the automatic parking function of the vehicle is activated, whether the vehicle is at rest at present can be determined, if the vehicle is at rest, the condition that the vehicle is possibly in a torque zero crossing region when the vehicle is parked is indicated, therefore, the vehicle can be controlled to execute a preset torque request, the driving motor is enabled to rotate to a certain extent, gear gaps between an axle and a rotor are eliminated, the condition that the vehicle is not in the torque zero crossing region when the vehicle is started is ensured, vibration abnormal sound of the vehicle due to existence of the torque zero crossing region when the vehicle is parked is ensured, and driving experience of a user is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art.

FIG. 1 is a schematic diagram illustrating the operation of an automatic parking system according to an embodiment of the present application;

fig. 2 is a schematic flow chart of steps of a parking start method according to an embodiment of the present application;

fig. 3 is a schematic diagram of a parking start flow of a parking system according to an embodiment of the present disclosure;

fig. 4 is a schematic view of a parking start flow of another parking system according to an embodiment of the present disclosure;

fig. 5 is a schematic view of a parking start device according to an embodiment of the present disclosure;

fig. 6 is a schematic diagram of a vehicle-mounted terminal provided in an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

With the development of the automobile industry, automobiles are increasingly involved in our calendar life and work. In order to better serve users, automobiles can face various scenes and demands, and intelligent services of vehicles are provided. Wherein the automated parking (Auto Parking Asist, APA) system is an intelligent functional service for servicing the user.

After the automatic parking system of the vehicle is activated, the vehicle can scan parking spaces on two sides of the vehicle and the conditions of obstacles around the vehicle through sensors such as ultrasonic sensors and cameras. After the vehicle scans a proper parking space, the automatic parking system can automatically plan a parking path through an internal algorithm, and after the driver completes the parking confirmation, the vehicle automatically parks into the parking space. Based on the automatic parking system, the whole parking process of the vehicle can be performed without intervention of a driver, and the driver can be in the vehicle or outside the vehicle. The automatic parking system can directly or indirectly interact with the steering system, the power system and the braking system, so that steering can be controlled through the steering system, gear shifting can be controlled through the power system, acceleration can be controlled through the power system, braking can be controlled through the braking system, and parking can be controlled through the electronic parking system (Electrical Park Brake, EPB) and the P gear.

Fig. 1 shows a schematic operation diagram of an automatic parking system according to an embodiment of the present application. As shown in fig. 1, the parking sensing system may sense external environment information; based on the external environmental information sensed by the parking sensing system, the parking planning system may determine a parking scheme based on which acceleration requests, parking gear requests, and EPB requests are sent to the brake controller. The brake controller may include an EPB, a deceleration module, a gear module, and an acceleration module, the gear module may send a park gear request to the power controller, and the acceleration module may send an acceleration request to the power controller. The power controller can respond to the received request, so that the motor is driven to move, and the vehicle is parked in the parking space.

The parking sensing system and the parking planning system can form a parking controller, the parking controller can combine the vehicle surrounding environment information and the parking space information collected by the sensors to send acceleration and deceleration requests, gear requests, P gears and EPB requests to the vehicle to the brake controller, so that longitudinal control of the vehicle is carried out, and the longitudinal control of the vehicle can comprise acceleration, deceleration, driving-away, parking and the like of the vehicle.

The vehicle brake controller may respond to an acceleration/deceleration request, a gear request, and an EPB request of the parking field controller. The acceleration requests may include positive acceleration requests and negative acceleration requests. The brake controller may convert the positive acceleration request to a positive torque to the power controller for vehicle acceleration. The brake controller can convert the negative acceleration request into braking torque to the self hydraulic module to slow down the vehicle. The brake controller may relay the gear request to the power controller for a vehicle gear change. The brake controller may forward the EPB request to its own EPB module for vehicle EPB control. The vehicle powertrain may respond to power acceleration and gear requests by the brake controller.

In the automatic parking control process, the brake controller receives the acceleration request of the parking controller and then performs the combined operation of pressure relief and positive torque driving of the power controller, wherein the power controller receives the request of positive torque and then forwards the request to the driving motor, and the driving motor drives the vehicle after receiving the request of positive torque in the starting stage.

The vehicle can comprise a motor, and the motor is provided with two magnetic fields, for example, a permanent magnet synchronous motor commonly used for new energy vehicles: a rotor magnetic field and a stator magnetic field. The rotor may include permanent magnets therein to form a steady magnetic field, which may rotate as the rotor rotates. The stator may include windings, which may be wires, through which an electric current may be passed, the space around which will produce an induced magnetic field. If alternating current is supplied to the wire, a rotating induction magnetic field is generated in the surrounding space.

When the motor works, the rotary induction magnetic field generated by the motor stator and the permanent magnet magnetic field of the rotor are similar to children who draw hands and walk at the same time. The stator is in front, the rotor is behind, the stator pulls the rotor to run, and the motor is in a driving state; when the stator pulls the rotor backwards and forwards due to inertia, the stator and the rotor can move more slowly until stopping, and the motor is in a braking energy recovery state. The force of the stator dragging the rotor is multiplied by the radius of the motor to be the torque, and the magnitude is the energy recovery strength.

Based on the stator and the rotor, the electric machine may include two modes of operation for driving or braking energy recovery. When the two modes of operation are switched, a zero crossing of the motor is indicated. The motor zero crossing itself adjusts the current magnitude and direction of the energized coil, and this process does not involve physical structural changes and hardware limitations. But the whole vehicle driving structure is a structure that a micro controller is rigidly connected with a driving shaft, wheels and the like, and time is needed to be transited in a scene of rotating speed change, otherwise, the problem of abnormal sound vibration exists. Therefore, how to reasonably control abnormal sound vibration of a motor in a parking start stage in the automatic parking control process is an important subject. Based on the above, the embodiment of the application provides a motor driving method in a parking process, aiming at reducing abnormal sound vibration of a motor in the parking process.

The technical scheme of the present application is described below by specific examples.

Referring to fig. 2, a schematic step flow diagram of a parking start method provided in an embodiment of the present application is shown, which may specifically include the following steps:

s201, after the automatic parking function of the vehicle is activated, determining the state of the vehicle.

The method in the embodiment can be applied to a vehicle, and the vehicle can comprise a parking controller, a braking controller, a power controller, a hydraulic controller and a driving motor, wherein the braking controller is connected with the parking controller, the power controller is connected with the hydraulic braking controller, and the power controller is connected with the driving motor. The parking controller is used for planning a parking route. The execution body of the present application may specifically be a brake controller in a vehicle.

When the auto-park function of the vehicle is activated, the park controller may begin operation. When the parking controller is in operation, a signal may be sent to the brake controller that the automatic parking function is activated. The brake controller may receive a signal that the park controller is activated to determine that the auto park function of the vehicle has been activated. At this time, the brake controller may determine the state of the vehicle.

The state of the vehicle may be determined based on the current gear of the vehicle. The brake controller may request a current gear of the vehicle from a vehicle controller of the vehicle, and if the vehicle is in a parking gear, it may be determined that the vehicle is in a stationary state.

In another possible implementation, the state of the vehicle may also be determined from the state of the drive motor. The brake controller can acquire the state of the driving motor through the power controller, and if the driving motor does not work currently, the vehicle can be determined to be in a stationary state.

And S202, if the vehicle is in a static state, controlling a driving motor to execute a preset torque request so as to control the driving motor not to be in a torque zero crossing interval when the vehicle is parked and started.

When the vehicle is parked and started from rest, the drive motor may be in a torque zero crossing. The torque zero crossing interval is a transition interval of motor rotation speed change. The driving motor is in a torque zero crossing interval, which indicates that the driving motor needs to eliminate gear gaps at the moment and perform gear engagement. If the rotating speed is too high at this time, a strong collision occurs when the gears are meshed, and in order to avoid the strong collision, the rotating speed in the interval can be controlled to be kept at a lower level, so that the gear is smoothly meshed, the strong collision of the motor is avoided, and abnormal sound in the parking control process is avoided.

In one possible implementation, the drive motor may be controlled by the brake controller to perform a preset torque request if the vehicle is stationary. For example, the vehicle may send a torque request to the power controller via the brake controller; after receiving the torque request, the power controller can send the torque request to the driving motor; after receiving the torque request, the driving motor can respond to the torque request, so that corresponding torque is output and rotation is carried out, and the gear clearance disappears, so that vibration abnormal sound caused by the gear clearance when the vehicle is started is avoided. For example, the torque request may be a positive torque of 3nm, thereby ensuring that the drive motor is not in a torque zero crossing when the vehicle is started.

In one possible implementation, the drive motor may be controlled by the power controller to perform a preset torque request if the vehicle is stationary. For example, the brake controller may send information that the vehicle is in a stationary state to the power controller, which may send a torque request to the drive motor; after receiving the torque request, the driving motor can respond to the torque request, so that corresponding torque is output and rotation is carried out, and the gear clearance disappears, so that vibration abnormal sound caused by the gear clearance when the vehicle is started is avoided. After the driving motor responds to the torque request, a response signal can be sent to the power controller, and the power controller can feed back information of the torque request executed by the driving motor to the brake controller.

The drive motor may be adjusted at a torque adjustment rate in response to the torque request. The driving motor has a certain torque adjustment rate in a torque zero crossing interval, and the torque adjustment rate is smaller, so that the driving motor can adjust the torque stably and slowly, the rotation speed of the driving motor is lower, the gear clearance can be eliminated slowly, and the ground collision caused by the gear clearance can be smaller. Thus, the drive motor, in response to the torque request, can determine a torque adjustment rate; and then according to the torque adjustment rate, adjusting the torque of the driving motor to the torque corresponding to the torque request, and enabling the driving motor to work for a preset time under the torque corresponding to the torque request, so that the gear clearance between the axle and the rotor is eliminated.

During the time when the drive motor performs the torque request, the vehicle is in a stationary state, and in order to maintain the stationary state of the vehicle, the brake controller may control the hydraulic brake to compensate for the brake hydraulic pressure according to the torque request to maintain the vehicle in the stationary state.

When the automatic parking function of the vehicle is started, the parking controller can determine the parking space of the vehicle and plan a parking route according to the perceived external environment. Based on the parking route and the parking space, the parking controller may determine a parking scheme. The parking controller may display the parking scheme on the central screen for the user to confirm the parking scheme. After the user confirms the parking scheme, the parking controller may send an acceleration request to the brake controller according to the parking scheme to drive the vehicle. After the brake controller receives the acceleration request, a torque request may be sent to the drive motor via the power controller. The driving motor is used for controlling the output torque of the vehicle, and the vehicle can be controlled to perform speed change, braking and driving by controlling the output torque of the vehicle.

When the brake controller receives the acceleration request of the parking controller, the executable torque range of the driving motor can be obtained according to the acceleration request; an acceleration torque request is then sent to the power controller based on the acceleration request and the executable torque range to control the torque of the adjustment drive motor through the power controller to perform a park operation of the vehicle.

The brake controller can determine a target torque corresponding to the acceleration request; if the target torque is within the executable torque range, the driving motor can be controlled to output the target torque; if the target torque is not within the executable torque range, the driving motor may be controlled to output a maximum torque within the executable torque range.

According to the embodiment of the application, the driving motor can be controlled to execute a certain torque request by utilizing the scene time of automatic parking in the static handshake of the vehicle, so that the driving motor stably passes through the torque zero crossing interval, and strong collision can not occur when the vehicle is started.

It should be noted that, the sequence number of each step in the above embodiment does not mean the sequence of execution sequence, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

Fig. 3 is a schematic diagram of a parking start flow of a parking system according to an embodiment of the present application. Fig. 3 includes a parking system, where a parking control system may include: parking controller, braking controller, power controller and driving motor, wherein: the park controller may sense that the auto-park function is activated and send a signal to the brake controller that the auto-park function is activated.

The brake controller can determine the state of the vehicle after the automatic parking function of the vehicle is activated; and if the vehicle is in a stationary state, controlling the driving motor to execute a preset torque request so as to control the driving motor not to be in a torque zero crossing interval when the vehicle is parked and started.

The motor is driven to respond to a preset torque request after an automatic parking function of the vehicle is activated.

In addition, the parking controller is also used for sending an acceleration request to the brake controller during parking, wherein the acceleration request is used for indicating the change of the torque of the driving motor;

a brake controller for determining a torque request for the drive motor based on the acceleration request and the received motor desired torque request; and transmitting the torque request to the drive motor through the power controller; wherein the motor desired torque request is generated by the drive motor and sent to the brake controller by the power controller;

In this embodiment, the brake controller may send information that the vehicle is in a stationary state to the power controller, which may send a torque request to the drive motor; after receiving the torque request, the driving motor can respond to the torque request, so that corresponding torque is output and rotation is carried out, and the gear clearance disappears, so that vibration abnormal sound caused by the gear clearance when the vehicle is started is avoided.

Fig. 4 is a schematic diagram of a parking start flow of another parking system according to an embodiment of the present disclosure. The parking system of fig. 4 is the same as that of fig. 3, but the starting method is different, in fig. 4, the brake controller may send information that the vehicle is in a stationary state to the power controller, and the power controller may send a torque request to the driving motor; after receiving the torque request, the driving motor can respond to the torque request, so that corresponding torque is output and rotation is carried out, and the gear clearance disappears, so that vibration abnormal sound caused by the gear clearance when the vehicle is started is avoided. After the driving motor responds to the torque request, a response signal can be sent to the power controller, and the power controller can feed back information of the torque request executed by the driving motor to the brake controller.

The two parking start methods shown in fig. 3 and fig. 4 can control the driving motor to execute default positive torque when the vehicle is in a P gear or a braking state at the time of activating the automatic parking function of the vehicle, so that the driving motor is controlled not to be in a torque zero crossing region all the time in a parking start region of the vehicle, vibration abnormal noise of the vehicle during parking start is avoided, and driving experience of the vehicle is improved.

Referring to fig. 5, a schematic diagram of a parking start device provided in an embodiment of the present application may specifically include a determining module 51 and a control module 52, where:

a determining module 51 for determining a state of the vehicle after an automatic parking function of the vehicle is activated;

the control module 52 is configured to control the driving motor to execute a preset torque request if the vehicle is in a stationary state, so as to control the driving motor not to be in a torque zero crossing region when the vehicle is parked and started.

In one possible implementation, the vehicle includes a brake controller and a power controller, the brake controller is connected to the power controller, the power controller is connected to the driving motor, and the control module 52 includes:

the first judging sub-module is used for determining that the vehicle is in a stationary state if the vehicle is in a parking gear;

and the transmitting sub-module is used for transmitting the torque request to the power controller through the brake controller, and the power controller is used for transmitting the torque request to the driving motor so as to control the driving motor to respond to the torque request.

the second judging sub-module is used for determining that the vehicle is in a stationary state if the vehicle is in a parking gear;

a control sub-module for controlling the power controller to send the torque request to the drive motor to control the drive motor to respond to the torque request;

and the feedback sub-module is used for controlling the power controller to feed back the information of the torque request executed by the driving motor to the brake controller.

In one possible implementation, the control module 52:

a determination submodule for determining a torque adjustment rate;

the adjusting sub-module is used for adjusting the torque of the driving motor to the torque corresponding to the torque request according to the torque adjusting speed;

and the control sub-module is used for controlling the driving motor to work for a preset time under the torque corresponding to the torque request so as to eliminate the gear clearance between the axle and the rotor.

In one possible implementation manner, the apparatus further includes:

the acquisition module is used for acquiring the executable torque range of the driving motor after receiving the acceleration request of the parking controller;

and the adjusting module is used for controlling and adjusting the torque of the driving motor according to the acceleration request and the executable torque range so as to execute the parking operation of the vehicle.

In one possible implementation manner, the adjusting module includes:

a target torque determination submodule, configured to determine a target torque corresponding to the acceleration request;

the first control sub-module is used for controlling the driving motor to output the target torque if the target torque is in the executable torque range;

and the control sub-module is used for controlling the driving motor to output the maximum torque in the executable torque range if the target torque is not in the executable torque range.

In one possible implementation, the vehicle includes a hydraulic brake, and the apparatus further includes:

and a compensating brake module for controlling the hydraulic brake to compensate brake hydraulic pressure according to the torque request so as to maintain the vehicle in the stationary state.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference should be made to the description of the method embodiments.

Fig. 6 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present application. As shown in fig. 6, the in-vehicle terminal 6 of this embodiment includes: at least one processor 60 (only one shown in fig. 6), a memory 61 and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, the processor 60 implementing the steps in any of the various method embodiments described above when executing the computer program 62.

The in-vehicle terminal may include, but is not limited to, a processor 60, a memory 61. It will be appreciated by those skilled in the art that fig. 6 is merely an example of the in-vehicle terminal 6 and is not intended to limit the in-vehicle terminal 6, and may include more or less components than illustrated, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.

The processor 60 may be a central processing unit (Central Processing Unit, CPU), the processor 60 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may in some embodiments be an internal storage unit of the in-vehicle terminal 6, such as a hard disk or a memory of the in-vehicle terminal 6. The memory 61 may also be an external storage device of the in-vehicle terminal 6 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the in-vehicle terminal 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the in-vehicle terminal 6. The memory 61 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 61 may also be used for temporarily storing data that has been output or is to be output.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps that may implement the various method embodiments described above.

The embodiments of the present application provide a computer program product that, when run on a vehicle-mounted terminal, causes the vehicle-mounted terminal to perform steps that may be implemented in the various method embodiments described above.

The embodiment of the application provides a vehicle, which realizes the parking start of the vehicle age through the steps in the method embodiments.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A method of parking and starting, comprising:

2. The method of claim 1, wherein the vehicle includes a brake controller and a power controller, the brake controller being coupled to the power controller and the power controller being coupled to the drive motor, the controlling the drive motor to perform the predetermined torque request if the vehicle is stationary, comprising:

if the vehicle is in the parking gear, determining that the vehicle is in a stationary state;

the torque request is sent to the power controller by the brake controller, and the power controller is used for sending the torque request to the driving motor so as to control the driving motor to respond to the torque request.

3. The method of claim 1, wherein the vehicle includes a brake controller and a power controller, the brake controller being coupled to the power controller and the power controller being coupled to the drive motor, the controlling the drive motor to perform the predetermined torque request if the vehicle is stationary, comprising:

controlling the power controller to send the torque request to the drive motor to control the drive motor to respond to the torque request;

and controlling the power controller to feed back information of the torque request executed by the driving motor to the brake controller.

4. A method according to any one of claims 2 or 3, wherein said controlling said drive motor in response to said torque request comprises:

determining a torque adjustment rate;

according to the torque adjustment rate, adjusting the torque of the driving motor to the torque corresponding to the torque request;

and controlling the driving motor to work for a preset time under the torque corresponding to the torque request so as to eliminate the gear clearance between the axle and the rotor.

5. A method according to any one of claims 1-3, wherein the method further comprises:

when an acceleration request of a parking controller is received, acquiring an executable torque range of the driving motor;

and controlling and adjusting the torque of the driving motor according to the acceleration request and the executable torque range so as to execute the parking operation of the vehicle.

6. The method of claim 5, wherein said controlling said drive motor to respond based on said acceleration request and said executable torque range comprises:

determining a target torque corresponding to the acceleration request;

if the target torque is in the executable torque range, controlling the driving motor to output the target torque;

and if the target torque is not in the executable torque range, controlling the driving motor to output the maximum torque in the executable torque range.

7. The method of claim 1, wherein the vehicle includes a hydraulic brake, the method further comprising:

the hydraulic brake is controlled to compensate for brake hydraulic pressure in accordance with the torque request to maintain the vehicle in the stationary state.

8. A parking start apparatus, comprising:

9. A vehicle terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the computer program.

10. A computer readable storage medium storing a computer program, which when executed by a processor implements the method according to any one of claims 1-7.