CN105857278A - Logic control method of automatic brake system - Google Patents
Logic control method of automatic brake system Download PDFInfo
- Publication number
- CN105857278A CN105857278A CN201610359168.0A CN201610359168A CN105857278A CN 105857278 A CN105857278 A CN 105857278A CN 201610359168 A CN201610359168 A CN 201610359168A CN 105857278 A CN105857278 A CN 105857278A
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- Prior art keywords
- automatic parking
- vehicle
- state
- wheel
- packing state
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 238000012856 packing Methods 0.000 claims description 36
- 230000007935 neutral effect Effects 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a logic control method of an automatic brake system. The automatic brake system is set in a closing state, a standby state and a pressure maintaining state; when the automatic brake system is in the closing state, the system does not respond to the intent change of a vehicle and a driver, and the brake pressure of a wheel is not interfered; when the system is in the standby state, the system is used for monitoring the movement state of the vehicle, and is ready to apply brake pressure at any time; when the automatic brake system is in the pressure maintaining state, the system can automatically maintain the brake pressure of the vehicle, so that the parking of the vehicle can be maintained under the condition of not treading a brake pedal by a driver. The logic control method has the advantages that the automatic brake safety property is ensured, and the starting of the vehicle is smoother.
Description
Technical field
The present invention relates to automobile brake and control technical field, be specially a kind of automatic parking system logic control method.
Background technology
Automobile electron stabilization control system (ESC) is gradually popularized on passenger car, utilizes automobile stability control system, it is possible to achieve the independence regulation and control of four-wheel brake brake pressure, thus derives a series of auxiliary function, and automatic parking function is one of them.Automatic parking function can apply after braking makes vehicle come to a complete stop driver, automatically keep the brake pressure of four wheels, so that driver need not trample brake pedal constantly when stationary vehicle, vehicle also will not slip car because external interference or physical features are uneven.When vehicle start, automatic parking function is capable of identify that the starting of driver is intended to, and at the brake pressure of appropriate four wheels of moment release so that vehicle is started to walk smoothly according to the intention of driver.Visible, automatic parking function can alleviate driver at the manipulation strength of road conditions that blocks up, lifting driver comfort.
Summary of the invention
It is an object of the invention to provide a kind of automatic parking system logic control method with preferable security and ease for use.
nullAutomatic parking system logic control method of the present invention，Described automatic parking system is divided into closed mode、Armed state and packing state，Wherein，When system is closed，System is not responding to vehicle and driver intention change，Wheel brake pressure is not intervened，When system is standby，System monitoring state of motion of vehicle，It is ready to implement brake pressure，When system is in packing state，System can keep wheel brake pressure automatically，Vehicle is made to maintain parking in the case of driver does not steps on brake pedal，Described automatic parking system includes an automatic parking switch controlled by driver，Described automatic parking system is initially in closed mode，If vehicle meets automatic parking unlocking condition，System jumps to armed state from closed mode，Remain off if vehicle is unsatisfactory for described automatic parking unlocking condition parking system，When standby，If detecting, vehicle meets automatic parking dwell condition，System jumps to packing state，If being unsatisfactory for automatic parking dwell condition, keep armed state，Before will entering above-mentioned packing state，System obtains Current vehicle place road gradient according to the sensor on vehicle，And then calculate the four-wheel braking minimum pressure needed for Current vehicle parking，When entering packing state，Wheel is implemented described four-wheel braking minimum pressure，The duration of the brake pressure that system monitoring is implemented，If the duration exceedes limit value，System jumps to closed mode，And send request，The electronics hand brake system making vehicle works，In packing state，The each wheel steering angle of system monitoring，If arbitrary wheel steering angle is more than limit value，Judge that vehicle slips by slope trend，System actively increases the brake pressure to wheel，In packing state，Whether system monitoring automatic parking release conditions meets，Packing state will be kept as being unsatisfactory for system，If meeting, jump to armed state.
Preferably, described automatic parking unlocking condition refers to that automatic parking switch is unlocked, closing of the door and safety belt are fastened.
Preferably, described automatic parking dwell condition refers to that each vehicle wheel rotational speed of vehicle is all 0 and maintains a period of time, and vehicle brake master cylinder pressure is more than 0.
Preferably, described automatic parking release conditions refer to each vehicle wheel rotational speed be zero, engine output actual torque be enough to overcome current hill grade resistance, speed changer to be not at neutral gear and clutch is operated the most completely.
Preferably, in packing state, system monitors automatic parking switch in real time, if automatic parking switch cuts out, system is jumped to closed mode by packing state, and sends request to electronics hand brake system, makes electronics hand brake system work.
Preferably, in packing state, after judging that vehicle has the trend of slipping by slope and actively increases the brake pressure to wheel, if still slipping by slope trend, then it is directly switch into the work of electronics hand brake system.
Preferably, meet automatic parking release conditions, during system is jumped to armed state by packing state, slowly discharge wheel brake pressure.
The advantage of control method of the present invention is:
What 1, the present invention proposed considers security and the automatic parking system logic control method of ease for use, possess clear and definite logic and redirect condition, each condition meets the operating habit of most driver, driver can be clearly understood that and adapt to the action of this control system, has good user interactivity and ease for use.
2, automatic parking function open judge in, add driver door close, pilot harness be condition, forbid that driver uses automatic parking system in the case of not ensureing inherently safe；Automatic parking pressure maintaining period is monitored the dwell time, in case locking system components and parts burn；In automatic parking pressure maintaining period, causing system to jump to exit state if as change of external conditions, system can send clamping request to electronics parking brake, makes electronics parking brake take over parking braking, avoid driver to be used as long-term parking braking by automatic parking by mistake, prevent from slipping the generation of car situation.By above some, this method is effectively improved the security performance during vehicle automatic parking.
3, when automatic parking pressurize, tend to keep minimum four-wheel braking pressure on the premise of car is not slipped in guarantee, jump to during automatic parking awaits orders in automatic parking pressurize, brake pressure the most slowly discharges, and considers the starting that engine output torque overcomes the ability of gradient resistance and operator to be reflected simultaneously and be intended to.By above some, this method ensure that driver's comfortableness in operation and the ride comfort of Vehicle Starting Process.
Accompanying drawing explanation
Fig. 1 is the logic diagram of this method.
Detailed description of the invention
The present invention is further elaborated with embodiment below in conjunction with the accompanying drawings, and following example are only used for explaining the present invention, are not intended that limiting the scope of the present invention.
Automatic parking system of the present invention is divided into three kinds of duties: closed mode, armed state and packing state.
Wherein, when system is closed, system is not responding to vehicle and driver intention change, wheel brake pressure is not intervened, when system is standby, system monitoring state of motion of vehicle, it is ready to implement brake pressure, when system is in packing state, system can keep wheel brake pressure automatically, makes vehicle maintain parking in the case of driver does not steps on brake pedal.
Described automatic parking system has an automatic parking switch controlled by driver, is used for controlling automatic parking system opening and closing.
Described automatic parking system can carry out communication with the electronics hand brake system of vehicle, makes electronics hand brake system work by transmission request.
Work-based logic shown in Figure 1, described automatic parking system is initially in closed mode, if vehicle meets automatic parking unlocking condition, system jumps to armed state from closed mode, if vehicle is unsatisfactory for described automatic parking unlocking condition parking system and remains off.Above-mentioned automatic parking unlocking condition refers to: 1, automatic parking switch is unlocked；2, closing of the door；3, safety belt is fastened.
When standby, if detecting, vehicle meets automatic parking dwell condition, system jumps to packing state, if being unsatisfactory for automatic parking dwell condition, keeps armed state, above-mentioned automatic parking dwell condition to refer to: 1, each vehicle wheel rotational speed of vehicle is all 0 and maintains 0.1 second；2, vehicle brake master cylinder pressure is more than 0.
Before will entering above-mentioned packing state, system obtains Current vehicle place road gradient according to the sensor on vehicle, and then calculate the four-wheel braking minimum pressure needed for Current vehicle parking, when entering packing state, wheel is implemented described four-wheel braking minimum pressure.Visible, the control method of the present invention is to be inclined on the premise of car is not slipped in guarantee the brake pressure keeping minimum, thus experiences discharging the starting obtaining comfortable smooth-going when pressure makes vehicle start.
After entering packing state, system monitors automatic parking switch in real time, if automatic parking switch cuts out, system is jumped to closed mode by packing state, and sends request to electronics hand brake system, makes electronics hand brake system work.
System can monitor the duration of the brake pressure of enforcement, if the duration was more than three minutes, system jumps to closed mode, and sends request so that the electronics hand brake system work of vehicle.The described restriction to the dwell time is to protect hydraulic control unit in brake fluid system, it is to avoid long-time brake pressure keeps causing that system element is overheated to be burnt.
After entering packing state, if road surface, parking area exists the gradient, and vehicle weight changes (as occupant is upper and lower), and the gradient resistance that vehicle is corresponding can occur respective change so that vehicle slips by slope trend.Therefore in packing state, the each wheel steering angle of system monitoring, if arbitrary wheel steering angle is more than limit value, judge that vehicle slips by slope trend, system actively increases the brake pressure to wheel, and the pressure increased increases with wheel steering angle and increases, so that vehicle comes to a complete stop in car very short distance again slipping, if still slipping by slope trend after increase brake pressure, then it is directly switch into the work of electronics hand brake system.
After entering above-mentioned packing state, system just starts to monitor whether automatic parking release conditions meets, and described automatic parking release conditions refers to: 1, each vehicle wheel rotational speed is zero；2, engine output actual torque be enough to overcome current hill grade resistance；3, speed changer is not at neutral gear；4, clutch is operated the most completely.If the whole factor systems being unsatisfactory for above-mentioned automatic parking release conditions will keep packing state, if meeting, jump to armed state, and during jumping to armed state, wheel brake pressure is the most slowly discharged, thus ensure ride comfort and the comfortableness of vehicle start, reduce the hydraulic shock noise of brake piping.
Claims (7)
1. an automatic parking system logic control method, it is characterised in that: automatic parking system is divided into closed mode, armed state and packing state,
Wherein, when system is closed, system is not responding to vehicle and driver intention change, does not intervenes wheel brake pressure, when system is standby, system monitoring state of motion of vehicle, being ready to implement brake pressure, when system is in packing state, system can keep wheel brake pressure automatically, vehicle is made to maintain parking in the case of driver does not steps on brake pedal
Described automatic parking system includes an automatic parking switch controlled by driver,
Described automatic parking system is initially in closed mode, if vehicle meets automatic parking unlocking condition, system jumps to armed state from closed mode, if vehicle is unsatisfactory for described automatic parking unlocking condition parking system and remains off,
When standby, if detecting, vehicle meets automatic parking dwell condition, and system jumps to packing state, if being unsatisfactory for automatic parking dwell condition, keeps armed state,
Before will entering above-mentioned packing state, system obtains Current vehicle place road gradient according to the sensor on vehicle, and then calculates the four-wheel braking minimum pressure needed for Current vehicle parking, when entering packing state, wheel is implemented described four-wheel braking minimum pressure
In packing state, the duration of the brake pressure that system monitoring is implemented, if the duration exceedes limit value, system jumps to closed mode, and sends request so that the electronics hand brake system work of vehicle,
In packing state, each wheel steering angle of system monitoring, if arbitrary wheel steering angle is more than limit value, it is judged that vehicle slips by slope trend, and system actively increases the brake pressure to wheel,
In packing state, whether system monitoring automatic parking release conditions meets, and will keep packing state as being unsatisfactory for system, if meeting, jumps to armed state.
Automatic parking system logic control method the most according to claim 1, it is characterised in that: described automatic parking unlocking condition refers to that automatic parking switch is unlocked, closing of the door and safety belt are fastened.
Automatic parking system logic control method the most according to claim 1, it is characterised in that: described automatic parking dwell condition refers to that each vehicle wheel rotational speed of vehicle is all 0 and maintains a period of time, and vehicle brake master cylinder pressure is more than 0.
Automatic parking system logic control method the most according to claim 1, it is characterised in that: described automatic parking release conditions refer to each vehicle wheel rotational speed be zero, engine output actual torque be enough to overcome current hill grade resistance, speed changer to be not at neutral gear and clutch is operated the most completely.
Automatic parking system logic control method the most according to claim 1, it is characterized in that: in packing state, system monitors automatic parking switch in real time, if automatic parking switch cuts out, system is jumped to closed mode by packing state, and send request to electronics hand brake system, make electronics hand brake system work.
Automatic parking system logic control method the most according to claim 1, it is characterized in that: in packing state, after judging that vehicle has the trend of slipping by slope and actively increases the brake pressure to wheel, if still slipping by slope trend, then it is directly switch into the work of electronics hand brake system.
Automatic parking system logic control method the most according to claim 1, it is characterised in that: meet automatic parking release conditions, during system is jumped to armed state by packing state, slowly discharge wheel brake pressure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610359168.0A CN105857278B (en) | 2016-05-27 | 2016-05-27 | A kind of automatic parking system logic control method |
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| CN201610359168.0A CN105857278B (en) | 2016-05-27 | 2016-05-27 | A kind of automatic parking system logic control method |
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| CN105857278A true CN105857278A (en) | 2016-08-17 |
| CN105857278B CN105857278B (en) | 2018-07-13 |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202729A (en) * | 2016-12-20 | 2018-06-26 | 宝沃汽车（中国）有限公司 | For the method and apparatus of parking control |
| CN108238050A (en) * | 2016-12-24 | 2018-07-03 | 宝沃汽车（中国）有限公司 | Neutral gear control method, system and vehicle |
| CN109466545A (en) * | 2018-11-16 | 2019-03-15 | 广州小鹏汽车科技有限公司 | Automatic parking method and vehicle control syetem |
| CN109910843A (en) * | 2017-12-13 | 2019-06-21 | 蔚来汽车有限公司 | Automatic parking method and apparatus |
| CN110341698A (en) * | 2018-04-02 | 2019-10-18 | 长城汽车股份有限公司 | A kind of automobile control method and automobile |
| CN110758397A (en) * | 2019-11-06 | 2020-02-07 | 奇瑞汽车股份有限公司 | Control method of automobile ramp auxiliary system |
| CN110871789A (en) * | 2018-09-04 | 2020-03-10 | 比亚迪股份有限公司 | Method and device for controlling automatic parking of vehicle and vehicle |
| CN111231941A (en) * | 2018-11-28 | 2020-06-05 | 宝沃汽车（中国）有限公司 | Automatic parking method and device and vehicle |
| CN111746505A (en) * | 2019-03-28 | 2020-10-09 | 上汽通用汽车有限公司 | Automatic parking control system and method |
| CN111959512A (en) * | 2020-08-25 | 2020-11-20 | 重庆长安新能源汽车科技有限公司 | New energy automobile in-situ parking control method, device and system and automobile |
| CN112109690A (en) * | 2019-07-17 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Automatic parking control method, device and computer readable storage medium |
| CN112208357A (en) * | 2020-10-23 | 2021-01-12 | 大陆泰密克汽车系统（上海）有限公司 | Control method for parking brake system, parking brake system and vehicle |
| CN112298130A (en) * | 2020-10-29 | 2021-02-02 | 中国第一汽车股份有限公司 | State control method, device and equipment for automatic parking holding and storage medium |
| CN112660116A (en) * | 2016-10-04 | 2021-04-16 | 日产自动车株式会社 | Parking control method and parking control device |
| CN113415262A (en) * | 2020-08-14 | 2021-09-21 | 中国第一汽车股份有限公司 | Engine starting and parking brake maintaining control method suitable for AT vehicle type |
| CN114458459A (en) * | 2022-01-27 | 2022-05-10 | 中国第一汽车股份有限公司 | Method and system for improving engine starting smoothness through hydraulic assistance |
| CN114559909A (en) * | 2022-03-21 | 2022-05-31 | 东风华神汽车有限公司 | Control method for commercial vehicle EPB system |
| CN114701487A (en) * | 2022-03-30 | 2022-07-05 | 重庆长安汽车股份有限公司 | Automatic parking control method and system |
| CN115848328A (en) * | 2021-09-24 | 2023-03-28 | 重庆长安汽车股份有限公司 | Parking control system and method and vehicle |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660116A (en) * | 2016-10-04 | 2021-04-16 | 日产自动车株式会社 | Parking control method and parking control device |
| CN108202729A (en) * | 2016-12-20 | 2018-06-26 | 宝沃汽车（中国）有限公司 | For the method and apparatus of parking control |
| CN108238050A (en) * | 2016-12-24 | 2018-07-03 | 宝沃汽车（中国）有限公司 | Neutral gear control method, system and vehicle |
| CN109910843A (en) * | 2017-12-13 | 2019-06-21 | 蔚来汽车有限公司 | Automatic parking method and apparatus |
| CN110341698A (en) * | 2018-04-02 | 2019-10-18 | 长城汽车股份有限公司 | A kind of automobile control method and automobile |
| CN110341698B (en) * | 2018-04-02 | 2021-07-06 | 长城汽车股份有限公司 | Automobile control method and automobile |
| CN110871789B (en) * | 2018-09-04 | 2022-01-07 | 比亚迪股份有限公司 | Method and device for controlling automatic parking of vehicle and vehicle |
| CN110871789A (en) * | 2018-09-04 | 2020-03-10 | 比亚迪股份有限公司 | Method and device for controlling automatic parking of vehicle and vehicle |
| CN109466545A (en) * | 2018-11-16 | 2019-03-15 | 广州小鹏汽车科技有限公司 | Automatic parking method and vehicle control syetem |
| CN111231941A (en) * | 2018-11-28 | 2020-06-05 | 宝沃汽车（中国）有限公司 | Automatic parking method and device and vehicle |
| CN111231941B (en) * | 2018-11-28 | 2021-07-20 | 宝沃汽车（中国）有限公司 | Automatic parking method and device and vehicle |
| CN111746505A (en) * | 2019-03-28 | 2020-10-09 | 上汽通用汽车有限公司 | Automatic parking control system and method |
| CN112109690A (en) * | 2019-07-17 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Automatic parking control method, device and computer readable storage medium |
| CN112109690B (en) * | 2019-07-17 | 2022-06-21 | 上汽通用五菱汽车股份有限公司 | Automatic parking control method, device and computer readable storage medium |
| CN110758397A (en) * | 2019-11-06 | 2020-02-07 | 奇瑞汽车股份有限公司 | Control method of automobile ramp auxiliary system |
| CN113415262A (en) * | 2020-08-14 | 2021-09-21 | 中国第一汽车股份有限公司 | Engine starting and parking brake maintaining control method suitable for AT vehicle type |
| CN113415262B (en) * | 2020-08-14 | 2022-09-09 | 中国第一汽车股份有限公司 | Engine starting and parking brake maintaining control method suitable for AT vehicle type |
| CN111959512A (en) * | 2020-08-25 | 2020-11-20 | 重庆长安新能源汽车科技有限公司 | New energy automobile in-situ parking control method, device and system and automobile |
| CN111959512B (en) * | 2020-08-25 | 2023-03-31 | 重庆长安汽车股份有限公司 | New energy automobile in-situ parking control method, device and system and automobile |
| CN112208357A (en) * | 2020-10-23 | 2021-01-12 | 大陆泰密克汽车系统（上海）有限公司 | Control method for parking brake system, parking brake system and vehicle |
| CN112298130A (en) * | 2020-10-29 | 2021-02-02 | 中国第一汽车股份有限公司 | State control method, device and equipment for automatic parking holding and storage medium |
| CN112298130B (en) * | 2020-10-29 | 2022-02-22 | 中国第一汽车股份有限公司 | State control method, device and equipment for automatic parking holding and storage medium |
| CN115848328A (en) * | 2021-09-24 | 2023-03-28 | 重庆长安汽车股份有限公司 | Parking control system and method and vehicle |
| CN115848328B (en) * | 2021-09-24 | 2024-04-19 | 重庆长安汽车股份有限公司 | Parking control system and method and vehicle |
| CN114458459A (en) * | 2022-01-27 | 2022-05-10 | 中国第一汽车股份有限公司 | Method and system for improving engine starting smoothness through hydraulic assistance |
| CN114559909A (en) * | 2022-03-21 | 2022-05-31 | 东风华神汽车有限公司 | Control method for commercial vehicle EPB system |
| CN114701487A (en) * | 2022-03-30 | 2022-07-05 | 重庆长安汽车股份有限公司 | Automatic parking control method and system |
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