CN106080604A - A kind of manual-gear vehicle uphill starting control method based on electronic parking system - Google Patents

A kind of manual-gear vehicle uphill starting control method based on electronic parking system Download PDF

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Publication number
CN106080604A
CN106080604A CN201610693928.1A CN201610693928A CN106080604A CN 106080604 A CN106080604 A CN 106080604A CN 201610693928 A CN201610693928 A CN 201610693928A CN 106080604 A CN106080604 A CN 106080604A
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China
Prior art keywords
parking system
electronic parking
vehicle
state
manual
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CN201610693928.1A
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Chinese (zh)
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CN106080604B (en
Inventor
黄祖胜
鲁盼
冯春
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • 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
    • B60W10/182—Conjoint control of vehicle sub-units of different type or different function including control of braking systems including control of parking 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/24—Direction of travel

Abstract

The invention discloses a kind of manual-gear vehicle uphill starting control method based on electronic parking system, its control process is: start electronic parking system, it is judged that whether vehicle-state is to prepare starting state；If then calculating vehicle drag and vehicle power, judge whether electronic parking system meets starting release conditions according to the magnitude relationship of vehicle drag and vehicle power；If electronic parking system meets starting release conditions, then start progressively to discharge electronic parking system, during release electronic parking system, detect the front and rear wheel wheel speed pulse of vehicle simultaneously；Judge it is progressively to discharge electronic parking system until discharging completely or keeping Current electronic parking system state return to recalculate vehicle drag and vehicle power according to vehicle front and rear wheel wheel speed pulse.The present invention need not the extra parts such as clutch jaw opening sensor, can be realized the uphill starting of manual-gear vehicle by conventional signal and optimized algorithm, controls process the most effective.

Description

A kind of manual-gear vehicle uphill starting control method based on electronic parking system
Technical field
The invention belongs to technical field of automobile control, be specifically related to a kind of manual-gear vehicle slope based on electronic parking system Road starting control method.
Background technology
Traditional manual gear vehicle parking brake completes parking generally by manual operation, when uphill starting, passes through Manual operation parking handle reduce parking power carry out uphill starting, which exist natural defect be starting time dangerous Property and cannot operating for the driver that strength is less than normal.The ripe application on automatic catch automobile of electronic parking system, although Existing a small amount of electronic parking system is used on manual-gear vehicle, but be all by add clutch jaw opening sensor (detect from The sensor of clutch combination degree) etc. parts be controlled, add clutch components design difficulty, technique and cost.
Summary of the invention
The purpose of the present invention is contemplated to solve the deficiency that above-mentioned background technology exists, it is provided that a kind of based on electronic parking system The manual-gear vehicle uphill starting control method of system.
The technical solution used in the present invention is: a kind of manual-gear vehicle uphill starting controlling party based on electronic parking system Method, comprises the following steps:
Step 1, vehicle is parked on the road of ramp, starts electronic parking system, it is judged that whether vehicle-state is to prepare starting State；
Step 2, if vehicle-state is not to prepare starting state, then returns step 1；
Step 3, if vehicle-state is to prepare starting state, then calculates vehicle drag and vehicle power, according to vehicle drag Judge whether electronic parking system meets starting release conditions with the magnitude relationship of vehicle power；
Step 4, if electronic parking system is unsatisfactory for the release conditions that starts to walk, then returns step 1；
Step 5, if electronic parking system meets starting release conditions, then starts progressively to discharge electronic parking system, release Detect the front and rear wheel wheel speed pulse of vehicle during electronic parking system simultaneously；Judge according to vehicle front and rear wheel wheel speed pulse It is progressively to discharge electronic parking system until electronic parking system discharges completely or keeps Current electronic parking system state also Return step 3.
Further, described judge that whether vehicle-state is that the method preparing starting state is: detection engine speed with And accelerator pedal position, when the engine speed of detection is interval more than idling and accelerator pedal position is more than 1%, it is judged that vehicle State is to prepare starting state, otherwise judges that vehicle-state is not to prepare starting state.
Further, described vehicle drag FResistanceComputational methods be:
FResistance=FSliding force+FResistance to rolling
Wherein: G is the gravity of vehicle, X is longitudinal acceleration；G is acceleration of gravity；η is rolling resistance coefficient.
Further, described vehicle power FPowerComputational methods be:
FPower=N*T*x*y*r, wherein, N is the moment of torsion of output moment of torsion and rotating speed synthesis, and T is clutch efficiency, and x is speed change Ratio, y is base ratio, and r is radius of wheel.
Further, described judge that whether electronic parking system meets the method for starting release conditions and be: if vehicle drag F is met with the magnitude relationship of vehicle powerPower-FResistance≥Nmap, NmapFor nominal data value, then judge that electronic parking system meets Step release conditions, otherwise judges that electronic parking system is unsatisfactory for the release conditions that starts to walk.
Further, described judgement progressively discharges electronic parking system until the condition discharged completely is: progressively discharging During electronic parking system, the front-wheel wheel speed pulse >=m of detection, rear wheel rotation rapid pulse punching≤n, and front-wheel wheel speed pulse with after The offset direction of wheel wheel speed pulse is identical.
Further, described release conditions judging to keep Current electronic parking system return the condition of step 3 and be: During release electronic parking system, the front-wheel wheel speed pulse≤m of detection, rear wheel rotation rapid pulse punching≤n, and front-wheel wheel speed pulse Identical with the offset direction of rear wheel rotation rapid pulse punching.
Further, in described step 5, release electronic parking systematic procedure in or electronic parking system discharge completely After, if the front-wheel wheel speed pulse of detection is contrary with the offset direction that rear wheel rotation rapid pulse rushes, then electronic parking system is again started up, and returns Return step 3.
Existing electronic parking system is used on manual-gear vehicle by the present invention, it is not necessary to clutch jaw opening sensor etc. Extra parts, can realize the uphill starting of manual-gear vehicle by conventional signal and control algolithm, control process letter Single, safely and effectively.When driver's pull-up electronic parking switchs, electronic parking system applies different staying according to the size in ramp Che Li, the most effectively extends the service life of electronic parking system, also eliminates because ramp difference causes parking power not simultaneously What foot caused slips by slope security incident generation.
Accompanying drawing explanation
Fig. 1 is the theory diagram of electronic parking system of the present invention.
Fig. 2 is the control flow chart of the present invention.
Detailed description of the invention
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, it is simple to is well understood to this Bright, but they do not constitute restriction to the present invention.
As it is shown in figure 1, the theory diagram of electronic parking system used for the present invention, include Hall linear transducer H, The parts such as Hall impulser I, longitudinal acceleration sensor J, single-chip microcomputer K, motor-drive circuit L, wherein Hall linearly passes Sensor H is for detecting the drag-line displacement of electronic parking system, and Hall impulser I, for detecting the rotating speed of motor, longitudinally adds Velocity sensor J is for detecting the gradient residing for vehicle；Single-chip microcomputer K is used for receiving vehicle baseband signal by CAN, including Receive engine rotational speed signal A, torque signal B, acceleration pedal position signal C, brake pedal switch signal D, GES E, Wheel speed signal F, wheel speed pulse signal G and transmission electronic parking system status signal；Motor-drive circuit L is used for controlling electronics The rotating of parking system motor M, and then control parking or the release of electronic parking system.
As in figure 2 it is shown, realize manual-gear vehicle uphill starting control method based on above-mentioned electronic parking system, including as follows Step:
Step 1, vehicle is parked on the road of ramp (comprising horizontal road, horizontal road value of slope is 0), starts electronic parking System, it is judged that whether vehicle-state is to prepare starting state.
Judge whether vehicle-state is that the method preparing starting state is: detection engine speed and accelerator pedal position Put, when the engine speed of detection is more than 1% more than idling interval (such as 600～700 revs/min) and accelerator pedal position, sentence Disconnected vehicle-state is to prepare starting state, otherwise judges that vehicle-state is not to prepare starting state.
Step 2, if vehicle-state is not to prepare starting state, then returns step 1；
Step 3, if vehicle-state is to prepare starting state, and the speed of detection is more than or equal to 0 and (X is for setting less than X Value, such as 5) time enter starting controlled state, start to calculate vehicle drag and vehicle power, according to vehicle drag and vehicle power Magnitude relationship judges whether electronic parking system meets starting release conditions, and meeting starting release conditions is i.e. electronic parking system Can ensure that vehicle will not slip car upon discharge.
Vehicle drag FResistanceComputational methods be:
FResistance=FSliding force+FResistance to rolling
Wherein: G is the gravity of vehicle, X is longitudinal acceleration (m/s2)；G is acceleration of gravity (9.8m/s2)；η is rolling resistance Coefficient.
Vehicle power FPowerComputational methods be: FPower=N*T*x*y*r, wherein, N is the torsion of output moment of torsion and rotating speed synthesis Square, T is clutch efficiency, and x is gear ratio, and y is base ratio, and r is radius of wheel.
If the magnitude relationship of above-mentioned vehicle drag and vehicle power meets FPower-FResistance≥Nmap(NmapFor nominal data value, can The setting different value that varies in size according to ramp), then judge that electronic parking system meets starting release conditions, otherwise judge electronics Parking system is unsatisfactory for the release conditions that starts to walk.
Step 4, if the electronic parking system of above-mentioned judgement is unsatisfactory for the release conditions that starts to walk, then returns step 1；
Step 5, if the electronic parking system of above-mentioned judgement meets starting release conditions, then starts progressively to discharge electronic parking System, detects the front and rear wheel wheel speed pulse of vehicle simultaneously during release electronic parking system.
Step 6, during progressively discharging electronic parking system, when front-wheel wheel speed pulse >=m, the trailing wheel wheel speed of detection Pulse≤n, and when front-wheel wheel speed pulse is identical with the offset direction that rear wheel rotation rapid pulse rushes, illustrates that vehicle power is enough, can be by Step release electronic parking system is until electronic parking system discharges completely, and when electronic parking system discharges completely, (i.e. parking power subtracts Be zero less) after i.e. complete uphill starting.
Step 7, during progressively discharging electronic parking system, when front-wheel wheel speed pulse≤m, the trailing wheel wheel speed of detection Pulse≤n, and when front-wheel wheel speed pulse is identical with the offset direction that rear wheel rotation rapid pulse rushes, illustrate if continuing to discharge electronic parking System, may result in and slip car, now needs to keep the release conditions of Current electronic parking system and return step 3 recalculating car Power and vehicle drag.The release system state keeping Current electronic parking system refers to: if electronic parking system releases one Dividing and occur in that above-mentioned situation, as released 1/3rd or 1/2nd, then Current electronic parking system state maintains release three The state of/mono-or 1/2nd, is then back to step 3.
M and n in above-mentioned steps 6 and step 7 represents the calibration value of the wheel umber of pulse turned over per second, and it can be according to reality Border needs to be set, and m is more than n.
In such scheme, in order to be further ensured that the safety that car ramp is started to walk, if following two situation occurs, show Vehicle is slipping car, now needs electronic parking system to be again started up preventing from slipping car, is then back to step 3 and recalculates vehicle and move Electronic parking system can be discharged judging whether: 1, in step 6, electronic parking system discharges completely after power and vehicle drag After, if front-wheel wheel speed pulse >=m, the rear wheel rotation rapid pulse punching >=n of detection, and the skew that front-wheel wheel speed pulse is rushed with rear wheel rotation rapid pulse The situation of (be probably when speed is also not reaching to a certain degree unclamped again throttle cause) in opposite direction；2, in step 6 and step In rapid 7, during the release of electronic parking system, the feelings that front-wheel wheel speed pulse is contrary with the offset direction that rear wheel rotation rapid pulse rushes occur Condition.
Above content is to combine the further description that the present invention is done by specific embodiment, it is impossible to assert this Bright being embodied as is confined to these explanations.For the those of ordinary skill of the technical field belonging to the present invention, not On the premise of departing from present inventive concept, it is also possible to make some simple deduction or replace, all should be considered as belonging to the guarantor of the present invention Protect scope.The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.

Claims (8)

1. a manual-gear vehicle uphill starting control method based on electronic parking system, it is characterised in that include following step Rapid:
Step 1, vehicle is parked on the road of ramp, starts electronic parking system, it is judged that whether vehicle-state is to prepare starting state；
Step 2, if vehicle-state is not to prepare starting state, then returns step 1；
Step 3, if vehicle-state is to prepare starting state, then calculates vehicle drag and vehicle power, according to vehicle drag and car The magnitude relationship of power judges whether electronic parking system meets starting release conditions；
Step 4, if electronic parking system is unsatisfactory for the release conditions that starts to walk, then returns step 1；
Step 5, if electronic parking system meets starting release conditions, then starts progressively to discharge electronic parking system, discharges electronics Detect the front and rear wheel wheel speed pulse of vehicle during parking system simultaneously；According to vehicle front and rear wheel wheel speed pulse judge be by Step release electronic parking system is until electronic parking system discharges completely or keeps the release conditions of Current electronic parking system And return step 3.
A kind of manual-gear vehicle uphill starting control method based on electronic parking system the most according to claim 1, its It is characterised by, described judges that whether vehicle-state is that the method preparing starting state is: detection engine speed and acceleration are stepped on Board position, when the engine speed of detection is interval more than idling and accelerator pedal position is more than 1%, it is judged that vehicle-state is accurate Standby starting state, otherwise judges that vehicle-state is not to prepare starting state.
A kind of manual-gear vehicle uphill starting control method based on electronic parking system the most according to claim 1, its It is characterised by, described vehicle drag FResistanceComputational methods be:
FResistance=FSliding force+FResistance to rolling
Wherein: G is the gravity of vehicle, X is longitudinal acceleration；G is acceleration of gravity；η is rolling resistance coefficient.
A kind of manual-gear vehicle uphill starting control method based on electronic parking system the most according to claim 1, its It is characterised by, described vehicle power FPowerComputational methods be:
FPower=N*T*x*y*r, wherein, N is the moment of torsion of output moment of torsion and rotating speed synthesis, and T is clutch efficiency, and x is gear ratio, and y is Base ratio, r is radius of wheel.
A kind of manual-gear vehicle uphill starting control method based on electronic parking system the most according to claim 1, its It is characterised by, described judges that whether electronic parking system meets the method for starting release conditions and be: if vehicle drag and vehicle move The magnitude relationship of power meets FPower-FResistance≥Nmap, NmapFor nominal data value, then judge that electronic parking system meets starting released strip Part, otherwise judges that electronic parking system is unsatisfactory for the release conditions that starts to walk.
A kind of manual-gear vehicle uphill starting control method based on electronic parking system the most according to claim 1, its Being characterised by, described judgement progressively discharges electronic parking system until the condition discharged completely is: progressively discharging electronic parking During system, the front-wheel wheel speed pulse >=m of detection, rear wheel rotation rapid pulse punching≤n, and front-wheel wheel speed pulse and rear wheel rotation rapid pulse The offset direction of punching is identical.
A kind of manual-gear vehicle uphill starting control method based on electronic parking system the most according to claim 1, its Being characterised by, the described release conditions judging to keep Current electronic parking system also return the condition of step 3 and are: at release electronics During parking system, the front-wheel wheel speed pulse≤m of detection, rear wheel rotation rapid pulse punching≤n, and front-wheel wheel speed pulse and rear wheel rotation The offset direction of rapid pulse punching is identical.
A kind of manual-gear vehicle uphill starting control method based on electronic parking system the most according to claim 1, its It is characterised by: in described step 5, in release electronic parking systematic procedure or after electronic parking system discharges completely, if detection Front-wheel wheel speed pulse contrary with the offset direction that rear wheel rotation rapid pulse rushes, then electronic parking system is again started up, return step 3.
CN201610693928.1A 2016-08-19 2016-08-19 A kind of manual-gear vehicle uphill starting control method based on electronic parking system Active CN106080604B (en)

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Cited By (10)

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Publication number Priority date Publication date Assignee Title
CN106945665A (en) * 2017-03-07 2017-07-14 广东轻工职业技术学院 A kind of car ramp starting anti-slip control method and control system
CN109017794A (en) * 2018-08-30 2018-12-18 华南理工大学 A kind of ramp auxiliary system and its control method based on electro-hydraulic brake
CN109278751A (en) * 2018-10-09 2019-01-29 浙江力邦合信智能制动系统股份有限公司 Manual gear car ramp starting control method and control system
CN109990766A (en) * 2019-04-24 2019-07-09 重庆理工大学 Road grade detection method and system based on road surface overall drag coefficient
CN110182190A (en) * 2018-02-22 2019-08-30 罗伯特·博世有限公司 Method, apparatus and control unit for parking braking release
CN110435659A (en) * 2019-08-20 2019-11-12 奇瑞汽车股份有限公司 Control method, device and the storage medium of vehicle starting
CN112124271A (en) * 2020-09-27 2020-12-25 东风柳州汽车有限公司 Electronic parking brake release control method
CN113401096A (en) * 2021-06-30 2021-09-17 东风汽车集团股份有限公司 Vehicle slope starting method and system based on electronic parking system
CN113581179A (en) * 2021-07-29 2021-11-02 东风柳州汽车有限公司 Vehicle hill start control method, device, equipment and storage medium
CN114084139A (en) * 2021-11-30 2022-02-25 东风商用车有限公司 Sectional type starting control method, device, equipment and storage medium for heavy commercial vehicle

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CN103802832A (en) * 2012-11-12 2014-05-21 奥托立夫开发公司 Hill start assist method
CN105292118A (en) * 2015-11-10 2016-02-03 中国重汽集团济南动力有限公司 Heavy-duty vehicle hill-start assist control method

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CN102030004A (en) * 2009-09-25 2011-04-27 一汽解放青岛汽车厂 Control method for realizing hill-start of automatic transmission by utilizing pulse catching
US20120221257A1 (en) * 2011-02-28 2012-08-30 Froncioni Andy Determining angular dependence of aerodynamic drag area for a vehicle
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Cited By (18)

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CN106945665A (en) * 2017-03-07 2017-07-14 广东轻工职业技术学院 A kind of car ramp starting anti-slip control method and control system
CN106945665B (en) * 2017-03-07 2018-03-13 广东轻工职业技术学院 A kind of car ramp starting anti-slip control method and control system
CN110182190B (en) * 2018-02-22 2022-08-05 罗伯特·博世有限公司 Method, device and control unit for parking brake release
CN110182190A (en) * 2018-02-22 2019-08-30 罗伯特·博世有限公司 Method, apparatus and control unit for parking braking release
CN109017794A (en) * 2018-08-30 2018-12-18 华南理工大学 A kind of ramp auxiliary system and its control method based on electro-hydraulic brake
CN109278751A (en) * 2018-10-09 2019-01-29 浙江力邦合信智能制动系统股份有限公司 Manual gear car ramp starting control method and control system
CN109990766B (en) * 2019-04-24 2021-05-04 重庆理工大学 Road slope detection method and system based on comprehensive resistance coefficient of road surface
CN109990766A (en) * 2019-04-24 2019-07-09 重庆理工大学 Road grade detection method and system based on road surface overall drag coefficient
CN110435659A (en) * 2019-08-20 2019-11-12 奇瑞汽车股份有限公司 Control method, device and the storage medium of vehicle starting
CN110435659B (en) * 2019-08-20 2021-07-30 奇瑞汽车股份有限公司 Automobile starting control method and device and storage medium
CN112124271A (en) * 2020-09-27 2020-12-25 东风柳州汽车有限公司 Electronic parking brake release control method
CN112124271B (en) * 2020-09-27 2022-08-23 东风柳州汽车有限公司 Electronic parking brake release control method
CN113401096A (en) * 2021-06-30 2021-09-17 东风汽车集团股份有限公司 Vehicle slope starting method and system based on electronic parking system
CN113401096B (en) * 2021-06-30 2022-03-25 东风汽车集团股份有限公司 Vehicle slope starting method and system based on electronic parking system
CN113581179A (en) * 2021-07-29 2021-11-02 东风柳州汽车有限公司 Vehicle hill start control method, device, equipment and storage medium
CN113581179B (en) * 2021-07-29 2023-06-23 东风柳州汽车有限公司 Vehicle hill start control method, device, equipment and storage medium
CN114084139A (en) * 2021-11-30 2022-02-25 东风商用车有限公司 Sectional type starting control method, device, equipment and storage medium for heavy commercial vehicle
CN114084139B (en) * 2021-11-30 2023-05-30 东风商用车有限公司 Sectional starting control method, device and equipment for heavy commercial vehicle and storage medium

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