CN106585601B - A kind of electronic parking method and device - Google Patents
A kind of electronic parking method and device Download PDFInfo
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- CN106585601B CN106585601B CN201510676045.5A CN201510676045A CN106585601B CN 106585601 B CN106585601 B CN 106585601B CN 201510676045 A CN201510676045 A CN 201510676045A CN 106585601 B CN106585601 B CN 106585601B
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- Prior art keywords
- parking
- displacement
- torque command
- value
- command value
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
Abstract
The present invention is suitable for technical field of automobile control, provides a kind of electronic parking method and device, which comprises when vehicle enters parked state, compares the size of vehicle real-time gear direction displacement and free displacement；If the displacement of vehicle real-time gear direction is more than or equal to the free displacement, effectively it is displaced according to parking and present speed calculates parking torque command value；The size of output control electric current is the parking torque command value.The present invention calculates form-fit torque when parking using displacement and the method that combines of speed, send out suitable electric current to motor to by controller, to enable vehicle in the steady parking in ramp, the frequent of vehicle is swayed forwards and backwards during overcoming the problems, such as parking.
Description
Technical field
The invention belongs to technical field of automobile control more particularly to a kind of electronic parking method and devices.
Background technique
With the development of new energy, new-energy automobile was also developed rapidly at nearly 2 years.In new-energy automobile field,
Pure electric automobile occupies leading position, it fully relies on drive energy of the electric power as vehicle.The power output of pure electric automobile
Device be motor compared with the engine of conventional fuel oil car difference be, vehicle stop when, motor can be in zero speed
Under, certain torque is still kept, to make vehicle in the case where no mechanical braking, the static i.e. electronics of vehicle is kept on ramp
Parking.
It is zero as controller target that the electronic parking method of existing pure electric automobile, which is by speed, frequently passes through adjusting
The ratio and integral coefficient of speed control, the torque then come out by speed controlling and adjusted or current order refer to as output
It enables.In this way in ramp parking, since the sensor decoding that speed is zero has delay, so only using speed as target, meeting
Cause control lag, so as to cause controller to the control current hysteresis of motor after, motor output torque also just lag, finally drive
Sail be experienced as vehicle can frequently rest point attachment shake；It since vehicle can not be known in advance in controller itself is gone back in level road parking
It is in parking on ramp, is only control target with zero velocity, so as to cause when level road stops, controller can also exports a ratio
Lesser locked rotor torque electric current, ultimately causes the invisible waste of energy；The prior art is after needing vehicle thoroughly to stop, just to permit
Perhaps effectively, this results in vehicle during parking for accelerator pedal output, there are no thoroughly stopping, vehicle body also shaking when
It waits, stepping on accelerator pedal is invalid；If it is desired to can also be achieved the desired results using this scheme, then to the differentiation of velocity sensor
Degree requirement is very high, i.e. velocity sensor discrimination is higher, then the sluggishness of speed decoding will be fewer, gets over to control hysteresis quality
It is small, but simultaneously the speed of service of processor is required also to get higher in normally travel.
Summary of the invention
The embodiment of the invention provides a kind of electronic parking method and devices, it is intended to solve prior art parking on ramp
During there is also car and swayed forwards and backwards in rest point；On level road, torque is not needed, the prior art can issue smaller
Electric current, will lead to the invisible waste of energy in this way；Accelerator pedal is slow in reacting, the not high problem of user's driving experience.
On the one hand, a kind of electronic parking method is provided, which comprises
When vehicle enters parked state, compare the size of vehicle real-time gear direction displacement and free displacement；
If the vehicle real-time gear direction displacement be more than or equal to the free displacement, effectively be displaced according to parking with
Present speed calculates parking torque command value；
The size of output control electric current is the parking torque command value.
It further, is the preset distance of system by the free displacement.
Further, described be effectively displaced according to parking calculates parking torque command value with present speed, specifically includes:
Parking of the acquisition since parking is effectively displaced and present speed, and the parking is effectively displaced staying for gear direction
The difference of vehicle actual displacement amount and free displacement；
It is effectively displaced with the parking respectively and obtains displacement component bid value multiplied by displacement component coefficient, with the current speed
Degree obtains velocity component life value multiplied by velocity component coefficient；
Parking torque command value is obtained, the parking torque command value is ordered for institute's displacement components bid value and velocity component
The sum of value.
Further, after the size of the relatively vehicle real-time gear direction displacement and free displacement further include:
If the vehicle real-time gear direction displacement be less than free displacement, judge accelerator pedal bid value whether be
Zero；
If the accelerator pedal bid value is zero, the size for exporting control electric current is zero；
If the accelerator pedal bid value is not zero, the size for exporting control electric current is the accelerator pedal order
Value.
Further, it is described according to it is described it is effective displacement and present speed calculate parking torque command value after further include:
Compare the parking torque command value and accelerator pedal bid value size；
If the parking torque command value is more than or equal to the accelerator pedal bid value, the size of control electric current is exported
For the parking torque command value；
If the parking torque command value is less than the accelerator pedal bid value, the size for exporting control electric current is institute
State accelerator pedal bid value.
On the other hand, a kind of electronic parking device is provided, described device includes:
Parking comparing unit, for when vehicle enters parked state, comparing the displacement of vehicle real-time gear direction and freedom
The size of displacement；
Torque acquiring unit, if being more than or equal to the free displacement for the displacement of vehicle real-time gear direction,
It is effectively displaced according to parking and present speed calculates parking torque command value；
Parking control unit, the size for exporting control electric current are the parking torque command value.
Further, the free displacement is the preset distance of system.
Further, the torque acquiring unit specifically includes:
Parameter acquisition module, for obtaining, the parking since parking is effectively displaced and present speed, the parking are effective
Displacement is the parking actual displacement amount of gear direction and the difference of free displacement；
Component obtains module, obtains displacement component life multiplied by displacement component coefficient for being effectively displaced with the parking respectively
Value is enabled, velocity component life value is obtained multiplied by velocity component coefficient with the present speed；
Torque obtains module, and for obtaining parking torque command value, the parking torque command value is institute's displacement components
The sum of bid value and velocity component life value.
Further, described device further include:
Parking unit in level land judges to accelerate if being less than free displacement for the displacement of vehicle real-time gear direction
Whether pedal command value is zero；If the accelerator pedal bid value is zero, the size for exporting control electric current is zero；If institute
It states accelerator pedal bid value to be not zero, then the size for exporting control electric current is the accelerator pedal bid value.
Further, described device further include:
Pedal reaction unit, for the parking torque command value and accelerator pedal bid value size；If described
Parking torque command value is more than or equal to the accelerator pedal bid value, then exports the size of control electric current as parking torque life
Enable value；If the parking torque command value is less than the accelerator pedal bid value, it is described for exporting the size of control electric current
Accelerator pedal bid value.
The embodiment of the present application includes the following advantages:
Form-fit torque when parking is calculated using the method that displacement and speed combine, from giving through controller to motor
It sends out electric current suitable, to enable vehicle in the steady parking in ramp, overcomes the problems, such as frequently swaying forwards and backwards for vehicle during parking；
Using free displacement factor, i.e., before having an effect into parking, first allows to have one section of free displacement distance, work as actual bit
Shifting reaches this displacement or more and just allows to export parking electric current, and otherwise controller output electric current is zero, to meet level road parking nothing
The requirement of electric current；
During parking operation, closed in the size of relatively accelerator pedal bid value and parking torque command value always
System, if accelerator pedal bid value is greater than parking torque command value, with the output of accelerator pedal bid value, otherwise with parking torque
Bid value output, to guarantee to accomplish that stepping on accelerator pedal has reflection no matter in any stage of parking.
Detailed description of the invention
Fig. 1 is the flow chart without shaking electronic parking method that the embodiment of the present invention one provides；
Fig. 2 is the flow chart for the parking torque command value-acquiring method that the embodiment of the present invention one provides；
Fig. 3 is the implementation flow chart for the no current electronic parking method that the embodiment of the present invention one provides；
Fig. 4 is the flow chart of the electronic parking method for the sensitive accelerator pedal that the embodiment of the present invention one provides；
Fig. 5 is the specific block diagram of electronic parking device provided by Embodiment 2 of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Realization of the invention is described in detail below in conjunction with specific embodiment:
Embodiment one
Fig. 1 shows the implementation process of the electronic parking method of the offer of the embodiment of the present invention one, and details are as follows:
In step s101, when vehicle enters parked state, compare the displacement of vehicle real-time gear direction and free displacement
Size.
In the present embodiment, the free displacement is the preset distance of system.Vehicle advance is gone up a slope before being set as
Mention, when vehicle is in direction of advance, stepping on accelerator pedal vehicle marches forward direction when going up a slope, accelerator releasing, vehicle start nature and decelerate to speed be
Zero, vehicle initially enters parked state, and since on ramp, driver's vehicle does not brake at this time, vehicle is made due to gravity
With starting car slipping backward, controller starts the size for comparing vehicle real-time gear direction displacement and free displacement at this time.If institute
It states the displacement of vehicle real-time gear direction and is more than or equal to the free displacement, step S102 is executed, if the vehicle real-time gear
Direction displacement is less than the free displacement, executes step S104.
In step s 102, if the displacement of vehicle real-time gear direction is more than or equal to the free displacement, basis
Parking is effectively displaced and present speed calculates parking torque command value.
In the present embodiment, over time, the displacement of Che Xianghou can gradually increase, at this time controller always than
Compared with the size of vehicle real-time gear direction displacement and free displacement, if the displacement of vehicle real-time gear direction is more than or equal to certainly
By being displaced, effectively it is displaced according to parking and present speed calculates parking torque command value, specifically as shown in Figure 2 include following step
It is rapid:
S21. it obtains the parking since parking to be effectively displaced and present speed, the parking is effectively displaced as gear direction
Parking actual displacement amount and free displacement difference；
S22. it is effectively displaced with the parking respectively and obtains displacement component bid value multiplied by displacement component coefficient, worked as with described
Preceding speed obtains velocity component life value multiplied by velocity component coefficient；
S23. parking torque command value is obtained, the parking torque command value is institute's displacement components bid value and speed point
Measure the sum of life value.
Wherein, displacement component coefficient, velocity component coefficient difference system are according to the preset fixed value of test case.
In step s 103, the size of output control electric current is the parking torque command value.
The present embodiment calculates form-fit torque when parking using displacement and the method that combines of speed, to being passed through control
Device processed sends out electric current suitable to motor and overcomes the frequent front and back of vehicle during parking to enable vehicle in the steady parking in ramp
Shaking problem.
As a preferred embodiment, as shown in figure 3, the relatively vehicle real-time gear direction displacement and free displacement is big
After small further include:
In step S104, if the displacement of vehicle real-time gear direction is less than free displacement, accelerator pedal is judged
Whether bid value is zero；
In step s105, if the accelerator pedal bid value is zero, the size for exporting control electric current is zero；
In step s 106, if the accelerator pedal bid value is not zero, it is described for exporting the size of control electric current
Accelerator pedal bid value.
The present embodiment, using free displacement factor, i.e., before having an effect into parking, first allow to have one section of free displacement away from
From when actual displacement reaches, this displacement is above just to be allowed to export parking electric current, and it is zero that otherwise controller, which exports electric current, to meet
The currentless requirement of level road parking.
As another preferred embodiment, as shown in figure 4, described calculate parking power according to effective displacement and present speed
After square bid value further include:
In step s 107, the parking torque command value and accelerator pedal bid value size；
If the parking torque command value is more than or equal to the accelerator pedal bid value, S103 is thened follow the steps；
If the parking torque command value is less than the accelerator pedal bid value, S106 is thened follow the steps.
The present embodiment, during parking operation, always in relatively accelerator pedal bid value and parking torque command value
Size relation, if accelerator pedal bid value be greater than parking torque command value, with accelerator pedal bid value output, otherwise with
The output of parking torque command value, when accelerator pedal bid value is smaller than parking torque command value, vehicle can also keep parking
State can then be switched to acceleration mode when throttle one is big at once, thoroughly counteract that accelerator pedal is slow in reacting to ask in this way
Topic, to guarantee to accomplish that stepping on accelerator pedal has reflection no matter in any stage of parking.
It should be noted that all allow to have one section of free displacement before output parking torque (electric current), it is then defeated again
The method of parking torque (electric current) realizes parking means out, and in above-described embodiment, free displacement is distance, those skilled in the art
Member, it is contemplated that free displacement may be the angle of motor rotation angle or tire rotation；As for speed factor, can wrap
Containing velocity squared, cube, the factors such as square root, as long as speed correlative factor and the method for displacement weighting belong to it is of the invention
Technical scope.
Embodiment two
Fig. 5 shows the specific block diagram of electronic parking device provided by Embodiment 2 of the present invention, for ease of description,
Only parts related to embodiments of the present invention are shown.In the present embodiment, which includes: parking comparing unit
31, torque acquiring unit 32, parking control unit 33, level land parking unit 34 and pedal reaction unit 35.
Wherein, parking comparing unit 31, for when vehicle enters parked state, comparing the displacement of vehicle real-time gear direction
With the size of free displacement；
Torque acquiring unit 32, if being more than or equal to free displacement for the displacement of vehicle real-time gear direction, according to
Parking is effectively displaced and present speed calculates parking torque command value；
Parking control unit 33, the size for exporting control electric current are the parking torque command value.
Further, the free displacement is the preset distance of system.
Further, the torque acquiring unit 32 specifically includes:
Parameter acquisition module, for obtaining, the parking since parking is effectively displaced and present speed, the parking are effective
Displacement is the parking actual displacement amount of gear direction and the difference of free displacement；
Component obtains module, obtains displacement component life multiplied by displacement component coefficient for being effectively displaced with the parking respectively
Value is enabled, velocity component life value is obtained multiplied by velocity component coefficient with the present speed；
Torque obtains module, sums for institute's displacement components bid value and velocity component life value, obtains parking torque life
Enable value.
The present embodiment calculates form-fit torque when parking using displacement and the method that combines of speed, to being passed through control
Device processed sends out electric current suitable to motor and overcomes the frequent front and back of vehicle during parking to enable vehicle in the steady parking in ramp
Shaking problem.
Further, described device further include:
Level land parking unit 34, if being less than free displacement for the displacement of vehicle real-time gear direction, judgement adds
Whether speed pedal bid value is zero；If the accelerator pedal bid value is zero, the size for exporting control electric current is zero；If
The accelerator pedal bid value is not zero, then the size for exporting control electric current is the accelerator pedal bid value.
The present embodiment, using free displacement factor, i.e., before having an effect into parking, first allow to have one section of free displacement away from
From when actual displacement reaches, this displacement is above just to be allowed to export parking electric current, and it is zero that otherwise controller, which exports electric current, to meet
The currentless requirement of level road parking.
Further, described device further include:
Pedal reaction unit 35, for the parking torque command value and accelerator pedal bid value size；If institute
Parking torque command value is stated more than or equal to the accelerator pedal bid value, then the size for exporting control electric current is the parking torque
Bid value；If the parking torque command value is less than the accelerator pedal bid value, the size for exporting control electric current is institute
State accelerator pedal bid value.
The present embodiment, during parking operation, always in relatively accelerator pedal bid value and parking torque command value
Size relation, if accelerator pedal bid value be greater than parking torque command value, with accelerator pedal bid value output, otherwise with
The output of parking torque command value, when accelerator pedal bid value is smaller than parking torque command value, vehicle can also keep parking
State can then be switched to acceleration mode when throttle one is big at once, thoroughly counteract that accelerator pedal is slow in reacting to ask in this way
Topic, to guarantee to accomplish that stepping on accelerator pedal has reflection no matter in any stage of parking.
Electronic parking device provided in an embodiment of the present invention can be applied in aforementioned corresponding embodiment of the method one, details
Referring to the description of above-described embodiment one, details are not described herein.
It is worth noting that, included each unit is only drawn according to function logic in the above system embodiment
Point, but be not limited to the above division, as long as corresponding functions can be realized；In addition, each functional unit is specific
Title is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiments of the present application may be provided as method, apparatus or calculating
Machine program product.Therefore, the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present application is referring to according to the method for the embodiment of the present application, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although preferred embodiments of the embodiments of the present application have been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and all change and modification within the scope of the embodiments of the present application.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
Above to a kind of electronic parking method and device provided herein, it is described in detail, it is used herein
The principle and implementation of this application are described for specific case, and the above embodiments are only used to help understand
The present processes and its core concept；At the same time, for those skilled in the art is having according to the thought of the application
There will be changes in body embodiment and application range, in conclusion the content of the present specification should not be construed as to the application
Limitation.
Claims (8)
1. a kind of electronic parking method, which is characterized in that the described method includes:
When vehicle enters parked state, compare the size of vehicle real-time gear direction displacement and free displacement；
If the displacement of vehicle real-time gear direction is more than or equal to the free displacement, effectively it is displaced according to parking and current
Speed calculates parking torque command value；
The size of output control electric current is the parking torque command value；
Described be effectively displaced according to parking calculates parking torque command value with present speed, specifically includes:
Parking of the acquisition since parking is effectively displaced and present speed, the parking reality that the parking is effectively displaced as gear direction
The difference of border displacement and free displacement；
It is effectively displaced with the parking respectively and obtains displacement component bid value multiplied by displacement component coefficient, multiplied with the present speed
Velocity component life value is obtained with velocity component coefficient；
Parking torque command value is obtained, the parking torque command value is worth it for institute's displacement components bid value and velocity component life
With.
2. electronic parking method according to claim 1, which is characterized in that preset the free displacement for system
Distance.
3. electronic parking method according to claim 1, which is characterized in that the relatively vehicle real-time gear direction displacement
After the size of free displacement further include:
If the displacement of vehicle real-time gear direction is less than free displacement, judge whether accelerator pedal bid value is zero；
If the accelerator pedal bid value is zero, the size for exporting control electric current is zero；
If the accelerator pedal bid value is not zero, the size for exporting control electric current is the accelerator pedal bid value.
4. electronic parking method according to claim 1, which is characterized in that described according to effective displacement and current speed
Degree calculates after parking torque command value further include:
Compare the parking torque command value and accelerator pedal bid value size；
If the parking torque command value is more than or equal to the accelerator pedal bid value, the size for exporting control electric current is institute
State parking torque command value；
If the parking torque command value is less than the accelerator pedal bid value, the size for exporting control electric current is described adds
Speed pedal bid value.
5. a kind of electronic parking device, which is characterized in that described device includes:
Parking comparing unit, for when vehicle enters parked state, comparing the displacement of vehicle real-time gear direction and free displacement
Size；
Torque acquiring unit, if being more than or equal to the free displacement, basis for the displacement of vehicle real-time gear direction
Parking is effectively displaced and present speed calculates parking torque command value；
Parking control unit, the size for exporting control electric current are the parking torque command value；
The torque acquiring unit specifically includes:
Parameter acquisition module, for obtaining, the parking since parking is effectively displaced and present speed, the parking are effectively displaced
For the parking actual displacement amount of gear direction and the difference of free displacement；
Component obtains module, obtains displacement component order multiplied by displacement component coefficient for being effectively displaced with the parking respectively
Value obtains velocity component life value multiplied by velocity component coefficient with the present speed；
Torque obtains module, and for obtaining parking torque command value, the parking torque command value is institute's displacement components order
The sum of value and velocity component life value.
6. electronic parking device according to claim 5, which is characterized in that the free displacement is that system is preset
Distance.
7. electronic parking device according to claim 5, which is characterized in that described device further include:
Parking unit in level land judges accelerator pedal if being less than free displacement for the displacement of vehicle real-time gear direction
Whether bid value is zero；If the accelerator pedal bid value is zero, the size for exporting control electric current is zero；If described add
Speed pedal bid value is not zero, then the size for exporting control electric current is the accelerator pedal bid value.
8. electronic parking device according to claim 5, which is characterized in that described device further include:
Pedal reaction unit, for the parking torque command value and accelerator pedal bid value size；If the parking
Torque command value is more than or equal to the accelerator pedal bid value, then the size for exporting control electric current is the parking torque command
Value；If the parking torque command value is less than the accelerator pedal bid value, the size for exporting control electric current is described adds
Speed pedal bid value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510676045.5A CN106585601B (en) | 2015-10-19 | 2015-10-19 | A kind of electronic parking method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510676045.5A CN106585601B (en) | 2015-10-19 | 2015-10-19 | A kind of electronic parking method and device |
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| Publication Number | Publication Date |
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| CN106585601A CN106585601A (en) | 2017-04-26 |
| CN106585601B true CN106585601B (en) | 2019-07-30 |
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|---|---|---|---|
| CN201510676045.5A Expired - Fee Related CN106585601B (en) | 2015-10-19 | 2015-10-19 | A kind of electronic parking method and device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111231696B (en) * | 2020-01-19 | 2022-03-25 | 深圳拓邦股份有限公司 | Method and device for preventing electric vehicle from sliding down slope, electric vehicle and computer readable storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101801746A (en) * | 2007-10-20 | 2010-08-11 | 威伯科有限公司 | Driver assistance system for a motor vehicle |
| CN101835664A (en) * | 2007-10-24 | 2010-09-15 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Parking brake and method for operating the same |
| CN104169145A (en) * | 2012-04-24 | 2014-11-26 | Ntn株式会社 | Electric parking brake |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE0200464D0 (en) * | 2002-02-18 | 2002-02-18 | Scania Cv Abp | Preventing system for a vehicle |
| JP4756244B2 (en) * | 2006-01-31 | 2011-08-24 | 日立オートモティブシステムズ株式会社 | Electric disc brake device |
-
2015
- 2015-10-19 CN CN201510676045.5A patent/CN106585601B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101801746A (en) * | 2007-10-20 | 2010-08-11 | 威伯科有限公司 | Driver assistance system for a motor vehicle |
| CN101835664A (en) * | 2007-10-24 | 2010-09-15 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Parking brake and method for operating the same |
| CN104169145A (en) * | 2012-04-24 | 2014-11-26 | Ntn株式会社 | Electric parking brake |
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