CN111071061A - Starting and releasing method of electronic parking system of new energy unmanned automobile - Google Patents
Starting and releasing method of electronic parking system of new energy unmanned automobile Download PDFInfo
- Publication number
- CN111071061A CN111071061A CN201911369514.3A CN201911369514A CN111071061A CN 111071061 A CN111071061 A CN 111071061A CN 201911369514 A CN201911369514 A CN 201911369514A CN 111071061 A CN111071061 A CN 111071061A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- releasing
- torque
- controller
- starting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000003578 releasing effect Effects 0.000 title claims abstract description 37
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 230000005484 gravity Effects 0.000 claims description 8
- 230000003068 static effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
- B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/26—Vehicle weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a starting and releasing method of an electronic parking system of a new energy unmanned automobile, which relates to the technical field of unmanned automobiles and comprises an interaction mode of a parking brake controller and a whole automobile controller, starting and releasing logic of the parking brake controller and torque control logic of the whole automobile controller. According to the invention, a related algorithm of functional safety and torque limitation is added on the basis of the traditional vehicle starting logic, so that the operation is convenient, the parking brake response time is shortened, the parking brake performance is improved, and the quality and the equipment space of the vehicle are saved; meanwhile, the electronic control characteristic of the intelligent driving device can respond to clamping and releasing commands of other controllers, so that the development requirement of intelligent driving is met, and the intelligent driving device is more convenient to use.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a starting and releasing method of an electronic parking system of a new-energy unmanned vehicle.
Background
At present, as no driver intervenes in the normal running process of an unmanned vehicle, higher requirements are provided for the functional safety and reliability of an actuator; meanwhile, the new energy automobile drives the automobile to run by using the motor, compared with the traditional engine, the motor has completely different external characteristic curves, and the torque rises very fast when starting; if the torque of the motor is not limited when the vehicle starts, the suddenly rising torque can damage the caliper which is not completely released, and therefore a starting and releasing method of an electronic parking system of a new energy unmanned vehicle is designed to solve the problems.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a starting and releasing method of an electronic parking system of a new energy unmanned automobile.
In order to achieve the purpose, the invention adopts the following technical scheme:
the electronic parking system starting and releasing method of the new energy unmanned vehicle comprises the new energy unmanned vehicle, the electronic parking system, a starting and releasing method, an interaction mode of a parking brake controller and a vehicle control unit, a starting and releasing logic of the parking brake controller and a torque control logic of the vehicle control unit, and is characterized in that the vehicle control unit comprises a starting command, a gear switching command, a torque output command and a releasing command, the parking brake controller comprises a clamping device, and the clamping device comprises a caliper motor and calipers;
the starting and releasing method comprises the following steps:
s1, at the time of T0, the whole new energy automobile is in a static state, the whole automobile controller plans a path to finish the preparation of running, the whole automobile controller switches the gear to the D gear or the R gear at the time of T0, and the power assembly starts to output torque;
at the time of S2 and T1, the vehicle controller determines whether the information such as the current torque meets the threshold value of the corresponding gradient according to the real-time gradient signal, and sends a parking release instruction after the information meets the threshold value;
the release process is carried out at the time S3 and T2-T3; at the time from T1 to T3, the vehicle control unit limits the torque of the motor to prevent the caliper from being damaged in the releasing process, and the maximum increase value of the torque limited by the vehicle control unit is delta T in the process and needs to be calibrated;
and at the time of S4 and T3, the parking brake is released, the torque limitation of the whole vehicle controller is cancelled, and the driving-away auxiliary process is completed.
Preferably, in the steps S2 and S3, the vehicle control unit sends an unlocking command to the parking brake controller to start an unlocking process, and if the vehicle control unit receives that the state of the parking brake controller is not released or the parking brake controller reports an error, the motor torque needs to be adjusted to 0.
Preferably, the caliper motor is arranged on the caliper, and the parking controller is electrically connected with the caliper motor.
Preferably, in the step S1, since the motor torque increases rapidly from time T0 to time T1, the vehicle controller needs to limit the maximum torque value at this stage to prevent the caliper motor from being dragged before the caliper releasing operation starts.
Preferably, in the step S2, the parking system starts to determine whether the release condition is satisfied from time T1 to time T2, and the caliper starts to release at time T2 if the release condition is satisfied.
Preferably, when the clamping device of the electronic parking system is in a clamping state and the driving motor is started, the electronic parking system judges the component force of the gravity of the vehicle at the current gradient according to the ramp and the gear signal, and simultaneously judges whether the component force of the gravity on the ramp is the resistance of the movement of the vehicle according to the gear signal.
Preferably, the ramp signal lookup table calculates to obtain a power assembly torque, an engine speed and an accelerator pedal position threshold value required by the release of calipers of the electronic parking system; and when the signal acquired on the bus meets a threshold condition, finishing the releasing action.
Compared with the prior art, the invention has the beneficial effects that: when a clamping device of the electronic parking system is in a clamping state, and a driving motor is started, the electronic parking system judges the component force of the gravity of the vehicle at the current gradient according to a ramp and a gear signal, and simultaneously judges whether the component force of the gravity on the ramp is the resistance of the movement of the vehicle according to the gear signal, and a power assembly torque, an engine rotating speed and an accelerator pedal position threshold value required by the release of calipers of the electronic parking system are calculated by looking up a table according to the ramp signal; when the signal obtained on the bus meets the threshold condition, the releasing action is completed, wherein in order to prevent misoperation, the parking control system needs to judge that the driver is in place and the accelerator pedal is stepped on for enough travel so as to accurately judge the actual intention of the driver and ensure that the engine provides enough driving force; meanwhile, the electronic control characteristic of the intelligent driving device can respond to clamping and releasing commands of other controllers, so that the development requirement of intelligent driving is met, and the intelligent driving device is more convenient to use.
Drawings
FIG. 1 is an EPB state working diagram of an electronic parking system starting and releasing method of a new energy unmanned vehicle, which is provided by the invention;
fig. 2 is a motor torque working diagram of a starting and releasing method of an electronic parking system of a new energy unmanned vehicle according to the invention;
fig. 3 is a working flow chart of a starting and releasing method of an electronic parking system of a new energy unmanned vehicle provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
Referring to fig. 1-3, the method for starting and releasing the electronic parking system of the new energy unmanned vehicle comprises a parking brake controller and a vehicle control unit interaction mode, a starting release logic of the parking controller and a torque control logic of the vehicle control unit, and is characterized in that the vehicle control unit comprises a starting command, a gear switching command, a torque output command and a release command, the parking brake controller comprises a clamping device, the clamping device comprises a caliper motor and a caliper, wherein the caliper motor is arranged on the caliper, and the parking controller is electrically connected with the caliper motor;
specifically, when a clamping device of the electronic parking system is in a clamping state, and a driving motor is started, the electronic parking system judges the component force of the gravity of the vehicle at the current gradient according to a ramp and a gear signal, and simultaneously judges whether the component force of the gravity on the ramp is the resistance of the movement of the vehicle according to the gear signal, and a ramp signal lookup table calculates to obtain the torque of a power assembly, the rotating speed of an engine and the position threshold value of an accelerator pedal, which are required by the release of calipers of the electronic parking system; when the signal acquired on the bus meets the threshold condition, the release action is finished, wherein in order to prevent false operation, the parking control system needs to judge that the driver is in position and the accelerator pedal is stepped on for enough travel so as to accurately judge the actual intention of the driver and ensure that the engine provides enough driving force;
example two
The starting and releasing method comprises the following steps:
s1, at the time of T0, the whole new energy automobile is in a static state, the whole automobile controller plans a path to finish the preparation of running, the whole automobile controller switches the gear to the D gear or the R gear at the time of T0, and the power assembly starts to output torque;
at the time of S2 and T1, the vehicle controller determines whether the information such as the current torque meets the threshold value of the corresponding gradient according to the real-time gradient signal, and sends a parking release instruction after the information meets the threshold value;
the release process is carried out at the time S3 and T2-T3; at the time from T1 to T3, the vehicle control unit limits the torque of the motor to prevent the caliper from being damaged in the releasing process, and the maximum increase value of the torque limited by the vehicle control unit is delta T in the process and needs to be calibrated;
at the time of S4 and T3, the parking brake is released, the torque limitation of the whole vehicle controller is cancelled, and the driving-away auxiliary process is completed;
specifically, in steps S2 and S3, the vehicle control unit sends an unlocking command to the parking brake controller to start an unlocking process, and if the vehicle control unit receives that the state of the parking brake controller is not released or the parking brake controller reports an error, the motor torque needs to be adjusted to 0;
in step S1, at the time point T0 to T1, since the torque of the motor increases rapidly, the vehicle controller needs to limit the maximum torque value at this stage to prevent the motor of the caliper from being directly dragged and damaged before the release action of the caliper starts; in step S2, the parking system starts to determine whether the release condition is satisfied at a time T1 to T2, and if so, the caliper starts to release at a time T2;
specifically, at time T1, the VCU issues a release command; at time T2, the EPB receives the instruction and starts to release; at time T3, EPB release is complete;
in the whole process, the torque output of the power assembly is judged as the execution condition of the related action in the process of sending the vehicle controller release command and executing the action of the parking brake controller, and the logics of the vehicle controller release command and the parking brake controller are mutually redundant.
According to the invention, a related algorithm of functional safety and torque limitation is added on the basis of the traditional vehicle starting logic, and compared with a hand brake, the electronic parking system is convenient to operate, the parking brake response time is shortened, the parking brake performance is improved, and the vehicle quality and the equipment space are saved; meanwhile, the electronic control characteristic of the intelligent driving device can respond to clamping and releasing commands of other controllers, so that the development requirement of intelligent driving is met, and the intelligent driving device is more convenient to use.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The electronic parking system starting and releasing method of the new energy unmanned vehicle comprises an interaction mode of a parking brake controller and a vehicle controller, starting and releasing logic of the parking brake controller and torque control logic of the vehicle controller, and is characterized in that the vehicle controller comprises a starting command, a gear switching command, a torque output command and a releasing command, the parking brake controller comprises a clamping device, and the clamping device comprises a caliper motor and calipers;
the starting and releasing method comprises the following steps:
s1, at the time of T0, the whole new energy automobile is in a static state, the whole automobile controller plans a path to finish the preparation of running, the whole automobile controller switches the gear to the D gear or the R gear at the time of T0, and the power assembly starts to output torque;
at the time of S2 and T1, the vehicle controller determines whether the information such as the current torque meets the threshold value of the corresponding gradient according to the real-time gradient signal, and sends a parking release instruction after the information meets the threshold value;
the release process is carried out at the time S3 and T2-T3; at the time from T1 to T3, the vehicle control unit limits the torque of the motor to prevent the caliper from being damaged in the releasing process, and the maximum increase value of the torque limited by the vehicle control unit is delta T in the process and needs to be calibrated;
and at the time of S4 and T3, the parking brake is released, the torque limitation of the whole vehicle controller is cancelled, and the driving-away auxiliary process is completed.
2. The method for releasing the start of the electronic parking system of the new energy unmanned vehicle as claimed in claim 1, wherein in steps S2 and S3, the vehicle control unit sends an unlocking command to the parking brake controller to start the unlocking process, and if the vehicle control unit receives that the state of the parking brake controller is not released or the parking brake controller reports an error, the motor torque needs to be adjusted to 0.
3. The starting and releasing method of the electronic parking system of the new energy unmanned vehicle as claimed in claim 1, wherein the caliper motor is arranged on a caliper, and the parking controller is electrically connected with the caliper motor.
4. The method for releasing the start of the electronic parking system of the new energy unmanned vehicle as claimed in claim 1, wherein in step S1, at the time point T0 to T1, since the torque of the motor increases rapidly, the vehicle controller at this stage needs to limit the maximum torque value to prevent the motor of the caliper from being dragged before the caliper release action starts.
5. The method for releasing the electronic parking system of the new energy unmanned vehicle from the start of the vehicle as claimed in claim 1, wherein in step S2, from time T1 to time T2, the parking system starts to determine whether the release condition is satisfied, such as the caliper starts to release at time T2.
6. The method for starting and releasing the electronic parking system of the new energy unmanned automobile according to claim 1, wherein when a clamping device of the electronic parking system is in a clamping state and a driving motor is started, the electronic parking system judges the component force of the gravity of the vehicle on the current slope according to the ramp and the gear signal, and simultaneously judges whether the component force of the gravity on the ramp is the resistance of the movement of the vehicle according to the gear signal.
7. The starting and releasing method of the electronic parking system of the new energy unmanned vehicle as claimed in claim 6, wherein the ramp signal lookup table calculates a powertrain torque, an engine speed and an accelerator pedal position threshold required by the release of calipers of the electronic parking system; and when the signal acquired on the bus meets a threshold condition, finishing the releasing action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911369514.3A CN111071061A (en) | 2019-12-26 | 2019-12-26 | Starting and releasing method of electronic parking system of new energy unmanned automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911369514.3A CN111071061A (en) | 2019-12-26 | 2019-12-26 | Starting and releasing method of electronic parking system of new energy unmanned automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111071061A true CN111071061A (en) | 2020-04-28 |
Family
ID=70318497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911369514.3A Pending CN111071061A (en) | 2019-12-26 | 2019-12-26 | Starting and releasing method of electronic parking system of new energy unmanned automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111071061A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111572513A (en) * | 2020-05-12 | 2020-08-25 | 上海元城汽车技术有限公司 | Brake release control method, system, device, vehicle and storage medium |
| CN112208358A (en) * | 2020-10-26 | 2021-01-12 | 北京车和家信息技术有限公司 | Electric automobile control method and device, controller and electric automobile |
| CN112874321A (en) * | 2021-02-28 | 2021-06-01 | 南京汽车集团有限公司 | Starting system and starting method of new energy cargo vehicle |
| CN113561948A (en) * | 2021-08-18 | 2021-10-29 | 岚图汽车科技有限公司 | Automatic parking control method and control system |
| CN113954659A (en) * | 2021-11-16 | 2022-01-21 | 广西柳工机械股份有限公司 | Electric driven road roller walking control method and system and road roller |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100030415A1 (en) * | 2006-12-26 | 2010-02-04 | Byd Company Limited | Method and apparatus for controlling output torque of a motor for an electric vehicle in uphill mode |
| US20120010785A1 (en) * | 2009-03-25 | 2012-01-12 | Osamu Kanai | Control apparatus for vehicle and method for controlling vehicle |
| CN102923110A (en) * | 2012-11-02 | 2013-02-13 | 芜湖伯特利汽车安全系统有限公司 | Electronic parking brake system capable of achieving sectional releasing for vehicles and control method thereof |
| CN104260712A (en) * | 2014-09-25 | 2015-01-07 | 北京新能源汽车股份有限公司 | Automatic parking control method of pure electric vehicle |
| CN106335487A (en) * | 2016-09-29 | 2017-01-18 | 上海汽车集团股份有限公司 | Electric parking brake (EPB) control method for electric car |
| CN109367400A (en) * | 2018-09-19 | 2019-02-22 | 吉利汽车研究院（宁波）有限公司 | A kind of the torque referee method and device of electric car starting stage |
| CN109552068A (en) * | 2018-12-10 | 2019-04-02 | 山东国金汽车制造有限公司 | A kind of electric car uphill starting anti-skid control method |
| CN109591622A (en) * | 2018-12-18 | 2019-04-09 | 中国第汽车股份有限公司 | A kind of pure electric automobile parking and start to walk control method and its control system |
| 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 |
-
2019
- 2019-12-26 CN CN201911369514.3A patent/CN111071061A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100030415A1 (en) * | 2006-12-26 | 2010-02-04 | Byd Company Limited | Method and apparatus for controlling output torque of a motor for an electric vehicle in uphill mode |
| US20120010785A1 (en) * | 2009-03-25 | 2012-01-12 | Osamu Kanai | Control apparatus for vehicle and method for controlling vehicle |
| CN102923110A (en) * | 2012-11-02 | 2013-02-13 | 芜湖伯特利汽车安全系统有限公司 | Electronic parking brake system capable of achieving sectional releasing for vehicles and control method thereof |
| CN104260712A (en) * | 2014-09-25 | 2015-01-07 | 北京新能源汽车股份有限公司 | Automatic parking control method of pure electric vehicle |
| CN106335487A (en) * | 2016-09-29 | 2017-01-18 | 上海汽车集团股份有限公司 | Electric parking brake (EPB) control method for electric car |
| 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 |
| CN109367400A (en) * | 2018-09-19 | 2019-02-22 | 吉利汽车研究院（宁波）有限公司 | A kind of the torque referee method and device of electric car starting stage |
| CN109552068A (en) * | 2018-12-10 | 2019-04-02 | 山东国金汽车制造有限公司 | A kind of electric car uphill starting anti-skid control method |
| CN109591622A (en) * | 2018-12-18 | 2019-04-09 | 中国第汽车股份有限公司 | A kind of pure electric automobile parking and start to walk control method and its control system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111572513A (en) * | 2020-05-12 | 2020-08-25 | 上海元城汽车技术有限公司 | Brake release control method, system, device, vehicle and storage medium |
| CN112208358A (en) * | 2020-10-26 | 2021-01-12 | 北京车和家信息技术有限公司 | Electric automobile control method and device, controller and electric automobile |
| CN112208358B (en) * | 2020-10-26 | 2022-07-26 | 北京车和家信息技术有限公司 | Electric automobile control method and device, controller and electric automobile |
| CN112874321A (en) * | 2021-02-28 | 2021-06-01 | 南京汽车集团有限公司 | Starting system and starting method of new energy cargo vehicle |
| CN113561948A (en) * | 2021-08-18 | 2021-10-29 | 岚图汽车科技有限公司 | Automatic parking control method and control system |
| CN113954659A (en) * | 2021-11-16 | 2022-01-21 | 广西柳工机械股份有限公司 | Electric driven road roller walking control method and system and road roller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111071061A (en) | Starting and releasing method of electronic parking system of new energy unmanned automobile | |
| US10576956B2 (en) | Driver assistance system with increased reliability and availability | |
| CN107351820B (en) | A kind of automatic releasing control method of vehicle electronic parking | |
| JP6726272B2 (en) | Vehicle speed control method and vehicle speed control system | |
| CN103587427B (en) | Battery-driven car shift control method | |
| US9610859B1 (en) | System and method for controlling impact reduction of electric vehicle | |
| CN108357481A (en) | Prevent electronic parking control method, the apparatus and system of caliper damage | |
| US10464546B2 (en) | Apparatus and method for determining failure of engine clutch | |
| CN112208505A (en) | Control device and control method | |
| CN110949354B (en) | Parking system | |
| US20140129064A1 (en) | Method and apparatus for controlling assisted brake of green vehicle | |
| US10981555B2 (en) | Vehicle equipped with electric motor and parking control method therefor | |
| CN101808867A (en) | Hill hold assistant system with variable condition for releasing the brake | |
| CN103072564B (en) | The pressure control device of intelligence energy assisted braking system and method thereof | |
| CN113954645A (en) | Adaptive cruise control feedback brake torque monitoring method for electric automobile | |
| US8543311B2 (en) | Method and device for controlling a drive train | |
| US20160244034A1 (en) | System and method for controlling braking of electric vehicle | |
| US11325582B2 (en) | Vehicle control apparatus | |
| CN104583030A (en) | Brake control device for vehicle, and method for operating at least one electric drive motor for vehicle | |
| EP4166399A1 (en) | Vehicle control method and device, storage medium, and vehicle | |
| US11673472B2 (en) | Apparatus and method for controlling a high voltage circuit | |
| CN114228687B (en) | Double-control parking system | |
| CN106218418B (en) | A kind of response control system and method based on electric vehicle parking brake signal | |
| CN104554216A (en) | Method and system for controlling anti-lock brake system operation of vehicle | |
| CN211139294U (en) | Vehicle control system and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200428 |