CN106585601A - Electrical parking method and device - Google Patents
Electrical parking method and device Download PDFInfo
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- CN106585601A CN106585601A CN201510676045.5A CN201510676045A CN106585601A CN 106585601 A CN106585601 A CN 106585601A CN 201510676045 A CN201510676045 A CN 201510676045A CN 106585601 A CN106585601 A CN 106585601A
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- parking
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- torque command
- accelerator pedal
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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
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention can be used in the technical field of automobile control, and provides an electrical parking method and device. The electrical parking method includes: comparing a vehicle real-time gear direction displacement and a free displacement when a vehicle is in a parking state; calculating a parking torque command value according to a parking effective displacement and a current speed if the vehicle real-time gear direction displacement is greater than or equal to the free displacement; and outputting and controlling the current to be the parking torque command value. A suitable torque can be calculated in parking according to the displacement and the speed, a controller can control a motor to output the suitable current, and then the vehicle can steadily park on a ramp, and the problem that the vehicle shakes back and forth in parking can be overcome.
Description
Technical field
The invention belongs to technical field of automobile control, more particularly to a kind of electronic parking method and device.
Background technology
With the development of new forms of energy, new-energy automobile was also developed rapidly at nearly 2 years.In new forms of energy vapour
Car field, pure electric automobile occupy leading position, and it fully relies on electric power as the drive energy of car.It is pure
The PTO of electric automobile is motor, and comparing difference with the electromotor of conventional fuel oil car is, in car
When stopping, motor can still keep certain torque, so that car is in no machine under zero-turn speed
In the case that tool is braked, the static i.e. electronic parking of car is kept on ramp.
It is zero as controller target, frequently to lead to using speed that the electronic parking method of existing pure electric automobile is
The ratio and integral coefficient of speed controlling are overregulated, then by speed controlling and adjusted torque out or electric current
Order is used as output order.So in ramp parking, as the sensor decoding that speed is zero is that have time delay
, so only with speed as target, control can be caused delayed, so as to cause controller to the control electricity of motor
Stream is delayed, and the torque of motor output is also just delayed, and final driving experience is that car can frequently in rest point adnexa
Rock；To stop or in parking on ramp in level road as controller itself cannot be known a priori by car, simply with
Zero velocity is control targe, so as to cause when level road stops, controller can also export one it is smaller quiet
State torque current, ultimately causes the invisible waste of energy；Prior art for after needing car thoroughly to stop,
Accelerator pedal is just allowed to export effective, this results in car during parking, does not also thoroughly stop, car
Also when rocking, stepping on accelerator pedal is invalid to body；If it is desired to can also reach expection using this scheme
Effect, then the discrimination requirement to velocity sensor is very high, i.e. velocity sensor discrimination is higher, then speed
The sluggishness of degree decoding will be fewer, less so as to control hysteresis quality, but while in normally travel to processor
The speed of service require also uprise.
The content of the invention
Embodiments provide a kind of electronic parking method and device, it is intended to prior art is solved in ramp
Car be there is also during upper parking to rock before and after rest point；It is on level road, it is not necessary to torque, existing
There is technology send smaller electric current, the waste that so energy can be caused invisible；Accelerator pedal reflection is slow
It is blunt, the not high problem of user's driving experience.
On the one hand, there is provided a kind of electronic parking method, methods described include：
When vehicle enters parked state, compare the size of the direction displacement of vehicle real-time gear and free displacement；
If the vehicle real-time gear direction displacement is more than or equal to the free displacement, effective according to parking
Displacement and present speed calculate parking torque command value；
The size of output control electric current is the parking torque command value.
Further, by the free displacement be system distance set in advance.
Further, it is described that parking torque command value is calculated according to the effective displacement of parking and present speed, specifically
Including：
The effective displacement of parking that starts from parking of acquisition and present speed, the effective displacement of the parking is gear side
To parking actual displacement amount and free displacement difference；
Displacement component coefficient is multiplied by with the effective displacement of the parking respectively and obtains displacement component bid value, with described
Present speed is multiplied by velocity component coefficient and obtains velocity component life value；
Parking torque command value is obtained, the parking torque command value is institute's displacement components bid value and speed
Component life value sum.
Further, it is described compare the direction displacement of vehicle real-time gear and the size of free displacement after also include：
If the vehicle real-time gear direction displacement is less than free displacement, judge that accelerator pedal bid value is
No is zero；
If the accelerator pedal bid value is zero, the size of output control electric current is zero；
If the accelerator pedal bid value is not zero, the size of output control electric current is the accelerator pedal
Bid value.
Further, it is described to be calculated after parking torque command value also according to effective displacement and present speed
Including：
The comparison 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, output control electric current
Size be the parking torque command value；
If the parking torque command value be less than the accelerator pedal bid value, output control electric current it is big
It is little for the accelerator pedal bid value.
On the other hand, there is provided a kind of electronic parking device, described device include：
Parking comparing unit, for when vehicle enters parked state, comparing the direction displacement of vehicle real-time gear
With the size of free displacement；
Torque acquiring unit, if being more than or equal to the free position for the vehicle real-time gear direction displacement
Move, then parking torque command value is calculated according to the effective displacement of parking and present speed；
Parking control unit, the size for output control electric current is the parking torque command value.
Further, the free displacement is system distance set in advance.
Further, the torque acquiring unit is specifically included：
Parameter acquisition module, it is for obtaining the effective displacement of parking and present speed that start from parking, described to stay
Difference of the effective displacement of car for the parking actual displacement amount and free displacement in gear direction；
Component acquisition module, obtains displacement for being multiplied by displacement component coefficient with the effective displacement of the parking respectively
Component bid value, is multiplied by velocity component coefficient with the present speed and obtains velocity component life value；
Torque acquisition module, for obtaining parking torque command value, the parking torque command value is institute's rheme
Move component bid value and velocity component life value sum.
Further, described device also includes：
Level land parking unit, if being less than free displacement for the vehicle real-time gear direction displacement, sentences
Whether disconnected accelerator pedal bid value is zero；If the accelerator pedal bid value is zero, output control electric current
Size be zero；If the accelerator pedal bid value is not zero, the size of output control electric current is described
Accelerator pedal bid value.
Further, described device also includes：
Pedal reaction unit, for the comparison parking torque command value and accelerator pedal bid value size；Such as
Really described parking torque command value is more than or equal to the accelerator pedal bid value, then the size of output control electric current
For the parking torque command value；If the parking torque command value is less than the accelerator pedal bid value,
Then the size of output control electric current is the accelerator pedal bid value.
The embodiment of the present application includes advantages below：
Form-fit torque when parking is calculated using the method that displacement and speed combine, to by controller
Send out electric current suitable to motor, so that car can overcome the frequency of car during parking in the steady parking in ramp
Problem is rocked before and after numerous；
Using free displacement factor, i.e., before having an effect into parking, one section of free displacement distance is first allowed,
Just allow to export parking electric current when actual displacement reaches more than this displacement, otherwise controller output current is zero,
So as to meet the currentless requirement of level road parking；
During parking computing, always in the big of relatively accelerator pedal bid value and parking torque command value
Little relation, it is if accelerator pedal bid value is more than parking torque command value, defeated with accelerator pedal bid value
Go out, otherwise exported with parking torque command value, so as to ensure, no matter in any stage of parking, can to do
There is reflection to stepping on accelerator pedal.
Description of the drawings
Fig. 1 is the flow chart that the nothing that the embodiment of the present invention one is provided rocks electronic parking method；
Fig. 2 is the flow chart of the parking torque command value-acquiring method that the embodiment of the present invention one is provided；
Fig. 3 is the flowchart of the no current electronic parking method that the embodiment of the present invention one is provided；
Fig. 4 is the flow chart of the electronic parking method of the sensitive accelerator pedal that the embodiment of the present invention one is provided；
Fig. 5 is the concrete structure block diagram of the electronic parking device that the embodiment of the present invention two is provided.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing and reality
Example is applied, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
Only to explain the present invention, it is not intended to limit the present invention.
It is described in detail below in conjunction with realization of the specific embodiment to the present invention：
Embodiment one
Fig. 1 shows that the electronic parking method that the embodiment of the present invention one is provided realizes flow process, and details are as follows：
In step S101, when vehicle enters parked state, compare the direction displacement of vehicle real-time gear and oneself
By the size of displacement.
In the present embodiment, the free displacement is system distance set in advance.Vehicle advance upward slope is set
Be set to premise, when car is in direction of advance, stepping on accelerator pedal car march forward direction go up a slope when, accelerator releasing, Che Kai
It is zero to start from, and vehicle initially enters parked state, as now car, on ramp, drives
Personnel are not braked, and car starts car slipping backward due to action of gravity, and now controller starts to compare car
The size of real-time gear direction displacement and free displacement.If the vehicle real-time gear direction displacement is more than
Equal to the free displacement, execution step S102, if the vehicle real-time gear direction displacement is less than described
Free displacement, execution step S104.
In step s 102, if the vehicle real-time gear direction displacement is more than or equal to the free displacement,
Parking torque command value is calculated according to the effective displacement of parking and present speed then.
In the present embodiment, As time goes on, car displacement backward gradually can increase, now controller
Always in relatively vehicle real-time gear direction displacement and the size of free displacement, if the vehicle real-time gear
Direction displacement is more than or equal to free displacement, calculates parking torque command according to the effective displacement of parking and present speed
Value, is specifically comprised the following steps as shown in Figure 2：
S21. the effective displacement of parking and present speed for starting obtained from parking, and the effective displacement of the parking is shelves
The parking actual displacement amount and the difference of free displacement in position direction；
S22. displacement component coefficient is multiplied by with the effective displacement of the parking respectively and obtains displacement component bid value, with
The present speed is multiplied by velocity component coefficient and obtains velocity component life value；
S23. obtain parking torque command value, the parking torque command value be institute's displacement components bid value with
Velocity component life value sum.
Wherein, displacement component coefficient, velocity component coefficient difference system are set in advance solid according to test case
Definite value.
In step s 103, the size of output control electric current is the parking torque command value.
The present embodiment, the method combined using displacement and speed calculate form-fit torque when parking, from giving
Send out suitable electric current to motor by controller, so that car can overcome parking in the steady parking in ramp
In journey, car frequently rocks problem in front and back.
As a preferred version, as shown in figure 3, described compare the direction displacement of vehicle real-time gear and freedom
Also include after the size of displacement：
In step S104, if the vehicle real-time gear direction displacement is less than free displacement, judge to add
Whether speed pedal bid value is zero；
In step S105, if the accelerator pedal bid value is zero, the size of output control electric current is
Zero；
In step s 106, if the accelerator pedal bid value is not zero, the size of output control electric current
For the accelerator pedal bid value.
The present embodiment, using free displacement factor, i.e., before having an effect into parking, has first allowed one section of freedom
Shift length, just allows to export parking electric current, otherwise controller output when actual displacement reaches more than this displacement
Electric current is zero, so as to meet the currentless requirement of level road parking.
As another preferred version, as shown in figure 4, described according to effective displacement and present speed meter
Also include after calculating parking torque command value：
In step s 107, the comparison 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, execution step
S103；
If the parking torque command value is less than the accelerator pedal bid value, execution step S106.
The present embodiment, during parking computing, always in relatively accelerator pedal bid value and parking torque
The magnitude relationship of bid value, if accelerator pedal bid value is more than parking torque command value, with accelerator pedal
Bid value is exported, and is otherwise exported with parking torque command value, when accelerator pedal bid value is than parking torque command
When being worth little, car can also keep parked state, when throttle one is big, then just can be switched to acceleration at once
No matter in parking state, so thoroughly counteracts accelerator pedal problem slow in reacting, so as to ensure any rank
Section, can accomplish that stepping on accelerator pedal has reflection.
It should be noted that every allowed one section of free displacement before output parking torque (electric current),
Then the method for exporting parking torque (electric current) again realizes parking means, in above-described embodiment, free position
Shifting is distance, those skilled in the art, it is contemplated that free displacement can also be the motor anglec of rotation or wheel
The angle of tire rotation；As for speed factor, velocity squared can be included, cube, the factor such as square root, only
If velocity correlation factor belongs to technical scope of the invention with the method for displacement weighting.
Embodiment two
Fig. 5 shows the concrete structure block diagram of the electronic parking device that the embodiment of the present invention two is provided, in order to just
In explanation, the part related to the embodiment of the present invention is illustrate only.In the present embodiment, the electronic parking is filled
Put including：Parking comparing unit 31, torque acquiring unit 32, parking control unit 33, level land parking list
Unit 34 and pedal reaction unit 35.
Wherein, parking comparing unit 31, for when vehicle enters parked state, comparing vehicle real-time gear
Direction displacement and the size of free displacement；
Torque acquiring unit 32, if being more than or equal to free position for the vehicle real-time gear direction displacement
Move, parking torque command value is calculated according to the effective displacement of parking and present speed；
Parking control unit 33, the size for output control electric current is the parking torque command value.
Further, the free displacement is system distance set in advance.
Further, the torque acquiring unit 32 is specifically included：
Parameter acquisition module, it is for obtaining the effective displacement of parking and present speed that start from parking, described to stay
Difference of the effective displacement of car for the parking actual displacement amount and free displacement in gear direction；
Component acquisition module, obtains displacement for being multiplied by displacement component coefficient with the effective displacement of the parking respectively
Component bid value, is multiplied by velocity component coefficient with the present speed and obtains velocity component life value；
Torque acquisition module, sues for peace for institute's displacement components bid value and velocity component life value, obtains parking
Torque command value.
The present embodiment, the method combined using displacement and speed calculate form-fit torque when parking, from giving
Send out suitable electric current to motor by controller, so that car can overcome parking in the steady parking in ramp
In journey, car frequently rocks problem in front and back.
Further, described device also includes：
Level land parking unit 34, if being less than free displacement for the vehicle real-time gear direction displacement,
Judge whether accelerator pedal bid value is zero；If the accelerator pedal bid value is zero, output control electricity
The size of stream is zero；If the accelerator pedal bid value is not zero, the size of output control electric current is institute
State accelerator pedal bid value.
The present embodiment, using free displacement factor, i.e., before having an effect into parking, has first allowed one section of freedom
Shift length, just allows to export parking electric current, otherwise controller output when actual displacement reaches more than this displacement
Electric current is zero, so as to meet the currentless requirement of level road parking.
Further, described device also includes：
Pedal reaction unit 35, for the comparison parking torque command value and accelerator pedal bid value size；
If the parking torque command value be more than or equal to the accelerator pedal bid value, output control electric current it is big
It is little for the parking torque command value；If the parking torque command value is less than the accelerator pedal bid value,
Then the size of output control electric current is the accelerator pedal bid value.
The present embodiment, during parking computing, always in relatively accelerator pedal bid value and parking torque
The magnitude relationship of bid value, if accelerator pedal bid value is more than parking torque command value, with accelerator pedal
Bid value is exported, and is otherwise exported with parking torque command value, when accelerator pedal bid value is than parking torque command
When being worth little, car can also keep parked state, when throttle one is big, then just can be switched to acceleration at once
No matter in parking state, so thoroughly counteracts accelerator pedal problem slow in reacting, so as to ensure any rank
Section, can accomplish that stepping on accelerator pedal has reflection.
Electronic parking device provided in an embodiment of the present invention can be applied in aforementioned corresponding embodiment of the method one
In, details will not be described here referring to the description of above-described embodiment one.
It should be noted that in said system embodiment, included unit is according to function logic
Divided, but be not limited to above-mentioned division, as long as corresponding function can be realized；Separately
Outward, the specific name of each functional unit is also only to facilitate mutually differentiation, is not limited to the present invention's
Protection domain.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed
All it is the difference with other embodiment, between each embodiment, identical similar part is mutually referring to i.e.
Can.
Those skilled in the art are it should be appreciated that the embodiment of the embodiment of the present application can be provided as method, dress
Put, or computer program.Therefore, the embodiment of the present application can using complete hardware embodiment, it is completely soft
Part embodiment or the form with reference to the embodiment in terms of software and hardware.And, the embodiment of the present application can be adopted
(include used in one or more computer-usable storage mediums for wherein including computer usable program code
But be not limited to disk memory, CD-ROM, optical memory etc.) on the shape of computer program implemented
Formula.
The embodiment of the present application be with reference to according to the method for the embodiment of the present application, terminal unit (system), and calculate
The flow chart and/or block diagram of machine program product is describing.It should be understood that can be realized by computer program instructions
In each flow process and/or square frame and flow chart and/or block diagram in flow chart and/or block diagram
The combination of flow process and/or square frame.These computer program instructions can be provided to general purpose computer, dedicated computing
The processor of machine, Embedded Processor or other programmable data processing terminal equipments to produce a machine,
So that produced by the instruction of computer or the computing device of other programmable data processing terminal equipments being used for
What realization was specified in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames
The device of function.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing terminals
In the computer-readable memory that equipment is worked in a specific way so that be stored in the computer-readable memory
In instruction produce and include the manufacture of command device, command device realization is in one flow process or many of flow chart
The function of specifying in one square frame of individual flow process and/or block diagram or multiple square frames.
These computer program instructions can also be loaded into computer or other programmable data processing terminal equipments
On so that series of operation steps is performed on computer or other programmable terminal equipments to produce computer
The process of realization, so as to the instruction performed on computer or other programmable terminal equipments is provided for realizing
The function of specifying in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames
The step of.
Although having been described for the preferred embodiment of the embodiment of the present application, those skilled in the art once obtain
Cicada basic creative concept, then can make other change and modification to these embodiments.So, it is appended
Claim be intended to be construed to include preferred embodiment and fall into the had altered of the embodiment of the present application scope and
Modification.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms are only
Only for by an entity or operation with another entity or operate make a distinction, and not necessarily require or
Imply and there is any this actual relation or order between these entities or operation.And, term " bag
Include ", "comprising" or its any other variant be intended to including for nonexcludability so that including
A series of process of key elements, method, article or terminal unit not only include those key elements, but also including
Other key elements being not expressly set out, or also include setting for this process, method, article or terminal
Standby intrinsic key element.In the absence of more restrictions, limited by sentence "including a ..."
Key element, it is not excluded that also exist in the process including the key element, method, article or terminal unit another
Outer identical element.
Above to a kind of electronic parking method and device provided herein, it is described in detail, herein
In apply specific case the principle and embodiment of the application be set forth, the explanation of above example
It is only intended to help and understands the present processes and its core concept；Simultaneously for the general technology of this area
Personnel, according to the thought of the application, will change in specific embodiments and applications, comprehensive
Upper described, this specification content should not be construed as the restriction to the application.
Claims (10)
1. a kind of electronic parking method, it is characterised in that methods described includes：
When vehicle enters parked state, compare the size of the direction displacement of vehicle real-time gear and free displacement；
If the vehicle real-time gear direction displacement is more than or equal to the free displacement, effective according to parking
Displacement and present speed calculate parking torque command value；
The size of output control electric current is the parking torque command value.
2. electronic parking method according to claim 1, it is characterised in that be by the free displacement
System distance set in advance.
3. electronic parking method according to claim 1, it is characterised in that described effective according to parking
Displacement and present speed calculate parking torque command value, specifically include：
The effective displacement of parking that starts from parking of acquisition and present speed, the effective displacement of the parking is gear side
To parking actual displacement amount and free displacement difference；
Displacement component coefficient is multiplied by with the effective displacement of the parking respectively and obtains displacement component bid value, with described
Present speed is multiplied by velocity component coefficient and obtains velocity component life value；
Parking torque command value is obtained, the parking torque command value is institute's displacement components bid value and speed
Component life value sum.
4. electronic parking method according to claim 1, it is characterised in that described to compare vehicle real-time
Also include after the displacement of gear direction and the size of free displacement：
If the vehicle real-time gear direction displacement is less than free displacement, judge that accelerator pedal bid value is
No is zero；
If the accelerator pedal bid value is zero, the size of output control electric current is zero；
If the accelerator pedal bid value is not zero, the size of output control electric current is the accelerator pedal
Bid value.
5. electronic parking method according to claim 1, it is characterised in that it is described according to it is described effectively
Displacement and present speed also include after calculating parking torque command value：
The comparison 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, output control electric current
Size be the parking torque command value；
If the parking torque command value be less than the accelerator pedal bid value, output control electric current it is big
It is little for the accelerator pedal bid value.
6. a kind of electronic parking device, it is characterised in that described device includes：
Parking comparing unit, for when vehicle enters parked state, comparing the direction displacement of vehicle real-time gear
With the size of free displacement；
Torque acquiring unit, if being more than or equal to the free position for the vehicle real-time gear direction displacement
Move, then parking torque command value is calculated according to the effective displacement of parking and present speed；
Parking control unit, the size for output control electric current is the parking torque command value.
7. electronic parking device according to claim 6, it is characterised in that the free displacement is to be
Unite distance set in advance.
8. electronic parking device according to claim 6, it is characterised in that the torque acquiring unit
Specifically include：
Parameter acquisition module, it is for obtaining the effective displacement of parking and present speed that start from parking, described to stay
Difference of the effective displacement of car for the parking actual displacement amount and free displacement in gear direction；
Component acquisition module, obtains displacement for being multiplied by displacement component coefficient with the effective displacement of the parking respectively
Component bid value, is multiplied by velocity component coefficient with the present speed and obtains velocity component life value；
Torque acquisition module, for obtaining parking torque command value, the parking torque command value is institute's rheme
Move component bid value and velocity component life value sum.
9. electronic parking device according to claim 6, it is characterised in that described device also includes：
Level land parking unit, if being less than free displacement for the vehicle real-time gear direction displacement, sentences
Whether disconnected accelerator pedal bid value is zero；If the accelerator pedal bid value is zero, output control electric current
Size be zero；If the accelerator pedal bid value is not zero, the size of output control electric current is described
Accelerator pedal bid value.
10. electronic parking device according to claim 6, it is characterised in that described device also includes：
Pedal reaction unit, for the comparison parking torque command value and accelerator pedal bid value size；Such as
Really described parking torque command value is more than or equal to the accelerator pedal bid value, then the size of output control electric current
For the parking torque command value；If the parking torque command value is less than the accelerator pedal bid value,
Then the size of output control electric current is the accelerator 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106585601A true CN106585601A (en) | 2017-04-26 |
| CN106585601B CN106585601B (en) | 2019-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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Cited By (1)
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| CN111231696A (en) * | 2020-01-19 | 2020-06-05 | 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 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106585601B (en) | 2019-07-30 |
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