CN112721658A - Automatic parking control method and control system - Google Patents
Automatic parking control method and control system Download PDFInfo
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- CN112721658A CN112721658A CN202110133952.0A CN202110133952A CN112721658A CN 112721658 A CN112721658 A CN 112721658A CN 202110133952 A CN202110133952 A CN 202110133952A CN 112721658 A CN112721658 A CN 112721658A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000004913 activation Effects 0.000 claims abstract description 41
- 238000012360 testing method Methods 0.000 claims description 18
- 230000003068 static effect Effects 0.000 claims description 12
- 230000003213 activating effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
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- 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
- B60L15/2009—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 braking
- B60L15/2018—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 braking for braking on a slope
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an automatic parking control method and system, and relates to the technical field of vehicle parking. Which comprises the following steps: when the automatic parking function is started, acquiring current road condition information and extracting gradient information according to the current road condition information; acquiring an activation pressure threshold value of corresponding automatic parking brake when the current road condition information is acquired according to a corresponding relation table of different pre-matched gradients and the parking brake pressure threshold value; when the brake pedal is stepped on, the pressure signal of the brake master cylinder is detected to reach the activation pressure threshold value, and then the automatic parking function is activated. The automatic parking control method and the automatic parking control system provided by the invention can avoid the problems of vehicle sliding risk of an automatic parking function under different gradient road conditions or working noise caused by ESC secondary pressurization and the like.
Description
Technical Field
The invention relates to the technical field of vehicle parking, in particular to an automatic parking control method and system.
Background
The automatic function (i.e., automatic parking function) is an additional function of an ESC (i.e., vehicle body stability control system) that currently improves the driving comfort and driving convenience of a vehicle.
The function can be started by pressing the automatic function switch. When the vehicle meets a red light or other road conditions at a crossroad and needs to be temporarily stopped, a user only needs to step on the brake pedal until the vehicle is static, the automatic function starts to be activated and keeps the current brake pressure, at the moment, the user does not need to continuously step on the brake pedal or manually pull up the electronic hand brake, and the vehicle can be kept stopped for a period of time (the time for keeping the brake pressure can be matched) so as to improve the driving comfort. In the time period, when the vehicle needs to start, the electronic hand brake does not need to be released, the brake pressure can be released only by stepping on the accelerator pedal, the vehicle normally runs away, and the driving convenience is improved.
The pressure threshold of the brake master cylinder for activating the automatic parking function of most of the current domestic vehicle types is a fixed value, and the scheme has two defects: 1. under the working conditions of uphill and downhill, the vehicle slipping risk is easily caused or the ESC secondary pressurization causes customer complaints; 2. when the road is level, the vehicle is easy to move, secondary pressurization of the ESC is triggered, and noise during ESC operation is complained by customers.
Therefore, it is necessary to develop a new automatic parking control method and system.
Disclosure of Invention
In order to solve the defects of the prior art, the invention mainly aims to provide an automatic parking control method and a control system, which can avoid the problems of vehicle sliding risk of an automatic parking function under different gradient road conditions or working noise caused by ESC secondary pressurization and the like.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an automatic parking control method comprising the steps of:
s1, when the automatic parking function is started, obtaining current road condition information and extracting gradient information according to the current road condition information;
s2, acquiring the corresponding activation pressure threshold value of the automatic parking brake when the current road condition information is acquired according to the corresponding relation table of the different pre-matched gradients and the parking brake pressure threshold value;
s3, when the brake pedal is stepped on, the pressure signal of the brake master cylinder is detected to reach the activation pressure threshold value, and the automatic parking function is activated;
at S2, the corresponding relationship between the different slopes and the activation pressure threshold is:
the threshold value of the activation pressure of the current gradient is equal to the pressure value + k of the brake master cylinder when the vehicle of the current gradient keeps still;
wherein k is a safety factor and the unit is bar.
Optionally, the master cylinder pressure value when the vehicle of the current gradient remains stationary is: the pressure value of a brake master cylinder of the vehicle is measured by respectively testing the actual vehicle under different slopes, engaging the D gear of the vehicle, stepping on a brake pedal and keeping the vehicle static.
Optionally, the different slopes are slopes within ± 30% of the slope.
Optionally, the different slopes comprise 0%, ± 5%, ± 10%, ± 15%, ± 20%, ± 25%, ± 30%.
Optionally, k has a value in the range of 2-5 bar.
Optionally, k is 3 bar.
The present invention also provides a control system for automatic parking, comprising:
the acquisition module is used for acquiring current road condition information and extracting gradient information according to the current road condition information when the automatic parking function is started;
the calculation module is used for acquiring the corresponding activation pressure threshold value of the automatic parking brake when the current road condition information is acquired according to the pre-matched corresponding relation table of different gradients and the parking brake pressure threshold value;
the detection module is used for detecting a brake master cylinder pressure signal when a brake pedal is stepped;
and the execution module is used for activating and realizing automatic parking when detecting that the pressure signal of the brake master cylinder reaches the activation pressure threshold value.
Optionally, the corresponding relationship between the different gradients and the activation pressure threshold is:
the threshold value of the activation pressure of the current gradient is equal to the pressure value + k of the brake master cylinder when the vehicle of the current gradient keeps still;
wherein k is a safety factor and the unit is bar.
Optionally, the master cylinder pressure value when the vehicle of the current gradient remains stationary is: the pressure value of a brake master cylinder of the vehicle is measured by respectively testing the actual vehicle under different slopes, engaging the D gear of the vehicle, stepping on a brake pedal and keeping the vehicle static.
Optionally, k has a value in the range of 2-5 bar.
According to the automatic parking control method provided by the invention, different activation pressure threshold values are set for the automatic parking function under different slope road conditions, so that the problem that after the automatic parking function of the vehicle is activated, the problem that ESC secondary pressurization causes complaints can be basically avoided due to vehicle sliding risk or movement (or vehicle cocking) of the vehicle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart illustrating an automatic parking control method according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "X axis", "Y axis", "Z axis", "vertical", "parallel", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The inventors of the present invention found that: in the prior art, the master cylinder pressure threshold for activating the automatic parking function is usually set to be a fixed value, and the design has two disadvantages: the problem that the vehicle slips backwards (namely, slides) or secondary pressurization of the ESC is triggered easily occurs. The inventor researches and finds that the reason is that: the influence of creep torque of the automatic transmission on the brake system is not considered to be different in the uphill and downhill conditions. Particularly, when the vehicle runs on an uphill slope, the creeping torque of the transmission can counteract the tendency of backward slipping of the vehicle, namely, the vehicle can be stopped by smaller pressure of a brake master cylinder; when the vehicle runs downhill, the creeping torque of the transmission increases the downward movement tendency of the vehicle, and the vehicle can be stopped by larger pressure of the brake master cylinder. Therefore, if the pressure value of the brake master cylinder at which the vehicle can stop on an uphill slope is used as the activation threshold value of the automatic parking function, the probability of triggering secondary pressurization on a downhill slope of the vehicle is increased, and customer complaints are caused; if the pressure value of the brake master cylinder capable of stopping the vehicle in the downhill is used as the automatic parking activation threshold value, the vehicle is already stopped in the uphill, but the pressure value of the brake master cylinder does not reach the activation threshold value of the automatic parking function, and if the driver releases the brake at the moment, the vehicle runs away; when the vehicle is on a flat road, the pressure threshold value of the brake master cylinder activated by the automatic parking function is generally smaller, so that the vehicle still has a tendency of moving forward after the automatic parking function is activated under working conditions such as traffic jam or traffic lights, and once the ESC detects the occurrence of wheel speed pulses, secondary pressurization of the ESC is triggered, and a customer complains about the noise problem when the ESC works. Therefore, in order to overcome the two disadvantages, the inventor provides an automatic parking control method.
As shown in fig. 1, the automatic parking control method provided by the present invention may generally include the steps of:
s1, when the automatic parking function is started, obtaining current road condition information and extracting gradient information according to the current road condition information;
s2, acquiring the corresponding activation pressure threshold value of the automatic parking brake when the current road condition information is acquired according to the corresponding relation table of the different pre-matched gradients and the parking brake pressure threshold value;
and S3, when the brake pedal is pressed down, the automatic parking function is activated when the pressure signal of the brake master cylinder reaches the activation pressure threshold value.
Specifically, in S2, the corresponding relationship between the different slopes and the activation pressure threshold value is:
the threshold value of the activation pressure of the current gradient is equal to the pressure value + k of the brake master cylinder when the vehicle of the current gradient keeps still;
wherein k is a safety factor and the unit is bar.
The master cylinder pressure values when the vehicle at the current grade is held stationary are: the pressure value of a brake master cylinder of the vehicle is measured by respectively testing the actual vehicle under different slopes, engaging the D gear of the vehicle, stepping on a brake pedal and keeping the vehicle static. Wherein, different slopes means that the slopes do not exceed the range of +/-30%.
Specifically, the correspondence between the different slopes and the activation pressure threshold values is obtained through real vehicle testing of the vehicle. In actual real vehicle testing, the test is performed under the condition that different slopes are divided into 0%, ± 5%, ± 10%, ± 15%, ± 20%, ± 25%, ± 30%.
The actual vehicle test process is as follows:
under the working condition of a flat road (namely the gradient is 0%), a real vehicle tests that the vehicle is in the D gear, and the brake pedal is stepped down to just maintain the pressure threshold value of the brake master cylinder when the vehicle is static, and on the basis, a safety factor k (the unit of the safety factor k is bar) is added to be used as the activation pressure threshold value when the gradient is 0%.
Under the working condition of an uphill slope, respectively testing vehicles in real vehicles, wherein the vehicle is in a slope of 5%, 10%, 15%, 20%, 25%, 30% and the like, engaging the D gear of the vehicle, and treading down a brake pedal to just maintain the pressure value of a brake master cylinder when the vehicle is static, and on the basis, increasing a safety factor k (the unit is bar) to be used as the pressure threshold value of the brake master cylinder when the automatic parking function of the corresponding slope is activated (namely the activation pressure threshold value of the current slope).
Under the working condition of downhill, respectively testing the vehicle by actual vehicles, and under the slopes of-5%, -10%, -15%, -20%, -25%, -30% (wherein, the negative value is the representative downhill), the vehicle is shifted to D gear, and the brake pedal is pressed to just maintain the brake master cylinder pressure value when the vehicle is static, on the basis, a safety factor k (the unit is bar) is added to be used as the brake master cylinder pressure threshold value (namely the activation pressure threshold value of the current slope) when the corresponding slope automatic parking function is activated.
The threshold value of the activation pressure between the two nominal gradient values is selected by means of linear interpolation.
Optionally, k has a value in the range of 2-5 bar. Preferably, k has a value of 3 bar. The value of k is related to the whole vehicle mass and the creep torque of the vehicle body and is in a proportional correlation with the whole vehicle mass and the creep torque.
The invention provides an automatic parking control method, which is characterized in that a brake master cylinder pressure value of a vehicle under different gradient road conditions in actual rest is obtained through an actual vehicle test, and a safety coefficient k is added on the basis of the brake master cylinder pressure value to be used as an activation pressure threshold value under the gradient, so that after an automatic parking function is started, when a driver steps on a brake (namely a brake pedal), and detects that a brake master cylinder pressure signal reaches the activation pressure threshold value under the current gradient, the automatic parking function is activated. At the moment, the threshold value of the activation pressure at the current gradient is slightly larger than the actual brake master cylinder pressure required when the vehicle is static by 2-5bar, so that the vehicle can be ensured to be stable and completely static, the risks of creeping, forward jumping (cocking) and vehicle slipping are avoided, the problem of noise caused by triggering ESC secondary pressurization due to vehicle slipping is further avoided, and the user experience is improved.
The invention provides an automatic parking control method which is characterized by comprising the following steps:
1. the method has the advantages that the pressure value of the brake master cylinder of the real vehicle can be kept static under different gradients, a safety factor is increased, and the condition that customers complain about due to secondary pressurization caused by vehicle movement after the automatic parking function of the vehicle is activated can be basically avoided;
2. different automatic parking functions are used for activating the pressure threshold values of the brake master cylinder under the working conditions of ascending and descending, so that the problem that the vehicle slipping risk or secondary pressurization easily caused by the use of the same pressure threshold value of the brake master cylinder under the working conditions of ascending and descending causes customer complaints is solved.
According to the automatic parking control method, the activation pressure threshold values corresponding to different gradients are obtained through real vehicle tests, complex calculation is not needed, the automatic parking control method has the advantages of simplicity and practicality, and the calculation burden of an ECU (electronic control Unit) of a vehicle driving computer can be saved.
The invention also provides a control system for automatic parking, which comprises an acquisition module, a calculation module, a detection module and an execution module. The acquisition module is used for acquiring current road condition information and extracting gradient information according to the current road condition information when the automatic parking function is started. And the calculation module is used for acquiring the corresponding activation pressure threshold value of the automatic parking brake when the current road condition information is acquired according to the pre-matched corresponding relation table of different gradients and the parking brake pressure threshold value. The detection module is used for detecting a brake master cylinder pressure signal when a brake pedal is stepped on. The execution module is used for activating and realizing automatic parking when detecting that the pressure signal of the brake master cylinder reaches the activation pressure threshold value.
Wherein, the corresponding relation between different gradients and the threshold value of the activation pressure is as follows:
the threshold value of the activation pressure of the current gradient is equal to the pressure value + k of the brake master cylinder when the vehicle of the current gradient keeps still;
wherein k is a safety factor and the unit is bar.
The corresponding relation between the different gradients and the activation pressure threshold value is obtained through real vehicle tests of the vehicle. In actual real vehicle testing, the test is performed under the condition that different slopes are divided into 0%, ± 5%, ± 10%, ± 15%, ± 20%, ± 25%, ± 30%. For a specific test process, reference may be made to the foregoing contents, and details are not repeated here.
According to the control system for automatic parking, the calculation module obtains the corresponding activation pressure threshold value of the automatic parking brake when the current road condition information is obtained through the pre-stored corresponding relation table of different gradients and the parking brake pressure threshold value. The automatic parking control system has the advantages of being simple and practical, and being capable of saving the operation burden of the vehicle running computer ECU.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An automatic parking control method characterized by comprising the steps of:
s1, when the automatic parking function is started, obtaining current road condition information and extracting gradient information according to the current road condition information;
s2, acquiring the corresponding activation pressure threshold value of the automatic parking brake when the current road condition information is acquired according to the corresponding relation table of the different pre-matched gradients and the parking brake pressure threshold value;
s3, when the brake pedal is stepped on, the pressure signal of the brake master cylinder is detected to reach the activation pressure threshold value, and the automatic parking function is activated;
at S2, the corresponding relationship between the different slopes and the activation pressure threshold is:
the threshold value of the activation pressure of the current gradient is equal to the pressure value + k of the brake master cylinder when the vehicle of the current gradient keeps still;
wherein k is a safety factor and the unit is bar.
2. The automatic parking control method according to claim 1, wherein the master cylinder pressure value at which the vehicle of the current gradient is held stationary is: the pressure value of a brake master cylinder of the vehicle is measured by respectively testing the actual vehicle under different slopes, engaging the D gear of the vehicle, stepping on a brake pedal and keeping the vehicle static.
3. The automatic parking control method according to claim 1 or 2, wherein the different gradient means a gradient not exceeding a range of ± 30%.
4. The automatic parking control method according to claim 3, wherein the different gradient includes 0%, ± 5%, ± 10%, ± 15%, ± 20%, ± 25%, ± 30%.
5. The automatic parking control method according to claim 1 or 2, characterized in that the value of k ranges from 2 to 5 bar.
6. The automatic parking control method according to claim 5, characterized in that the value of k is 3 bar.
7. A control system for automatic parking, comprising:
the acquisition module is used for acquiring current road condition information and extracting gradient information according to the current road condition information when the automatic parking function is started;
the calculation module is used for acquiring the corresponding activation pressure threshold value of the automatic parking brake when the current road condition information is acquired according to the pre-matched corresponding relation table of different gradients and the parking brake pressure threshold value;
the detection module is used for detecting a brake master cylinder pressure signal when a brake pedal is stepped;
and the execution module is used for activating and realizing automatic parking when detecting that the pressure signal of the brake master cylinder reaches the activation pressure threshold value.
8. The automatic parking control system of claim 7, wherein the corresponding relationship of the different slopes and the activation pressure threshold value is:
the threshold value of the activation pressure of the current gradient is equal to the pressure value + k of the brake master cylinder when the vehicle of the current gradient keeps still;
wherein k is a safety factor and the unit is bar.
9. The control system for automatic parking according to claim 8, wherein the master cylinder pressure value when the vehicle of the current gradient is held stationary is: the pressure value of a brake master cylinder of the vehicle is measured by respectively testing the actual vehicle under different slopes, engaging the D gear of the vehicle, stepping on a brake pedal and keeping the vehicle static.
10. The automatic parking control system according to claim 9, wherein k is in a range of 2-5 bar.
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| CN202110133952.0A CN112721658A (en) | 2021-02-01 | 2021-02-01 | Automatic parking control method and control system |
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| CN202110133952.0A CN112721658A (en) | 2021-02-01 | 2021-02-01 | Automatic parking control method and control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113771816A (en) * | 2021-08-31 | 2021-12-10 | 浙江万安科技股份有限公司 | Control algorithm for calculating commercial vehicle temporary stop optimal air pressure through combined control |
| CN114013408A (en) * | 2021-09-28 | 2022-02-08 | 上海汽车制动***有限公司 | Parking clamping force attenuation compensation method of electronic drum brake system |
| CN115027429A (en) * | 2022-05-31 | 2022-09-09 | 中国第一汽车股份有限公司 | Brake pressure threshold value iteration method, device, equipment and storage medium |
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| JP2006298191A (en) * | 2005-04-21 | 2006-11-02 | Nissan Motor Co Ltd | Parking brake device |
| CN110228452A (en) * | 2019-06-18 | 2019-09-13 | 威马智慧出行科技（上海）有限公司 | Automatic parking control method, control system and automobile |
| CN110723136A (en) * | 2019-10-15 | 2020-01-24 | 重庆长安汽车股份有限公司 | Method and system for activating automatic parking function, storage medium and vehicle |
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| JP2006298191A (en) * | 2005-04-21 | 2006-11-02 | Nissan Motor Co Ltd | Parking brake device |
| CN110228452A (en) * | 2019-06-18 | 2019-09-13 | 威马智慧出行科技（上海）有限公司 | Automatic parking control method, control system and automobile |
| CN110723136A (en) * | 2019-10-15 | 2020-01-24 | 重庆长安汽车股份有限公司 | Method and system for activating automatic parking function, storage medium and vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113771816A (en) * | 2021-08-31 | 2021-12-10 | 浙江万安科技股份有限公司 | Control algorithm for calculating commercial vehicle temporary stop optimal air pressure through combined control |
| CN113771816B (en) * | 2021-08-31 | 2023-02-17 | 浙江万安科技股份有限公司 | Control algorithm for calculating commercial vehicle temporary stop optimal air pressure through combined control |
| CN114013408A (en) * | 2021-09-28 | 2022-02-08 | 上海汽车制动***有限公司 | Parking clamping force attenuation compensation method of electronic drum brake system |
| CN114013408B (en) * | 2021-09-28 | 2024-05-07 | 上海汽车制动***有限公司 | Parking clamping force attenuation compensation method of electronic drum brake system |
| CN115027429A (en) * | 2022-05-31 | 2022-09-09 | 中国第一汽车股份有限公司 | Brake pressure threshold value iteration method, device, equipment and storage medium |
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