CN114228680A - EHB automatic parking control method and device, ECU and storage medium - Google Patents
EHB automatic parking control method and device, ECU and storage medium Download PDFInfo
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- CN114228680A CN114228680A CN202111571066.2A CN202111571066A CN114228680A CN 114228680 A CN114228680 A CN 114228680A CN 202111571066 A CN202111571066 A CN 202111571066A CN 114228680 A CN114228680 A CN 114228680A
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
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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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
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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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an EHB automatic parking control method, an EHB automatic parking control device, an ECU and a storage medium. The control method comprises the following steps: determining the current vehicle working condition type according to the vehicle working state; acquiring current vehicle environment gradient information acquired by a deceleration sensor; determining target main cylinder pressure according to the current vehicle environment gradient information; according to the current working condition type of the whole vehicle, the target master cylinder pressure is reached at a first preset pressure rate; the working state of the whole vehicle comprises whole vehicle speed information and brake pedal information; the current whole vehicle working condition type is at least one of a vehicle brake working condition and a vehicle slip working condition. According to the scheme, the automatic parking function under two different working conditions of a braking working condition and a sliding working condition is realized by controlling the master cylinder pressure of the EHB electronic control hydraulic system.
Description
Technical Field
The embodiment of the invention relates to an automobile braking technology, in particular to an EHB automatic parking control method, an EHB automatic parking control device, an ECU and a storage medium.
Background
With the continuous development of new energy automobiles and automatic driving technologies, the electric control technology of the automobile chassis brake system is also continuously developed, and the requirements on the brake system technology are higher and higher. It is required that the vehicle have not only manual brake control but also automatic brake control function.
The existing automatic parking function is mainly an additional function of an ESC product, and the function mainly ensures the static parking of a driver and prevents the static sliding of a vehicle. However, the scheme does not realize the parking function after the taxi is parked in a sliding mode at present, and noise is obvious when the taxi is actively boosted under the condition that the taxi slides in the parking process, so that drivers can complain easily.
Disclosure of Invention
The invention provides an EHB automatic parking control method, an EHB automatic parking control device, an ECU and a storage medium, which are used for realizing the automatic parking function under two different working conditions of a braking working condition and a sliding working condition by controlling the master cylinder pressure of an EHB electronic control hydraulic system.
In a first aspect, an embodiment of the present invention provides an automatic parking control method of an EHB, including:
determining the current vehicle working condition type according to the vehicle working state;
acquiring current vehicle environment gradient information acquired by a deceleration sensor;
determining target main cylinder pressure according to the current vehicle environment gradient information;
according to the current working condition type of the whole vehicle, the target master cylinder pressure is reached at a first preset pressure rate;
the working state of the whole vehicle comprises whole vehicle speed information and brake pedal information; the current whole vehicle working condition type is at least one of a vehicle brake working condition and a vehicle slip working condition.
Optionally, determining the current vehicle operating mode type according to the vehicle operating state includes:
when the brake pedal information is acquired, determining that the current vehicle working condition type is the vehicle braking working condition;
and when the obtained speed information of the whole vehicle is changed from the preset speed to zero and the brake pedal information is not obtained, determining that the current working condition type of the whole vehicle is the vehicle sliding stopping working condition.
Optionally, it is set according to the current vehicle operating condition type that a first preset pressure rate reaches the target master cylinder pressure, including:
when the current vehicle working condition type is identified to be the vehicle braking working condition, acquiring the required pressure of a brake pedal;
when the brake pedal demand pressure is less than the target master cylinder pressure, building pressure at a first preset building pressure rate to reach the target master cylinder pressure;
when the required pressure of the brake pedal is larger than the target master cylinder pressure, the pressure is released at a first preset pressure release rate to reach the target master cylinder pressure.
Optionally, the step of building pressure to reach the target master cylinder pressure at a preset pressure building rate according to the current vehicle working condition type further includes:
and when the current vehicle working condition type is identified to be the vehicle sliding stopping working condition, the target master cylinder pressure is achieved by pressure build at the first preset pressure build rate.
Optionally, the method further includes:
obtaining a vehicle sliding signal;
building pressure at a second preset pressure building rate according to the sliding signal to reach the maximum target master cylinder pressure;
wherein the maximum target master cylinder pressure is a preset multiple of the target master cylinder pressure.
In a second aspect, an embodiment of the present invention also provides an automatic parking control apparatus of an EHB, including:
the working condition type determining module is used for determining the current finished automobile working condition type according to the finished automobile working state;
the gradient information acquisition module is used for acquiring current vehicle environment gradient information acquired by the deceleration sensor;
the target master cylinder pressure determining module is used for determining target master cylinder pressure according to the current vehicle environment gradient information;
the target master cylinder pressure reaching module is used for reaching the target master cylinder pressure at a first preset pressure rate according to the current vehicle working condition type;
the working state of the whole vehicle comprises whole vehicle speed information and brake pedal information; the current whole vehicle working condition type is at least one of a vehicle brake working condition and a vehicle slip working condition.
Optionally, the method further includes:
the sliding signal acquisition module: the vehicle sliding signal acquisition unit is used for acquiring a vehicle sliding signal;
the maximum target master cylinder pressure reaching module is used for building pressure at a second preset pressure building rate according to the sliding vehicle signal to reach the maximum target master cylinder pressure;
wherein the maximum target master cylinder pressure is a preset multiple of the target master cylinder pressure.
In a third aspect, an embodiment of the present invention further provides an ECU, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the EHB automatic parking control method according to the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the automatic parking control method of an EHB as described in the first aspect above.
According to the embodiment of the invention, the current vehicle working condition type is determined according to the vehicle working state; acquiring current vehicle environment gradient information acquired by a deceleration sensor; determining target main cylinder pressure according to the current vehicle environment gradient information; then, according to the current vehicle working condition type, the target master cylinder pressure is reached at a first preset pressure rate; the working state of the whole vehicle comprises whole vehicle speed information and brake pedal information; the current whole vehicle working condition type is at least one of a vehicle brake working condition and a vehicle slip working condition. Therefore, the automatic parking function under two different working conditions of a braking working condition and a sliding working condition is realized by controlling the master cylinder pressure of the EHB electronic control hydraulic system.
Drawings
FIG. 1 is a flow chart of an EHB automatic park control method provided by an embodiment of the present invention;
FIG. 2 is a flow chart of yet another EHB automatic park control method provided by an embodiment of the present invention;
fig. 3 is a block diagram of an EHB automatic parking control apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of an EHB automatic parking control method according to an embodiment of the present invention, which is applicable to an automatic parking situation of an EHB brake-by-wire system, and which may be executed by an EHB automatic parking control device, as shown in fig. 1, and specifically includes the following steps:
and S110, determining the current vehicle working condition type according to the vehicle working state.
The working state of the whole vehicle comprises whole vehicle speed information and brake pedal information; the current vehicle working condition type is at least one of a vehicle brake working condition and a vehicle slip working condition. When the brake pedal information is acquired, determining that the current vehicle working condition type is a vehicle braking working condition; and when the obtained speed information of the whole vehicle is changed from the preset speed to zero and the information of the brake pedal is not obtained, determining that the current working condition type of the whole vehicle is the vehicle sliding stop working condition. And an ECU in the EHB brake-by-wire system outputs different control signals to the voltage pump according to the current working condition type of the whole vehicle so that the voltage pump drives the brake master cylinder to generate brake pressure.
And S120, acquiring current vehicle environment gradient information acquired by the deceleration sensor.
And S130, determining the target master cylinder pressure according to the current vehicle environment gradient information.
The ECU determines the target pressure of the brake master cylinder for parking according to the current vehicle environment gradient information acquired by the deceleration sensor, namely the target master cylinder pressure is determined according to the current vehicle environment gradient information.
And S140, according to the type of the current working condition of the whole vehicle, the target master cylinder pressure is reached at a first preset pressure rate.
Specifically, when the current vehicle working condition type is identified as a vehicle braking working condition, the required pressure of a brake pedal is obtained; when the required pressure of the brake pedal is smaller than the target master cylinder pressure, building pressure at a first preset building pressure speed to reach the target master cylinder pressure; it will be understood herein that the first preset build-up rate may be a rate of pressure increase of the motor pump driven brake master cylinder; when the current vehicle working condition type is identified to be a vehicle braking working condition and the pressure required by the brake pedal is smaller than the target main cylinder pressure, the ECU outputs a control signal to the motor pump so that the motor pump drives the brake main cylinder to reach the target pressure of the brake main cylinder at a first preset pressure building rate, and thus the automatic parking of the whole vehicle is completed.
When the current vehicle working condition type is identified to be a vehicle braking working condition, when the pressure required by the brake pedal is greater than the target master cylinder pressure, a first preset pressure relief rate is set to relieve the pressure to reach the target master cylinder pressure. The first preset relief rate may be understood herein as the rate of pressure reduction of the motor pump driven brake master cylinder; when the current vehicle working condition type is identified to be a vehicle braking working condition and the pressure required by the brake pedal is greater than the target master cylinder pressure, the ECU outputs a control signal to the motor pump so that the motor pump reversely drags the brake master cylinder at a first preset pressure relief rate to reach the target pressure of the brake master cylinder, and thus the automatic parking of the whole vehicle is finished; in order to ensure that the automatic parking is finished under the vehicle braking working condition, whether a vehicle sliding signal is acquired or not can be judged within a preset time after the target master cylinder pressure is reached, and if the vehicle sliding signal is not acquired, the automatic parking of the whole vehicle is further determined to be finished.
When the current vehicle working condition type is identified as a vehicle sliding stopping working condition, building pressure at a first preset pressure building rate to reach the target master cylinder pressure, and automatically parking the vehicle; in order to ensure that the automatic parking is finished, whether a vehicle sliding signal is acquired or not can be judged within a preset time after the target master cylinder pressure is reached, and if the vehicle sliding signal is not acquired, the automatic parking of the whole vehicle is further confirmed to be finished under the vehicle sliding condition. According to the scheme, the current vehicle working condition type is determined according to the vehicle working state; acquiring current vehicle environment gradient information acquired by a deceleration sensor; determining target main cylinder pressure according to the current vehicle environment gradient information; then, setting a preset pressure build-up rate according to the current vehicle working condition type to reach the target master cylinder pressure; the automatic parking device realizes the automatic parking function under two different working conditions of a braking working condition and a sliding working condition by controlling the master cylinder pressure of the hydraulic system through the EHB. The problem of among the prior art can't realize realizing the parking function after sliding the parking is solved.
Optionally, on the basis of the foregoing embodiment, further optimization is performed, and fig. 2 is a flowchart of another EHB automatic parking control method according to an embodiment of the present invention, as shown in fig. 2, where the automatic parking control method includes:
and S210, determining the current vehicle working condition type according to the vehicle working state.
And S220, acquiring current vehicle environment gradient information acquired by a deceleration sensor.
And S230, determining the target master cylinder pressure according to the current vehicle environment gradient information.
And S240, according to the type of the current working condition of the whole vehicle, the target master cylinder pressure is reached at a first preset pressure rate.
And S250, obtaining a vehicle sliding signal.
And S260, building pressure at a second preset pressure building rate according to the vehicle sliding signal to reach the maximum target master cylinder pressure.
When the vehicle is in different working conditions, the target master cylinder pressure is reached to realize the parking function; after the vehicle slipping signal is obtained, it can be understood that whether the vehicle is in a vehicle slipping state at present can be judged according to a vehicle speed signal and a wheel speed signal, and when the vehicle speed signal and the wheel speed signal are both obtained and changed from zero to a preset wheel speed, the vehicle slipping signal is obtained, pressure is built at a second preset pressure building rate to reach the maximum target master cylinder pressure, wherein the second preset pressure building rate is greater than the first preset pressure building rate; the maximum target master cylinder pressure is a preset multiple of the target master cylinder pressure. Illustratively, the preset multiple is 1.1; after the vehicle slipping signal is acquired, the pressure building rate is increased to build pressure to reach the preset multiple of the target master cylinder pressure, so that the parking function of the vehicle slipping state is completed. On the basis of the embodiment, the automatic parking function under different working conditions is further optimized, and the automatic parking function is well realized when a vehicle sliding signal is acquired. Meanwhile, based on the brake-by-wire system, when the vehicle slides, the noise is low during active pressurization in the automatic parking control process, and the comfort level of a customer is improved. In addition, the automatic parking control precision based on the brake-by-wire system is high.
The embodiment of the invention also provides an EHB automatic parking control device which can execute the EHB automatic parking control method provided by any embodiment of the invention and has corresponding functional modules and beneficial effects of the execution method. Fig. 3 is a block diagram showing a configuration of an EHB automatic parking control apparatus according to an embodiment of the present invention, and as shown in fig. 3, the EHB automatic parking control apparatus includes:
the working condition type determining module 10 is used for determining the current vehicle working condition type according to the vehicle working state;
the gradient information acquisition module 20 is used for acquiring current vehicle environment gradient information acquired by the deceleration sensor;
the target master cylinder pressure determining module 30 is used for determining the target master cylinder pressure according to the current vehicle environment gradient information;
the target master cylinder pressure reaching module 40 is used for reaching the target master cylinder pressure at a first preset pressure rate according to the current vehicle working condition type;
the working state of the whole vehicle comprises whole vehicle speed information and brake pedal information; the current vehicle working condition type is at least one of a vehicle brake working condition and a vehicle slip working condition.
Optionally, the automatic parking control apparatus of the EHB further includes:
the sliding signal acquisition module: the device is used for acquiring a sliding signal set;
and the maximum target master cylinder pressure reaching module is used for setting a second preset pressure building rate to reach the maximum target master cylinder pressure according to the vehicle sliding signal.
The embodiment of the invention also provides the ECU, which comprises a processor and a memory; the number of processors in the ECU may be one or more;
the memory, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic parking control of the EHB in the embodiments of the present invention (e.g., the operating condition type determining module 10, the gradient information acquiring module 20, the target master cylinder pressure determining module 30, and the target master cylinder pressure achieving module 40 in the automatic parking control apparatus of the EHB). The processor executes various functional applications of the ECU and data processing, that is, implements the above-described automatic parking control method of the EHB, by running software programs, instructions, and modules stored in the memory 71.
The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory located remotely from the processor, and these remote memories may be connected to the ECU through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method of automatic parking control of an EHB, the method comprising:
determining the current vehicle working condition type according to the vehicle working state;
acquiring current vehicle environment gradient information acquired by a deceleration sensor;
determining target main cylinder pressure according to the current vehicle environment gradient information;
according to the current working condition type of the whole vehicle, the target master cylinder pressure is reached at a first preset pressure rate;
the working state of the whole vehicle comprises whole vehicle speed information and brake pedal information; the current whole vehicle working condition type is at least one of a vehicle brake working condition and a vehicle slip working condition.
Of course, the embodiment of the present invention provides a storage medium containing computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the automatic parking control method of the EHB provided in any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. An automatic parking control method of an EHB, characterized by comprising:
determining the current vehicle working condition type according to the vehicle working state;
acquiring current vehicle environment gradient information acquired by a deceleration sensor;
determining target main cylinder pressure according to the current vehicle environment gradient information;
according to the current working condition type of the whole vehicle, the target master cylinder pressure is reached at a first preset pressure rate;
the working state of the whole vehicle comprises whole vehicle speed information and brake pedal information; the current whole vehicle working condition type is at least one of a vehicle brake working condition and a vehicle slip working condition.
2. The EHB automatic parking control method of claim 1, wherein determining the current vehicle operating condition type based on the vehicle operating conditions comprises:
when the brake pedal information is acquired, determining that the current vehicle working condition type is the vehicle braking working condition;
and when the obtained speed information of the whole vehicle changes from the preset speed to zero and the brake pedal information is not obtained, determining that the current working condition type of the whole vehicle is the vehicle sliding stop working condition.
3. The EHB automatic parking control method of claim 2, wherein setting the target master cylinder pressure to be reached at a first preset pressure rate according to the current full vehicle operating condition type comprises:
when the current vehicle working condition type is identified to be the vehicle braking working condition, acquiring the required pressure of a brake pedal;
when the brake pedal demand pressure is less than the target master cylinder pressure, building pressure at a first preset building pressure rate to reach the target master cylinder pressure;
when the required pressure of the brake pedal is larger than the target master cylinder pressure, the pressure is released at a first preset pressure release rate to reach the target master cylinder pressure.
4. The EHB automatic parking control method of claim 3, wherein building pressure to reach the target master cylinder pressure at a set preset build pressure rate according to the current vehicle operating condition type, further comprising:
and when the current vehicle working condition type is identified to be the vehicle sliding stopping working condition, the target master cylinder pressure is achieved by pressure build at the first preset pressure build rate.
5. The EHB automatic parking control method according to claim 1, further comprising:
obtaining a vehicle sliding signal;
building pressure at a second preset pressure building rate according to the sliding signal to reach the maximum target master cylinder pressure;
wherein the maximum target master cylinder pressure is a preset multiple of the target master cylinder pressure.
6. An automatic parking control apparatus of an EHB, characterized by comprising:
the working condition type determining module is used for determining the current finished automobile working condition type according to the finished automobile working state;
the gradient information acquisition module is used for acquiring current vehicle environment gradient information acquired by the deceleration sensor;
the target master cylinder pressure determining module is used for determining target master cylinder pressure according to the current vehicle environment gradient information;
the target master cylinder pressure reaching module is used for reaching the target master cylinder pressure at a first preset pressure rate according to the current vehicle working condition type;
the working state of the whole vehicle comprises whole vehicle speed information and brake pedal information; the current whole vehicle working condition type is at least one of a vehicle brake working condition and a vehicle slip working condition.
7. The EHB automatic parking control apparatus according to claim 6, further comprising:
the sliding signal acquisition module: the vehicle sliding signal acquisition unit is used for acquiring a vehicle sliding signal;
the maximum target master cylinder pressure reaching module is used for building pressure at a second preset pressure building rate according to the sliding vehicle signal to reach the maximum target master cylinder pressure;
wherein the maximum target master cylinder pressure is a preset multiple of the target master cylinder pressure.
8. An ECU comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the EHB automatic parking control method of any of claims 1-5 when executing the program.
9. A computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements an automatic parking control method of an EHB according to any one of claims 1-5.
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| CN112572163A (en) * | 2020-12-31 | 2021-03-30 | 华南理工大学 | Automobile hill starting assisting control system and method based on brake-by-wire |
| CN112959988A (en) * | 2021-04-15 | 2021-06-15 | 浙江吉利控股集团有限公司 | Automatic parking function activation method, automobile and computer-readable storage medium |
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