Electronic parking brake system automatic release control method and device, electronic equipment, medium and vehicle

Abstract

The application discloses an electronic parking brake system automatic release control method and device, electronic equipment, medium and vehicle. The method comprises the following steps: obtaining a driving operation signal; the driving operation signal at least comprises a gear operation signal, a brake pedal operation signal and a throttle operation signal; obtaining current slope data; determining a target driving state according to the current slope data and the driving operation signal; determining whether the electronic parking brake system automatic release condition is met and determining whether to control the electronic parking brake system to release according to the target driving state, the current slope data and the driving operation signal. The application can cooperate with the gear shifting operation of the driver, consider the vehicle coasting phenomenon that may occur in the release process of the electronic parking brake system, realize the automatic release of the electronic parking brake system, avoid the occurrence of coasting in the release process of the electronic parking brake system, improve the safety of driving, and is widely applied in the field of automobile control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile control, and in particular to an electronic parking brake system automatic release control method and device, an electronic device, a medium and a vehicle. BACKGROUND

[0002] With the development of automobile intelligence, the electronic parking brake system has been widely applied (Electrical Parking Brake), from the traditional mechanical parking system to the electronic system, which greatly facilitates the operation of the driver.

[0003] The electronic parking brake system automatic release is to automatically judge the power condition and release the function of the electronic parking brake system in the parking state by the driver operating the gear into forward or reverse gear and stepping on the accelerator to improve the power. The existing electronic parking brake system automatic release control method only considers the change of gear, that is, the electronic parking brake system is automatically released when the gear is switched to forward or reverse gear, and does not consider the possible vehicle hill rolling phenomenon in the release process of the electronic parking brake system, which brings certain safety hazards and affects the user experience. SUMMARY

[0004] In order to solve at least one of the above technical problems in the prior art, the embodiments of the present application propose an electronic parking brake system automatic release control method, device, electronic device, medium and vehicle, which can realize the automatic release of the electronic parking brake system, avoid the hill rolling phenomenon in the release process of the electronic parking brake system, and improve the safety and driving experience of driving.

[0005] In one aspect, the embodiments of the present application propose an electronic parking brake system automatic release control method, which comprises the following steps:

[0006] Obtaining a driving operation signal; the driving operation signal at least includes a gear operation signal, a brake pedal operation signal and an accelerator operation signal;

[0007] Obtaining current slope data;

[0008] According to the current slope data and the driving operation signal, determining a target driving state;

[0009] According to the target driving state, the current slope data and the driving operation signal, determining whether the electronic parking brake system automatic release condition is met and determining whether to control the electronic parking brake system to release.

[0010] In some embodiments, the step of determining the target driving state according to the current slope data and the driving operation signal specifically comprises:

[0011] determining the target driving state as a vehicle gear shifting driving state when the vehicle gear is switched from any gear to a forward gear or a reverse gear;

[0012] determining the target driving state as a forward uphill driving state when the current slope is positive and greater than the first slope threshold and the vehicle gear is in the forward gear, wherein the current slope being positive indicates that the vehicle head is directed to an uphill direction;

[0013] determining the target driving state as a backward downhill driving state when the current slope is negative and greater than the first slope threshold and the vehicle gear is in the reverse gear, wherein the current slope being negative indicates that the vehicle head is directed to a downhill direction;

[0014] determining the target driving state as a flat road driving state when the vehicle gear is in the forward gear or the reverse gear and the current slope is less than the first slope threshold;

[0015] determining the target driving state as a forward downhill driving state when the current slope is negative and the vehicle gear is in the forward gear;

[0016] determining the target driving state as a backward uphill driving state when the current slope is positive and the vehicle gear is in the reverse gear.

[0017] In some embodiments, the step of determining whether the electronic parking brake system automatic release condition is met and determining whether to control the electronic parking brake system to release according to the target driving state, the current slope data and the driving operation signal specifically comprises:

[0018] controlling the electronic parking brake system not to release when the target driving state is the vehicle gear shifting driving state and the current slope is greater than a second slope threshold;

[0019] controlling the electronic parking brake system to release when the target driving state is the vehicle gear shifting driving state and the current slope is less than the first slope threshold;

[0020] determining a brake pedal operation signal corresponding brake force when the target driving state is the vehicle gear shifting driving state and the current slope is greater than the first slope threshold but less than the second slope threshold, and determining whether to control the electronic parking brake system to release according to the brake force;

[0021] determining a current torque corresponding to the accelerator operation signal when the target driving state is the forward uphill driving state or the backward downhill driving state, and determining whether to control the electronic parking brake system to release according to the current torque and the current slope;

[0022] When the target driving state is the flat road driving state, the forward downhill driving state or the backward uphill driving state, determining an accelerator opening degree corresponding to the accelerator operation signal, and determining whether to control the electronic parking brake system to release according to the accelerator opening degree.

[0023] In some embodiments, when the target driving state is the flat road driving state, the forward downhill driving state or the backward uphill driving state, determining an accelerator opening degree corresponding to the accelerator operation signal, and determining whether to control the electronic parking brake system to release according to the accelerator opening degree, specifically includes:

[0024] When the accelerator opening degree is greater than a given accelerator opening degree threshold, controlling the electronic parking brake system to release, otherwise, controlling the electronic parking brake system not to release.

[0025] In some embodiments, when the target driving state is the vehicle gear shifting driving state, and the current slope is greater than the first slope threshold but less than the second slope threshold, determining a brake force corresponding to the brake pedal operation signal, and determining whether to control the electronic parking brake system to release according to the brake force, specifically includes:

[0026] When the brake force is greater than a current brake threshold, controlling the electronic parking brake system to release, otherwise, controlling the electronic parking brake system not to release;

[0027] The current brake threshold is calculated by the following formula:

[0028]

[0029] Wherein, p is the current brake threshold, k is a constant, m is the full load mass of the vehicle, g is the acceleration of gravity, a is the current slope, R is the rolling radius of the wheel, k b is the brake efficiency factor, and r is the brake radius.

[0030] In some embodiments, when the target driving state is the forward uphill driving state or the backward downhill driving state, determining a current torque corresponding to the accelerator operation signal, and determining whether to control the electronic parking brake system to release according to the current torque and the current slope, specifically includes:

[0031] When the current torque is greater than a current torque threshold, controlling the electronic parking brake system to release, otherwise, controlling the electronic parking brake system not to release;

[0032] The current torque threshold is calculated by the following formula:

[0033] c = mga;

[0034] Wherein, c is the current torque threshold, m is the full load mass of the vehicle, g is the gravity acceleration, and a is the current slope.

[0035] In another aspect, the embodiment of the present application provides an electronic parking brake system automatic release control device, which comprises:

[0036] The first module is configured to acquire a driving operation signal, wherein the driving operation signal comprises at least a gear operation signal, a brake pedal operation signal and an accelerator operation signal.

[0037] The second module is configured to acquire current slope data.

[0038] The third module is configured to determine a target driving state according to the current slope data and the driving operation signal.

[0039] The fourth module is configured to determine whether an electronic parking brake system automatic release condition is met and whether the electronic parking brake system is controlled to release according to the target driving state, the current slope data and the driving operation signal.

[0040] In another aspect, the embodiment of the present application provides an electronic device, which comprises a memory and a processor, wherein the memory is configured to store a computer program, and the processor is configured to execute the computer program to implement the electronic parking brake system automatic release control method.

[0041] In another aspect, the embodiment of the present application further provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the electronic parking brake system automatic release control method.

[0042] In another aspect, the embodiment of the present application further provides a vehicle, which comprises the electronic parking brake system automatic release control device or the electronic device.

[0043] The electronic parking brake system automatic release control method, device, electronic device, medium and vehicle provided by the present application can acquire a driving operation signal and current slope data, determine a target driving state of the vehicle according to the current slope data and the driving operation signal, and determine whether an electronic parking brake system automatic release condition is met and whether the electronic parking brake system is controlled to release according to the target driving state, the current slope data and the driving operation signal. The present application can cooperate with the gear shifting operation of the driver, consider the vehicle rolling phenomenon that may occur in the release process of the electronic parking brake system, realize the automatic release of the electronic parking brake system, avoid the rolling phenomenon in the release process of the electronic parking brake system, and improve the safety and experience of driving. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a flow chart of an electronic parking brake system automatic release control method provided by an embodiment of the present application;

[0045] Figure 2 is a schematic diagram of a forward uphill state in an embodiment of the present application;

[0046] Figure 3 is a schematic diagram of a backward downhill state in an embodiment of the present application;

[0047] Figure 4 is a schematic diagram of a flat road driving state in an embodiment of the present application;

[0048] Figure 5 is a schematic diagram of a forward downhill state in an embodiment of the present application;

[0049] Figure 6 is a schematic diagram of a backward uphill state in an embodiment of the present application;

[0050] Figure 7 is a structural schematic diagram of an electronic parking brake system automatic release control device provided by an embodiment of the present application;

[0051] Figure 8 is a hardware structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0053] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be executed in a manner different from the module division in the device or the order in the flow chart. The terms "first", "second", etc. in the specification and claims and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

[0055] First, the several terms involved in the present application are analyzed:

[0056] EPB (Electrical Park Brake): Electronic parking brake system, EPB controls the parking brake through electronic circuit. The function is the same as the mechanical pull rod hand brake. When starting, the electronic hand brake can be automatically closed without manual operation. When starting, the electronic hand brake will be automatically closed.

[0057] The existing automatic release control method of the electronic parking brake system only considers the change of the gear position, that is, the electronic parking brake system is automatically released when the gear position is switched to the forward gear or the reverse gear, and does not consider the vehicle rolling down the slope phenomenon that may occur during the release of the electronic parking brake system, which brings certain safety hazards and affects the user experience.

[0058] Based on this, the embodiments of the present application provide an electronic parking brake system automatic release control method, device, electronic equipment, medium and vehicle, which can cooperate with the gear shifting operation of the driver to realize EPB automatic release, and considers factors such as brake pressure and throttle, so as to avoid the occurrence of rolling down the slope during the release of EPB and improve the safety.

[0059] Reference Figure 1 , Figure 1 is an optional flowchart of an electronic parking brake system automatic release control method provided by the embodiments of the present application. The method can include but is not limited to steps S101 to S104:

[0060] Step S101, obtaining a driving operation signal; the driving operation signal at least includes a gear operation signal, a brake pedal operation signal and a throttle operation signal;

[0061] Step S102, obtaining current slope data;

[0062] Step S103, determining a target driving state according to the current slope data and the driving operation signal;

[0063] Step S104, determining whether the electronic parking brake system automatic release condition is met and determining whether to control the electronic parking brake system to release according to the target driving state, the current slope data and the driving operation signal.

[0064] In some embodiments, the above-mentioned driving operation signal can also include a seat belt operation signal, a door locking signal and a window closing signal, etc. Optionally, the gear position of the vehicle and its change are detected to determine the gear operation signal, the depression depth of the brake pedal is detected to determine the brake pedal operation signal, and the depression depth of the throttle is detected to determine the throttle operation signal.

[0065] In some embodiments, the target driving state at least includes a vehicle gear shifting driving state, an uphill driving state in forward, a downhill driving state in reverse, a flat road driving state, a downhill driving state in forward, and an uphill driving state in reverse, and step S103 can include but is not limited to steps S301 to S306:

[0066] Step S301, when the vehicle gear is switched from any gear to forward gear or reverse gear, the target driving state is determined as the vehicle gear shifting driving state.

[0067] Step S302, when the current slope is positive and greater than the first slope threshold, and the vehicle gear is in forward gear, the target driving state is determined as the uphill driving state in forward, wherein the positive current slope indicates that the vehicle head is oriented in the uphill direction.

[0068] Step S303, when the current slope is negative and greater than the first slope threshold, and the vehicle gear is in reverse gear, the target driving state is determined as the downhill driving state in reverse, wherein the negative current slope indicates that the vehicle head is oriented in the downhill direction.

[0069] Step S304, when the vehicle gear is in forward gear or reverse gear, and the current slope is less than the first slope threshold, the target driving state is determined as the flat road driving state.

[0070] Step S305, when the current slope is negative and the vehicle gear is in forward gear, the target driving state is determined as the downhill driving state in forward.

[0071] Step S306, when the current slope is positive and the vehicle gear is in reverse gear, the target driving state is determined as the uphill driving state in reverse.

[0072] In step S301 of some embodiments, when the vehicle gear is switched from any gear to forward gear or reverse gear, for example, from the parking gear, the reverse gear or the neutral gear, to the forward gear, or from the forward gear, the parking gear or the neutral gear, to the reverse gear, the target driving state is determined as the vehicle gear shifting driving state.

[0073] In step S302 of some embodiments, referring to Figure 2 , assuming that the first slope threshold is a1 (a1 takes a value of 2%, which can be in the range of 2% to 4%), the vehicle is located on a slope, the slope of the slope is greater than a1, and at this time the vehicle head is oriented in the uphill direction, and the vehicle gear is in forward gear, the target driving state is determined as the uphill driving state in forward.

[0074] In step S303 of some embodiments, referring to Figure 3 , the vehicle is located on a slope, the slope of the slope is greater than a1, and at this time the vehicle head is oriented in the downhill direction, and the vehicle gear is in reverse gear, the target driving state is determined as the downhill driving state in reverse.

[0075] In step S304 of some embodiments, referring to Figure 4 When it is determined that the slope of the road segment where the vehicle is located is less than a1, and the vehicle is in forward or reverse gear, the target driving state is determined to be a flat road driving state.

[0076] In step S305 of some embodiments, referring to Figure 5 The vehicle is on a slope, with its front facing downhill, and the gear is either in drive or neutral. Therefore, the target vehicle is determined to be moving downhill.

[0077] In step S306 of some embodiments, referring to Figure 6 The vehicle is on a slope, with its front facing uphill, and the gear is in reverse or neutral, confirming that the target vehicle is reversing uphill.

[0078] In some embodiments, step S104 may include, but is not limited to, steps S401 to S405:

[0079] Step S401: When the target driving state is the vehicle shifting gears and the current slope is greater than the second slope threshold, control the electronic parking brake system not to release.

[0080] Step S402: When the target driving state is the vehicle shifting gears and the current slope is less than the first slope threshold, control the electronic parking brake system to release it.

[0081] Step S403: When the target driving state is the vehicle shifting driving state, and the current slope is greater than the first slope threshold but less than the second slope threshold, determine the braking force corresponding to the brake pedal operation signal, and determine whether to control the electronic parking brake system to release the brake based on the braking force.

[0082] Step S404: When the target driving state is forward uphill or backward downhill, determine the current torque corresponding to the throttle operation signal, and determine whether to control the electronic parking brake system to release it based on the current torque and the current slope.

[0083] Step S405: When the target driving state is flat road driving state, forward downhill state or reverse uphill state, determine the throttle opening corresponding to the throttle operation signal, and determine whether to control the electronic parking brake system to release it based on the throttle opening.

[0084] In steps S401 to S402 of some embodiments, when the driver operates the gear shift from any gear to forward or reverse, it is determined whether the vehicle is on a slope, thereby determining whether to control the electronic parking brake system to release it.

[0085] Optionally, assuming that the second slope threshold value is a2 (a2 is 8%, and the range can be 8%~10%), when the vehicle is on a slope and the current slope is greater than a2, it is easy to slide down the slope, therefore, when the driver performs a gear shifting operation, that is, the target driving state is the vehicle gear shifting state, the electronic parking brake system is not released to avoid sliding down the slope and improve safety; when the vehicle is on a section with a current slope less than a1, the risk of sliding down the slope is very small, and when the driver performs a gear shifting operation, the electronic parking brake system is automatically released.

[0086] In step S403 of some embodiments, when the vehicle is on a slope and the current slope is greater than a1 and less than a2, there is a certain risk of sliding down the slope, and the driver needs to step on the brake pedal and maintain a certain braking force to control the electronic parking brake system to perform automatic release during gear shifting. Specifically, when the braking force is greater than the current braking threshold, the electronic parking brake system is released, otherwise, the electronic parking brake system is not released, wherein the current braking threshold is calculated by the following formula:

[0087]

[0088] Wherein p is the current braking threshold, k is a constant, m is the full load mass of the vehicle, g is the acceleration of gravity, a is the current slope, R is the rolling radius of the wheel, and k b is the braking efficiency factor, and r is the braking radius.

[0089] Assuming that the vehicle is on a slope and the current slope is greater than a1 and less than a2, when the driver performs a gear shifting operation, that is, the target driving state is determined to be the vehicle gear shifting driving state, the brake pedal operation signal is obtained, and the corresponding braking force p now is determined. now When the braking force p is greater than the current braking threshold p, the electronic parking brake system is released, otherwise, the electronic parking brake system is not released.

[0090] In step S404 of some embodiments, when the vehicle gear is switched to the forward gear or the reverse gear, and the target driving state is the forward uphill state or the backward downhill state, there is a certain risk of sliding down the slope, and the electronic parking brake system is not automatically released. In the case that the driver has fastened the seat belt and closed the doors and windows, the EPB can be automatically released by stepping on the accelerator. Specifically, when the current torque is greater than the current torque threshold, the electronic parking brake system is released, otherwise, the electronic parking brake system is not released, wherein the current torque threshold is calculated by the following formula:

[0091] c=mga;

[0092] Wherein c is the current torque threshold, m is the full load mass of the vehicle, g is the acceleration of gravity, and a is the current slope.

[0093] For example, when the current gear is in forward or reverse gear, the electronic parking brake system of the vehicle is not released, i.e., the EPB is still in the clamping state, the EPB can be automatically released by stepping on the accelerator, assuming that the target driving state is forward uphill state, the current slope is a, when the current torque c now is greater than the current torque threshold c = mga, and it is determined that the driver has fastened the seat belt and closed the door at this time, the electronic parking brake system is controlled to be released, otherwise the electronic parking brake system is not released.

[0094] In step S405 of some embodiments, in the flat road driving state, the risk of rolling down the slope is small, the EPB can be automatically released when the driver steps on the accelerator and the accelerator opening is greater than a given accelerator opening threshold, specifically, when the accelerator opening is greater than the accelerator opening threshold, the electronic parking brake system is controlled to be released, otherwise the electronic parking brake system is not released.

[0095] Assuming that the accelerator opening threshold is b, when the accelerator opening is greater than b (b is 1%, the range can be 1% to 10%), the electronic parking brake system is released in the flat road driving state, and when the accelerator opening is less than or equal to b, the electronic parking brake system is not released in the flat road driving state.

[0096] In some embodiments, the electronic parking brake system automatic release method provided by the embodiments of the present application can include but is not limited to the following specific application examples:

[0097] Embodiment 1, the vehicle is driving on a flat road, the driver switches from the parking gear to the forward gear, and the electronic parking brake system automatically executes the release;

[0098] Embodiment 2, the vehicle is on a 5% (between a1 and a2) slope, the vehicle head is in the uphill direction, i.e., the target driving state is forward uphill state, the driver steps on the brake pedal, the brake pressure is 5bar (less than p), switches from the parking gear to the forward gear, and the electronic parking brake system is not automatically released;

[0099] Embodiment 3, the vehicle is on a 5% (between a1 and a2) slope, the vehicle head is in the uphill direction, the driver steps on the brake pedal, the brake pressure is 5bar (less than p), switches from the parking gear to the reverse gear, and the EPB is not automatically released;

[0100] Embodiment 4, the vehicle is on a 10% (greater than a2) slope, the vehicle head is in the uphill direction, the driver steps on the brake pedal, switches from the parking gear to the forward gear, and the electronic parking brake system is not automatically released, when the driver fastens the seat belt and closes the door, steps on the accelerator, and the current torque is greater than the current torque threshold c, the electronic parking brake system is automatically released;

[0101] Embodiment 5, the vehicle is on a slope of 5% (between a1-a2), the vehicle head is in the uphill direction, the driver steps on the brake pedal slightly, the brake pressure is 5bar (less than p), the gear is switched from the parking gear to the forward gear, and the electronic parking brake system is not automatically released. The driver fastens the seat belt, closes the door, steps on the accelerator, and when the current torque is greater than the current torque threshold c, the electronic parking brake system is automatically released.

[0102] Embodiment 6, the vehicle is on a slope of 5% (between a1-a2), the vehicle head is in the uphill direction, the driver steps on the brake pedal slightly, the brake pressure is 5bar (less than p), the gear is switched from the parking gear to the reverse gear, and the electronic parking brake system is automatically released.

[0103] Reference Figure 7 , Figure 7 is an optional structural schematic diagram of an electronic parking brake system automatic release control device provided by the embodiment of the present application, which can include but is not limited to including:

[0104] The first module is configured to acquire a driving operation signal, and the driving operation signal at least includes a gear operation signal, a brake pedal operation signal and an accelerator operation signal.

[0105] The second module is configured to acquire current slope data.

[0106] The third module is configured to determine a target driving state according to the current slope data and the driving operation signal.

[0107] The fourth module is configured to determine whether the electronic parking brake system automatic release condition is met and whether to control the electronic parking brake system to release according to the target driving state, the current slope data and the driving operation signal.

[0108] The specific implementation of the electronic parking brake system automatic release control device is basically the same as the specific embodiment of the above-mentioned electronic parking brake system automatic release control method, and will not be repeated here.

[0109] The embodiment of the present application further provides an electronic device, which includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned electronic parking brake system automatic release control method when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer and the like.

[0110] Please refer to Figure 8 , Figure 8 schematically shows the hardware structure of the electronic device of another embodiment, which includes:

[0111] The processor 801 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0112] The memory 802 can be implemented by a ROM (Read Only Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory), and the like. The memory 802 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 802 and are called and executed by the processor 801 to implement the electronic parking brake system automatic release control method of the embodiments of the present application.

[0113] The input / output interface 803 is configured to implement information input and output.

[0114] The communication interface 804 is configured to implement the communication interaction between the device and other devices. The communication can be implemented by a wired manner (for example, a USB, a network cable, or the like) or a wireless manner (for example, a mobile network, WIFI, Bluetooth, or the like).

[0115] The bus 805 is configured to transmit information between various components (for example, the processor 801, the memory 802, the input / output interface 803, and the communication interface 804) of the device.

[0116] The processor 801, the memory 802, the input / output interface 803, and the communication interface 804 are connected to each other through the bus 805 to realize the communication connection between the device.

[0117] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the electronic parking brake system automatic release control method.

[0118] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory disposed remotely relative to the processor, which can be connected to the processor through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0119] The electronic parking brake system automatic release control or the electronic device provided by the embodiments of the present application can also be applied to an electric drive assembly of a vehicle. Specifically, the vehicle can be a private car, such as a sedan, an SUV, an MPV, a pickup truck, or the like. The vehicle can also be a commercial vehicle, such as a van, a bus, a small truck, or a large trailer truck, or the like. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0120] The electronic parking brake system automatic release control method, device, electronic equipment, medium and vehicle provided by the embodiments of the present application can obtain a driving operation signal and current slope data, determine a target driving state of the vehicle according to the current slope data and the driving operation signal, and determine whether the electronic parking brake system automatic release condition is met and whether to control the electronic parking brake system to release according to the target driving state, the current slope data and the driving operation signal. The embodiments of the present application can cooperate with the gear shifting operation of the driver, consider the vehicle rolling down the slope phenomenon that may occur during the release process of the electronic parking brake system, realize the automatic release of the electronic parking brake system, avoid the rolling down the slope phenomenon during the release process of the electronic parking brake system, and improve the safety and driving experience of the driver.

[0121] The embodiments described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0122] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and can include more or fewer steps than those shown in the figures, or combine certain steps or different steps.

[0123] The apparatus embodiments described above are merely illustrative, and units described as separate units can or can not be physically separate, i.e., can be located in one place, or can be distributed over multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purposes of the embodiments.

[0124] The terms "first", "second", "third", "fourth" and the like in the description of the application and in the claims of the foregoing drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of such terms is not to limit the scope of the application to the precise order except as expressly recited in the claims. Also, the use of the terms "comprise", "comprises", "comprising", "containing", "contains", "contain" and the like are to be construed as in the sense of "including" rather than other sense, i.e. as meaning "comprising, including or containing items or elements but not limited to or by such items or elements or consist only of such items or elements".

[0125] The preferred embodiments of the application are described above with reference to the accompanying drawings, and are not intended to limit the scope of the application. Any modification, equivalent replacement and improvement made by those skilled in the art without departing from the scope and spirit of the application shall fall within the scope of the application.

Claims

1. An electronic parking brake system automatic release control method, characterized by, The method comprises the following steps: obtaining driving operation signals; the driving operation signals at least comprise gear operation signals, brake pedal operation signals and throttle operation signals; obtaining current slope data; determining a target driving state according to the current slope data and the driving operation signals; the step of determining a target driving state according to the current slope data and the driving operation signals specifically comprises: when the vehicle gear is switched from any gear to forward gear or reverse gear, determining that the target driving state is a vehicle gear shifting driving state; when the current slope is positive and greater than a first slope threshold value, and the vehicle gear is in forward gear, determining that the target driving state is a forward uphill driving state, wherein the current slope being positive indicates that the vehicle head is facing an uphill direction; when the current slope is negative and greater than the first slope threshold value, and the vehicle gear is in reverse gear, determining that the target driving state is a backward downhill driving state, wherein the current slope being negative indicates that the vehicle head is facing a downhill direction; when the vehicle gear is in forward gear or reverse gear, and the current slope is less than the first slope threshold value, determining that the target driving state is a flat road driving state; when the current slope is negative and the vehicle gear is in forward gear, determining that the target driving state is a forward downhill driving state; when the current slope is positive and the vehicle gear is in reverse gear, determining that the target driving state is a backward uphill driving state; judging whether an electronic parking brake system automatic release condition is met and determining whether to control the electronic parking brake system to release according to the target driving state, the current slope data and the driving operation signals, comprising: when the target driving state is the vehicle gear shifting driving state, and the current slope is greater than the first slope threshold value but less than a second slope threshold value, determining a brake force corresponding to the brake pedal operation signals, and determining whether to control the electronic parking brake system to release according to the brake force; the step of determining a brake force corresponding to the brake pedal operation signals, and determining whether to control the electronic parking brake system to release according to the brake force when the target driving state is the vehicle gear shifting driving state, and the current slope is greater than the first slope threshold value but less than the second slope threshold value, specifically comprises: when the brake force is greater than a current brake threshold value, controlling the electronic parking brake system to release, otherwise, controlling the electronic parking brake system not to release; the current brake threshold value is calculated by the following formula: ； wherein is the current brake threshold, is a constant, is the full load mass of the vehicle, is the acceleration due to gravity, is the current slope, is the wheel rolling radius, is the brake effectiveness factor, is the brake radius.

2. The electronic parking brake system automatic release control method of claim 1, wherein, the step of judging whether an electronic parking brake system automatic release condition is met and determining whether to control the electronic parking brake system to release according to the target driving state, the current slope data and the driving operation signals, specifically comprises: when the target driving state is the vehicle gear shifting driving state, and the current slope is greater than the second slope threshold value, controlling the electronic parking brake system not to release; when the target driving state is the vehicle gear shifting driving state, and the current slope is less than the first slope threshold value, controlling the electronic parking brake system to release; determining a current torque corresponding to the accelerator operation signal, and determining whether to control the electronic parking brake system to release according to the current torque and the current slope, when the target driving state is the forward uphill state or the reverse downhill state; determining an accelerator opening degree corresponding to the accelerator operation signal, and determining whether to control the electronic parking brake system to release according to the accelerator opening degree, when the target driving state is the flat road driving state, the forward downhill state or the reverse uphill state.

3. The electronic parking brake system automatic release control method of claim 2, wherein, The step of determining an accelerator opening degree corresponding to the accelerator operation signal, and determining whether to control the electronic parking brake system to release according to the accelerator opening degree, when the target driving state is the flat road driving state, the forward downhill state or the reverse uphill state, specifically comprises: controlling the electronic parking brake system to release when the accelerator opening degree is greater than a given accelerator opening degree threshold, and otherwise, controlling the electronic parking brake system not to release.

4. The electronic parking brake system automatic release control method of claim 2, wherein, The step of determining a current torque corresponding to the accelerator operation signal, and determining whether to control the electronic parking brake system to release according to the current torque and the current slope, when the target driving state is the forward uphill state or the reverse downhill state, specifically comprises: controlling the electronic parking brake system to release when the current torque is greater than a current torque threshold, and otherwise, controlling the electronic parking brake system not to release; The current torque threshold is calculated by the following formula: ； wherein is a current torque threshold value, is a full load mass of the vehicle, is a gravitational acceleration, is a current slope.

5. An electronic parking brake system automatic release control device characterized by comprising: The device comprises: a first module configured to acquire driving operation signals; the driving operation signals at least include a gear operation signal, a brake pedal operation signal and an accelerator operation signal; a second module configured to acquire current slope data; a third module configured to determine a target driving state according to the current slope data and the driving operation signals; the step of determining a target driving state according to the current slope data and the driving operation signals specifically comprises: determining that the target driving state is a vehicle gear shifting driving state when a vehicle gear is switched from an arbitrary gear to a forward gear or a reverse gear; determining that the target driving state is a forward uphill state when a current slope is positive and greater than a first slope threshold, and a vehicle gear is in the forward gear, wherein the current slope being positive indicates that a vehicle head is directed to an uphill direction; determining that the target driving state is a reverse downhill state when the current slope is negative and greater than the first slope threshold, and the vehicle gear is in the reverse gear, wherein the current slope being negative indicates that the vehicle head is directed to a downhill direction; determining that the target driving state is a flat road driving state when the vehicle gear is in the forward gear or the reverse gear, and the current slope is less than the first slope threshold; determining that the target driving state is a forward downhill state when the current slope is negative and the vehicle gear is in the forward gear; determining that the target driving state is a reverse uphill state when the current slope is positive and the vehicle gear is in the reverse gear; A fourth module configured to determine whether an electronic parking brake system automatic release condition is met and determine whether to control the electronic parking brake system to release based on the target driving state, the current slope data, and the driving operation signal, including: when the target driving state is the vehicle gear shifting driving state and the current slope is greater than the first slope threshold but less than the second slope threshold, determining a brake force corresponding to the brake pedal operation signal, and determining whether to control the electronic parking brake system to release based on the brake force; The step of determining whether an electronic parking brake system automatic release condition is met and determining whether to control the electronic parking brake system to release based on the target driving state, the current slope data, and the driving operation signal when the target driving state is the vehicle gear shifting driving state and the current slope is greater than the first slope threshold but less than the second slope threshold specifically includes: when the brake force is greater than the current brake threshold, controlling the electronic parking brake system to release, otherwise, controlling the electronic parking brake system not to release; The current brake threshold is calculated by the following formula: ； wherein is the current brake threshold, is a constant, is the full load mass of the vehicle, is the acceleration due to gravity, is the current slope, is the wheel rolling radius, is the brake effectiveness factor, is the brake radius.

6. An electronic device, comprising: The electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program to realize the electronic parking brake system automatic release control method of any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, the computer-readable storage medium comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 6. The computer program is executed by the processor to realize the electronic parking brake system automatic release control method of any one of claims 1 to 4.

8. A vehicle characterized by comprising: The vehicle includes the electronic parking brake system automatic release control device of claim 5 or the electronic device of claim 6.

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