Control method, device, system and storage medium of electronic parking brake system

Abstract

The application discloses a control method, device and system of an electronic parking brake system and a storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: reading the opening and closing conditions of a switch for controlling an EPB; obtaining the cruising range of a vehicle; in response to the switch for controlling the EPB being opened and the cruising range of the vehicle being less than a first reference range, detecting the slope of the road where the vehicle is located; and in response to the slope of the road where the vehicle is located being less than a slope threshold, controlling the EPB to remain released after the vehicle is powered off. The vehicle is prevented from being in danger due to the release of the EPB on a slope. The vehicle can be moved after being powered off, thereby facilitating the smooth performance of rescue work after the vehicle is powered off.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle control, in particular to a control method, device and system of an electronic parking brake system and a storage medium. BACKGROUND

[0002] The EPB is an electronic parking brake system of a vehicle, which can automatically control the braking of the vehicle without pulling the hand brake. When the new energy vehicle is in power loss, if the EPB (Electrical Park Brake) is in normal operation state, the vehicle is difficult to move, resulting in inconvenience to move the vehicle. SUMMARY

[0003] Embodiments of the present application provide a control method, device, system and storage medium of an electronic parking brake system, which can facilitate the moving of the vehicle in power loss. The technical solution is as follows:

[0004] In one aspect, the present application provides a control method of an electronic parking brake system, which comprises:

[0005] reading the opening and closing of a switch for controlling the EPB;

[0006] obtaining the endurance mileage of the vehicle;

[0007] in response to the switch for controlling the EPB being opened and the endurance mileage of the vehicle being less than a first reference mileage, detecting the slope of the road where the vehicle is located;

[0008] in response to the slope of the road where the vehicle is located being less than a slope threshold, controlling the EPB to keep releasing after the vehicle is powered off.

[0009] In another aspect, a control device of an electronic parking brake system is provided, which comprises:

[0010] a reading module for reading the opening and closing of a switch for controlling the EPB;

[0011] an obtaining module for obtaining the endurance mileage of the vehicle;

[0012] a detecting module for, in response to the switch for controlling the EPB being opened and the endurance mileage of the vehicle being less than a first reference mileage, detecting the slope of the road where the vehicle is located;

[0013] a control module for, in response to the slope of the road where the vehicle is located being less than a slope threshold, controlling the EPB to keep releasing after the vehicle is powered off.

[0014] In another aspect, a control system of an electronic parking brake system is provided, the system comprising: an IHU (In-Vehicle Infotainment Head Unit) and an EPB, the IHU being configured to read an opening and closing state of a switch for controlling the EPB;

[0015] The IHU is further configured to obtain a range of the vehicle when the switch for controlling the EPB is opened.

[0016] The IHU is further configured to detect a slope of a road where the vehicle is located when the range is less than a first reference range.

[0017] The IHU is further configured to send a signal for releasing the EPB to the EPB when the slope of the road where the vehicle is located is less than a slope threshold.

[0018] The EPB is configured to keep releasing after receiving the signal for releasing the EPB.

[0019] In another aspect, a non-transitory computer-readable storage medium is provided, the computer-readable storage medium storing at least one computer program, the at least one computer program being loaded and executed by a processor to cause a computer to implement the control method of the electronic parking brake system.

[0020] In another aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the control method of the electronic parking brake system.

[0021] The technical scheme provided in the present application at least brings the following beneficial effects:

[0022] The present application obtains the range of the vehicle when the switch for controlling the EPB is opened. If the range of the vehicle is less than the first reference range, it indicates that the vehicle is in a low power mode. At this time, the slope of the road where the vehicle is located is detected. If the slope of the road where the vehicle is located is less than the slope threshold, the EPB is controlled to keep releasing after the vehicle is powered off, thereby avoiding the risk of the vehicle caused by releasing the EPB on the slope. The vehicle can be moved after being powered off, thereby facilitating the smooth progress of the rescue work after the vehicle is powered off. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application;

[0025] Figure 2 is a flow chart of a control method of an electronic parking brake system provided by an embodiment of the present application;

[0026] Figure 3 is a control flow chart of an electronic parking brake system provided by an embodiment of the present application;

[0027] Figure 4 is a block diagram of a control system of an electronic parking brake system provided by an embodiment of the present application;

[0028] Figure 5 is a structural schematic diagram of a control device of an electronic parking brake system provided by an embodiment of the present application;

[0029] Figure 6 is a structural schematic diagram of a server provided by an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail with reference to the drawings.

[0031] An embodiment of the present application provides a control method of an electronic parking brake system, please refer to Figure 1 which shows a schematic diagram of an implementation environment of the method provided by an embodiment of the present application. The implementation environment can include: an ECU (Electronic Control Unit) 11, a central control 12, an EPB 13, an accelerometer 14, a gyroscope 15, an IHU 16, a BCM (Body Control Module) 17, a battery 18, a T-BOX (Telematics Box) 19 and a mobile phone 110.

[0032] In a possible implementation, the IHU 16 reads the on-off state of the switch for controlling the EPB from the central control 12, reads the range of the vehicle from the ECU 11, measures the acceleration of the vehicle in the vertical direction through the accelerometer 14, measures the angular velocity of the vehicle rotating around the vertical axis through the gyroscope 15, and calculates the slope of the road where the vehicle is located through the acceleration of the vehicle in the vertical direction and the angular velocity of the vehicle rotating around the vertical axis, in response to the switch for controlling the EPB being turned on and the range of the vehicle being less than the first reference range.

[0033] Exemplarily, in response to the slope of the road where the vehicle is located being less than the slope threshold, the IHU 16 controls the EPB 13 to keep releasing after the vehicle is powered off through the central control 12. In response to the on-off state of the switch for controlling the EPB being turned off and the range of the vehicle being less than the second reference range, the IHU 16 sends the first prompt information in text to the mobile phone 110 through the T-BOX 19, prompting the driver to turn on the switch for controlling the EPB. And in response to the range being less than the third reference range, the battery 18 of the vehicle is woken up through the BCM 17.

[0034] Optionally, the ECU 11, the central control 12, the EPB 13, the accelerometer 14, the gyroscope 15, the IHU 16, the BCM 17, the battery 18, the T-BOX 19, and the mobile phone 110 are communicatively connected through a wired or wireless network.

[0035] Based on the above Figure 1 The embodiment of the present application provides a control method of an electronic parking brake system as shown in the Figure 2 The method includes steps 201-204, taking the application of the method to the IHU as an example.

[0036] In step 201, the on-off state of the switch for controlling the EPB is read.

[0037] In a possible implementation, the switch for controlling the EPB is located in the central control of the vehicle. Exemplarily, reading the on-off state of the switch for controlling the EPB includes: the IHU reads the on-off state of the switch for controlling the EPB from the central control of the vehicle through a bus. The on-off state of the switch for controlling the EPB includes: the switch for controlling the EPB being turned on and the switch for controlling the EPB being turned off. Optionally, the bus can be a CAN (Controller Area Network) bus.

[0038] In step 202, the range of the vehicle is obtained.

[0039] Exemplarily, after reading the opening and closing of the switch of the EPB control, the vehicle's range is obtained, including: the IHU can read the vehicle's range from the ECU through the CAN bus, wherein the vehicle's range is the distance that the vehicle can continue to travel without charging from now on.

[0040] In step 203, in response to the switch of the EPB control being opened and the vehicle's range being less than the first reference range, the slope of the road where the vehicle is located is detected.

[0041] Optionally, after reading the opening and closing of the switch of the EPB control and the vehicle's range, the vehicle's range and the first reference range are compared, in response to the switch of the EPB control being opened and the vehicle's range being less than the first reference range, the slope of the road where the vehicle is located is detected, including: if the opening and closing of the switch of the EPB control is that the switch of the EPB control is opened, and the vehicle's range is less than the first reference range, the acceleration of the vehicle in the vertical direction is measured by the accelerometer, the angular velocity of the vehicle rotating around the vertical axis is measured by the gyroscope, and the inclination angle of the vehicle relative to the horizontal plane is calculated by the acceleration of the vehicle in the vertical direction and the angular velocity of the vehicle rotating around the vertical axis, and the inclination angle of the vehicle relative to the horizontal plane is taken as the slope of the road where the vehicle is located.

[0042] In one possible implementation, the formula for calculating the inclination angle of the vehicle relative to the horizontal plane of the road by the acceleration of the vehicle in the vertical direction and the angular velocity of the vehicle rotating around the vertical axis is as follows:

[0043] Inclination angle = tan -1 (acceleration / (angular velocity*vehicle width))

[0044] Wherein, the inclination angle is the inclination angle of the vehicle relative to the horizontal plane of the road, the acceleration is the acceleration of the vehicle in the vertical direction, the angular velocity is the angular velocity of the vehicle rotating around the vertical axis, and the vehicle width can be measured and determined in advance.

[0045] Exemplarily, the vehicle's range is compared with a second reference range, and in response to the switch for controlling the EPB being closed and the range being less than the second reference range, the driver is prompted to turn on the switch for controlling the EPB, and the second reference range is less than the first reference range. In a possible implementation, if the on-off state of the switch for controlling the EPB is that the switch is closed, and the vehicle's range is less than the second reference range, the driver is prompted to urgently turn on the switch for controlling the EPB, including: sending first prompt information to the driver's mobile phone through the T-BOX, the first prompt information being used to prompt the driver that the vehicle's range is low, and the switch for controlling the EPB needs to be turned on urgently, and prompting the user of the risk that the switch for controlling the EPB is not turned on, that is, when the vehicle is running out of power, the vehicle cannot be moved, and it is not conducive to the smooth progress of rescue work after the vehicle runs out of power. The T-BOX is located on the vehicle and is used for communication between the vehicle and the outside world.

[0046] Optionally, the IHU sends first prompt information in the form of text to the APP on the driver's mobile phone through the T-BOX, prompting the driver to turn on the switch for controlling the EPB. Exemplarily, the IHU and the T-BOX can be connected through Bluetooth.

[0047] In a possible implementation, the first reference range and the second reference range can be set according to experience, and it is necessary to ensure that the second reference range is less than the first reference range.

[0048] Exemplarily, the vehicle's range is compared with a third reference range, and in response to the range being less than the third reference range, the vehicle's battery is woken up through the BCM, and the third reference range is less than the second reference range. In a possible implementation, when the range is less than the third reference range, the vehicle will be powered off for power protection, and at this time, in order to judge the on-off state of the switch for controlling the EPB and the vehicle's range, the vehicle needs to be powered on by waking up the vehicle's battery through the BCM. In a possible implementation, the third reference range can be set according to experience, and it is necessary to ensure that the third reference range is less than the second reference range.

[0049] In step 204, in response to the slope of the road where the vehicle is located being less than a slope threshold, the EPB is controlled to remain released after the vehicle is powered off.

[0050] Optionally, the slope of the road where the vehicle is located and the slope threshold value are compared, and in response to the slope of the road where the vehicle is located being less than the slope threshold value, the EPB is controlled to remain released after the vehicle is powered off, including: sending a signal to release the EPB to the EPB, the signal to release the EPB being used to control the EPB to remain released. In a possible implementation, the IHU sends the signal to release the EPB to the EPB through the CAN bus, and the EPB is controlled to remain released after receiving the signal to release the EPB. The IHU sends second prompt information to the driver's mobile phone through the T-BOX, the second prompt information being used to prompt the driver that the switch of the EPB has been turned on, the vehicle can be moved when the vehicle is powered off, and the user is prompted about the risk of turning on the switch of the EPB, that is, the risk of rolling.

[0051] Exemplarily, when the EPB is in normal operation, if the driver parks the vehicle, the EPB is automatically activated and controls the vehicle to remain in a parked state; if the driver starts the vehicle again, the EPB is automatically released so that the vehicle can start. When the EPB remains released, the EPB remains released regardless of whether the driver parks the vehicle, so that the vehicle is in a state that is easy to be moved.

[0052] In a possible implementation, if the IHU fails to send the signal to release the EPB, the EPB fails to receive the signal to release the EPB, or the EPB fails to release after receiving the signal to release the EPB, the EPB remains in normal operation. And prompt the driver that the EPB cannot be released, including: the IHU sends third prompt information to the driver's mobile phone through the T-BOX, the third prompt information being used to prompt the driver that the vehicle cannot release the EPB, and inform the user that the reason why the EPB cannot be released is at least one of the IHU failing to send the signal to release the EPB, the EPB failing to receive the signal to release the EPB, or the EPB failing to release after receiving the signal to release the EPB, so as to facilitate the user to repair or manually release the EPB according to the fault reason.

[0053] Exemplarily, in a case where the slope of the road where the vehicle is located is greater than or equal to the slope threshold, no signal for releasing the EPB is sent to the EPB, and fourth prompt information is sent to the driver's mobile phone through the T-BOX, the fourth prompt information being used to prompt the driver that the slope of the road where the vehicle is located is large, and releasing the EPB will cause danger. Thus, the danger caused by releasing the EPB on a slope and causing the vehicle to roll is avoided. By controlling the EPB to remain released after receiving the signal for releasing the EPB, it is convenient to move the vehicle after the vehicle is powered off due to power loss, and it is beneficial to the rescue. Alternatively, the slope threshold can be determined according to experiments, for example, the slope at which the vehicle starts to roll after the EPB is released can be set as the slope threshold. In a possible implementation, there are a plurality of slope thresholds, and one slope threshold is selected as the currently used slope threshold according to the road surface state of the road where the vehicle is located. When the friction coefficient of the road surface of the road where the vehicle is located is large, the vehicle is not easy to roll after the EPB is released, so the slope threshold is large; when the friction coefficient of the road surface of the road where the vehicle is located is small, the vehicle is more likely to roll after the EPB is released, so the slope threshold is low. Alternatively, the correspondence between the slope threshold and the friction coefficient of the road surface of the road where the vehicle is located can be determined through experiments. The friction coefficient of the road surface can be obtained by, for example, shooting a road surface photo and then inputting the road surface photo and a friction coefficient neural network model, the input of the model being the road surface photo and the output being the friction coefficient, which can be obtained through sample training.

[0054] In a possible implementation, after the EPB is released, if the vehicle is charged, when the cruising range of the vehicle is restored to be greater than or equal to the first cruising range, the IHU restores the normal operation of the EPB. At this time, if the driver normally parks, the EPB can automatically activate and control the vehicle to remain in a parked state, and the vehicle cannot be moved.

[0055] In another possible implementation, after the EPB is released, if the vehicle continues to travel, when the slope of the road where the vehicle is located is greater than or equal to the slope threshold, the IHU restores the normal operation of the EPB to avoid the danger of rolling.

[0056] Alternatively, the IHU restoring the normal operation of the EPB includes: the IHU sending a signal for restoring the normal operation of the EPB to the EPB, the signal for restoring the normal operation of the EPB being used to restore the normal operation of the EPB. Exemplarily, the IHU sends the signal for restoring the normal operation of the EPB to the EPB through the CAN bus, and controls the EPB to restore the normal operation after receiving the signal for restoring the normal operation of the EPB.

[0057] In combination with the above method process, the method further includes: Figure 3The control flowchart of the electronic parking brake system provided by the embodiment of the application is taken as an example for illustration. The execution subject can be the IHU. In step 301, the endurance mileage of the vehicle is acquired. In step 303, the instruction issued by the driver through the APP is acquired. In step 302, the IHU judges whether to enter step 304 or step 305 according to the endurance mileage of the vehicle and the instruction issued by the driver through the APP. In step 304, the EPB is controlled to keep releasing after the vehicle is powered off. In step 305, the EPB normally works.

[0058] In combination with the above method process, the electronic parking brake system provided by the embodiment of the application is taken as an example for illustration. Figure 4 The control system block diagram of the electronic parking brake system provided by the embodiment of the application is taken as an example for illustration. The control system of the electronic parking brake system includes the IHU 401 and the EPB 402. The IHU 401 is configured to read the opening and closing of the switch for controlling the EPB 402. The IHU 401 is further configured to acquire the endurance mileage of the vehicle when the switch for controlling the EPB 402 is opened. The IHU 401 is further configured to detect the slope of the road where the vehicle is located when the endurance mileage of the vehicle is less than the first reference mileage. The IHU 401 is further configured to send a signal for releasing the EPB 402 to the EPB 402 when the slope of the road where the vehicle is located is less than the slope threshold. The EPB 402 is configured to keep releasing after receiving the signal for releasing the EPB 402. The IHU 401 is further configured to control the vehicle to prompt the driver to control the switch for controlling the EPB 402 to be in the closed state when the switch for controlling the EPB 402 is closed.

[0059] The embodiment of the application acquires the endurance mileage of the vehicle when the switch for controlling the EPB is opened. If the endurance mileage of the vehicle is less than the first reference mileage, it indicates that the vehicle is in the low-power mode. At this time, the slope of the road where the vehicle is located is detected. If the slope of the road where the vehicle is located is less than the slope threshold, the EPB is controlled to keep releasing after the vehicle is powered off, so as to avoid that the vehicle releases the EPB on the slope and causes danger of the vehicle. The vehicle is facilitated to be moved after being powered off, so as to facilitate the smooth performance of the rescue work after the vehicle is powered off.

[0060] Referring to Figure 5 The embodiment of the application provides a control device of an electronic parking brake system. The device includes:

[0061] The reading module 501 is configured to read the opening and closing of the switch for controlling the EPB.

[0062] The acquiring module 502 is configured to acquire the endurance mileage of the vehicle.

[0063] The detecting module 503 is configured to detect the slope of the road where the vehicle is located in response to that the switch for controlling the EPB is opened and the endurance mileage of the vehicle is less than the first reference mileage.

[0064] The control module 504 is configured to control the EPB to keep releasing after the vehicle is powered off in response to the slope of the road where the vehicle is located being less than a slope threshold.

[0065] In a possible implementation, the control module 504 is configured to send a signal for releasing the EPB to the EPB, and the signal for releasing the EPB is used to control the EPB to keep releasing.

[0066] In a possible implementation, the acquisition module 502 is further configured to prompt the driver to turn on the switch for controlling the EPB in response to the switch for controlling the EPB being turned off and the range being less than a second reference range, and the second reference range is less than the first reference range.

[0067] In a possible implementation, the acquisition module 502 is configured to send a first prompt information to the mobile phone of the driver through a T-BOX of the Internet of Vehicles, and the information is used to prompt the driver to turn on the switch for controlling the EPB, and the T-BOX is located on the vehicle.

[0068] In a possible implementation, the acquisition module 502 is further configured to wake up the battery of the vehicle through a body control module (BCM) in response to the range being less than a third reference range, and the third reference range is less than the second reference range.

[0069] The device is configured to acquire the range of the vehicle in the case that the switch for controlling the EPB is turned on, and if the range of the vehicle is less than a first reference range, it is indicated that the vehicle is in a low-power mode, at this time, the slope of the road where the vehicle is located is detected, and if the slope of the road where the vehicle is located is less than a slope threshold, the EPB is controlled to keep releasing after the vehicle is powered off, thereby avoiding that the EPB is released on the slope, which causes the vehicle to be in danger. The device is convenient for moving the vehicle after the vehicle is powered off, thereby facilitating the smooth progress of the rescue work after the vehicle is powered off.

[0070] It should be noted that the device provided in the above embodiments is only used as an example for the division of the above functional modules in realizing the functions thereof, and in actual applications, the above functions can be completed by different functional modules according to the needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be repeated here.

[0071] Figure 6Fig. 1 is a schematic structural diagram of a server provided in an embodiment of the present application. The server can have great differences due to different configurations or performances, and can include one or more processors 601 and one or more memories 602. The one or more memories 602 store at least one computer program, which is loaded and executed by the one or more processors 601, so that the server implements the control method of the electronic parking brake system provided by each of the above method embodiments. Of course, the server can also have a wired or wireless network interface, a keyboard, an input and output interface, and other components for realizing the functions of the device, and will not be described here in detail.

[0072] In an example embodiment, a computer device is also provided, which includes a processor and a memory. The memory stores at least one computer program. The at least one computer program is loaded and executed by the one or more processors, so that the computer device implements any of the above control methods of the electronic parking brake system.

[0073] In an example embodiment, a non-transitory computer readable storage medium is also provided, which stores at least one computer program. The at least one computer program is loaded and executed by a processor of a computer device, so that the computer device implements any of the above control methods of the electronic parking brake system.

[0074] In a possible implementation manner, the above computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0075] In an example embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes any of the above control methods of the electronic parking brake system.

[0076] It should be noted that the information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the present application are authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions. For example, the opening and closing of the switch for controlling the EPB, the cruising range of the vehicle and the release condition of the EPB involved in the present application are obtained under sufficient authorization.

[0077] It should be understood that "multiple" referred to herein means two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. The character " / " generally represents that the associated objects before and after it are in an "or" relationship.

[0078] It should be noted that the terms "first", "second", etc. (if any) in the specification and claims of the present application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The implementation described in the following exemplary embodiments does not represent all implementations consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application, as detailed in the appended claims.

[0079] The above is only an exemplary embodiment of the present application and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control system for an electronic parking brake system, characterized in that, The system includes: an in-vehicle infotainment system (IHU) and an electronic parking brake system (EPB), wherein the IHU is used to read the opening and closing status of the switch controlling the EPB; The IHU is also used to obtain the vehicle's remaining range when the switch controlling the EPB is turned on; The IHU is also used to detect the gradient of the road where the vehicle is located when the driving range is less than the first reference range. The IHU is also used to send a signal to release the EPB to the EPB when the gradient of the road where the vehicle is located is less than the gradient threshold. The EPB is used to maintain release after receiving a signal to release the EPB.

2. The system according to claim 1, characterized in that, The IHU is also used to control the vehicle to prompt the driver that the switch controlling the EPB is in the off state when the switch controlling the EPB is closed.

3. A control method for an electronic parking brake system, characterized in that, The method includes: Read the on / off status of the switch controlling the EPB; Obtain the vehicle's remaining range; In response to the switch of the control EPB being turned on and the vehicle's remaining range being less than a first reference range, the gradient of the road where the vehicle is located is detected. In response to the fact that the slope of the road where the vehicle is located is less than a slope threshold, the EPB is controlled to remain released after the vehicle is powered off.

4. The method according to claim 3, characterized in that, The control of keeping the EPB released after the vehicle is powered off includes: A signal to release the EPB is sent to the EPB, and the signal to release the EPB is used to control the EPB to remain released.

5. The method according to claim 3, characterized in that, After obtaining the vehicle's driving range, the method further includes: In response to the EPB control switch being closed and the remaining driving range being less than the second reference range, the driver is prompted to turn the EPB control switch back on, where the second reference range is less than the first reference range.

6. The method according to claim 5, characterized in that, The prompting the driver to turn on the switch controlling the EPB includes: The vehicle-to-everything (V2X) intelligent terminal T-BOX sends a first prompt message to the driver's mobile phone. The first prompt message is used to prompt the driver to turn on the switch that controls the EPB. The T-BOX is located in the vehicle.

7. The method according to claim 5, characterized in that, After obtaining the vehicle's driving range, the method further includes: In response to the driving range being less than a third reference range, the vehicle's battery is activated via the Body Controller (BCM), where the third reference range is less than the second reference range.

8. A control device for an electronic parking brake system, characterized in that, The device includes: The reading module is used to read the opening and closing status of the switch controlling the EPB; The acquisition module is used to obtain the vehicle's remaining driving range; The detection module is used to detect the slope of the road where the vehicle is located in response to the switch of the control EPB being turned on and the vehicle's remaining range being less than a first reference range. The control module is used to control the EPB to remain released after the vehicle is powered off, in response to the slope of the road where the vehicle is located being less than a slope threshold.

9. The apparatus according to claim 8, characterized in that, The control module is used to send a signal to the EPB to release the EPB, and the signal to release the EPB is used to control the EPB to remain released.

10. A non-transitory computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement the control method of the electronic parking brake system as described in any one of claims 3 to 7.

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