Commercial vehicle hill starting auxiliary control method based on EBS system

Abstract

The invention relates to a commercial vehicle hill starting technology, and provides a commercial vehicle hill starting auxiliary control method based on an EBS system in order to solve the problems of high risk, high vehicle maintenance cost, short service life and the like during hill starting of an existing commercial vehicle, and the commercial vehicle hill starting auxiliary control method comprises the following steps that a hill starting auxiliary system is built based on the EBS system; when the vehicle stops on a ramp and waits for starting, a driver steps on the ramp starting auxiliary button for the first time; the signal processing module calculates the current ramp gradient; according to the current ramp gradient, the parking state information, the brake pedal information and the vehicle speed information, whether a ramp starting auxiliary system is activated or not is determined; the hill starting auxiliary system adjusts the anti-slip target air pressure according to the basic target air pressure, so that the speed of the vehicle is always kept at 0, and passive anti-slip of the vehicle is achieved; and according to the brake pedal information and the accelerator pedal information, the hill starting auxiliary system is shut down in time, the anti-slip target air pressure is gradually released until the anti-slip target air pressure is reduced to zero, and therefore stable starting of the vehicle is achieved.

Description

Technical Field

[0001] The present invention relates to a hill start technology for commercial vehicles, and in particular to an EBS system-based hill start auxiliary control method for commercial vehicles. Background Art

[0002] Due to the heavy weight of commercial vehicles, especially when they are heavily loaded, if they are parked on a steep slope, it is difficult to restart the vehicle. Starting on a slope requires high operational requirements from the driver. If the operation is improper, the vehicle can easily slide backward and collide with the vehicle behind, pedestrians, or obstacles, causing serious property damage and casualties. Such conditions put tremendous psychological pressure on the driver and increase the risk of the driver making operational errors in a panic. At the same time, improper operation when starting on a slope will also cause severe mechanical impact on related components, accelerating the wear and damage of related components, resulting in high maintenance costs and seriously shortening the service life of the vehicle.

[0003] The Chinese patent with application number CN202311534333.8 and patent name "A Hill Start Assist Control System and Method" discloses that auxiliary control of hill start is achieved through a signal receiving module and a hill start assist module to ensure a smooth start of the vehicle and solve the problem of how to achieve a smooth start without slipping on a small slope. It is not suitable for hill starts of commercial vehicles with heavier weight. Therefore, in order to reduce the danger of commercial vehicles starting on steep slopes, reduce the driver's operating risks, reduce the frequent use of handbrakes, reduce mechanical wear, and extend the service life of related components, it is of practical significance to develop a hill start assist function, so that commercial vehicles can achieve a smooth start on a slope within a controllable slip distance. Summary of the Invention

[0004] The purpose of the present invention is to solve the technical problems of existing commercial vehicles such as high danger when starting on a hill, high operating risks for drivers, severe wear of related components, high vehicle maintenance costs, and seriously shortened vehicle service life. A commercial vehicle hill start auxiliary control method based on the EBS system is proposed.

[0005] To achieve the above objectives, the technical solutions proposed by the present invention are:

[0006] The commercial vehicle hill start assist control method based on the EBS system is special in that it includes the following steps:

[0007] S1. Building a hill start assist system based on the EBS system, the hill start assist system including a hill start assist button and a signal processing module connected to the EBS system;

[0008] When the vehicle is stopped on a slope and waiting to start, the driver depresses the brake pedal, releases the parking brake, and triggers the hill start assist button for the first time;

[0009] S2, the signal processing module collects the current vehicle speed information and calculates the current slope;

[0010] S3. Determine whether the hill start assist system is activated based on the current slope gradient in step S2, as well as the parking status information, brake pedal information, and vehicle speed information of the EBS system. If the hill start assist system is activated, proceed to step S4; otherwise, the vehicle starts normally.

[0011] S4. Obtaining a base target pressure at which the EBS brake pedal is locked when the hill start assist system is activated. The hill start assist system adjusts the anti-slip target pressure based on the base target pressure to maintain the vehicle speed at zero, thereby achieving passive anti-slip protection.

[0012] S5. The signal processing module monitors the brake pedal and accelerator pedal information in real time. When the longitudinal driving force of the EBS system is greater than the downward force, the hill start assist system is turned off and the anti-skid target air pressure is gradually released until it drops to 0, thereby achieving a smooth start of the vehicle.

[0013] Furthermore, step S2 is specifically as follows:

[0014] The signal processing module calculates the current slope gradient based on the observation value of the longitudinal accelerator of the EBS system vehicle posture sensor and the current vehicle speed, which satisfies the following formula:

[0015]

[0016] Among them, θ is the current slope, a L is the observation value of the longitudinal accelerometer of the EBS vehicle posture sensor, dv / dt is the vehicle speed differential, and g is the gravitational acceleration constant.

[0017] Furthermore, step S3 is specifically as follows:

[0018] S3.1. The signal processing module determines whether to activate the hill start assist system based on the current slope in step S2.

[0019] If the current slope is less than 2%, the hill start assist system will not be activated;

[0020] If the current slope is ≥2%, the signal processing module collects parking status information;

[0021] S3.2. Determine whether the parking state has been released;

[0022] If the parking state is not released, the hill start assist system will not be activated;

[0023] If the parking state has been released, the signal processing module collects brake pedal information;

[0024] S3.3. Determine whether the brake pedal is depressed;

[0025] If the brake pedal is not depressed, the hill start assist system is not activated;

[0026] If the brake pedal is depressed, the signal processing module collects vehicle speed information;

[0027] S3.4. Determine whether the vehicle speed is 0;

[0028] If the vehicle speed is not 0, the hill start assist system will not be activated and the vehicle will start normally;

[0029] If the vehicle speed is 0, the hill start assist system is activated and step S4 is executed.

[0030] Furthermore, step S4 is specifically as follows:

[0031] S4.1. Obtain the base target air pressure at which the EBS brake pedal is locked when the hill start assist system is activated;

[0032] S4.2. Real-time vehicle speed information is collected through the signal processing module, and the anti-skid target air pressure is adjusted in real time based on the vehicle speed information;

[0033] If the vehicle speed is greater than 0, the hill start assist system adjusts the anti-slip target pressure so that the anti-slip target pressure is not less than the basic target pressure, ensuring that the vehicle speed is always kept at 0, thereby achieving passive anti-slip protection for the vehicle;

[0034] If the vehicle speed = 0, the hill start assist system maintains the anti-skid target air pressure.

[0035] Furthermore, step S5 is specifically as follows:

[0036] S5.1. While the Hill Start Assist system is active, the signal processing module monitors brake and accelerator pedal information in real time, starting with each release of the brake pedal and continuing for 2 seconds.

[0037] If the brake pedal is pressed within the time period, step S5.2 is executed;

[0038] If the accelerator pedal is depressed within the time period, step S5.3 is executed;

[0039] S5.2. Real-time monitoring of brake pedal information through the signal processing module;

[0040] If the brake pedal is not depressed within the time period, the hill start assist system maintains the anti-skid target air pressure;

[0041] When the brake pedal is pressed within a time period, the signal processing module collects the corresponding opening pressure of the brake pedal in real time;

[0042] Determine the decision target pressure for the hill start assist system based on the real-time acquired opening pressure and the anti-skid target pressure in step S4.2;

[0043] The decision target pressure is the maximum value between the opening pressure and the anti-slip target pressure collected within 2 seconds, and step S5.3 is executed with this decision target pressure value;

[0044] S5.3. Real-time monitoring of accelerator pedal information through the signal processing module;

[0045] When the accelerator pedal is depressed, if the EBS system's longitudinal driving force is less than or equal to the downward force, the hill start assist system maintains the decision target air pressure to prevent the vehicle from rolling backward until the EBS system's longitudinal driving force exceeds the downward force.

[0046] If the longitudinal driving force of the EBS system is greater than the downward force, the hill start assist system will be turned off and the decision target air pressure will be gradually released until it drops to 0, thereby achieving a smooth start of the vehicle.

[0047] Furthermore, in step S5.3, the calculation formula of the longitudinal driving force of the EBS system is as follows:

[0048]

[0049] Among them: F t is the longitudinal driving force of the EBS system, T tq is the current output torque of the engine, i0 is the speed ratio of the main reducer, η t is the transmission efficiency, r is the wheel rolling radius constant, i g is the current reduction ratio of the transmission.

[0050] Furthermore, in step S5.3, the calculation formula of the sliding force is as follows:

[0051] F r =Gsinθ

[0052] Among them: F r is the sliding force and G is the weight of the vehicle.

[0053] Furthermore, step S5 further includes:

[0054] During the starting process, the signal processing module collects the parking status information of the EBS system in real time;

[0055] If parking is attempted again, the hill start assist system will be turned off and the vehicle will stop moving.

[0056] Furthermore, step S5 further includes:

[0057] During the starting process, the signal processing module determines whether the hill start assist button is triggered for the second time;

[0058] If so, it is determined that the driver has actively turned off the hill start assist system and the vehicle starts normally.

[0059] Furthermore, in step S5.3, when the longitudinal driving force of the EBS system is greater than the downward force, the hill start assist system is turned off, and the decision target air pressure is gradually released until it drops to 0;

[0060] Among them, the decision target air pressure of the vehicle's non-driving wheels can be directly reduced to 0; the decision target air pressure of the vehicle's driving wheels decreases at a speed not exceeding 3 Bar / s until it drops to 0.

[0061] Beneficial effects of the present invention:

[0062] [1] The hill start assist control method for commercial vehicles based on the EBS system of the present invention has a simple operation process, is easy to implement, has a low assembly cost, saves the hardware cost of the vehicle, and has an active hill start assist function and a passive function of preventing the vehicle from sliding down the slope; it can respond to the brake pedal status of the EBS system in real time, adjust the system's anti-slip target air pressure to ensure that the vehicle speed on the slope is always kept at 0, effectively avoiding the slope hazard caused by the commercial vehicle sliding down the slope during the hill start process, and also effectively reduces the wear and damage of related components, thereby extending the service life of the vehicle.

[0063] [2] The present invention compensates for the anti-skid target air pressure in real time and makes an effective decision on the system's exit mechanism accurately, quickly and reliably according to the longitudinal driving force of the EBS system, which can effectively avoid the simultaneous operation of the vehicle's braking and driving systems, reduce vehicle function loss, and ensure a smooth start of the vehicle.

[0064] [3] The present invention uses the EBS system's vehicle posture sensor longitudinal accelerometer to determine the actual environmental state of the vehicle, thereby avoiding function triggering caused by the driver's misoperation. In addition, the present invention uses the EBS system's parking status information, brake pedal information, vehicle speed information, and the current slope to make effective judgments in various working conditions, ensuring that the hill start assist system can effectively intervene or exit under various complex working conditions or operating conditions, thereby achieving passive anti-skid and smooth starting of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 This is a flowchart of an embodiment of a commercial vehicle hill start assist control method based on an EBS system according to the present invention;

[0066] Figure 24 is a flowchart of step S5 in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] like Figure 1 As shown in the figure, a commercial vehicle hill start assist control method based on the EBS system can realize active hill start assist function and passive vehicle rollback prevention function. The hill start assist system receives brake pedal information, parking status information, accelerator pedal information, vehicle speed information and longitudinal accelerator information of the EBS system, performs calculation and decision output, and withdraws brake air pressure at the appropriate time to realize the hill start assist function.

[0068] The specific steps include:

[0069] S1. Build a hill start assist system based on the EBS system. The hill start assist system includes a hill start assist button and a signal processing module connected to the EBS system.

[0070] When the vehicle is stopped on a slope and waiting to start, the driver depresses the brake pedal, releases the parking brake, and the vehicle is stationary, and the driver triggers the hill start assist button for the first time;

[0071] S2, the signal processing module collects the current vehicle speed information and calculates the current slope;

[0072] The signal processing module calculates the current slope based on the observation value of the longitudinal accelerometer of the EBS system vehicle posture sensor and the current vehicle speed. The observation value of the longitudinal accelerometer of the EBS system vehicle posture sensor is the coupling value of the actual motion acceleration and the gravity acceleration component. Therefore, by analyzing the force on the vehicle on the slope, the current vehicle slope can be calculated, which satisfies the following formula:

[0073]

[0074] Among them, θ is the current slope, a L is the observation value of the longitudinal accelerometer of the EBS vehicle posture sensor, dv / dt is the vehicle speed differential, and g is the gravitational acceleration constant.

[0075] S3. Determine whether the hill start assist system is activated based on the current slope gradient in step S2, as well as the parking status information, brake pedal information, and vehicle speed information of the EBS system. If the hill start assist system is activated, proceed to step S4; otherwise, the vehicle starts normally.

[0076] S3.1. The signal processing module determines whether to activate the hill start assist system based on the current slope in step S2.

[0077] If the current slope is less than 2%, the hill start assist system will not be activated;

[0078] If the current slope is ≥2%, the signal processing module collects parking status information;

[0079] S3.2. Determine whether the parking state has been released;

[0080] If the parking state is not released, the hill start assist system will not be activated;

[0081] If the parking state has been released, the signal processing module collects brake pedal information;

[0082] S3.3. Determine whether the brake pedal is depressed;

[0083] If the brake pedal is not depressed, the hill start assist system is not activated;

[0084] If the brake pedal is depressed, the signal processing module collects vehicle speed information;

[0085] S3.4. Determine whether the vehicle speed is 0;

[0086] If the vehicle speed is not 0, the hill start assist system will not be activated and the vehicle will start normally;

[0087] If the vehicle speed is 0, the hill start assist system is activated and step S4 is executed.

[0088] S4. Obtain the basic target air pressure P of the EBS system brake pedal when the hill start assist system is activated. s The hill start assist system is based on the basic target air pressure P s Adjust the anti-skid target air pressure P s， , so that the vehicle speed is always kept at 0, realizing the passive anti-skid function of the vehicle;

[0089] S4.1. When confirming that the Hill Start Assist system is activated, obtain the basic target air pressure P of the EBS system brake pedal when the Hill Start Assist system is activated. s ;

[0090] S4.2. Real-time vehicle speed information is collected through the signal processing module, and the anti-skid target air pressure is adjusted in real time based on the vehicle speed information;

[0091] When the driver does not engage reverse gear and the vehicle is moving backward, it is considered that the vehicle is sliding without the driver's intention. The hill start assist system considers the output anti-slip target pressure P s， It is not enough to keep the vehicle stationary on the current slope, so the anti-skid target pressure P is gradually increased. s， Until the vehicle speed reaches 0, the passive anti-slip function is realized;

[0092] If the vehicle speed is greater than 0, the hill start assist system adjusts the anti-skid target pressure P s， , so that the anti-skid target pressure Ps， Not less than the basic target pressure P s , ensuring that the vehicle's speed is always kept at 0, thus achieving passive anti-skid of the vehicle;

[0093] If the vehicle speed is 0, the hill start assist system maintains the anti-skid target pressure P s， .

[0094] S5, such as Figure 2 As shown, the signal processing module monitors the brake pedal information and the accelerator pedal information in real time. When the longitudinal driving force of the EBS system is greater than the downward force, the hill start assist system is turned off and the anti-skid target air pressure is gradually released until it drops to 0, thereby achieving a smooth start of the vehicle.

[0095] During the entire process of the Hill Start Assist system, the EBS system maintains a locked base target pressure. During the subsequent period of the Hill Start Assist system being triggered, the anti-skid target pressure and the brake pedal opening pressure corresponding to the maximum value are taken to obtain the final decision target pressure. This ensures that the decision target pressure during the entire process of the Hill Start Assist system being triggered is not lower than the base target pressure, and that the decision target pressure responds to the pressure value corresponding to the driver deepening the brake pedal at any time.

[0096] S5.1. While the Hill Start Assist system is active, the signal processing module monitors brake and accelerator pedal information in real time, starting with each release of the brake pedal and continuing for 2 seconds.

[0097] If the brake pedal is pressed within the time period, step S5.2 is executed;

[0098] If the accelerator pedal is depressed within the time period, step S5.3 is executed;

[0099] S5.2. Real-time monitoring of brake pedal information through the signal processing module;

[0100] If the brake pedal is not depressed within the time period, the hill start assist system maintains the anti-skid target air pressure;

[0101] If the brake pedal is not pressed within the time period, the signal processing module collects the corresponding opening pressure of the brake pedal in real time;

[0102] Determine the decision target pressure for the hill start assist system based on the real-time acquired opening pressure and the anti-skid target pressure in step S4.2;

[0103] The decision target pressure is the maximum value between the opening pressure and the anti-slip target pressure collected within 2 seconds, and step S5.3 is executed with this decision target pressure value;

[0104] S5.3. Real-time monitoring of accelerator pedal information through the signal processing module;

[0105] When the accelerator pedal is depressed, if the EBS system's longitudinal driving force is less than or equal to the downward force, the hill start assist system maintains the decision target air pressure to prevent the vehicle from rolling backward until the EBS system's longitudinal driving force exceeds the downward force.

[0106] If the longitudinal driving force of the EBS system is greater than the downward force, the hill start assist system will be turned off and the decision target air pressure will be gradually released until it drops to 0, thereby achieving a smooth start of the vehicle.

[0107] When the longitudinal driving force of the EBS system is greater than the downward force, the hill start assist system is turned off and the decision target air pressure is gradually released until it drops to 0;

[0108] Among them, the decision target air pressure of the vehicle's non-driving wheels can be directly reduced to 0; the decision target air pressure of the vehicle's driving wheels drops at a speed not exceeding 3 Bar / s until it drops to 0, ensuring a smooth start of the vehicle.

[0109] The calculation formula of the longitudinal driving force of the EBS system is as follows:

[0110]

[0111] Among them: F t It is the longitudinal driving force of the EBS system; T tq is the current output torque of the engine, which can be calculated from the current torque percentage in CAN1 and the engine reference torque; i0 is the main reducer speed ratio, η t is the transmission efficiency, which is 0.9; r is the wheel rolling radius constant, i g is the current reduction ratio of the transmission.

[0112] The formula for calculating the sliding force is as follows:

[0113] F r =Gsinθ

[0114] Among them: F r is the sliding force and G is the weight of the vehicle.

[0115] During the starting process, the signal processing module collects the parking status information of the EBS system in real time; if parking is performed again, the hill start assist system is turned off and the vehicle stops starting.

[0116] During the starting process, the signal processing module determines whether the hill start assist button is triggered for the second time; if so, it is determined that the driver has actively turned off the hill start assist system and the vehicle starts normally.

[0117] The vehicle display device is equipped with a function indicator light connected to the Hill Start Assist system and the EBS system to indicate the activation status of the Hill Start Assist system. The EBS system continuously sends the function flag to the vehicle via CAN1, and the activation status of the Hill Start Assist system is indicated by the lighting status of the function indicator light.

[0118] When the hill start assist system is activated, the EBS system's function indicator is at position 1 and the function indicator light is always on;

[0119] When the Hill Start Assist System is activated and the time period is about to end, the EBS system function indicator position 2, the function indicator light flashes several times and then goes out;

[0120] When the hill start assist system is not activated, the function flag position of the EBS system is 0 and the function indicator light is always off. This function allows the driver to intuitively understand the working status of the hill start assist system.

Claims

1. A commercial vehicle hill start assist control method based on an EBS system, characterized in that: The following steps are involved: S1. Building a hill start assist system based on the EBS system, the hill start assist system including a hill start assist button and a signal processing module connected to the EBS system; When the vehicle is stopped on a slope and waiting to start, the driver depresses the brake pedal, releases the parking brake, and triggers the hill start assist button for the first time; S2, the signal processing module collects the current vehicle speed information and calculates the current slope; S3. Determine whether the hill start assist system is activated based on the current slope gradient in step S2, as well as the parking status information, brake pedal information, and vehicle speed information of the EBS system. If the hill start assist system is activated, proceed to step S4; otherwise, the vehicle starts normally. S4. Obtaining a base target pressure at which the EBS brake pedal is locked when the hill start assist system is activated. The hill start assist system adjusts the anti-slip target pressure based on the base target pressure to maintain the vehicle speed at zero, thereby achieving passive anti-slip protection. S5. The signal processing module monitors the brake pedal and accelerator pedal information in real time. When the longitudinal driving force of the EBS system is greater than the downward force, the hill start assist system is turned off and the anti-skid target air pressure is gradually released until it drops to 0, thereby achieving a smooth start of the vehicle.

2. The commercial vehicle hill start assist control method based on the EBS system according to claim 1, characterized in that: Step S2 is specifically as follows: The signal processing module calculates the current slope gradient based on the observation value of the longitudinal accelerator of the EBS system vehicle posture sensor and the current vehicle speed, which satisfies the following formula: Among them, θ is the current slope, a L is the observation value of the longitudinal accelerometer of the EBS vehicle posture sensor, dv / dt is the vehicle speed differential, and g is the gravitational acceleration constant.

3. The commercial vehicle hill start assist control method based on the EBS system according to claim 2, characterized in that: Step S3 is specifically as follows: S3.

1. The signal processing module determines whether to activate the hill start assist system based on the current slope in step S2. If the current slope is less than 2%, the hill start assist system will not be activated; If the current slope is ≥2%, the signal processing module collects parking status information; S3.

2. Determine whether the parking state has been released; If the parking state is not released, the hill start assist system will not be activated; If the parking state has been released, the signal processing module collects brake pedal information; S3.

3. Determine whether the brake pedal is depressed; If the brake pedal is not depressed, the hill start assist system is not activated; If the brake pedal is depressed, the signal processing module collects vehicle speed information; S3.

4. Determine whether the vehicle speed is 0; If the vehicle speed is not 0, the hill start assist system will not be activated and the vehicle will start normally; If the vehicle speed is 0, the hill start assist system is activated and step S4 is executed.

4. The commercial vehicle hill start assist control method based on the EBS system according to claim 3, characterized in that: Step S4 is specifically as follows: S4.

1. Obtain the base target air pressure at which the EBS brake pedal is locked when the hill start assist system is activated; S4.

2. Real-time vehicle speed information is collected through the signal processing module, and the anti-skid target air pressure is adjusted in real time based on the vehicle speed information; If the vehicle speed is greater than 0, the hill start assist system adjusts the anti-slip target pressure so that the anti-slip target pressure is not less than the basic target pressure, ensuring that the vehicle speed is always kept at 0, thereby achieving passive anti-slip protection for the vehicle; If the vehicle speed = 0, the hill start assist system maintains the anti-skid target air pressure.

5. The commercial vehicle hill start assist control method based on the EBS system according to claim 4, characterized in that: Step S5 is specifically as follows: S5.

1. While the Hill Start Assist system is active, the signal processing module monitors brake and accelerator pedal information in real time, starting with each release of the brake pedal and continuing for 2 seconds. If the brake pedal is pressed within the time period, step S5.2 is executed; If the accelerator pedal is depressed within the time period, step S5.3 is executed; S5.

2. Real-time monitoring of brake pedal information through the signal processing module; If the brake pedal is not depressed within the time period, the hill start assist system maintains the anti-skid target air pressure; If the brake pedal is not pressed within the time period, the signal processing module collects the corresponding brake pedal opening pressure in real time. The decision target pressure of the hill start assist system is determined based on the collected opening pressure and the anti-skid target pressure in step S4.

2. The decision target pressure is the maximum value between the opening pressure and the anti-slip target pressure collected within 2 seconds, and step S5.3 is executed with this decision target pressure value; S5.

3. Real-time monitoring of accelerator pedal information through the signal processing module; When the accelerator pedal is depressed, if the EBS system's longitudinal driving force is less than or equal to the downward force, the hill start assist system maintains the decision target air pressure to prevent the vehicle from rolling backward until the EBS system's longitudinal driving force exceeds the downward force. If the longitudinal driving force of the EBS system is greater than the downward force, the hill start assist system will be turned off and the decision target air pressure will be gradually released until it drops to 0, thereby achieving a smooth start of the vehicle.

6. The commercial vehicle hill start assist control method based on the EBS system according to claim 5, characterized in that: In step S5.3, the calculation formula of the longitudinal driving force of the EBS system is as follows: Among them: F t is the longitudinal driving force of the EBS system, T tq is the current output torque of the engine, i0 is the speed ratio of the main reducer, η t is the transmission efficiency, r is the wheel rolling radius constant, i g is the current reduction ratio of the transmission.

7. The commercial vehicle hill start assist control method based on the EBS system according to claim 6, characterized in that: In step S5.3, the calculation formula of the sliding force is as follows: F r =Gsinθ Among them: F r is the sliding force and G is the weight of the vehicle.

8. The commercial vehicle hill start assist control method based on the EBS system according to claim 7, characterized in that: Step 5 also includes: During the starting process, the signal processing module collects the parking status information of the EBS system in real time; If parking is attempted again, the hill start assist system will be turned off and the vehicle will stop moving.

9. The commercial vehicle hill start assist control method based on the EBS system according to claim 8, characterized in that: Step S5 also includes: During the starting process, the signal processing module determines whether the hill start assist button is triggered for the second time; If so, it is determined that the driver has actively turned off the hill start assist system and the vehicle starts normally.

10. The commercial vehicle hill start assist control method based on the EBS system according to claim 9, characterized in that: In step S5.3, when the longitudinal driving force of the EBS system is greater than the downward force, the hill start assist system is turned off and the decision target air pressure is gradually released until it drops to 0; Among them, the decision target air pressure of the vehicle's non-driving wheels can be directly reduced to 0; the decision target air pressure of the vehicle's driving wheels decreases at a speed not exceeding 3 Bar / s until it drops to 0.

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