The main process controlled by the

The main process controlled by the main program: after the program is run, the system will first check whether there is a failure, then clear the memory, start the interrupt, input and output ports, start the watchdog, query whether there is an interrupt, and if there is an interrupt, the speed, acceleration, etc. After calculating the control parameters, recognizing the road surface, and then judging the running state of the vehicle, the logical threshold values are compared to determine whether the brake pressure control state is boosted, decompressed, or maintained to control separately, and The control parameters are output at the port, and the cycle knows that the braking is over. See the appendix for the overall control flow.