Now, after being stationary for a few seconds the auto hold should have kicked in
just to understand each others here: there's "hold", there's "stationary", and there's "parking".
Hold can be engaged by firmly pressing the brake pedal for a sec or two, and is noted by the grey (H) symbol on driver's display. Hold uses normal brake pads oil pressure. it is NOT engaged automatically.
Parking can be manually engaged by pressing P on the central console or automatically while opening the door with no seatbelt fastened for driver's seat, and is noted by the red (P) symbol. Parking screws in a physical wedge in the calipers, so to keep the car stopped even with no oil pressure.
Stationary is automatically engaged every time the car is stopped with creep off, or while creeping ahead if a car is quickly approaching from behind. It's a safety measure for damage mitigation in case of rear collision, and
i have the feeling, which is not supported by any official info, that goes with normal oil pressure initially then switching to "wedges" if the stop continues (
roughly 1/2 minute?) as the movement of the wedges is audible.
EDIT: i found the info on user manual: after 5 minutes stationary the car goes into parking mode.
now it's not given that stationary brakes kick in EXACTLY in the moment the car stops.
if i'm driving with OPD, ACC, and creep off and i'm coming "manually" to a stop, i leave the brakes and it engages after
maybe one or two EDIT: 3 secs as per user manual, and i see the brake lights going back on.
if i'm with ACC and creep off, the car comes to a stop behind the previous car with regen blended braking. then it will pass a few seconds before it engages stationary logic. if the radar gets some reflection and the car creeps a few cm ahead, it IS moving, so no stationary. if the stop is less than two/three secs, it still is not in stationary, so much so that if the previous car goes forward again the car follows it without any input from the driver. if you've been stationary for long enough THEN stationary logic kicks in, the car settles, and if the previous car goes forward you get the "ready to drive" alert message on the display and it's required that you to touch the gas pedal to move.
so it's quite uncertain which situation are we talking about for the OP...
the brakes on our cars don't even get applied unless a certain level of brake force is exceeded. Therefore if the OP didn't need to brake particularly hard when they came to rest, it's entirely feasible at that point the car was being held only by the motor, no brakes involved, and therefore if the motor then received a go signal (whether through the throttle or erroneous signal) it could behave this way even while the OP still had the brake pedal depressed. The fact the emergency collision avoidance also didn't kick in points more to a system failure than to human error in my opinion.
again the brakes can be applied for any brake pedal force, even very light.
just put it in neutral and you'll hear the pads on the discs as soon as you touch the brake pedal.
and it can't be any different, since the system needs to be failproof so you MUST have brake authority if electronics goes bad.
what happens is that in normal regen functioning you press the brake pedal and ABS ECU cuts your braking pressure away while directing it to the engine for regen. but as soon as engines are taken away (with Neutral, for example, or when the car is switched off) you have the pads on the discs as soon as you touch the brakes.
P2s are not ever held stationary by motors. (this is different in early and lighter BEVs like the first Zoe, where a steel spike is forced in a fenestrated wheel inside the gearbox when "P" is engaged. i've risked destroying the engine once...)
even that the car has the emergency brakes
caution.
the automatic collision avoidance brake kicks in ONLY if it detects a "passive driving situation".
if the car thinks that you are "actively driving" (words from user manual. i'm not sure about the list of conditions behind this logic) you have authority and it will let you drive down a cliff...
in general, in drive by wire designs your default state is the 'least likely to injure/damage/kill' and your engage state is the 'can cause problems if done wrong'.
exactly.
it is the same with the tri-valve in heavy vehicles.
for trucks the air pressure in the system keeps the brakes OPEN when the pedal is not pressed, it does not close it when the pedal is pressed. this to lead to an automatic braking if the pressure in the system is lost.
lighter vehicles have the brake system split in two halves with Right Front wheel braked with the same circuit of Rear Left and LF with RR, so that if one circuit is damaged you can stop with the other two wheels.
BBW is between the driver and the brakes when it's working, so that in case of fault it will fall back to normal hydraulic functioning.
and there's the mechanical backup of parking brake on both rear wheels.