Vehicle anti-slope starting method, device, equipment and readable storage medium

Abstract

The present application discloses a method, device, equipment and readable storage medium for preventing a vehicle from rolling downhill when starting. The method includes the following steps: obtaining the status information of the vehicle; based on the status information, determining the driving trend status of the vehicle, and determining whether the driver currently has a driving intention; if the driver has a driving intention, and the driving trend status meets the preset status, detecting the torque value of the vehicle's drive motor to obtain a detection result; when the detection result meets the conditions for preventing a vehicle from rolling downhill when starting, outputting a request instruction to the drive motor and terminating the electronic handbrake mode; the request instruction is used to control the drive motor to output sufficient torque to enable the vehicle to start normally. The present application realizes that when a vehicle with an electronic handbrake mode in the parking brake mode stops and starts on a slope, there will be no rolling downhill phenomenon.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a vehicle anti-slope starting method, device, equipment and readable storage medium. Background Art

[0002] With the development of new energy technologies, pure electric buses have also appeared in the public eye. More and more people have ridden in pure electric buses, but as a result, people are paying more and more attention to the safety of riding in pure electric buses.

[0003] When a pure electric bus is parked on a slope, the starting torque of the vehicle is usually insufficient due to the inclination of the slope and the vehicle's own weight, which causes the vehicle to slide down the slope when parking and starting, posing certain safety hazards to the pure electric bus. Summary of the invention

[0004] In view of this, the present application provides a vehicle anti-slope starting method, device, equipment and readable storage medium, which aim to prevent the vehicle from rolling down the slope when parking and starting on a slope.

[0005] To achieve the above-mentioned purpose, the present application provides a vehicle anti-slope starting method, the vehicle anti-slope starting method comprising the following steps:

[0006] Obtaining status information of the vehicle;

[0007] Based on the state information, determining the driving trend state of the vehicle and determining whether the driver currently has a driving intention;

[0008] If the driver has a driving intention and the driving trend state meets the requirements, then detecting the torque value state of the driving motor of the vehicle to obtain a detection result;

[0009] When the detection result meets the anti-slope starting condition, a request instruction is output to the drive motor and the electronic handbrake mode is terminated; the request instruction is used to control the drive motor to output sufficient torque to enable the vehicle to start normally.

[0010] Exemplarily, the driving trend state includes a first driving trend state and a second driving trend state, and determining the driving trend state of the vehicle based on the state information and determining whether the driver currently has a driving intention includes:

[0011] Based on the state information, determine the slope value of the slope on which the vehicle is currently located, determine the current gear state of the vehicle, determine the first opening value of the current accelerator pedal and the second opening value of the brake pedal of the vehicle, and determine the current speed of the vehicle;

[0012] If the slope value is greater than the preset slope value and the gear state is the forward gear, or the slope value is less than the preset slope value and the gear state is the reverse gear, it is determined that the vehicle is in the first driving trend state;

[0013] If the slope value is less than the preset slope value and the gear state is the forward gear, or the slope value is greater than the preset slope value and the gear state is the reverse gear, it is determined that the vehicle is in the second driving trend state;

[0014] If the first opening value is greater than a first preset opening value, and the second opening value is less than a second preset opening value, and the current vehicle speed is zero, it is determined that the driver currently has a driving intention.

[0015] Exemplarily, the detection result includes a first detection result and a second detection result. If the driver has a driving intention and the driving trend state meets the requirements, the torque value state of the driving motor of the vehicle is detected to obtain the detection result, including:

[0016] If the driver has a driving intention and the driving trend state is the first driving trend state, determining the gear state;

[0017] If the gear state is the forward gear, detecting the maximum torque value that can be currently output by the driving motor of the vehicle, and determining whether the maximum torque value is greater than a first preset torque standard value, to obtain a first detection result;

[0018] If the gear state is reverse gear, obtaining the rear axle limit torque value of the vehicle;

[0019] It is detected whether the maximum torque value and the rear axle limit torque value are both greater than a second preset torque standard value to obtain a second detection result.

[0020] Exemplarily, the anti-slope starting condition includes a first starting condition and a second starting condition, and when the detection result satisfies the anti-slope starting condition, outputting a request instruction to the drive motor and terminating the electronic parking brake mode includes:

[0021] When the first detection result or the second detection result meets the first starting condition, switching the electronic parking brake mode to a temporary parking mode;

[0022] If the temporary parking mode satisfies the second starting condition, a prompt message is output to the vehicle instrument so that the vehicle instrument displays the prompt message, and the prompt message is used to prompt the driver to release the handbrake;

[0023] After the driver releases the handbrake, a request instruction is output to the drive motor, and the electronic handbrake mode is terminated.

[0024] Exemplarily, if the temporary parking mode satisfies the second starting condition, outputting a feedback instruction to the vehicle instrument includes:

[0025] When the electronic parking brake mode enters the temporary parking mode, obtaining the current pressure value of the parking air chamber of the vehicle;

[0026] If the pressure value is greater than a preset pressure value, determining a braking torque value generated when the vehicle enters a temporary parking mode;

[0027] If the maximum torque value and the rear axle limit torque value are both greater than the braking torque value, a feedback instruction is output to the vehicle instrument.

[0028] Exemplarily, the request instruction includes a first instruction and a second instruction, and the outputting of the request instruction to the drive motor and terminating the electronic parking brake mode includes:

[0029] If the braking torque value is greater than a preset threshold, a first instruction is output to the drive motor, wherein the first instruction is used to control the drive motor to start with a first motor slope;

[0030] If the braking torque value is less than a preset threshold, outputting a second instruction to the drive motor, wherein the second instruction is used to control the drive motor to start with a second motor slope;

[0031] When the current torque value of the driving motor is greater than the braking torque value, the electronic handbrake mode is terminated.

[0032] Exemplarily, the driving tendency state includes a first driving tendency state and a second driving tendency state. If the driver has a driving intention and the driving tendency state meets the requirements, the following steps are performed:

[0033] If the driver has the intention to drive, and the driving trend state is the second driving trend state, terminating the electronic handbrake mode;

[0034] If the vehicle is in a stationary state, obtaining a third opening value of the accelerator pedal of the vehicle;

[0035] A torque request is provided in response to the third opening value; the torque request is used for starting the vehicle on a hill.

[0036] Exemplarily, to achieve the above-mentioned purpose, the present application also provides a vehicle anti-slope starting device, the device comprising:

[0037] Acquisition module: used to acquire the status information of the vehicle;

[0038] Determination module: used to determine the driving trend state of the vehicle based on the state information, and determine whether the driver currently has a driving intention;

[0039] A judgment module: used to detect the torque value of the driving motor of the vehicle and obtain a detection result if the driver has a driving intention and the driving trend state meets the preset state;

[0040] Output module: used to output a request instruction to the drive motor and terminate the electronic handbrake mode when the detection result meets the anti-slope starting condition; the request instruction is used to control the drive motor to output sufficient torque to enable the vehicle to start normally.

[0041] Exemplarily, to achieve the above-mentioned purpose, the present application also provides a vehicle anti-hill starting device, which includes: a memory, a processor, and a vehicle anti-hill starting program stored in the memory and executable on the processor, wherein the vehicle anti-hill starting program is configured to implement the steps of the vehicle anti-hill starting method as described above.

[0042] Exemplarily, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which a vehicle anti-hill start program is stored, and when the vehicle anti-hill start program is executed by a processor, the steps of the vehicle anti-hill start method as described above are implemented.

[0043] Compared with the prior art, when the vehicle rolls down a slope and the vehicle's drive motor generates a negative speed, the speed of the motor is actively adjusted to reduce the amplitude of the vehicle's rolling down a slope, but the vehicle still rolls down a slope when starting on a slope. Compared with the prior art, the present application monitors the vehicle's status information, determines the vehicle's current driving trend state based on the status information, and determines whether the driver has the intention to drive. When the driver has the intention to drive and the vehicle's driving trend state meets the preset state, the torque value state of the vehicle's drive motor is correspondingly detected and analyzed, and it is determined whether the current torque value of the drive motor meets the anti-rolling starting condition. When the torque value of the drive motor meets the anti-rolling starting condition, a request instruction is output to control the drive motor to output sufficient torque, so that the vehicle will not roll down a slope when starting on a slope. That is, in the present application, the state of the vehicle is monitored, and the driving tendency of the vehicle on the slope is analyzed, so as to combine the analysis content with the torque value state of the vehicle's drive motor. When the state of the vehicle meets the anti-slope starting conditions, the output request instruction controls the drive motor to output sufficient torque, so that the vehicle will not slide down the slope when starting on the slope. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1This is a flow chart of the first embodiment of the vehicle anti-slope starting method of the present application;

[0045] Figure 2 This is a flow chart of a second embodiment of the vehicle anti-slope starting method of the present application;

[0046] Figure 3 This is a flow chart of a third embodiment of the vehicle anti-slope starting method of the present application;

[0047] Figure 4 This is a flow chart of a fourth embodiment of the vehicle anti-slope starting method of the present application;

[0048] Figure 5 It is a structural diagram of the hardware operating environment involved in the embodiment of the present application.

[0049] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] 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.

[0051] The present application provides a vehicle anti-slip slope starting method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle anti-slope starting method of the present application.

[0052] The embodiment of the present application provides an embodiment of a vehicle anti-slope starting method. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a different order than here. For the convenience of description, the following description of each step of the vehicle anti-slope starting method is omitted. The vehicle anti-slope starting method includes:

[0053] Step S110: Acquire the status information of the vehicle;

[0054] When the vehicle stops or parks on a slope, the vehicle's state will change accordingly, such as the braking when parking, the handbrake or electronic handbrake to keep the vehicle from sliding down the slope, etc. The vehicle is a pure electric vehicle.

[0055] At the same time, in order to prevent the vehicle from rolling down the slope when starting on a slope, it is also necessary to collect statistics on the torque values ​​when the vehicle is parked, the torque value required for the current start, and the maximum torque value that the vehicle can currently output, and combine the slope of the slope to determine whether the vehicle will roll down the slope when starting from the current slope.

[0056] Exemplarily, the vehicle status information is obtained to detect whether the vehicle's current status is capable of completing a normal starting action without rolling down the slope, wherein the status information includes the size of the slope the vehicle is on, the vehicle's current speed, the torque value required for parking, parking and starting the vehicle, the vehicle's gear status, the status of the vehicle's accelerator pedal and brake pedal, etc.

[0057] Based on the obtained comprehensive status information of the vehicle, it is determined whether the current vehicle can start normally from the slope.

[0058] Step S120: Based on the state information, determining the driving trend state of the vehicle and determining whether the driver currently has a driving intention;

[0059] The status information is comprehensive information about the current status of the vehicle. The driving trend of the vehicle and whether the driver of the vehicle has the intention to drive are determined from the status information, thereby triggering a judgment on whether the vehicle will roll down the slope when starting from a slope according to the current status of the vehicle. Further, based on the judgment result, the vehicle is prompted whether it can start or not.

[0060] Exemplarily, the driving trend state is divided into two states, one is that the vehicle is moving in an uphill direction, and the other is that the vehicle is moving in a downhill direction.

[0061] Among them, when the vehicle's driving tendency is uphill, the vehicle's driving mode is divided into two types, one is that the vehicle is in a normal forward driving mode and the vehicle's driving direction is uphill, and the other is that the vehicle is in a reverse driving mode and the vehicle's driving direction is uphill.

[0062] Among them, when the vehicle's driving tendency is downhill, the vehicle's driving mode is divided into two types, one is that the vehicle is in a normal forward driving mode and the vehicle's driving direction is downhill, and the other is that the vehicle is in a reverse driving mode and the vehicle's driving direction is downhill.

[0063] The driving trend status can be judged by the gear status of the vehicle, and the current driving direction of the vehicle can be judged based on the angle of the slope on which the vehicle is located, whether it is uphill or downhill.

[0064] Whether the driver has the intention to drive is determined mainly by detecting the use of the vehicle's accelerator pedal and brake pedal.

[0065] For example, when the driver of the vehicle steps on the accelerator pedal and releases the brake pedal, it proves that the driver has the intention to drive, otherwise, the driver has no intention to drive.

[0066] When judging the driving intention of the driver through the accelerator pedal and the brake pedal, the opening values ​​of the two pedals are usually detected, wherein the opening value is the depth value of the pedal being stepped on.

[0067] Step S130: If the driver has a driving intention and the driving trend state meets a preset state, then the torque value state of the driving motor of the vehicle is detected to obtain a detection result;

[0068] The preset state is a state where the vehicle needs to be controlled to prevent rolling down the slope.

[0069] When the driver has the intention to drive, that is, the driver wants to drive the vehicle to start on the current slope, but needs to judge the current driving trend state to determine whether the current driving trend state meets the requirements, and the requirement is whether the slope sliding phenomenon generated when the vehicle starts needs to be avoided.

[0070] Exemplarily, the vehicle's driving modes are forward and backward, and the vehicle's driving directions are uphill and downhill. According to the combination of the vehicle's driving modes and driving directions, four different driving tendency states will be generated. The four driving tendency states will all cause the sliding slope phenomenon, but there are two driving tendency states that need to avoid the sliding slope phenomenon, and the other two driving tendency states that do not need to avoid the sliding slope phenomenon.

[0071] Among them, when the driving trend state is the vehicle moving forward uphill and the vehicle moving backward uphill, the vehicle's driving direction is to drive to the highest point of the slope, but the vehicle will slide in the downhill direction due to its own weight and the torque change after the vehicle is braked, that is, a slope sliding phenomenon occurs. At this time, the slope sliding phenomenon causes the vehicle to slide in the direction opposite to the driving trend, that is, this type of slope sliding phenomenon needs to be avoided.

[0072] Among them, when the driving trend state is the vehicle moving forward downhill and the vehicle moving backward downhill, the vehicle's driving direction is to drive to the lowest point of the slope. At this time, the vehicle will slide in the downhill direction due to its own weight and the torque change after the vehicle is braked, that is, a slope sliding phenomenon occurs. At this time, the slope sliding phenomenon causes the vehicle to slide in the same direction as the driving trend, that is, this type of slope sliding phenomenon does not need to be avoided.

[0073] When it is determined that the current driving trend state of the vehicle is a situation where rolling down a slope needs to be avoided, it is necessary to perform a corresponding detection, calculation and analysis process on the torque value of the vehicle's driving motor to obtain a detection result.

[0074] Exemplarily, the detection result is the result of detecting, calculating and analyzing the torque value of the drive motor, and the detection result includes: the size of the torque value normally output by the drive motor before parking (that is, the torque value required for normal driving of the vehicle before parking on a slope), the torque value required for the vehicle to start is estimated based on the vehicle braking force (that is, the size of the braking force generated when the vehicle is braked for the first time by the brake pedal, and the torque value required to overcome the braking force to achieve the starting effect of the vehicle is reversely calculated), and the torque value required for the current vehicle starting is estimated based on the first two torque values, as well as the maximum torque value that the vehicle's drive motor can currently output.

[0075] Among them, the maximum torque value that the vehicle's drive motor can currently output is divided into two cases. One is the front axle to which the vehicle's drive motor is directly connected. The maximum torque value that the front axle can output is the maximum torque value that the drive motor can currently output. The other is the rear axle of the vehicle. The rear axle is not a bridge directly connected to the drive motor, and the rear axle is not a drive axle.

[0076] By detecting the torque value of the drive motor, it is determined whether the vehicle currently meets the conditions for starting on a slope.

[0077] Step S140: When the detection result satisfies the anti-slope starting condition, a request instruction is output to the drive motor and the electronic parking brake mode is terminated; the request instruction is used to control the drive motor to output sufficient torque to enable the vehicle to start normally.

[0078] The anti-slope starting condition is the condition that the vehicle will not slide down the slope when starting on a slope.

[0079] The test result is the torque value of the vehicle's drive motor. In order to prevent the vehicle from sliding down the slope due to its own gravity when starting and after the braking force of the vehicle's brake system is released, it is necessary to ensure that the maximum torque value that can be output by the vehicle's drive motor is greater than the potential energy of the vehicle sliding backwards.

[0080] When the detection result is judged to meet the anti-slope start condition, a request instruction is output to the drive motor, and the drive motor is controlled by the request instruction to output the torque value required in the instruction content, so that the vehicle starts normally without rolling down the slope. That is, the drive motor is controlled to output enough torque to make the vehicle start normally.

[0081] At this time, the parking brake mode is terminated, that is, the electronic handbrake mode is terminated, that is, the vehicle is no longer braked, and the vehicle is switched from the braking state to the starting state.

[0082] Compared with the prior art, when the vehicle rolls down a slope and the vehicle's drive motor generates a negative speed, the speed of the motor is actively adjusted to reduce the amplitude of the vehicle's rolling down a slope, but the vehicle still rolls down a slope when starting on a slope. Compared with the prior art, the present application monitors the vehicle's status information, determines the vehicle's current driving trend state based on the status information, and determines whether the driver has the intention to drive. When the driver has the intention to drive and the vehicle's driving trend state meets the preset state, the torque value state of the vehicle's drive motor is correspondingly detected and analyzed, and it is determined whether the current torque value of the drive motor meets the anti-rolling starting condition. When the torque value of the drive motor meets the anti-rolling starting condition, a request instruction is output to control the drive motor to output sufficient torque, so that the vehicle will not roll down a slope when starting on a slope. That is, in the present application, the state of the vehicle is monitored, and the driving tendency of the vehicle on the slope is analyzed, so as to combine the analysis content with the torque value state of the vehicle's drive motor. When the state of the vehicle meets the anti-slope starting conditions, the output request instruction controls the drive motor to output sufficient torque, so that the vehicle will not slide down the slope when starting on the slope.

[0083] For example, refer to Figure 2 , Figure 2 1 is a flow chart of a second embodiment of the method for preventing a vehicle from rolling down a hill and starting according to the present application. Based on the first embodiment of the method for preventing a vehicle from rolling down a hill and starting according to the present application, a second embodiment is proposed. The method further includes:

[0084] Step S210: Based on the state information, determine the slope value of the slope on which the vehicle is currently located, determine the current gear state of the vehicle, determine the first opening value of the current accelerator pedal and the second opening value of the brake pedal of the vehicle, and determine the current speed of the vehicle;

[0085] The status information is comprehensive status information of the vehicle. The contents of the status information have been described in the first embodiment and will not be repeated here.

[0086] The gradient of the slope on which the vehicle is currently located, the gear status of the vehicle, the opening values ​​of the accelerator pedal and the brake pedal, and the current speed of the vehicle are determined based on the status information.

[0087] For example, when determining the slope value of the slope on which the vehicle is located, a device such as a slope sensor is usually added to the vehicle, and the gear status of the vehicle is determined at the same time. The current driving trend of the vehicle is determined based on the slope value and the gear status.

[0088] The driving trend state has been described in the first embodiment and will not be described again.

[0089] Among them, the gear state includes forward gear and reverse gear. The slope value of the ramp is calculated by: taking the rear of the vehicle as the origin, draw a ray from the rear of the vehicle to the front of the vehicle, and taking the rear of the vehicle as the origin, draw another ray parallel to the natural horizontal line. The two rays form a slope value angle with the rear of the vehicle as the origin. When the side parallel to the natural horizontal line is below the other side, the current slope value angle is positive, and when the side parallel to the natural horizontal line is above the other side, the current slope value angle is negative. That is, when the vehicle is going uphill, the slope value is positive, and when the vehicle is going downhill, the slope value is negative.

[0090] For example, when judging whether the driver has the intention to drive, the opening values ​​of the accelerator pedal and the brake pedal, as well as the current speed of the vehicle, are used to determine whether the vehicle meets the driving action logic.

[0091] Among them, when the accelerator pedal is pressed, the brake pedal is in a relaxed rebound state, and the current speed of the vehicle is equal to 0, at this time, the current state of the vehicle is a state of being about to start, that is, the driver has the intention to drive.

[0092] Among them, when the accelerator pedal is in a relaxed rebound state, the brake pedal is pressed and the current speed of the vehicle is equal to 0. At this time, the current state of the vehicle is a braked parking state and there is no tendency to start, that is, the driver has no intention to drive.

[0093] Step S221: if the slope value is greater than a preset slope value and the gear state is a forward gear, or the slope value is less than a preset slope value and the gear state is a reverse gear, it is determined that the vehicle is in a first driving trend state;

[0094] The preset slope is a positive value. It has been made clear in the above description that when the vehicle is going uphill, the slope value detected by the slope sensor on the vehicle is positive, and when the vehicle is going downhill, the slope value detected by the slope sensor on the vehicle is negative. The preset slope value is a threshold for determining whether the vehicle has rolled downhill. When the vehicle is on a slope with a small slope, such as a slope of 10° or 20°, the vehicle will not roll downhill. However, when the vehicle enters a slope exceeding the preset slope, it will have a serious rolling downhill phenomenon. The slope value exceeding the preset slope includes but is not limited to 30° or 40°.

[0095] At the same time, the setting of the preset slope value is related to the actual weight of the vehicle, the torque required for braking of the vehicle, the maximum output torque of the vehicle's drive motor, the rear axle limit torque of the vehicle, etc., and the threshold value of the preset slope needs to be limited accordingly according to actual conditions.

[0096] The first driving tendency state is a tendency state in which the vehicle drives toward the top of the ramp, that is, the driving state of the vehicle is driving in an uphill direction.

[0097] For example, at this time, it is necessary to determine whether the vehicle is traveling in an uphill direction in combination with the slope value of the vehicle and the gear status of the vehicle.

[0098] Among them, when the vehicle gear is in the forward gear and the detected slope value is positive, the vehicle is traveling in an uphill direction.

[0099] Among them, when the vehicle gear is in the reverse gear and the detected slope value is negative, the vehicle is traveling in an uphill direction.

[0100] Step S222: if the slope value is less than the preset slope value and the gear state is the forward gear, or the slope value is greater than the preset slope value and the gear state is the reverse gear, then it is determined that the vehicle is in the second driving trend state;

[0101] The second driving tendency state is a tendency state in which the vehicle drives toward the bottom of the slope, that is, the vehicle's state is driving in a downhill direction.

[0102] For example, at this time, it is necessary to determine whether the vehicle is traveling in a downhill direction in combination with the slope value of the vehicle and the gear status of the vehicle.

[0103] Among them, when the vehicle gear is in the forward gear and the detected slope value is negative, the vehicle is traveling in a downhill direction.

[0104] When the vehicle gear is in reverse gear and the detected slope value is positive, the vehicle is traveling in a downhill direction.

[0105] Step S230: If the first opening value is greater than a first preset opening value, and the second opening value is less than a second preset opening value, and the current vehicle speed is zero, it is determined that the driver currently has a driving intention.

[0106] When determining whether the driver currently has the intention to drive, the opening values ​​of the accelerator pedal and the brake pedal, as well as the current speed of the vehicle are judged.

[0107] Among them, the opening value is the numerical value of the pedal opening of the accelerator pedal and the brake pedal, and the pedal opening refers to the depth of the pedal. Its size indicates the driver's request for torque. The on-board system converts the accelerator pedal opening into the driver's required torque. Different engine speeds and throttle openings correspond to different torque requirements.

[0108] The first preset opening value and the second preset opening value are both thresholds for detecting the pedal opening, wherein the first preset opening value is used to determine a first opening value of the accelerator pedal, and the second preset opening value is used to determine a second opening value of the brake pedal.

[0109] When the first opening value of the accelerator pedal is greater than the first preset opening value, and the second opening value of the brake pedal is less than the second preset opening value, and the current vehicle speed is equal to 0, it proves that the vehicle has a starting tendency, that is, the vehicle driver has a driving intention. Otherwise, the driver has no driving intention.

[0110] Exemplarily, the driving tendency state includes a first driving tendency state and a second driving tendency state. If the driver has a driving intention and the driving tendency state meets the requirements, the following steps are performed:

[0111] Step a: if the driver has the intention to drive and the driving trend state is the second driving trend state, terminating the electronic parking brake mode;

[0112] When the vehicle's driving tendency state is the second driving tendency state, that is, the vehicle is in a downhill driving tendency state, at this time, the vehicle has a tendency to slide downhill due to the influence of its own gravity, and the vehicle's own driving tendency is in a downward moving state. The sliding downhill phenomenon of the vehicle at this time does not affect the vehicle's driving state, that is, when the vehicle is in the second driving tendency state, there is no need to control the vehicle to avoid the occurrence of the sliding downhill phenomenon.

[0113] At this time, when the driver of the vehicle has the intention to drive and determines that the vehicle does not need to be prevented from rolling, an instruction to allow the vehicle to start from the slope is output and the braking state of the electronic handbrake mode is released.

[0114] Step b: if the vehicle is in a stationary state, obtaining a third opening value of the accelerator pedal of the vehicle;

[0115] For example, it is currently determined that the vehicle is going to start from a slope, but the current state of the vehicle needs to be determined before the driver controls the throttle of the vehicle. At this time, the vehicle has two states: one is that after the electronic handbrake mode is released and the instruction to allow the vehicle to start from a slope is output, the driver releases the handbrake, and the vehicle will slide down the slope due to its own gravity state; the other is that the current static friction of the vehicle is greater than the influence of gravitational potential energy, causing the vehicle to remain stationary and not slide down the slope. Different execution instructions are made according to different states when starting from a slope.

[0116] Among them, when the vehicle is in the first state, that is, the vehicle has a slope slip phenomenon, the vehicle has begun to slide downhill, then the vehicle does not need throttle control at this time and starts successfully, and currently there is no need to perform any pre-starting actions on the vehicle.

[0117] When the vehicle is in the second state, that is, the electronic parking brake is released, but the vehicle is still stationary on the slope, the accelerator pedal needs to be controlled at this time, and the driving motor of the vehicle responds by stepping on the accelerator pedal. At this time, the opening degree of the accelerator pedal is the third opening value.

[0118] Step c: responding to a torque request of the third opening value; the torque request is used for starting the vehicle on a hill.

[0119] A corresponding torque request is generated according to the third opening value of the accelerator pedal, and the drive motor outputs a corresponding rotational torque according to the torque request. When the torque exceeds the static friction when the vehicle is at rest, the vehicle completes the hill start action and enters a normal driving state.

[0120] In this embodiment, it is confirmed that the vehicle is in an uphill driving tendency state or a downhill driving tendency state. When the vehicle is downhill and the vehicle's gear is in the forward gear or the vehicle is uphill and the vehicle's gear is in the reverse gear, the vehicle controller determines and confirms the driver's starting intention by collecting the accelerator pedal opening and the brake pedal opening. When it is clear that the driver has the intention to start, the electronic handbrake system releases the parking brake and no longer converts the temporary stop function, so as to avoid the vehicle generating a starting reserve driving torque, resulting in excessive acceleration at the moment of vehicle starting, or a long hill starting time caused by the gradual release of the braking torque.

[0121] For example, refer to Figure 3 , Figure 3 1 is a flow chart of a third embodiment of the method for starting a vehicle with an anti-slope slide, based on the first and second embodiments of the method for starting a vehicle with an anti-slope slide, a third embodiment is proposed, the method further comprising:

[0122] Step S310: if the driver has a driving intention and the driving trend state is the first driving trend state, then determining the gear state;

[0123] When the driver has the intention to drive and the vehicle's driving tendency state is the first driving tendency state, when the vehicle starts from a slope, a slope sliding phenomenon that is unfavorable to the vehicle will occur, that is, the current driving tendency of the vehicle is uphill, but the slope sliding tendency of the vehicle is in the downward direction, which affects the normal starting of the vehicle. At this time, the state of the vehicle needs to be further determined.

[0124] When the vehicle driving tendency state is the first driving tendency state, the vehicle has two driving modes, one is forward uphill and the other is backward uphill.

[0125] Therefore, when adjusting the vehicle, it is necessary to first determine the current specific driving mode of the vehicle. Usually, the vehicle is driven by the front drive and the rear axle is driven. The output torque of the rear axle has different fixed values ​​according to the configuration of different vehicles. Therefore, it is necessary to judge the current driving mode of the vehicle to determine whether the torque that affects the vehicle's starting on a slope is the front drive torque or the rear axle torque. At this time, the specific driving mode can be determined by judging the gear state of the vehicle.

[0126] Step S321: if the gear state is the forward gear, detecting the maximum torque value that can be currently output by the driving motor of the vehicle, and determining whether the maximum torque value is greater than a first preset torque standard value, to obtain a first detection result;

[0127] When the vehicle is in the forward gear, the torque that affects the vehicle's starting on a slope is determined to be the front drive torque, that is, the maximum torque value that can be output by the vehicle's drive motor. At this time, it is necessary to determine whether the current maximum torque value that can be output by the drive motor meets the conditions for starting on a slope.

[0128] The first preset torque standard value includes two torque standard values, namely, the driving torque value output by the vehicle's driving motor before the vehicle is parked, and the torque value corresponding to the braking force generated when the vehicle is braked for the first time.

[0129] The first preset torque standard value is used as a criterion for judging whether the vehicle is traveling in an uphill direction in a forward-moving manner.

[0130] The result of determining the size between the maximum torque value and the first preset torque standard value is the first detection result.

[0131] Exemplarily, when comparing the maximum torque value with the first preset torque standard value, two torque values ​​of the maximum torque value and the first preset torque standard value need to be compared.

[0132] Among them, when the maximum torque value is greater than the driving torque value of the vehicle before parking braking in the first preset standard torque value, and the maximum torque value is greater than the torque value corresponding to the initial braking force in the first preset standard torque value, it is determined that the maximum torque value is greater than the first preset torque standard value.

[0133] When the maximum torque value is less than any torque value in the first preset torque standard value, it is determined that the maximum torque value is less than the first preset torque standard value.

[0134] Step S322: if the gear state is reverse gear, obtaining the rear axle limit torque value of the vehicle;

[0135] If the gear state is reverse gear, the torque that affects the vehicle's starting on a slope is determined to be the rear axle limiting torque and the maximum output torque, that is, the maximum output torque and the rear axle limiting torque together affect the vehicle's reverse driving mode. In the state of driving uphill, the maximum output torque is obtained by directly detecting the torque of the vehicle's drive motor, and the rear axle limiting torque is a fixed value.

[0136] The rear axle limiting torque is determined as a fixed value after the vehicle is assembled. Factors that affect the rear axle limiting torque include the material of the vehicle's transmission parts, the differential ratio between the vehicle's transmission parts, etc.

[0137] Step S332: Detect whether the maximum torque value and the rear axle limit torque value are both greater than a second preset torque standard value to obtain a second detection result.

[0138] The second preset torque standard value is the torque value corresponding to the braking force generated when the vehicle brakes for the first time.

[0139] The second preset torque standard value is used as a criterion for judging whether the vehicle is traveling in an uphill direction in a backward direction.

[0140] At this time, the vehicle is traveling in a reverse direction uphill, and the maximum torque value and the rear axle limit torque value are detected to see whether they are both greater than a second preset torque standard value, so as to obtain a second detection result.

[0141] Among them, when the vehicle is in front-wheel drive mode and is traveling backwards uphill, the front-wheel drive driving torque of the vehicle is limited to a certain extent. The rear of the vehicle is currently facing the top of the slope, while the front of the vehicle is facing the bottom of the slope. The vehicle has a tendency to slide down the slope due to its own gravity. The vehicle is front-wheel drive, and the vehicle needs to transmit the torque output by the drive motor to the rear rotating shaft of the vehicle. However, there are limitations between the transmission parts. The tendency of the vehicle to slide down the slope causes the maximum output torque that the drive motor can output to change. For example, the maximum output torque of the drive motor is reduced.

[0142] The vehicle's rear axle limit torque is a fixed value after the vehicle leaves the factory. At this time, there is a situation where the rear axle limit torque is greater than the maximum torque value that can be output by the drive motor. Therefore, when obtaining the second detection result, it is necessary to compare the maximum torque value that can be output by the drive motor of the vehicle with the second preset torque standard value, and to compare the rear axle limit torque value of the vehicle with the second preset torque standard value, so as to determine whether the torque drive of the vehicle meets the starting conditions.

[0143] In this embodiment, by recording the magnitude of the driving torque value output by the vehicle's drive motor before the vehicle's parking brake, and the magnitude of the torque value corresponding to the braking force generated when the vehicle brakes for the first time, and combining the vehicle's driving trend state, the different torques required by the vehicle due to different vehicle gears when the vehicle is traveling uphill are evaluated respectively. At this time, the maximum torque value that can be output by the vehicle's drive motor is detected and the rear axle limit torque value of the vehicle is obtained, respectively for the vehicle's forward driving mode and reverse driving mode. Therefore, multiple torque value standards are introduced from the detection standard to increase the accuracy of the evaluation, and different contents of detection are performed for different driving modes, thereby further improving the detection effect of the torque value required for vehicle starting.

[0144] For example, refer to Figure 4 , Figure 4 1 is a flow chart of a fourth embodiment of the method for starting a vehicle with an anti-slope slide, and based on the first embodiment, the second embodiment and the third embodiment of the method for starting a vehicle with an anti-slope slide, a fourth embodiment is proposed. The method further includes:

[0145] Step S410: When the first detection result or the second detection result meets the first starting condition, switching the electronic parking brake mode to a temporary parking mode;

[0146] Exemplarily, when evaluating whether the first test result or the second test result satisfies the first starting condition, there are two judgment results, one is that the first test result or the second test result satisfies the first starting condition, and the other is that the first test result or the second test result does not satisfy the first starting condition.

[0147] Among them, when the first detection result or the second detection result meets the first starting condition, an instruction to allow the vehicle to start on the slope is output, and the electronic handbrake mode is switched from the parking brake mode to the temporary parking mode. When the vehicle is in the parking brake mode, the vehicle cannot enable the vehicle braking mode and the starting mode at the same time by default. When the vehicle braking mode conflicts with the starting mode, the vehicle defaults to the braking mode first. Switching the electronic handbrake mode from the parking brake mode to the temporary parking mode ensures that the vehicle can start the vehicle's drive motor to reserve torque while retaining the braking force.

[0148] Among them, when the first detection result or the second detection result does not meet the first starting condition, an instruction not allowing the vehicle to start is output, and a prompt message is output to the on-board instrument. The prompt message is used to remind the driver that the current state of the vehicle does not meet the anti-slope starting condition. If the vehicle is started directly, it will cause the vehicle to roll down the slope, that is, the driver is reminded that there is a risk of rolling down the slope if the vehicle is started directly.

[0149] The first starting condition is an assessment standard for assessing whether the current state of the vehicle satisfies the preliminary condition for starting on a hill.

[0150] When the first detection result shows that the maximum torque value is greater than the first preset torque standard value, or the second detection result shows that both the maximum torque value and the rear axle limit torque value are greater than the second preset torque standard value, it is determined that the first detection result or the second detection result meets the first starting condition.

[0151] When the first detection result or the second detection result satisfies the first starting condition, the parking brake mode of the electronic handbrake is switched to the temporary parking mode.

[0152] Among them, the temporary parking mode is a parking state different from the parking brake mode. When the vehicle is in the parking brake mode, the vehicle is assumed to be in a braking state by default. When the vehicle is in the temporary parking mode, the vehicle is assumed to be not in a braking state, and the current state of the vehicle is similar to maintaining the braking force on the vehicle, and the state of the braking force is switched to a state of parking for a short time. At this time, the vehicle braking effect and the effect of storing torque of the vehicle's drive motor are allowed to be executed together, avoiding the problem that the drive motor cannot store torque because the vehicle defaults to prioritize the braking function.

[0153] When the vehicle enters the temporary parking mode normally, the vehicle will be further judged to determine whether it can start normally. When the vehicle fails to enter the temporary parking mode, an alarm will be triggered, which is used to prompt the driver that there is a fault in the electronic handbrake method.

[0154] Step S420: if the temporary parking mode satisfies the second starting condition, outputting prompt information to the vehicle instrument so that the vehicle instrument displays the prompt message, wherein the prompt information is used to prompt the driver to release the handbrake;

[0155] There are two judgments in the second starting condition. On the one hand, the current braking pressure of the vehicle is judged, and on the other hand, the starting torque required for starting in the temporary parking mode is determined when the vehicle enters the temporary parking mode.

[0156] When the vehicle enters temporary parking mode and the temporary parking mode meets the second starting condition, a feedback instruction is output to the on-board instrument, and a prompt message in the feedback instruction is displayed through the on-board instrument. The prompt information is used to remind the driver that the conditions for starting on a slope are currently met and the vehicle's handbrake needs to be released.

[0157] Exemplarily, if the temporary parking mode satisfies the second starting condition, outputting a feedback instruction to the vehicle instrument includes:

[0158] Step d: when the electronic parking brake mode enters the temporary parking mode, obtaining the current parking air chamber pressure value of the vehicle;

[0159] When entering the temporary parking mode using the electronic handbrake, it is necessary to determine whether the current temporary parking mode meets the second starting condition. The standard for the second starting condition is the pressure value of the parking air chamber and the braking torque value generated when the vehicle enters the temporary parking mode.

[0160] When parking, the parking brake handle is operated to deflate the left air chamber. Under the action of the brake spring, the left and right air chamber push rods are pushed to the right to apply the wheel brakes, thereby achieving the purpose of parking. At this time, the air pressure value of the parking air chamber is detected to ensure that although the current vehicle enters the temporary parking mode, the braking function of the vehicle is still maintained to prevent the vehicle from sliding down the slope.

[0161] Step e: if the pressure value is greater than a preset pressure value, determining a braking torque value generated when the vehicle enters a temporary parking mode;

[0162] The preset pressure value is 0.52MPa. In order to ensure that the vehicle's braking function remains working, that is, when the gas pressure value of the vehicle's parking air chamber reaches 0.52MPa, the vehicle is kept in a braked stationary state and will not roll down the slope.

[0163] When the pressure value is less than the preset pressure value, a control instruction needs to be output to adjust the air pressure value of the vehicle's parking air chamber. While waiting for the air pressure value to reach the preset pressure value, the air pressure value of the vehicle's parking air chamber is continuously detected. When the pressure value is greater than the preset pressure value, the next judgment process is entered. At this time, it is necessary to detect the braking torque value generated when the vehicle enters the temporary parking mode.

[0164] This braking torque value is different from the starting torque corresponding to the braking force generated when the vehicle brakes for the first time. This braking torque is for when the vehicle enters temporary parking mode. When temporarily parking, the vehicle remains stationary on the slope. The current braking force of the vehicle needs to be adjusted, and the braking force of the parking air chamber is adjusted according to the change, so as to determine the braking force when the vehicle enters temporary parking mode, and calculate the torque required to start the vehicle to overcome the braking force.

[0165] By detecting the torque when the vehicle is in the first parking brake mode, and then when the vehicle enters the temporary parking mode, the torque required for the vehicle to start on the slope is further calculated.

[0166] Step f: If the maximum torque value and the rear axle limit torque value are both greater than the braking torque value, a feedback instruction is output to the vehicle instrument.

[0167] When the vehicle is in the first driving trend state and is moving backward toward the uphill defense line, it is necessary to judge the maximum torque value that can be output by the vehicle's drive motor and the rear axle limit torque value. When the maximum torque value and the rear axle limit torque value are both greater than the braking torque value, it is determined that the vehicle will not slide down the slope when starting on the slope. At this time, a feedback command is output to the on-board instrument.

[0168] In addition, when the vehicle is moving forward in an uphill direction, the vehicle's driving force comes from a drive motor installed in the front half of the vehicle body. At this time, the factor that affects the torque required for the vehicle to start on a slope is mainly the maximum torque value that can be output by the drive motor. Therefore, when the vehicle is climbing a slope in a forward manner, if it is determined that the maximum torque value that can be output by the drive motor is greater than the braking torque value, it can be determined that the vehicle will not slip when starting in the current state.

[0169] Step S430: After the driver releases the handbrake, a request instruction is output to the drive motor, and the electronic handbrake mode is terminated.

[0170] When the driver releases the vehicle's handbrake according to the prompt information on the on-board instrument panel, the vehicle's handbrake function changes are detected. The vehicle's braking function at this time only relies on the temporary parking mode of the electronic handbrake, outputs a request instruction to the drive motor, and controls the vehicle's drive motor to store torque, so that the vehicle reserves enough torque. When the torque value of the drive motor is greater than the torque value required for starting, the vehicle can be driven to start normally on the slope without slipping.

[0171] When the torque value driving the electric saw is greater than the torque value required for starting, an instruction to allow the vehicle to start on a slope is output, and the parking brake mode and temporary parking mode of the electronic handbrake are set to ensure the normal starting of the vehicle.

[0172] At the same time, after detecting that the driver has the intention to drive and outputting a request command to the drive motor, if the time waiting for the drive motor torque output to reach the starting standard exceeds the preset time, the vehicle state is directly switched to the parking brake mode. That is, it is necessary to determine whether the driver has the intention to drive and repeat the above-mentioned steps, that is, to re-determine the current state of the vehicle, the torque condition of the drive motor, etc., and perform corresponding detection and analysis processes.

[0173] Exemplarily, the request instruction includes a first instruction and a second instruction, and the outputting of the request instruction to the drive motor and terminating the electronic parking brake mode includes:

[0174] Step g: if the braking torque value is greater than a preset threshold, outputting a first instruction to the drive motor, wherein the first instruction is used to control the drive motor to start with a first motor slope;

[0175] Before terminating the electronic handbrake mode, a request instruction is output to the drive motor so that the drive motor supplies the corresponding required torque value. At this time, because the starting torque currently required by the vehicle is different, the content of the request instruction also changes accordingly according to different needs.

[0176] The preset threshold is a hill start threshold set during vehicle calibration.

[0177] When the braking torque value is greater than a preset threshold, a first instruction is output to a driving motor of the vehicle, and according to the content requirements of the first instruction, the driving motor will output torque at a first motor slope.

[0178] The first motor slope is a slope coefficient used when the driving motor operates normally.

[0179] When the drive motor receives the first instruction, the drive motor will perform an execution action, and will use the first motor slope as a basic parameter to continuously accumulate and reserve torque until the torque value currently output by the drive motor is equal to the braking torque value.

[0180] At this time, the magnitude relationship between the torque value currently output by the drive motor and the braking torque value is determined. When the torque value currently output by the drive motor is greater than or equal to the braking torque value, the vehicle releases the parking brake mode or temporary parking mode of the electronic handbrake.

[0181] Step h: if the braking torque value is less than a preset threshold, outputting a second instruction to the drive motor, wherein the second instruction is used to control the start of the drive motor with a second motor slope;

[0182] When the braking torque value is less than a preset threshold, a second instruction is output to the driving motor of the vehicle. According to the content requirements of the second instruction, the driving motor will output torque at a second motor slope.

[0183] The second motor slope is the magnitude of the torque of the driving motor increased to the braking torque value within a period of time, the second motor slope is greater than the first motor slope, and the period of time required for the driving motor to increase the torque value to the braking torque value according to the second motor slope is shorter than the period of time required for the driving motor to increase the torque value to the braking torque value according to the first motor. This period of time is the initial calibration value.

[0184] In addition, when the vehicle outputs the first instruction, the drive motor increases the torque value that the drive motor can currently output with the first motor slope in the first instruction. However, there is a prerequisite that the time required to wait for the motor to increase the torque value must be less than the preset time. After the time required to wait for the motor to increase the torque value exceeds the preset time, the current action of the drive motor to increase the torque value will be terminated, and the drive motor does not increase the torque value to the braking torque value. Therefore, the second instruction is directly output at this time to control the drive motor to increase the torque value with the second motor slope, so as to ensure that the drive motor uses a shorter time to complete the requirement of increasing the torque value.

[0185] Step i: When the current torque value of the driving motor is greater than the braking torque value, the electronic handbrake mode is terminated.

[0186] By outputting request instructions, the drive motor is controlled to increase the torque value, and the torque value is stored in a way that makes the vehicle's current torque value greater than the braking torque value. In this way, it is ensured that when the vehicle starts on a slope, it will not slide down the slope due to the vehicle's own gravity and the slope of the slope.

[0187] Therefore, after the current torque value of the drive motor is greater than the braking torque value, the torque value stored in the vehicle's drive motor can be used to ensure that the vehicle remains stationary on the slope, and the vehicle will not slide down the slope due to loss of braking torque, so that the vehicle can now start normally on the slope.

[0188] In this embodiment, by making multiple judgments on the torque value required for the vehicle to start on a slope, the driving torque value before the vehicle stops in the parking brake state, the torque value corresponding to the braking force generated during the initial braking, and the torque value when the vehicle enters the temporary parking mode are introduced, and the torque value required for the vehicle to start is continuously adjusted. By outputting different instruction contents, the vehicle completes the reserve of the torque required for starting, so that the torque value required for the vehicle to start on a slope is more accurately regulated, and at the same time, the problem of the drive motor requiring too long to reserve the torque value and the vehicle having too large a torque when starting, resulting in unstable starting of the vehicle, is avoided.

[0189] In addition, the present application also provides a vehicle anti-slope starting device, the vehicle anti-slope starting device comprising:

[0190] Acquisition module: used to acquire the status information of the vehicle;

[0191] Determination module: used to determine the driving trend state of the vehicle based on the state information, and determine whether the driver currently has a driving intention;

[0192] A judgment module: used to detect the torque value of the driving motor of the vehicle and obtain a detection result if the driver has a driving intention and the driving trend state meets the preset state;

[0193] Output module: used to output a request instruction to the drive motor and terminate the electronic handbrake mode when the detection result meets the anti-slope starting condition; the request instruction is used to control the drive motor to output sufficient torque to enable the vehicle to start normally.

[0194] Exemplarily, the determining module includes:

[0195] A first determination submodule: used to determine the slope value of the slope on which the vehicle is currently located, determine the current gear state of the vehicle, determine the first opening value of the current accelerator pedal and the second opening value of the brake pedal of the vehicle, and determine the current speed of the vehicle based on the state information;

[0196] A second determination submodule: for determining that the vehicle is in a first driving trend state if the slope value is greater than a preset slope value and the gear state is a forward gear, or if the slope value is less than a preset slope value and the gear state is a reverse gear;

[0197] A third determination submodule: for determining that the vehicle is in a second driving trend state if the slope value is less than a preset slope value and the gear state is a forward gear, or if the slope value is greater than a preset slope value and the gear state is a reverse gear;

[0198] A fourth determination submodule: for determining that the driver currently has a driving intention if the first opening value is greater than a first preset opening value, the second opening value is less than a second preset opening value, and the current vehicle speed is zero;

[0199] Termination submodule: used for terminating the electronic handbrake mode if the driver has a driving intention and the driving trend state is the second driving trend state;

[0200] A first acquisition submodule: used for acquiring a third opening value of an accelerator pedal of the vehicle if the vehicle is in a stationary state;

[0201] A response submodule: used for responding to a torque request of the third opening value; the torque request is used for starting the vehicle on a hill.

[0202] Exemplarily, the judging module includes:

[0203] A fifth determination submodule: used for determining the gear position state if the driver has a driving intention and the driving trend state is the first driving trend state;

[0204] A first detection submodule: for detecting the maximum torque value that can be currently output by the driving motor of the vehicle if the gear state is the forward gear, and determining whether the maximum torque value is greater than a first preset torque standard value, to obtain a first detection result;

[0205] The second acquisition submodule is used for acquiring the rear axle limit torque value of the vehicle if the gear state is the reverse gear;

[0206] The first detection submodule is used to detect whether the maximum torque value and the rear axle limit torque value are both greater than a second preset torque standard value, and obtain a second detection result.

[0207] Exemplarily, the output module includes:

[0208] A switching submodule: used for switching the electronic parking brake mode to a temporary parking mode when the first detection result or the second detection result meets the first starting condition;

[0209] A first output submodule: for outputting a prompt message to an onboard instrument if the temporary parking mode satisfies a second starting condition, so that the onboard instrument displays the prompt message, wherein the prompt message is used to prompt the driver to release the handbrake;

[0210] The second output submodule is used to output a request instruction to the drive motor and terminate the electronic handbrake mode after the driver releases the handbrake.

[0211] Exemplarily, the first output submodule includes:

[0212] An acquisition unit is used to acquire the current parking air chamber pressure value of the vehicle when the electronic parking brake mode enters the temporary parking mode;

[0213] A determination unit: configured to determine a braking torque value generated when the vehicle enters a temporary parking mode if the pressure value is greater than a preset pressure value;

[0214] The first output unit is used to output a feedback instruction to the vehicle instrument if the maximum torque value and the rear axle limit torque value are both greater than the braking torque value.

[0215] Exemplarily, the second output submodule includes:

[0216] A second output unit: used for outputting a first instruction to the drive motor if the braking torque value is greater than a preset threshold, wherein the first instruction is used for controlling the start of the drive motor with a first motor slope;

[0217] A third output unit: used for outputting a second instruction to the drive motor if the braking torque value is less than a preset threshold value, wherein the second instruction is used for controlling the start of the drive motor with a second motor slope;

[0218] Termination unit: used to terminate the electronic handbrake mode when the current torque value of the driving motor is greater than the braking torque value.

[0219] The specific implementation of the vehicle anti-slope starting device of the present application is basically the same as the various embodiments of the vehicle anti-slope starting method described above, and will not be repeated here.

[0220] In addition, the present application also provides a vehicle anti-slip slope starting device. Figure 5 As shown, Figure 5 It is a structural diagram of the hardware operating environment involved in the embodiment of the present application.

[0221] For example, Figure 5 This is a structural diagram of the hardware operating environment of the vehicle anti-slope starting equipment.

[0222] like Figure 5 As shown, the vehicle anti-slope starting device may include a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502 and the memory 503 communicate with each other via the communication bus 504, and the memory 503 is used to store computer programs; the processor 501 is used to implement the steps of the vehicle anti-slope starting method when executing the program stored in the memory 503.

[0223] The communication bus 504 mentioned in the above-mentioned vehicle anti-slope start device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 504 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0224] The communication interface 502 is used for communication between the above-mentioned vehicle anti-hill start device and other devices.

[0225] The memory 503 may include a random access memory (Random Access Memory, RMD), or a non-volatile memory (Non-Volatile Memory, NM), such as at least one disk memory. Optionally, the memory 503 may also be at least one storage device located away from the processor 501.

[0226] The above-mentioned processor 501 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0227] The specific implementation of the vehicle anti-slope starting device of the present application is basically the same as the above-mentioned embodiments of the vehicle anti-slope starting method, and will not be repeated here.

[0228] In addition, an embodiment of the present application further proposes a computer-readable storage medium, on which a vehicle anti-hill start program is stored. When the vehicle anti-hill start program is executed by a processor, the steps of the vehicle anti-hill start method as described above are implemented.

[0229] The specific implementation of the computer-readable storage medium of the present application is basically the same as the above-mentioned embodiments of the vehicle anti-slope starting method, and will not be repeated here.

[0230] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0231] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0232] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0233] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle anti-slope starting method, characterized in that: Applied to a vehicle whose electronic handbrake mode is a parking brake mode, the vehicle anti-slope starting method comprises the following steps: Acquiring status information of the vehicle; Based on the state information, determining the driving trend state of the vehicle and determining whether the driver currently has a driving intention; The driving trend state includes a first driving trend state and a second driving trend state. The determining the driving trend state of the vehicle based on the state information and determining whether the driver currently has a driving intention includes: Based on the state information, determine the slope value of the slope on which the vehicle is currently located, determine the current gear state of the vehicle, determine the first opening value of the current accelerator pedal and the second opening value of the brake pedal of the vehicle, and determine the current speed of the vehicle; If the slope value is greater than the preset slope value and the gear state is the forward gear, or the slope value is less than the preset slope value and the gear state is the reverse gear, it is determined that the vehicle is in the first driving trend state; If the slope value is less than the preset slope value and the gear state is the forward gear, or the slope value is greater than the preset slope value and the gear state is the reverse gear, it is determined that the vehicle is in the second driving trend state; If the first opening value is greater than a first preset opening value, and the second opening value is less than a second preset opening value, and the current vehicle speed is zero, it is determined that the driver currently has a driving intention; If the driver has a driving intention and the driving trend state meets a preset state, then the torque value state of the driving motor of the vehicle is detected to obtain a detection result; When the detection result meets the anti-slope starting condition, a request instruction is output to the drive motor and the electronic handbrake mode is terminated; the request instruction is used to control the drive motor to output sufficient torque to enable the vehicle to start normally.

2. The vehicle anti-slope starting method according to claim 1, characterized in that: The detection result includes a first detection result and a second detection result. If the driver has a driving intention and the driving trend state meets a preset state, the torque value state of the driving motor of the vehicle is detected to obtain a detection result, including: If the driver has a driving intention and the driving trend state is the first driving trend state, determining the gear state; If the gear state is the forward gear, detecting the maximum torque value that can be currently output by the driving motor of the vehicle, and determining whether the maximum torque value is greater than a first preset torque standard value, to obtain a first detection result; If the gear state is reverse gear, obtaining the rear axle limit torque value of the vehicle; It is detected whether the maximum torque value and the rear axle limit torque value are both greater than a second preset torque standard value to obtain a second detection result.

3. The vehicle anti-slope starting method according to claim 2, characterized in that: The anti-slope start condition includes a first start condition and a second start condition. When the detection result satisfies the anti-slope start condition, outputting a request instruction to the drive motor and terminating the electronic parking brake mode includes: When the first detection result or the second detection result meets the first starting condition, switching the electronic parking brake mode to a temporary parking mode; If the temporary parking mode satisfies the second starting condition, a prompt message is output to the vehicle instrument so that the vehicle instrument displays the prompt message, and the prompt message is used to prompt the driver to release the handbrake; After the driver releases the handbrake, a request command is output to the drive motor, and the electronic handbrake mode is terminated.

4. The vehicle anti-slope starting method according to claim 3, characterized in that: If the temporary parking mode satisfies the second starting condition, outputting prompt information to the vehicle instrument includes: When the electronic parking brake mode enters the temporary parking mode, obtaining the current pressure value of the parking air chamber of the vehicle; If the pressure value is greater than a preset pressure value, determining a braking torque value generated when the vehicle enters a temporary parking mode; If the maximum torque value and the rear axle limit torque value are both greater than the braking torque value, a prompt message is output to the vehicle instrument.

5. The vehicle anti-slope starting method according to claim 4, characterized in that: The request instruction includes a first instruction and a second instruction, and the outputting of the request instruction to the driving motor and terminating the electronic parking brake mode includes: If the braking torque value is greater than a preset threshold, a first instruction is output to the drive motor, wherein the first instruction is used to control the drive motor to start with a first motor slope; If the braking torque value is less than a preset threshold, outputting a second instruction to the drive motor, wherein the second instruction is used to control the drive motor to start with a second motor slope; When the current torque value of the driving motor is greater than the braking torque value, the electronic handbrake mode is terminated.

6. The vehicle anti-slope starting method according to claim 1, characterized in that: The driving tendency state includes a first driving tendency state and a second driving tendency state. If the driver has a driving intention and the driving tendency state meets a preset state, the following steps are performed: If the driver has the intention to drive, and the driving trend state is the second driving trend state, terminating the electronic handbrake mode; If the vehicle is in a stationary state, obtaining a third opening value of the accelerator pedal of the vehicle; A torque request is provided in response to the third opening value; the torque request is used for starting the vehicle on a hill.

7. A vehicle anti-slope starting device, characterized in that: The vehicle anti-slope starting device comprises: Acquisition module: used to acquire the status information of the vehicle; Determination module: used to determine the driving trend state of the vehicle based on the state information, and determine whether the driver currently has a driving intention; The determination module comprises: A first determination submodule: used to determine the slope value of the slope on which the vehicle is currently located, determine the current gear state of the vehicle, determine the first opening value of the current accelerator pedal and the second opening value of the brake pedal of the vehicle, and determine the current speed of the vehicle based on the state information; A second determination submodule: for determining that the vehicle is in a first driving trend state if the slope value is greater than a preset slope value and the gear state is a forward gear, or if the slope value is less than a preset slope value and the gear state is a reverse gear; A third determination submodule: for determining that the vehicle is in a second driving trend state if the slope value is less than a preset slope value and the gear state is a forward gear, or if the slope value is greater than a preset slope value and the gear state is a reverse gear; A fourth determination submodule: for determining that the driver currently has a driving intention if the first opening value is greater than a first preset opening value, the second opening value is less than a second preset opening value, and the current vehicle speed is zero; A judgment module: used to detect the torque value of the driving motor of the vehicle and obtain a detection result if the driver has a driving intention and the driving trend state meets the preset state; Output module: used to output a request instruction to the drive motor and terminate the electronic handbrake mode when the detection result meets the anti-slope starting condition; the request instruction is used to control the drive motor to output sufficient torque to enable the vehicle to start normally.

8. A vehicle anti-slope starting device, characterized in that: The device comprises: a memory, a processor, and a vehicle anti-hill start program stored in the memory and executable on the processor, wherein the vehicle anti-hill start program is configured to implement the steps of the vehicle anti-hill start method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle anti-hill start program, and when the vehicle anti-hill start program is executed by the processor, the steps of the vehicle anti-hill start method according to any one of claims 1 to 6 are implemented.

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