Vehicle starting control methods, devices, systems, electronic equipment and storage media

Abstract

This application relates to a vehicle starting control method, device, electronic device, storage medium, and computer program product. The method includes: receiving a vehicle starting command; responding to the vehicle starting command by driving a motor while braking and detecting the output current value of the motor in real time; releasing the brake when the output current value reaches a preset starting current value; determining the current vehicle state based on the changing trend of the motor's output current value after the brake is released, wherein the current vehicle state is one of uphill starting state, downhill starting state, and gentle road starting state; and controlling the state of the motor based on the current vehicle state. This method eliminates the need for sensors, reducing costs while effectively enabling smooth vehicle starting even on uphill / downhill slopes.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle start control method, a vehicle start control device, a vehicle control system, electronic equipment, a storage medium, and a computer program product. Background Technology

[0002] With the development of science and technology, vehicles, as a wheeled means of transportation, have greatly facilitated people's travel. A smooth start contributes to a good driving experience. However, the inventors discovered that when starting a vehicle uphill, insufficient power can cause it to roll backward, while starting downhill with excessive force can result in a feeling of stalling, leading to a poor driving experience and even placing higher demands on the driver's skill level. Summary of the Invention

[0003] Therefore, it is necessary to provide a vehicle starting control method, vehicle starting control device, electronic device, computer-readable storage medium, and computer program product that can smoothly achieve vehicle starting in response to the above-mentioned technical problems.

[0004] Firstly, this application provides a vehicle start-up control method. The method includes:

[0005] Receive vehicle start command;

[0006] In response to the vehicle start command, the motor is driven while braking, and the output current value of the motor is detected in real time;

[0007] When the output current value reaches the preset current start value, the brake is released.

[0008] Based on the changing trend of the motor's output current value after the brake is released, the current vehicle state is determined, which is one of uphill start state, downhill start state, and slow road start state.

[0009] The state of the motor is controlled according to the current vehicle state.

[0010] Secondly, this application provides a vehicle start control device. The device includes: a command receiving module, a current detection module, and a start control module; wherein...

[0011] The instruction receiving module is used to receive vehicle start instructions;

[0012] The current detection module is used to detect the output current value of the motor in real time;

[0013] The start control module is used to respond to the vehicle start command, drive the motor in the braking state, and when the output current value detected by the current detection module reaches the preset current start value in the braking state, control the release of the brake, and after the brake is released, determine the current vehicle state according to the changing trend of the output current value detected by the current detection module, and control the state of the motor according to the current vehicle state, wherein the current vehicle state is one of uphill start state, downhill start state, and gentle road start state.

[0014] Thirdly, this application also provides an electronic device. The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of any of the vehicle start-up control methods described above.

[0015] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of any of the vehicle start-up control methods described above.

[0016] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of any of the vehicle start-up control methods described above.

[0017] Sixthly, this application also provides a vehicle control system. The system includes: a vehicle controller, and a brake drive circuit, a current sampling circuit, and a motor drive circuit communicatively connected to the vehicle controller. The motor drive circuit is connected to a motor, the brake drive circuit is connected to an electromagnetic brake of the motor, and the current sampling circuit is connected to the motor drive circuit.

[0018] The current sampling circuit is used to detect the output current value of the motor;

[0019] The vehicle controller is configured to, upon receiving a vehicle start command, control the motor drive circuit to drive the motor in a braking state. When the output current value detected by the current sampling circuit in the braking state reaches a preset current start value, control the brake drive circuit to release the brake. After releasing the brake, the controller determines the current vehicle state based on the changing trend of the output current value detected by the current sampling circuit, and controls the motor drive circuit to drive the motor state based on the current vehicle state. The current vehicle state is one of uphill start state, downhill start state, and gentle road start state.

[0020] The aforementioned vehicle starting control method, device, vehicle control system, electronic equipment, storage medium, and computer program product, upon receiving a vehicle start command, first drive the motor while braking to load the vehicle in a stall state, and monitor the motor's output current value in real time. When the output current value reaches a preset start current value, the brake is released. Then, based on the trend of the motor's output current value after the brake is released, it is determined whether the vehicle is in an uphill start, downhill start, or slow-road start state. Then, based on the current state of the vehicle, the motor state is controlled. Because the vehicle stalls after receiving the start command, and the trend of the motor's output current value is quickly determined after the brake is released, the vehicle's motor is controlled accordingly. That is, the motor control during vehicle start is based on the vehicle's uphill / downhill state. Moreover, in determining the vehicle's uphill / downhill state, there is no need to set up attitude sensors for detection, and no other sensors are required. This reduces the cost of deploying sensors and effectively enables the vehicle to start smoothly even in uphill / downhill conditions. Attached Figure Description

[0021] Figure 1 This is an application environment diagram of the vehicle start-up control method in one embodiment;

[0022] Figure 2 This is a flowchart illustrating a vehicle start-up control method in one embodiment;

[0023] Figure 3 This is a flowchart illustrating a specific example of a vehicle start-up control method.

[0024] Figure 4 This is a schematic diagram illustrating the current change in a specific example under slow-circuit startup conditions.

[0025] Figure 5 This is a schematic diagram illustrating the current change during an uphill start-up process, as shown in a specific example.

[0026] Figure 6 This is a schematic diagram illustrating the current change during a downhill start-up process, as shown in a specific example.

[0027] Figure 7 This is a structural block diagram of a vehicle start control device in one embodiment;

[0028] Figure 8 This is a schematic diagram of a vehicle control system in a specific example.

[0029] Figure 9 This is a schematic diagram of the circuit structure of a brake drive circuit in a specific example.

[0030] Figure 10This is a schematic diagram of the circuit structure of a motor drive circuit and a current sampling circuit in a specific example.

[0031] Figure 11 This is a diagram of the internal structure of an electronic device in one embodiment. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] The vehicle start control method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, when a vehicle is parked temporarily or for an extended period, it may be parked in any suitable location, such as an indoor or outdoor parking lot, or an open outdoor area. After parking, the vehicle needs to be restarted before it can leave the parking area. For example, during operation, a vehicle may need to be restarted for various reasons. During these restarts, the vehicle may start from a flat section of road, or from a low-lying section uphill, or from a high-lying section downhill. Specifically, the vehicle may be a low-speed vehicle such as a floor scrubber. This application's embodiments relate to the technical scenario of vehicle starting.

[0034] In one embodiment, such as Figure 2 As shown, a vehicle start-up control method is provided, which is applied to... Figure 1 Taking a vehicle as an example, the specific example can be applied to the vehicle controller in the vehicle, including the following steps S201 to S204.

[0035] Step S201: Receive vehicle start command.

[0036] A vehicle start command is an instruction used to instruct the vehicle to begin starting. When it is necessary to start the vehicle, the user can issue this vehicle start command through the vehicle's start button. In other embodiments, the vehicle may also receive the vehicle start command through other means, such as a vehicle start command received via voice, or a vehicle start command received via a cloud server, etc., and this application embodiment does not specifically limit the scope.

[0037] Step S202: Respond to the vehicle start command, drive the motor while braking, and monitor the motor's output current value in real time.

[0038] The vehicle start command is an instruction to instruct the vehicle to start. In this embodiment, after receiving the vehicle start command, the brake is not released directly, but the motor is driven while the brake is applied, so that the motor outputs a start value, which is equivalent to putting the motor under stall load.

[0039] When the motor is stalled, the output current value of the motor is monitored in real time. The specific method for detecting the motor output current value can be any possible current detection method.

[0040] Step S203: When the output current value reaches the preset current start value, control to release the brake.

[0041] The preset current starting value can be set according to actual needs. For example, different vehicle types, models, and motors will require different preset current starting values. The specific preset current starting value can be set based on the motor's rated current; it should be understood that this preset current starting value can be set based on the motor's rated current and will not damage the motor.

[0042] If the detected output current value reaches the preset current start value, the brake is released to avoid burning out the motor and to facilitate observation of the motor's current change trend.

[0043] Step S204: Based on the changing trend of the motor's output current value after the brake is released, determine the current vehicle state, which is one of the following: uphill start state, downhill start state, or slow road start state.

[0044] After the brake is released, the motor is released from its stall and resumes normal operation, causing a change in its output current. The change in motor output current varies depending on the vehicle's starting state. By combining this change with the trend of the motor's output current after the brake is released, the vehicle's current status can be determined.

[0045] Among them, "uphill start" refers to the starting state where a vehicle starts moving from a lower elevation section to a higher elevation section, or in other words, the vehicle is on a slope but needs to start moving from a downhill section to an uphill section. "Downhill start" refers to the starting state where a vehicle starts moving from a higher elevation section to a lower elevation section, or in other words, the vehicle is on a slope but needs to start moving from an uphill section to a downhill section. "Gentle road start" refers to the starting state where the vehicle is parked on a relatively flat road surface; even if the road surface has a certain slope, it does not significantly affect the vehicle's starting ability.

[0046] Step S205: Control the state of the motor according to the current vehicle state.

[0047] After obtaining the current vehicle state, the state of the motor can be controlled according to the current vehicle state to achieve a smooth start of the vehicle.

[0048] Based on the vehicle start control method of the present application as described above, after receiving the vehicle start instruction, the motor is first driven in the braking state to make the vehicle stall and load, and the output current value of the motor is detected in real time. When the output current value reaches the preset current start value, the brake is then controlled to be released. Then, in combination with the change trend of the output current value of the motor after the brake is released, it is determined whether the current is in an uphill start state, a downhill start state or a flat road start state. Then, in combination with the current state of the vehicle, the state of the motor is controlled. Since the stall and load are first performed after receiving the vehicle start instruction, after the brake is released, it is possible to quickly determine whether the vehicle is starting uphill, downhill or on a flat road according to the change trend of the output current value of the motor, and accordingly control the motor of the vehicle. That is, the control of the motor when the vehicle starts is carried out in combination with the uphill and downhill states of the vehicle. Moreover, when judging the uphill and downhill states of the vehicle, there is no need to set up an attitude sensor for detection, and no other sensors are required to participate, which reduces the cost of arranging sensors while effectively enabling the vehicle to start smoothly in the uphill / downhill state.

[0049] In some embodiments, determining the current vehicle state of the vehicle according to the change trend of the output current value of the motor after the brake is released may specifically include:

[0050] If the change trend of the output current value of the motor after the brake is released is that the current value rapidly decreases and the current value is positive, it is determined that the current vehicle state of the vehicle is a flat road start state.

[0051] Among them, the rapid decrease of the current value may specifically refer to that the decrease amplitude of the output current value of the motor reaches the first preset amplitude within a certain time period. For example, within a certain time period, the decrease amplitude of the output current value reaches the first preset amplitude, or within a certain time period, the decrease value of the output current value reaches the first preset difference. Among them, the decrease amplitude may be the ratio of the change value of the output current value within a certain time period to the preset current start value, and the decrease value may be the difference between the output current value within a certain time period and the preset current start value. If the preset current start value is denoted as A0 and the output current value after a certain time period is A1, and 0 < A1 < A0, then the decrease amplitude may be (A0 - A1) / A0, and the decrease value is A0 - A1.

[0052] In some embodiments, determining the current vehicle state of the vehicle according to the change trend of the output current value of the motor after the brake is released may specifically include:

[0053] If the change trend of the output current value of the motor after the brake is released is that the current value rises, it is determined that the current vehicle state of the vehicle is an uphill start state.

[0054] Among them, the current value rises. Specifically, it may refer to the output current value of the motor continuously rising within a certain period of time, that is, the output current values detected within a certain period of time are all larger than the output current value detected last time. If the preset current start value is denoted as A0, and the output current values detected within a certain period of time are sequentially denoted as A21, A22, A23... in order, then there is A0 < A21 < A22 < A23....

[0055] In some embodiments, determining the current vehicle state of the vehicle according to the change trend of the output current value of the motor after releasing the brake includes:

[0056] If the change trend of the output current value of the motor after releasing the brake is that the current value drops to a negative value, it is determined that the current vehicle state of the vehicle is a downhill start state.

[0057] Among them, the change trend of the output current value of the motor after releasing the brake being that the current value drops to a negative value may specifically refer to the change trend of the output current value of the motor after releasing the brake being that the current value rapidly drops to a negative value. The rapid drop of the current value may specifically refer to the drop amplitude of the output current value of the motor reaching a second preset amplitude within a certain period of time. The second preset amplitude may be set to be the same as or different from the above-mentioned first preset amplitude. For example, the second preset amplitude may be greater than the above-mentioned first preset amplitude. Or, the rapid drop of the current value may specifically refer to the drop value of the output current value reaching a second preset difference within a certain period of time. The second preset difference may be greater than the above-mentioned first preset difference. Specifically, if the preset current start value is denoted as A0, the output current value after a certain period of time is A3, and A3 < 0 < A0, then the drop amplitude may be (A0 - A3) / A0, and the drop value is A0 - A3.

[0058] After obtaining the current vehicle state of the vehicle as described above, the state of the motor can be controlled according to the current vehicle state.

[0059] In some embodiments, controlling the state of the motor according to the current vehicle state specifically includes:

[0060] If the current vehicle state is a gentle road start state, maintain the torque acceleration of the motor unchanged.

[0061] If the current vehicle state is a gentle road start state, it means that the vehicle starts on a flat road, or although the vehicle starts on a sloped section, the slope of this section is small and not enough to have an additional impact on the start of the vehicle. That is, even if the vehicle starts with the normal torque acceleration, it is not enough to cause torque shortage or excessive torque, and the vehicle will not skid or stall. Therefore, in this case, the torque acceleration of the motor can be directly maintained unchanged without adding or reducing additional torque acceleration to the motor.

[0062] In some embodiments, the state of the motor is controlled according to the current vehicle state, specifically including:

[0063] If the vehicle is currently starting uphill, increase the torque acceleration of the motor.

[0064] The vehicle is currently in an uphill start state, meaning it's starting uphill. If the vehicle maintains the current torque acceleration at the same rate during start-up, insufficient torque can easily lead to rolling backward. Therefore, by increasing the motor's torque acceleration, the motor's torque is increased, preventing insufficient torque and thus avoiding rolling backward.

[0065] Specifically, if the current vehicle state is uphill start state, the torque acceleration of the motor is increased. This can include increasing the torque acceleration of the motor by a preset multiple, where the preset multiple is greater than 1.

[0066] That is, when the vehicle is in an uphill start state, when increasing the torque acceleration of the motor, the torque acceleration of the motor can be increased by a preset multiple, that is, the torque acceleration is increased by a certain multiple, so as to avoid the situation where there is still a slight roll on the slope if the increase in torque acceleration is not timely.

[0067] It should be understood that when increasing the torque acceleration of the motor, the specific preset multiplier can be set according to actual technical needs. For example, different preset multipliers can be set for different vehicle types, different motor types, and different vehicle loads. This preset multiplier can be fixed in the vehicle at the factory or set in real time. The specific value of this preset multiplier, for the same motor type and the same vehicle type, can be obtained through a large number of experiments. In other embodiments, the preset multiplier can also be obtained in other ways, which are not specifically limited in this application. In some specific embodiments, the preset multiplier can be set to 2 times, that is, the torque acceleration of the vehicle is directly set to twice the current torque acceleration, so that the torque acceleration increases rapidly and exponentially, avoiding the situation of vehicle slippage.

[0068] In some embodiments, the state of the motor is controlled according to the current vehicle state, specifically including:

[0069] If the vehicle is currently starting downhill, reduce the torque acceleration of the motor.

[0070] The vehicle is currently in a downhill start state, meaning it is starting on a slope. If the vehicle maintains the current torque acceleration during the start-up process, excessive torque can easily occur, causing the vehicle to stall. Therefore, by reducing the motor's torque acceleration, the motor torque is reduced, preventing excessive torque and thus avoiding vehicle stalling.

[0071] Specifically, the above-mentioned reduction of motor torque acceleration when the current vehicle state is a downhill start state can include: reducing the motor torque acceleration by a preset ratio when the current vehicle state is a downhill start state.

[0072] That is, when the vehicle is in a downhill start state, when reducing the torque acceleration of the motor, the torque acceleration of the motor can be reduced by a preset multiple, that is, the torque acceleration is reduced by a certain multiple, so as to avoid the situation where there is still a slight stall if the torque acceleration is not reduced in time.

[0073] It should be understood that when reducing the torque acceleration of the motor, the specific preset reduction ratio can be set according to actual technical needs. For example, different preset ratios can be set for different vehicle types, different motor types, and different vehicle loads. This preset ratio can be fixed in the vehicle at the factory or set in real time. The specific value of this preset ratio can be obtained through a large number of experiments for the same motor type and the same vehicle type. In other embodiments, the preset ratio can also be obtained in other ways, which are not specifically limited in this application. In some specific embodiments, the preset ratio can be set to 50%, that is, the torque acceleration of the vehicle can be directly set to half of the current torque acceleration, so that the torque acceleration is directly reduced by half, avoiding stalling.

[0074] Based on the embodiments described above, the following detailed explanation will be provided with reference to one specific example.

[0075] refer to Figure 3 As shown, in a specific example, when the vehicle is not started, the vehicle's brakes are in the braking state, the motor is not driven, that is, the motor drive is 0, and at this time, the motor also has no output current, that is, the motor output current is also 0.

[0076] When there is a need for operation, the vehicle can receive a vehicle start command from the user directly through the vehicle's start button, or through voice, or the vehicle can also receive a vehicle start command sent by the server, or it can receive a vehicle start command issued in other situations.

[0077] After receiving the vehicle start command, the vehicle drives the motor while braking, putting the vehicle in a stall loading phase and monitoring the motor's output current value in real time. At this time, the detected output current value will rise rapidly.

[0078] When the output current value reaches the preset current start value, the brake is released, and the current vehicle state is determined based on the trend of the motor's output current value after the brake is released. It should be understood that this vehicle start control process is all within the vehicle start phase. Therefore, the above-mentioned control processes of driving the motor under braking conditions and releasing the brake when the output current value reaches the preset current start value are all automatic control processes within this vehicle start control process.

[0079] If, after releasing the brake, the detected output current value drops rapidly but remains greater than zero after the rapid drop, it indicates that the vehicle is in a slow-start state. Therefore, the motor can be controlled in the manner appropriate for a slow-start state, such as maintaining a constant motor torque acceleration until the motor torque reaches the target torque value or the motor output current value reaches the target current value, thus completing the vehicle's starting process. In a specific example, based on the embodiment of this application, a schematic diagram of the current change of the vehicle in a slow-start state is shown below. Figure 4 As shown. Figure 4 As shown, after receiving the vehicle start command, during the motor stall phase, the motor output current value rises rapidly. After reaching the preset current start value, the brake is released, and the current value drops rapidly. After determining that the vehicle is in a slow-start state based on the trend of the output current value, the current torque acceleration can be maintained unchanged. As a result, the motor torque will increase based on this torque acceleration, thereby causing the motor output current value to increase again and gradually increase to a slow-rising state, thus achieving a smooth start for the vehicle.

[0080] If the detected output current continues to rise after the brake is released, it indicates that the vehicle is in an uphill start-up state. Therefore, the motor can be controlled in the same manner as in an uphill start-up state, increasing the motor's torque acceleration, for example, to twice the existing torque acceleration. This allows the motor torque to quickly increase to the target torque value or the motor's output current value to reach the target current value, completing the vehicle's start-up process and preventing rollback. In a specific example, based on the embodiment of this application, a schematic diagram of the current change of the vehicle in an uphill start-up state is shown below. Figure 5 As shown. Figure 5 As shown, after receiving the vehicle start command, during the motor stall phase, the motor output current value rises rapidly. After reaching the preset current start value, the current will continue to rise even after the brake is released. After determining that the vehicle is in an uphill start state based on the trend of the output current value, the current torque acceleration is increased by a preset multiple, such as 2 times, so that the motor torque will increase rapidly, thereby increasing the motor output current rapidly and achieving a smooth start for the vehicle.

[0081] If, after releasing the brake, the detected output current value drops rapidly and falls to a negative value, it indicates that the vehicle is in a downhill start-up state. Therefore, the motor can be controlled in the same manner as in a downhill start-up state. For example, the motor's torque acceleration can be reduced by a preset ratio, such as half of the existing torque acceleration, so that the motor torque slowly increases to the target torque value, completing the vehicle's start-up process and preventing stalling. In a specific example, based on the embodiment of this application, a schematic diagram of the current change of the vehicle in a downhill start-up state is shown below. Figure 6 As shown. Figure 6 As shown, after receiving the vehicle start command, during the motor stall phase, the motor output current value rises rapidly. After reaching the preset current start value, the brake is released, and the current drops rapidly to a negative value. After determining that the vehicle is in a downhill start state based on the trend of the output current value, the current torque acceleration is reduced by a preset ratio, such as by half, so that the motor torque will slowly increase, thereby slowly reducing the motor output current and achieving a smooth start for the vehicle.

[0082] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0083] Based on the same inventive concept, this application also provides a vehicle starting control device for implementing the vehicle starting control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle starting control device embodiments provided below can be found in the limitations of the vehicle starting control method described above, and will not be repeated here.

[0084] In one embodiment, such as Figure 7 As shown, a vehicle start control device is provided, including: a command receiving module 701, a current detection module 702, and a start control module 703. Wherein:

[0085] The instruction receiving module 701 is used to receive vehicle start instructions;

[0086] The current detection module 702 is used to detect the output current value of the motor in real time.

[0087] The start control module 703 is used to respond to the vehicle start command, drive the motor in the braking state, and when the output current value detected by the current detection module in the braking state reaches the preset current start value, control the release of the brake, and after the brake is released, determine the current vehicle state according to the changing trend of the output current value detected by the current detection module, and control the state of the motor according to the current vehicle state, which is one of the following: uphill start state, downhill start state, and slow road start state.

[0088] In some embodiments, the start control module 703 is used to determine that the current vehicle state is a slow-start state when the trend of the change in the output current value of the motor after the brake is released is that the current value drops rapidly and the current value is positive.

[0089] In some embodiments, the start control module 703 is used to determine that the current vehicle state is uphill start state when the trend of the change in the output current value of the motor after the brake is released is that the current value increases.

[0090] In some embodiments, the start control module 703 is used to determine that the current vehicle state is a downhill start state when the trend of the change in the output current value of the motor after the brake is released is that the current value drops to a negative value.

[0091] In some embodiments, the start control module 703 is used to maintain the torque acceleration of the motor constant when the current vehicle state is a slow-road start state; to increase the torque acceleration of the motor when the current vehicle state is an uphill start state; and to decrease the torque acceleration of the motor when the current vehicle state is a downhill start state.

[0092] In some embodiments, the start control module 703 is used to increase the torque acceleration of the motor by a preset multiple when the current vehicle state is uphill start state, the preset multiple being greater than 1.

[0093] In some embodiments, the start control module 703 is used to reduce the torque acceleration of the motor by a preset ratio when the current vehicle state is a downhill start state.

[0094] Each module in the aforementioned vehicle start control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0095] Based on the vehicle start control method described above, Figure 8The diagram shows a schematic of a vehicle control system in a specific application example. In some specific application scenarios, the vehicle's motor can be a DC brushed motor with an electromagnetic brake, which brakes when powered on and disengages when powered off.

[0096] refer to Figure 8 As shown, the vehicle control system 80 includes: a vehicle controller 800, and a brake drive circuit 801, a current sampling circuit 802 and a motor drive circuit 803 that are communicatively connected to the vehicle controller 800. The motor drive circuit 803 is connected to the motor, the brake drive circuit 801 is connected to the electromagnetic brake of the motor, and the current sampling circuit 802 is connected to the motor drive circuit 803.

[0097] Among them, the current sampling circuit 802 is used to detect the output current value of the motor, and the vehicle controller 800 realizes the control of the brake drive circuit 801, the current sampling circuit 802 and the motor drive circuit 803.

[0098] Specifically, when the vehicle controller 800 receives a vehicle start command, it controls the motor drive circuit 803 to drive the motor in the braking state. When the output current value detected by the current sampling circuit 802 in the braking state reaches the preset current start value, it controls the brake drive circuit 801 to release the brake. After the brake is released, the current vehicle state is determined according to the changing trend of the output current value detected by the current sampling circuit 802. Based on the current vehicle state, the motor drive circuit 803 is controlled to drive the motor in one of the following states: uphill start state, downhill start state, and slow road start state.

[0099] refer to Figure 9 As shown, the brake drive circuit 801 in one embodiment includes: a first filter circuit, a first switching circuit, and a second switching circuit. The first switching circuit includes a transistor Q2, a current-limiting resistor R3, and a bias resistor R7. The second switching circuit includes a MOSFET Q1, resistors R1 and R2. The first filter circuit includes a grounding capacitor C1 and a grounding capacitor C2 connected in parallel.

[0100] Among them, such as Figure 9 As shown, the first switching circuit includes a transistor Q2, a current-limiting resistor R3, and a bias resistor R7. The current-limiting resistor R3 is connected between the base of transistor Q2 and the brake signal input terminal, the bias resistor R7 is connected between the base and emitter of transistor Q2, the emitter of transistor Q2 is grounded, and the collector of transistor Q2 is connected to the second switching circuit.

[0101] The second switching circuit includes a MOSFET Q1, resistors R1 and R2. The source of the MOSFET Q1 is connected to the power input terminal. Resistor R1 is connected between the source and gate of the MOSFET Q1. Resistor R2 is connected between the gate of the MOSFET Q1 and the first switching circuit. The drain of the MOSFET Q1 is connected to the positive input terminal Brake V+ of the electromagnetic brake.

[0102] The first filtering circuit includes two grounding capacitors C1 and C2 connected in parallel, and the grounding capacitors C1 and C2 are connected to the power input terminal and the source of the MOSFET Q1.

[0103] refer to Figure 10 As shown, in one embodiment, the motor drive circuit 803 includes: a third and a fourth switching circuit connected to the positive terminal of the motor, a fifth and a sixth switching circuit connected to the negative terminal of the motor, a second filtering circuit, and a capacitor C6 and a resistor R6 connected in series between the positive and negative terminals of the motor. The third switching circuit includes a MOSFET TR2, a filtering capacitor C5, and a bias resistor R4; the fourth switching circuit includes a MOSFET TR4, a filtering capacitor C8, and a bias resistor R8; the fifth switching circuit includes a MOSFET TR1, a filtering capacitor C7, and a bias resistor R5; the sixth switching circuit includes a MOSFET TR3, a filtering capacitor C9, and a bias resistor R9; and the second filtering circuit includes capacitors C3 and C4.

[0104] The third switching circuit includes a MOSFET TR2, a filter capacitor C5, and a bias resistor R4. The gate of the MOSFET TR2 is connected to the first positive input terminal of the motor, Traction Driver H1. The filter capacitor C5 and the bias resistor R4 are connected in parallel between the gate and source of the MOSFET TR2. The source of the MOSFET TR2 is connected to the fourth switching circuit and the positive terminal TRACTION+ of the motor A. The drain of the MOSFET TR2 is connected to the power input terminal Vcc.

[0105] The fourth switching circuit includes a MOSFET TR4, a filter capacitor C8, and a bias resistor R8. The gate of the MOSFET TR4 is connected to the first negative input terminal of the motor, Traction Driver L1. The filter capacitor C8 and the bias resistor R8 are connected in parallel between the gate and source of the MOSFET TR4. The drain of the MOSFET TR4 is connected to the third switching circuit and the positive terminal TRACTION+ of the motor A. The source of the MOSFET TR4 is connected to the current sampling circuit.

[0106] The fifth switching circuit includes a MOSFET TR1, a filter capacitor C7, and a bias resistor R5. The gate of the MOSFET TR1 is connected to the second positive input terminal of the motor, Traction Driver H2. The filter capacitor C7 and the bias resistor R5 are connected in parallel between the gate and source of the MOSFET TR1. The drain of the MOSFET TR1 is connected to the power input terminal Vcc. The source of the MOSFET TR1 is connected to the sixth switching circuit and the negative terminal TRACTION- of motor A.

[0107] The sixth switching circuit includes a MOSFET TR3, a filter capacitor C9, and a bias resistor R9. The gate of the MOSFET TR3 is connected to the second negative input terminal of the motor drive, Traction Driver L2. The filter capacitor C9 and the bias resistor R9 are connected in parallel between the gate and source of the MOSFET TR3. The drain of the MOSFET TR3 is connected to the fifth switching circuit and the negative terminal TRACTION- of motor A. The source of the MOSFET TR3 is connected to the current sampling circuit.

[0108] The second filtering circuit is connected to the power input terminal. The second filtering circuit includes capacitors C3 and C4 connected in parallel.

[0109] refer to Figure 10 As shown, in one embodiment, the current sampling circuit 802 includes: a grounding resistor R10 and a grounding resistor R11, wherein the grounding resistor R10 is connected to a fourth switching circuit and the grounding resistor R11 is connected to a sixth switching circuit.

[0110] Combination Figure 9 , Figure 10 As shown, the current drive circuit can achieve motor current sampling through resistors R10 and R11.

[0111] When the machine stops, the motor does not work, and the Brake_MCU signal used to control the brake is set to a low level. At this time, MOSFETs TR1, TR2, TR3, and TR4 are all in the off state.

[0112] When the motor rotates forward, the Brake_MCU signal used to control the brake is set to a high level. MOSFETs TR1 and TR4 are set to the cutoff state, while MOSFETs TR2 and TR3 are set to the corresponding duty cycle PWM signals.

[0113] When the motor reverses, the Brake_MCU signal used to control the brake is set to a high level. MOSFETs TR2 and TR3 are set to the cutoff state, while MOSFETs TR1 and TR4 are set to the corresponding duty cycle PWM signals.

[0114] based on Figure 8-10 The example shown demonstrates that vehicle start-up control can be achieved with a simple circuit structure at a low cost.

[0115] In one embodiment, an electronic device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11 As shown, this electronic device includes a processor, memory, input / output interfaces, and a communication interface. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external devices (terminals or servers), with wireless communication possible via Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle start-up control method.

[0116] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0117] In one embodiment, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the vehicle start control method of any of the embodiments described above.

[0118] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the vehicle start control method of any of the embodiments described above.

[0119] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited thereto.

[0120] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0121] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle start control method characterized by, The method comprises: receiving a vehicle starting instruction; the vehicle starting instruction is an instruction for indicating the vehicle to start; in response to the vehicle starting instruction, driving the motor in a brake state and detecting the output current value of the motor in real time; when the output current value reaches a preset current starting value, controlling the brake to be released; determining the current vehicle state of the vehicle according to the change trend of the output current value of the motor after the brake is released, the current vehicle state being one of an uphill starting state, a downhill starting state and a gentle road starting state; controlling the state of the motor according to the current vehicle state to realize gentle starting of the vehicle. The method comprises:

2. The method of claim 1, wherein, if the change trend of the output current value of the motor after the brake is released is that the current value decreases to a negative value, determining the current vehicle state of the vehicle to be the downhill starting state. The method comprises:

3. The method of claim 1, wherein, if the change trend of the output current value of the motor after the brake is released is that the current value rapidly decreases and the current value is positive, determining the current vehicle state of the vehicle to be the gentle road starting state. The method comprises:

4. The method according to any one of claims 1 to 3, characterized in that, if the change trend of the output current value of the motor after the brake is released is that the current value increases, determining the current vehicle state of the vehicle to be the uphill starting state. The method comprises: if the current vehicle state is the gentle road starting state, maintaining the torque acceleration of the motor unchanged; if the current vehicle state is the uphill starting state, increasing the torque acceleration of the motor; 5. The method of claim 4, wherein, if the current vehicle state is the downhill starting state, decreasing the torque acceleration of the motor. The method comprises:

6. The method of claim 4, wherein, if the current vehicle state is the uphill starting state, increasing the torque acceleration of the motor by a preset multiple, the preset multiple being greater than 1. The method comprises:

7. A vehicle start control device characterized by comprising: if the current vehicle state is the downhill starting state, decreasing the torque acceleration of the motor by a preset proportion. The device comprises an instruction receiving module, a current detecting module and a starting control module. The instruction receiving module is configured to receive a vehicle starting instruction; the vehicle starting instruction is an instruction for indicating the vehicle to start. The current detecting module is configured to detect the output current value of the motor in real time. The starting control module is configured to drive the motor in a brake state in response to the vehicle starting instruction, and control the brake to be released when the output current value detected by the current detection module reaches a preset current starting value in the brake state, and determine a current vehicle state of the vehicle according to a change trend of the output current value detected by the current detection module after the brake is released, and control a state of the motor according to the current vehicle state, the current vehicle state being one of an uphill starting state, a downhill starting state and a gentle road starting state, so as to realize gentle starting of the vehicle. The current vehicle state is determined according to the change trend of the output current value of the motor after the brake is released, and the current vehicle state is determined to be the downhill starting state if the change trend of the output current value of the motor after the brake is released is that the output current value decreases to a negative value. 8.An electronic device comprising a memory and a processor, the memory storing a computer program, wherein, The processor executes the computer program to implement the steps of the method of any one of claims 1 to 6.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

11. A vehicle control system characterized by comprising: The system comprises a vehicle controller, a brake driving circuit, a current sampling circuit and a motor driving circuit connected in communication with the vehicle controller, the motor driving circuit being connected with a motor, the brake driving circuit being connected with an electromagnetic brake of the motor, and the current sampling circuit being connected with the motor driving circuit. The current sampling circuit is configured to detect an output current value of the motor. The vehicle controller is configured to control the motor driving circuit to drive the motor in a brake state when a vehicle starting instruction is received, control the brake driving circuit to release the brake when the output current value detected by the current sampling circuit reaches a preset current starting value in the brake state, and determine a current vehicle state of the vehicle according to a change trend of the output current value detected by the current sampling circuit after the brake is released, and control a state of the motor driving circuit to drive the motor according to the current vehicle state, so as to realize gentle starting of the vehicle, the current vehicle state being one of an uphill starting state, a downhill starting state and a gentle road starting state, and the vehicle starting instruction being an instruction for indicating that the vehicle starts to start. The current vehicle state is determined according to the change trend of the output current value detected by the current sampling circuit after the brake is released, and the current vehicle state is determined to be the downhill starting state if the change trend of the output current value after the brake is released is that the output current value decreases to a negative value.

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