Electric vehicle hill start assist method and device, electric vehicle and storage medium

Abstract

The application relates to the technical field of automobile control, in particular to a kind of electric vehicle ramp auxiliary method, device, electric vehicle and storage medium, wherein, the method comprises: obtaining one or more target signals in the vehicle parking process;When the vehicle meets the ramp auxiliary condition based on one or more target signals, the maximum stroke of brake pedal is obtained when the target vehicle speed is reached in the vehicle parking process, and the maximum stroke of brake pedal is matched with the ramp auxiliary torque;Based on the ramp auxiliary torque, torque control instruction is generated, and the driving motor is controlled to output the ramp auxiliary torque by using the torque control instruction, to realize the parking of the vehicle on the ramp. Therefore, the problems of additional increase of slope sensor in related art to realize the parking of the vehicle on the ramp and high parking cost are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, and in particular relates to a method and device for assisting an electric vehicle on a slope, an electric vehicle and a storage medium. BACKGROUND

[0002] In recent years, with the encouragement of national policies and the vigorous development of new force automobile enterprises, the market share of new energy vehicles dominated by electric vehicles has increased year by year. With the popularization of electric vehicles, after being tested by the market, the advantages of electric vehicles over fuel vehicles have gradually been recognized and accepted by users; however, the problem of vehicle sliding occurs easily during the process of starting to step on the accelerator pedal after the vehicle is parked on the slope.

[0003] The related technology generally controls the vehicle to stay on the slope without sliding for a short time by applying brake pressure to the wheels by the ESC (electronic stability controller) controller after identifying the slope size by the slope sensor. However, the related technology needs to additionally increase the slope sensor to realize the vehicle parking on the slope, which has high parking cost. SUMMARY

[0004] The present application provides a method and device for assisting an electric vehicle on a slope, an electric vehicle and a storage medium to solve the problem of high parking cost in the related technology that needs to additionally increase the slope sensor to realize the vehicle parking on the slope.

[0005] The first aspect of the present application provides a method for assisting an electric vehicle on a slope, comprising the following steps: acquiring one or more target signals in the vehicle parking process; when it is determined that the vehicle meets the slope assistance condition based on the one or more target signals, acquiring the maximum stroke of the brake pedal when the target vehicle speed is reached in the vehicle parking process, and matching the slope assistance torque according to the maximum stroke of the brake pedal; generating a torque control instruction based on the slope assistance torque, and controlling the driving motor to output the slope assistance torque by using the torque control instruction, thereby realizing the vehicle parking on the slope.

[0006] Optionally, in one embodiment of the present application, while the driving motor is controlled to output the slope assistance torque by using the torque control instruction, the method further comprises: generating a slope assistance prompt signal, and controlling the vehicle instrument to perform a preset prompt action by using the prompt signal.

[0007] Optionally, in one embodiment of the present application, after the driving motor outputs the hill-start assist torque according to the torque control instruction, the method further comprises: obtaining a maintaining duration of the driving motor outputting the hill-start assist torque; if the maintaining duration is greater than a preset duration, or if the maintaining duration is less than or equal to the preset duration and any one of the following conditions is met: the current gear changes, the request torque generated by the change of the accelerator pedal stroke is greater than the hill-start assist torque, and the electronic hand brake is in the pulled-up state, then the driving motor stops outputting the hill-start assist torque; otherwise, the driving motor continues to output the hill-start assist torque.

[0008] Optionally, in one embodiment of the present application, before the hill-start assist torque is matched according to the maximum stroke of the brake pedal, the method further comprises: determining whether the maximum stroke of the brake pedal is greater than a preset stroke; if the maximum stroke of the brake pedal is greater than the preset stroke, sending a pull-up request to the electronic hand brake so that the electronic hand brake is pulled up and the vehicle is parked; otherwise, the hill-start assist torque is matched according to the maximum stroke of the brake pedal.

[0009] The second aspect embodiment of the present application provides a hill-start assist device for an electric vehicle, comprising: a first obtaining module configured to obtain one or more target signals in a parking process of the vehicle; a matching module configured to, when the vehicle meets a hill-start assist condition based on the one or more target signals, obtain a maximum stroke of a brake pedal when the vehicle reaches a target speed in the parking process, and match a hill-start assist torque according to the maximum stroke of the brake pedal; and a control module configured to generate a torque control instruction based on the hill-start assist torque, control a driving motor to output the hill-start assist torque according to the torque control instruction, and realize parking of the vehicle on a hill.

[0010] Optionally, in one embodiment of the present application, the control module is further configured to, while the driving motor outputs the hill-start assist torque according to the torque control instruction, generate a hill-start assist prompt signal, and control an on-board instrument of the vehicle to perform a preset prompt action according to the prompt signal.

[0011] Optionally, in one embodiment of the present application, the method further comprises: a second obtaining module configured to, after the driving motor outputs the hill-start assist torque according to the torque control instruction, obtain a maintaining duration of the driving motor outputting the hill-start assist torque; and a first determining module configured to, if the maintaining duration is greater than a preset duration, or if the maintaining duration is less than or equal to the preset duration and any one of the following conditions is met: the current gear changes, the request torque generated by the change of the accelerator pedal stroke is greater than the hill-start assist torque, and the electronic hand brake is in the pulled-up state, then control the driving motor to stop outputting the hill-start assist torque; otherwise, control the driving motor to continue outputting the hill-start assist torque.

[0012] Optionally, in one embodiment of the present application, further comprising: a second judging module, configured to judge whether the maximum stroke is greater than a preset stroke before matching the ramp auxiliary torque according to the maximum stroke of the brake pedal; if the maximum stroke is greater than the preset stroke, sending a pull-up request to an electronic handbrake, so that the electronic handbrake is pulled up, so that the vehicle is parked, otherwise matching the ramp auxiliary torque according to the maximum stroke.

[0013] The third aspect embodiment of the present application provides an electric vehicle, comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to realize the electric vehicle ramp auxiliary method as described in the above embodiments.

[0014] The fourth aspect embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize the electric vehicle ramp auxiliary method as described in the above embodiments.

[0015] Therefore, the present application has at least the following beneficial effects:

[0016] The embodiments of the present application can realize the stable parking of the vehicle on the ramp by using the output torque of the driving motor, and the stable parking can be realized without additional increase of the slope sensor, thereby reducing the cost required for parking, reducing the overall vehicle cost, and improving the user experience. Therefore, the problems of additional increase of the slope sensor for realizing the parking of the vehicle on the ramp and high parking cost in the related art are solved.

[0017] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be known by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, with reference to the following drawings, in which:

[0019] Figure 1 A flow chart of an electric vehicle ramp auxiliary method according to an embodiment of the present application is provided;

[0020] Figure 2 An example diagram of an electric vehicle ramp auxiliary function control method according to an embodiment of the present application is provided;

[0021] Figure 3 A block schematic diagram of an electric vehicle ramp auxiliary device according to an embodiment of the present application is provided;

[0022] Figure 4 A structural schematic diagram of an electric vehicle according to an embodiment of the present application is provided.

[0023] Explanation of reference signs: first acquisition module-100, matching module-200, control module-300, memory-401, processor-402, communication interface-403. DETAILED DESCRIPTION

[0024] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0025] The electric vehicle ramp auxiliary method, device, electric vehicle and storage medium of the embodiments of the present application are described below with reference to the drawings. In view of the problems mentioned in the above background art, the present application provides an electric vehicle ramp auxiliary method, in which the steady hill holding of the vehicle on the ramp is realized by using the output torque of the driving motor, the steady hill holding can be realized without additional increase of the slope sensor, the cost required for parking is reduced, the overall vehicle cost is reduced, and the user's use experience is improved. Thus, the problems of related art, such as the need for additional increase of the slope sensor to realize the parking of the vehicle on the ramp and high parking cost, are solved.

[0026] Specifically, Figure 1 A flowchart of an electric vehicle ramp auxiliary method provided by the embodiments of the present application is shown.

[0027] As Figure 1 shown, the electric vehicle ramp auxiliary method includes the following steps:

[0028] In step S101, one or more target signals in the vehicle parking process are acquired.

[0029] In the embodiments of the present application, the target signals can include: vehicle state signals, current gear signals, vehicle speed signals, pedal stroke signals, function state signals, etc.

[0030] In actual execution process, the embodiments of the present application can receive the vehicle state signals sent by the body controller (BCM) in the vehicle parking process, the current gear signals sent by the gear controller (IGS), the vehicle speed signals sent by the wheel speed sensor, the pedal stroke signals sent by the brake pedal stroke sensor, the function state signals sent by the Autohold function switch, and the EPB function state signals sent by the parking controller (EPB) through the vehicle controller (VCU), so as to judge whether the vehicle meets the ramp auxiliary function activation condition according to the target signals, and then realize the ramp parking function of the vehicle.

[0031] In step S102, when it is determined that the vehicle meets the hill start assist condition based on one or more target signals, the maximum stroke of the brake pedal when the vehicle reaches the target vehicle speed during parking is obtained, and the hill start assist torque is matched according to the maximum stroke of the brake pedal.

[0032] Specifically, as shown in the figure, Figure 2 The VCU vehicle controller can determine that the vehicle hill start assist function meets the activation condition when the vehicle is in the Ready state, the current gear signal is in the D or R gear, the vehicle speed value is equal to 0, the brake pedal minimum stroke is greater than Smin when the vehicle speed is 0, and the Autohold function switch is in the off state, and the EPB function is not activated. The maximum brake stroke value during the process of the user stepping on the brake pedal when the vehicle speed is 0 can be selected according to the application embodiment, and the maximum brake stroke value is used to search the calibrated brake stroke and request torque two-dimensional MAP table to obtain the vehicle hill start assist function request torque value Tr.

[0033] In step S103, the torque control instruction is generated based on the hill start assist torque, the torque control instruction is used to control the driving motor to output the hill start assist torque, and the vehicle is parked on the slope.

[0034] It can be understood that the application embodiment controls the time length Ts of the torque request sent to the MCU motor controller to execute the torque loading according to the maximum stroke of the brake pedal before the brake pedal is released and the hill holding time set by the user in the vehicle control screen, so as to ensure that the vehicle has enough time to realize hill holding on the slope. Therefore, based on the driving form and torque precise control of the electric vehicle, the application embodiment can control the torque of the motor through the vehicle controller, replace the ESC controller to realize short-time hill holding when the vehicle starts on the slope, realize the user's demand while controlling the cost of the electric vehicle, and has important significance for promoting the intelligent development of electric vehicles.

[0035] In an embodiment of the application, while the torque control instruction is used to control the driving motor to output the hill start assist torque, the application also includes generating a hill start assist prompt signal, and using the prompt signal to control the vehicle instrument to perform a preset prompt action.

[0036] The preset prompt action can be illuminating the hill start assist indicator light, which can be set by those skilled in the art according to actual conditions, and is not limited in detail.

[0037] Specifically, while sending the torque request, the application embodiment can synchronously send the hill start assist indicator light illumination request signal to the ICM vehicle instrument display to execute the hill start assist indicator light illumination, and the working state of the hill start assist function is displayed in real time through the instrument indicator light, so that the user can timely understand the vehicle state and the effectiveness of the intelligent function.

[0038] In one embodiment of the present application, after the driving motor output ramp auxiliary torque is controlled by the torque control instruction, further comprising: obtaining the maintenance duration of the driving motor output ramp auxiliary torque; if the maintenance duration is greater than the preset duration, or if the maintenance duration is less than or equal to the preset duration, and any one of the current gear changes, the request torque generated by the accelerator pedal stroke change is greater than the ramp auxiliary torque and the electronic hand brake is in the pull-up state, then the driving motor is controlled to stop outputting the ramp auxiliary torque, otherwise, the driving motor is controlled to continue outputting the ramp auxiliary torque.

[0039] Wherein, the preset duration can be set according to the actual situation, without specific limitation. Figure 2 As shown in the figure, the stop of the ramp auxiliary torque output of the embodiment of the present application will make the vehicle's ramp auxiliary function exit, which can include two aspects of active and passive, as follows:

[0040] 1) Active exit of ramp auxiliary function: when the MCU motor controller executes torque loading to execute the ramp auxiliary function, the VCU receives the execution torque signal sent by the MCU motor controller and starts timing; when the timing duration reaches the ramp holding duration Ts set in the vehicle control screen, the embodiment of the present application can judge that the active exit of the ramp auxiliary function is met, stop sending torque request signal to MCU, and send the request signal to extinguish the ramp auxiliary function indicator light to the ICM vehicle instrument display to execute the extinguishing of the ramp auxiliary indicator light.

[0041] 2) Passive exit of ramp auxiliary function: when the MCU motor controller executes torque loading to execute the ramp auxiliary function and the timing duration does not reach Ts, the VCU monitors the change of gear or the request torque Td generated by the change of accelerator pedal stroke is greater than the ramp auxiliary function request torque value Tr, or the EPB changes to the pull-up state, the embodiment of the present application can judge that the passive exit of the ramp auxiliary function is met, and send the torque request signal to the MCU according to the request torque Td generated by the change of accelerator pedal stroke to execute torque loading, and send the request signal to extinguish the ramp auxiliary function indicator light to the ICM vehicle instrument display to execute the extinguishing of the ramp auxiliary indicator light.

[0042] In one embodiment of the present application, before matching the ramp auxiliary torque according to the maximum stroke of the brake pedal, further comprising: judging whether the maximum stroke is greater than the preset stroke; if the maximum stroke is greater than the preset stroke, sending a pull-up request to the electronic hand brake to make the electronic hand brake pull up and make the vehicle park, otherwise, matching the ramp auxiliary torque according to the maximum stroke.

[0043] Wherein, the preset stroke can be determined according to the actual situation, without specific limitation.

[0044] The embodiment of the present application can calculate the torque request at the same time, as shown in Figure 2As shown, the embodiment of the present application can determine whether the maximum brake stroke value during the process that the user steps on the brake pedal when the vehicle speed is 0 is greater than the preset stroke (Smax). If the maximum brake stroke value is greater than Smax, the embodiment of the present application can determine that the required request torque at this time exceeds the ability of the motor to execute the hill hold to apply torque, which may cause the risk of overheating damage to the motor, and the VCU directly sends an EPB pull-up request to the EPB to execute the parking, and no longer sends a torque request signal to the MCU, thereby protecting the MCU from overheating risk and realizing the parking function at the same time.

[0045] According to the hill assistance method for electric vehicles proposed in the embodiment of the present application, the driving motor output torque is used to realize the smooth hill holding of the vehicle on the slope, the smooth hill holding can be realized without additional increase of the slope sensor, the cost required for parking is reduced, the vehicle cost is reduced, and the user's use experience is improved. Therefore, the problems of additional increase of the slope sensor to realize the parking of the vehicle on the slope and high parking cost in the related art are solved.

[0046] Secondly, a hill assistance device for electric vehicles according to the embodiment of the present application is described with reference to the accompanying drawings.

[0047] Figure 3 is a block schematic diagram of a hill assistance device for electric vehicles according to the embodiment of the present application.

[0048] As shown, Figure 3 The hill assistance device 10 for electric vehicles includes a first acquisition module 100, a matching module 200 and a control module 300.

[0049] The first acquisition module 100 is configured to acquire one or more target signals in the vehicle parking process; the matching module 200 is configured to acquire the maximum stroke of the brake pedal when the target vehicle speed is reached in the vehicle parking process when the vehicle satisfies the hill assistance condition based on the one or more target signals, and match the hill assistance torque according to the maximum stroke of the brake pedal; and the control module 300 is configured to generate a torque control instruction based on the hill assistance torque, control the driving motor to output the hill assistance torque by using the torque control instruction, and realize the parking of the vehicle on the slope.

[0050] In an embodiment of the present application, the control module 300 is further configured to generate a prompt signal of the hill assistance while controlling the driving motor to output the hill assistance torque by using the torque control instruction, and control the vehicle instrument to perform a preset prompt action by using the prompt signal.

[0051] In an embodiment of the present application, the device 10 of the embodiment of the present application further includes a second acquisition module and a first judgment module.

[0052] The second obtaining module is configured to obtain a maintaining duration of the hill-start assist torque output by the drive motor after the drive motor is controlled to output the hill-start assist torque according to the torque control instruction; the first judging module is configured to control the drive motor to stop outputting the hill-start assist torque if the maintaining duration is greater than a preset duration, or if the maintaining duration is less than or equal to the preset duration and any one of the following conditions is met: the current gear changes, the request torque generated by the change of the accelerator pedal stroke is greater than the hill-start assist torque, and the electronic hand brake is in the pulled-up state; otherwise, the first judging module is configured to control the drive motor to continue outputting the hill-start assist torque.

[0053] In an embodiment of the present application, the device 10 of the embodiment of the present application further comprises a second judging module configured to judge whether the maximum stroke of the brake pedal is greater than a preset stroke before matching the hill-start assist torque according to the maximum stroke; if the maximum stroke is greater than the preset stroke, send a pull-up request to the electronic hand brake to make the electronic hand brake pull up and make the vehicle park; otherwise, match the hill-start assist torque according to the maximum stroke.

[0054] It should be noted that the foregoing explanation and description of the embodiment of the hill-start assist method for electric vehicles also apply to the embodiment of the hill-start assist device for electric vehicles, which will not be described here again.

[0055] The hill-start assist device for electric vehicles according to the embodiment of the present application uses the output torque of the drive motor to realize the smooth parking of the vehicle on the slope, and realizes the smooth parking without the need of additionally increasing the slope sensor, thereby reducing the cost of parking and the overall cost of the vehicle and improving the user experience. Thus, the problem of the need of additionally increasing the slope sensor to realize the parking of the vehicle on the slope and the high parking cost in the related art are solved.

[0056] Figure 4 The structure of the electric vehicle according to the embodiment of the present application is provided. The electric vehicle can comprise:

[0057] The memory 401, the processor 402 and the computer program stored in the memory 401 and executable on the processor 402.

[0058] The processor 402 executes the program to realize the hill-start assist method for electric vehicles provided in the above embodiments.

[0059] Further, the electric vehicle further comprises:

[0060] The communication interface 403 is configured to realize the communication between the memory 401 and the processor 402.

[0061] The memory 401 is configured to store the computer program executable on the processor 402.

[0062] The memory 401 can include a high-speed RAM (Random Access Memory) memory, and can also include a nonvolatile memory such as at least one disk memory.

[0063] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and complete communication between each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 4 In the figure, only one thick line is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0064] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can complete communication between each other through an internal interface.

[0065] The processor 402 can be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present application.

[0066] The embodiments of the present application also provide a computer readable storage medium, which has a computer program stored thereon, and the program is executed by a processor to implement the electric vehicle ramp auxiliary method as above.

[0067] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily referred to the same embodiment or example. Moreover, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the terminology "comprising" is used in the description and in the claims to mean, and is also used in the description and in the claims to mean, that something includes, but is not limited to, that something includes, that something includes at least the recited feature, structure, material, or characteristic, but not excluding other features, structures, materials, or characteristics.

[0068] In addition, the terms "first", "second", etc. are used only for descriptive purposes and do not necessarily indicate or imply relative importance or an ordering of importance. Thus, features defined with "first", "second" etc. can include at least one of the features, explicitly or implicitly. In the description of the application, the meaning of "N" is at least two, for example two, three, etc., unless otherwise explicitly and specifically limited.

[0069] Any process or method descriptions or descriptions of the flow diagrams in the present application can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions (or steps) in the process, and that the various systems described herein can include one or more servers or other processing devices which execute such code. The machine-executable instructions can be stored on one or more machine-readable media, which can include any media or memory known to those of skill in the art, including both volatile and non-volatile memory. In the present application, the term "memory" means all memory, both volatile and non-volatile, connected or removable. The various steps or methods can be embodied in software, firmware, or hardware, including, but not limited to, any algorithmic or heuristic process whether implemented with software, in hardware, or a combination thereof, as will be understood by persons of ordinary skill in the art.

[0070] It should be understood that parts of the present application can be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, N steps or methods can be implemented with software or firmware stored in a memory and executed by a suitable instruction execution system. As in another embodiment, if implemented with hardware, any of the following technologies known in the art or their combination can be used: discrete logic circuit with logic gate circuit for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array, field programmable gate array, etc.

[0071] Those of ordinary skill in the art can understand that all or part of the steps carried out by the above-described embodiment method can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

Claims

1. A method for hill assist of an electric vehicle, characterized by, The method comprises the following steps: acquiring one or more target signals in a vehicle parking process; acquiring a maximum stroke of a brake pedal when a target vehicle speed is reached in the vehicle parking process based on the one or more target signals, and matching a hill start assist torque based on the maximum stroke of the brake pedal when it is determined that the vehicle meets a hill start assist condition; generating a torque control instruction based on the hill start assist torque, and controlling a drive motor to output the hill start assist torque by using the torque control instruction, so as to realize parking of the vehicle on a slope; after the drive motor outputs the hill start assist torque by using the torque control instruction, further comprising: acquiring a maintenance duration of the drive motor outputting the hill start assist torque; if the maintenance duration is greater than a preset duration, or if the maintenance duration is less than or equal to the preset duration and any one of the following conditions is met: a current gear changes, a request torque generated by a change in an accelerator pedal stroke is greater than the hill start assist torque, and an electronic handbrake is in a pulled-up state, then the drive motor is controlled to stop outputting the hill start assist torque; otherwise, the drive motor is controlled to continue outputting the hill start assist torque.

2. The method of claim 1, wherein, while the drive motor outputs the hill start assist torque by using the torque control instruction, further comprising: generating a hill start assist prompt signal, and controlling an on-board instrument of the vehicle to perform a preset prompt action by using the prompt signal.

3. The method of claim 1, wherein, before the hill start assist torque is matched based on the maximum stroke of the brake pedal, further comprising: determining whether the maximum stroke is greater than a preset stroke; if the maximum stroke is greater than the preset stroke, sending a pull-up request to the electronic handbrake, so that the electronic handbrake is pulled up and the vehicle is parked; otherwise, the hill start assist torque is matched based on the maximum stroke.

4. A ramp assist device for electric vehicles, characterized in that, comprise: a first acquisition module, configured to acquire one or more target signals in a vehicle parking process; a matching module, configured to acquire a maximum stroke of a brake pedal when a target vehicle speed is reached in the vehicle parking process based on the one or more target signals when it is determined that the vehicle meets a hill start assist condition, and match a hill start assist torque based on the maximum stroke of the brake pedal; a control module, configured to generate a torque control instruction based on the hill start assist torque, and control a drive motor to output the hill start assist torque by using the torque control instruction, so as to realize parking of the vehicle on a slope; a second acquisition module, configured to acquire a maintenance duration of the drive motor outputting the hill start assist torque after the drive motor outputs the hill start assist torque by using the torque control instruction; a first determination module, configured to control the drive motor to stop outputting the hill start assist torque if the maintenance duration is greater than a preset duration, or if the maintenance duration is less than or equal to the preset duration and any one of the following conditions is met: a current gear changes, a request torque generated by a change in an accelerator pedal stroke is greater than the hill start assist torque, and an electronic handbrake is in a pulled-up state; otherwise, the drive motor is controlled to continue outputting the hill start assist torque.

5. The apparatus of claim 4, wherein, the control module is further configured to: A prompt signal of the hill start assist is generated while the drive motor is controlled to output the hill start assist torque according to the torque control instruction, and the prompt signal is used to control a vehicle-mounted instrument of the vehicle to perform a preset prompt action.

6. The apparatus of claim 4, wherein, Also included are: A second determining module is configured to determine whether the maximum stroke is greater than a preset stroke before matching the hill start assist torque according to the maximum stroke of the brake pedal; If the maximum stroke is greater than the preset stroke, a pull-up request is sent to the electronic handbrake to pull up the electronic handbrake so that the vehicle is parked, otherwise the hill start assist torque is matched according to the maximum stroke.

7. An electric vehicle, characterized by Comprise: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the hill start assist method for the electric vehicle according to any one of claims 1-3.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the hill start assist method for the electric vehicle according to any one of claims 1-3.

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