Vehicle hill start control method, device, readable storage medium and vehicle

Abstract

The embodiment of the present application provides a vehicle hill start control method, device, readable storage medium and vehicle, the method comprising: when the slope of the road is greater than a preset slope, detecting the state of the vehicle's brake valve; when it is detected that the brake valve is in a braking state, obtaining in real time the voltage value corresponding to the brake air pressure of the brake valve; when it is detected that the voltage value drops to a first preset voltage value, determining a pre-output torque for the vehicle's motor and controlling the vehicle's motor to establish the pre-output torque; when it is detected that the voltage value drops to a second preset voltage value, controlling the vehicle's motor to output the pre-output torque to provide driving force for the vehicle. The method provided by the embodiment of the present application detects possible starting behaviors of the vehicle on a slope, and completes the torque establishment of the vehicle's motor in a timely manner before the brake valve cannot provide sufficient braking force, effectively preventing the vehicle from sliding down the slope and improving the vehicle's safety performance.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle hill start control method, a vehicle hill start control device, a readable storage medium, and a vehicle. Background Art

[0002] Electric vehicles are directly driven by motors and have highly sensitive start-stop capabilities. Benefiting from the quickness of electric vehicle startup, unlike fuel vehicles with transmissions, current electric vehicles start on a slope by completely releasing the brake pedal, sending a signal to the microcontroller unit, which then controls the motor to build torque to achieve a hill start.

[0003] However, during the period from when the motor receives the signal to when it establishes the corresponding torque, the vehicle is in an unbraked state. A vehicle on a slope is affected by gravity and will briefly slide down the slope, posing a safety hazard to vehicle driving and may even lead to a serious accident. Summary of the invention

[0004] In order to solve the above problems, the embodiments of the present application propose a vehicle hill start control method, a vehicle hill start control device, a readable storage medium and a vehicle, aiming to prevent the vehicle from sliding down the slope when starting on a slope and ensure driving safety.

[0005] The present application provides a vehicle hill start control method, the method comprising:

[0006] A method for detecting the slope of a road on which the vehicle is currently located;

[0007] When the slope of the road is greater than a preset slope, detecting the state of the brake valve of the vehicle;

[0008] When it is detected that the brake valve is in a braking state, a voltage value corresponding to the brake air pressure of the brake valve is acquired in real time;

[0009] In the case of detecting that the voltage value decreases to a first preset voltage value, determining a pre-output torque for the motor of the vehicle, and controlling the motor of the vehicle to establish the pre-output torque;

[0010] When it is detected that the voltage value is reduced to a second preset voltage value, the motor of the vehicle is controlled to output the pre-output torque to provide driving force for the vehicle.

[0011] Optionally, when it is detected that the brake valve is in a braking state, a voltage value corresponding to the brake air pressure of the brake valve is obtained in real time, including:

[0012] When it is detected that the brake valve is in a braking state, detecting the uphill and downhill state and gear position information of the vehicle;

[0013] When the vehicle is in a downhill state and the gear information is reverse gear, a voltage value corresponding to the brake air pressure of the brake valve is obtained in real time;

[0014] When the vehicle is in an uphill state and the gear information is a forward gear, a voltage value corresponding to the brake air pressure of the brake valve is obtained in real time.

[0015] Optionally, controlling the motor of the vehicle to establish the pre-output torque comprises:

[0016] A torque increase signal corresponding to the pre-output torque is sent to a microcontroller unit of the vehicle, so that the microcontroller unit of the vehicle sends a corresponding torque request signal to the motor of the vehicle, and the motor of the vehicle is used to establish the pre-output torque according to the torque request signal.

[0017] Optionally, the method further includes:

[0018] When the voltage value increases, or when the voltage value does not decrease to the first preset voltage value, the voltage value corresponding to the brake air pressure of the brake valve is periodically acquired.

[0019] Optionally, the brake air pressure of the brake valve is obtained by an air pressure sensor arranged at an air outlet of the brake valve;

[0020] The voltage value corresponding to the brake air pressure of the brake valve is obtained by linearly converting the value of the brake air pressure by the air pressure sensor.

[0021] Optionally, the brake air pressure corresponding to the first preset voltage value is greater than the hill start air pressure of the brake valve, and is less than the full brake air pressure of the brake valve;

[0022] The hill start air pressure is the maximum brake air pressure when the vehicle starts on the slope.

[0023] Optionally, the pre-output torque is not less than the minimum torque required for the vehicle to start on the ramp.

[0024] The present application also provides a vehicle hill start control device, the device comprising:

[0025] A slope detection unit, used to detect the slope of the road on which the vehicle is currently located;

[0026] a brake state detection unit, used to detect the state of the brake valve of the vehicle when the slope of the road is greater than a preset slope;

[0027] A brake air pressure detection unit, used to obtain a voltage value corresponding to the brake air pressure of the brake valve in real time when detecting that the brake valve is in a braking state;

[0028] a torque increasing unit, configured to determine a pre-output torque for the motor of the vehicle and control the motor of the vehicle to establish the pre-output torque when detecting that the voltage value is reduced to a first preset voltage value;

[0029] The driving unit is used to control the motor of the vehicle to output the pre-output torque to provide driving force for the vehicle when it is detected that the voltage value drops to a second preset voltage value.

[0030] Optionally, the device comprises:

[0031] A first braking state detection unit, for detecting the uphill and downhill state and gear information of the vehicle when detecting that the brake valve is in a braking state;

[0032] A second brake state detection unit is used to obtain in real time a voltage value corresponding to the brake air pressure of the brake valve when the vehicle is in a downhill state and the gear information is reverse gear;

[0033] The third brake state detection unit is used to obtain the voltage value corresponding to the brake air pressure of the brake valve in real time when the vehicle is in an uphill state and the gear information is a forward gear.

[0034] Optionally, the device comprises:

[0035] A micro-control torque boost unit is used to send a torque boost signal corresponding to the pre-output torque to the micro-control unit of the vehicle, so that the micro-control unit of the vehicle sends a corresponding torque request signal to the motor of the vehicle, and the motor of the vehicle is used to establish the pre-output torque according to the torque request signal.

[0036] Optionally, the device comprises:

[0037] The periodic detection unit is used to periodically obtain the voltage value corresponding to the brake air pressure of the brake valve when the voltage value increases or when the voltage value does not decrease to the first preset voltage value.

[0038] Optionally, the device comprises:

[0039] The brake air pressure of the brake valve is obtained by an air pressure sensor arranged at the air outlet of the brake valve;

[0040] The voltage value corresponding to the brake air pressure of the brake valve is obtained by linearly converting the value of the brake air pressure by the air pressure sensor.

[0041] Optionally, the device comprises:

[0042] The brake pressure corresponding to the first preset voltage value is greater than the hill start pressure of the brake valve, and is less than the full brake pressure of the brake valve;

[0043] The hill start air pressure is the maximum brake air pressure when the vehicle starts on the slope.

[0044] Optionally, the device comprises:

[0045] The pre-output torque is not less than a minimum torque required for the vehicle to start on the slope.

[0046] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the method described in any of the above embodiments are implemented.

[0047] An embodiment of the present application also provides a vehicle, wherein a vehicle controller of the vehicle implements the steps in the method described in any of the above embodiments when executed.

[0048] Through the above embodiments, the present application provides a vehicle hill start control method, a vehicle hill start control device, a readable storage medium, and a vehicle, which first detects whether the vehicle is in a braking state on a slope, and then detects the vehicle's starting intention on this basis, and when the voltage value corresponding to the brake air pressure of the brake valve is reduced to a first preset voltage value, the motor is allowed to first establish a pre-output torque, and then when the voltage value corresponding to the brake air pressure of the brake valve is reduced to a second preset voltage value, the vehicle motor is able to directly output the pre-output torque to drive the vehicle to start. Accordingly, the embodiments of the present application include the following advantages:

[0049] (1) The embodiment of the present application detects the starting preparation state of the vehicle on a slope before the brake valve of the vehicle is fully released, so that the vehicle components can respond in time to possible starting behavior of the vehicle.

[0050] (2) The embodiments of the present application can timely complete the establishment of the torque of the vehicle's motor before the vehicle's brake valve is unable to provide sufficient braking force, thereby preventing the vehicle from sliding down a slope due to the motor's untimely response.

[0051] (3) The embodiments of the present application can timely control the motor output torque when the vehicle's brake valve cannot provide sufficient braking force, thereby achieving safe starting of the vehicle on a slope while meeting the healthy operation requirements of the electric vehicle's engine system. This can effectively prevent the electric vehicle from sliding down a slope when starting on a slope, thereby improving the vehicle experience of the passengers, and can also help to ensure the personal safety of the passengers and reduce the occurrence of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a flowchart of the steps of a vehicle hill start control method provided by an embodiment of the present application;

[0053] Figure 2 is a schematic diagram of the operation of a vehicle anti-slope system provided in an embodiment of the present application;

[0054] Figure 3 This is a flowchart of a method for obtaining voltage values ​​in real time provided by an embodiment of the present application;

[0055] Figure 4 It is a structural block diagram of a vehicle hill start control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] For traditional manual transmission cars, the steps of starting on a slope are relatively complicated: the driver needs to first step on the brake pedal and clutch when starting on a slope; after engaging the gear, slowly release the clutch; after the vehicle shakes, indicating that the car engine has built up a certain torque, completely release the brake pedal, step on the accelerator, completely release the clutch, and the vehicle starts. In this process, if the torque is successfully built without releasing the brake pedal, the vehicle is less likely to slide down the slope.

[0058] For automatic transmission fuel vehicles or gas vehicles, with the help of hill-start assist technology, the difficulty of starting on a slope is greatly reduced. The electronic handbrake automatically compensates for the influence of gravity on the car on the slope, allowing the vehicle to start directly in response to the accelerator pedal signal.

[0059] However, for electric vehicles, usually considering the responsiveness of the motor, the motor will directly output the driving force after the user completely releases the brake pedal. Although the response speed is rapidly improved compared to fuel engines or fuel transmitters, after the brake pedal is completely released, the electric vehicle will transmit the vehicle start signal through the layers of vehicle components to the motor, and then the motor will increase the torque to the torque required for hill starting until the torque output is completed, which still takes a certain amount of time. During this period, the vehicle is in an unbraked state and may slide down the slope for a short time, that is, the vehicle slides down a distance on the slope without human will. For the passengers of the vehicle, this not only causes a bad experience, but also leads to safety hazards such as traffic accidents.

[0060] In view of the analysis of the above problems, the inventor considered not using an additional handbrake hill-start assist system, but optimizing the vehicle's hill start control so that vehicle components can respond promptly to the vehicle's intention to start on a hill and provide sufficient driving force before the vehicle loses braking control to prevent the vehicle from sliding down the slope, thereby improving the vehicle's user experience and safety.

[0061] The following is a description of the embodiments of the present application with reference to the accompanying drawings:

[0062] Reference Figure 1 , Figure 1 1 is a flowchart of a vehicle hill start control method provided by an embodiment of the present application. Figure 1 As shown, the method can be applied to a vehicle control unit (VCU) or a vehicle control unit, etc., which is used to complete the signal processing and calculation related to the vehicle power system, and specifically includes the following steps:

[0063] Step S31: Detect the slope of the road on which the vehicle is currently located.

[0064] In the embodiment of the present application, the slope of the road on which the vehicle is currently located can be detected by acquiring a vehicle body level signal sent by a vehicle body sensor.

[0065] Furthermore, the vehicle environment sensor can be a gravity sensor, through which the relative height position of the vehicle's front and rear parts can be directly detected, and then the angle between the front and rear parts of the vehicle and the horizontal plane can be obtained, which is the slope of the road described by the vehicle.

[0066] For example, when the angle between the front and rear of the vehicle body and the horizontal plane is 15°, it indicates that the slope of the road on which the vehicle is located is also 15°.

[0067] Among them, considering the fast response characteristics of electric vehicle motors, the fast torque solution in this application can be applied, and the vehicle can be an electric vehicle.

[0068] Through this step, the present application detects the road condition on which the vehicle is traveling, so as to execute the corresponding hill start control method in the subsequent steps for the vehicle on a specific slope.

[0069] Step S32: When the slope of the road is greater than a preset slope, the state of the brake valve of the vehicle is detected.

[0070] The greater the slope of the road, the higher the possibility that the vehicle will roll down when starting on a slope. In an embodiment of the present application, when the slope of the road is greater than a preset slope, it indicates that the vehicle has a certain possibility of rolling down when starting on a slope. The preset slope may also be the slope at which the vehicle reaches a preset rolling distance when starting on a slope. This rolling distance may be the average rolling distance obtained after the vehicle has performed a ramp start rolling test on multiple roads of different materials. When performing a ramp start rolling test, vehicles of different vehicle models and vehicles of different tire models may also be selected.

[0071] Specifically, the preset slope can be preset to a value in the range of 5° to 15°. Furthermore, the preset slope can be 10°.

[0072] In an embodiment of the present application, when it is detected that the slope of the road is greater than a preset slope, it indicates that the vehicle may slide down the slope when starting. On this basis, the braking state of the vehicle is detected to detect whether the vehicle has the basic preparation conditions for starting.

[0073] The brake valve of the vehicle may be a brake valve of the vehicle corresponding to the brake pedal. For example, it may be a brake foot valve corresponding to the brake pedal. The state of the brake valve of the vehicle corresponds to different depression depths of the brake pedal. Therefore, the state of the brake valve of the vehicle includes at least one of the following: a braking state, an incomplete braking state, and a non-braking state.

[0074] The braking state may indicate that the vehicle's brake pedal is fully depressed, also referred to as a full braking state.

[0075] The incomplete braking state may indicate that the brake pedal of the vehicle is not fully depressed, for example, it may be depressed to a depth of 60%.

[0076] The no brake condition may mean that the vehicle's brake pedal is fully released.

[0077] Through this step, the present application detects the road condition on which the vehicle is traveling, and when the slope of the road is greater than a preset slope, detects the braking state of the vehicle to detect the basic preparation conditions for vehicle starting, and then executes the corresponding hill start control method in the subsequent steps.

[0078] Step S33: when it is detected that the brake valve is in a braking state, a voltage value corresponding to the brake air pressure of the brake valve is obtained in real time.

[0079] Specifically, when the brake valve is detected to be in the braking state, it means that the brake pedal of the vehicle is fully depressed, and the basic preparation conditions for vehicle starting are met. In this case, the possible starting behavior of the vehicle can be monitored to obtain the change of the brake valve state in real time.

[0080] In an embodiment of the present application, an air pressure sensor can be used to detect the brake air pressure of the brake valve in real time, and convert the brake air pressure of the brake valve into a voltage signal in real time; the vehicle controller can obtain the voltage value corresponding to the brake air pressure of the brake valve from the air pressure sensor in real time.

[0081] Specifically, the air pressure sensor may be integrated into the brake valve.

[0082] Furthermore, in another optional implementation, the brake air pressure of the brake valve may also be obtained by an air pressure sensor disposed at the air outlet of the brake valve.

[0083] Since the brake foot valve in the related technology feeds back a voltage signal through a micro switch, the vehicle controller CVU can only determine the simple braking state of the brake pedal, such as a full braking state or a no braking state, etc. The above method can be used to improve the existing brake valve. An air pressure sensor that can perform real-time detection and has a higher accuracy in converting air pressure to voltage signals is set at the air outlet of the brake valve, which is more convenient and saves costs.

[0084] Therefore, the voltage value obtained by the vehicle controller in real time may be continuously changing. When the depth of the brake pedal corresponding to the brake valve changes, the brake air pressure of the brake valve will also change accordingly. This change may be a nonlinear relationship. That is, the voltage value corresponding to the brake air pressure of the brake valve is obtained by the air pressure sensor through linear conversion according to the value of the brake air pressure.

[0085] The air pressure sensor then converts the brake air pressure of the brake valve into a voltage signal in real time. Since the magnitude of the brake air pressure directly determines the magnitude of the force that restricts the vehicle from sliding backward, the value of the brake air pressure and the voltage value can be in a linear relationship, so that the current state of the vehicle's power system can be judged according to the voltage value. Specifically, when the value of the brake air pressure decreases from high to low, the voltage value corresponding to the value linearly also decreases from high to low, so that the vehicle controller can judge that the vehicle has the possibility of accurate start.

[0086] Exemplarily, when the brake air pressure of the brake valve is 0.9 mPa, the brake air pressure of the brake valve may be 0.9V; when the brake air pressure of the brake valve is 0.5 mPa, the brake air pressure of the brake valve may be 0.5V.

[0087] Step S34: when it is detected that the voltage value is reduced to a first preset voltage value, determine a pre-output torque for the motor of the vehicle, and control the motor of the vehicle to establish the pre-output torque.

[0088] Specifically, the first preset voltage value may be a value within the range of voltage values ​​corresponding to the air pressure value at which the vehicle can still maintain braking when the motor of the vehicle does not output driving force. When the value of the brake air pressure decreases from high to low to a predetermined value, the voltage value corresponding to the value linearly also decreases from high to low to a predetermined voltage value, that is, the first preset voltage value, and the first preset voltage value helps the vehicle controller to determine whether the vehicle is likely to start.

[0089] For example, when the vehicle is on a slope with a gradient of 30°, the air pressure value for maintaining braking includes the full braking pressure, ranging from 0.3 mPa to 1.5 mPa, and the air pressure value corresponding to the first preset voltage value may be 1 mPa.

[0090] In an optional implementation, the brake pressure corresponding to the first preset voltage value may also be greater than the hill start pressure of the brake valve, and less than the full brake pressure of the brake valve.

[0091] The ramp start air pressure is the maximum brake air pressure when the vehicle starts on the ramp. For example, when the vehicle is on a ramp with a gradient of 30°, the vehicle will start to slide once the brake air pressure is less than 0.3 mPa without the vehicle's motor outputting driving force. The maximum brake air pressure when the vehicle starts on the ramp is 0.3 mPa.

[0092] In an optional implementation, the pre-output torque is not less than the minimum torque required for the vehicle to start on the ramp. For example, if the minimum torque required for the vehicle to start on a ramp with a slope of 30° is 4000 N·m, the pre-output torque may be 4500 N·m.

[0093] Step S35: When it is detected that the voltage value drops to a second preset voltage value, the motor of the vehicle is controlled to output the pre-output torque to provide driving force for the vehicle.

[0094] Specifically, the second preset voltage value may be a voltage value linearly corresponding to the vehicle's hill start air pressure. For example, if the vehicle's hill start air pressure is 0.3 mPa, the second preset voltage value may be 0.3V.

[0095] Considering that in some scenarios, such as when the slope is small, the vehicle's hill start pressure is close to the pressure value 0 in the non-braking state, therefore, in another optional implementation, the second preset voltage value may also be 0, that is, the corresponding brake pressure is 0. When the vehicle is in the non-braking state, the pre-output torque is output again to provide driving force for the vehicle, and the time when the slope rolls can be ignored.

[0096] In the aforementioned step, the motor pre-establishes a pre-output torque before the brake valve cannot provide sufficient braking force. In this step, when it is detected that the voltage value drops to the second preset voltage value, that is, the vehicle may no longer be able to maintain braking on the slope without the motor drive, the pre-established pre-output torque can be used to output the driving force.

[0097] Through the above embodiments, the present application detects the starting preparation state of the vehicle on the slope before the brake valve of the vehicle is completely released, so as to complete the torque establishment of the vehicle motor in time before the brake valve of the vehicle is unable to provide sufficient braking force, thereby preventing the motor from untimely responding and causing the vehicle to slide down the slope, and then timely controlling the motor output torque when the brake valve of the vehicle is unable to provide sufficient braking force. Under the premise of meeting the healthy operation requirements of the electric vehicle engine system, the vehicle can be safely started on the slope, which can effectively prevent the electric vehicle from sliding down the slope when starting on the slope, improve the car-using experience of the passengers, and also help to ensure the personal safety of the vehicle users and reduce the occurrence of traffic accidents.

[0098] In the embodiment of the present application, the order of implementing the above step S31 and step S32 is not particularly limited. In an optional implementation, the present application can also first detect the braking state of the vehicle, and then detect whether the vehicle is on a slope, including:

[0099] Detecting the state of a brake valve of the vehicle;

[0100] When it is detected that the brake valve is in a braking state, the slope of the road on which the vehicle is currently located is detected.

[0101] Reference Figure 2 , Figure 2 Schematic diagram of the operation of a vehicle anti-slope system provided in an embodiment of the present application. Figure 2 As shown, further, in an optional embodiment, the present application also provides a method for operating a vehicle anti-slope system, the method comprising:

[0102] When the driver steps on or releases the brake pedal, the air pressure sensor at the brake pedal outlet can detect the change in the brake air pressure of the brake foot valve. The air pressure sensor can linearly control the brake air pressure and the voltage value of the converted voltage signal, and the air pressure sensor can be connected to the outlet of the brake foot valve;

[0103] The air pressure sensor converts the air pressure of the brake foot valve into a voltage signal and sends it to the vehicle controller VCU. The vehicle controller VCU determines the change in the voltage value of the voltage signal;

[0104] When the voltage value of the voltage signal shows a trend of changing from low to high from a certain starting value, it indicates that the driver is stepping on the brake pedal to brake and does not need to start, and the detection of this cycle is ended;

[0105] When the voltage value of the voltage signal shows a trend of changing from high to low and is greater than or equal to the set value, it indicates that the driver is releasing the brake pedal but is not sure whether to start the vehicle, and the voltage signal of the air pressure sensor is continuously received;

[0106] When the voltage value of the voltage signal changes from high to low and is less than the set value, it indicates that the driver is releasing the brake pedal and needs to start. The vehicle controller VCU sends a torque increase signal to the motor controller; wherein the motor controller may be a microcontroller unit MCU;

[0107] The motor controller MCU sends a torque request signal to the motor, and the motor establishes a corresponding torque, thereby preventing the torque from being established in time and causing a slope slip, thereby ending the control of this cycle.

[0108] Reference Figure 3 , Figure 3 1 is a flowchart of a method for obtaining voltage value in real time provided by an embodiment of the present application. Figure 3 As shown, in order to further fully adapt to the scenario of starting on a hill, in an optional implementation manner, the present application further provides a method for obtaining a voltage value in real time, comprising:

[0109] Step S331, when it is detected that the brake valve is in a braking state, detecting the uphill and downhill state and gear information of the vehicle.

[0110] Specifically, the uphill and downhill states may include: uphill state, downhill state. The gear information may include: reverse gear, forward gear.

[0111] Step S332, when the vehicle is in a downhill state and the gear information is reverse gear, the voltage value corresponding to the brake air pressure of the brake valve is obtained in real time.

[0112] Specifically, the vehicle is in a downhill state and the gear information is reverse gear, which means that the vehicle is reversing in an uphill direction on the slope. This situation is prone to rolling down the slope and is suitable for executing the vehicle hill start control method in the embodiment of the present application.

[0113] Step S333, when the vehicle is in an uphill state and the gear information is a forward gear, a voltage value corresponding to the brake air pressure of the brake valve is obtained in real time.

[0114] Specifically, the vehicle is in an uphill state, and the gear information is a forward gear, which means that the vehicle is moving in an uphill direction on the slope. This situation is also prone to rolling down the slope, and is suitable for executing the vehicle hill start control method in the embodiment of the present application.

[0115] Through this embodiment, the specific driving state of the vehicle on the slope is detected, and the driving start behavior of the vehicle when it is actually going uphill is controlled to output torque in advance, thereby effectively preventing the vehicle from sliding down the slope.

[0116] Considering the current start-up control method of the electric vehicle power system, in order to adapt to the existing start-up system and reduce costs, in an optional implementation, the present application also provides a method for controlling the motor of the vehicle to establish the pre-output torque, including:

[0117] A torque increase signal corresponding to the pre-output torque is sent to a microcontroller unit of the vehicle, so that the microcontroller unit of the vehicle sends a corresponding torque request signal to the motor of the vehicle, and the motor of the vehicle is used to establish the pre-output torque according to the torque request signal.

[0118] Among them, the microcontroller unit MCU (Microcontroller Unit) can directly control the vehicle's motor using the sent signal. Therefore, through the embodiment of the present application, the vehicle controller can send a torque increase signal to the microcontroller unit to control the start and stop of the motor or establish torque.

[0119] In addition, considering that when the air pressure of the brake valve of the vehicle changes, the driver may not necessarily release the brake pedal, that is, there may not necessarily be a start-up behavior. The embodiment of the present application detects other driving operations except the start-up behavior, so as to periodically continue to detect when the vehicle start-up behavior is not detected. Therefore, in an optional implementation, the present application also provides a method for periodically obtaining a voltage value, including:

[0120] When the voltage value increases, or when the voltage value does not decrease to the first preset voltage value, the voltage value corresponding to the brake air pressure of the brake valve is periodically acquired.

[0121] Among them, the increase in voltage value indicates that the brake air pressure of the brake valve of the vehicle increases, indicating that the driver may be pressing down the brake pedal instead of releasing the brake pedal; or, the voltage value does not decrease to the first preset voltage value, indicating that the brake air pressure of the brake valve of the vehicle decreases again, but the extent to which the driver releases the brake pedal may not be sufficient to prove his intention to start. In these cases, the voltage value corresponding to the brake air pressure of the brake valve can continue to be periodically obtained.

[0122] Through the above embodiments, the present application provides a vehicle hill start control method, which accurately targets the intention of the vehicle to start uphill on a slope, establishes torque in advance, and then quickly outputs driving force when the vehicle is likely to lose braking force on the slope to prevent the vehicle from sliding down the slope, thereby effectively improving the safety performance of the vehicle.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a vehicle hill start control device 60 . Figure 4 is a structural block diagram of a vehicle hill start control device 60 provided in an embodiment of the present application. Figure 4 As shown, the device 60 is applied to a vehicle controller, and the vehicle controller includes a watchdog module, a bootloader and an application program, specifically including:

[0124] A slope detection unit 61, used to detect the slope of the road on which the vehicle is currently located;

[0125] A brake state detection unit 62, configured to detect the state of a brake valve of the vehicle when the slope of the road is greater than a preset slope;

[0126] The brake air pressure detection unit 63 is used to obtain the voltage value corresponding to the brake air pressure of the brake valve in real time when it is detected that the brake valve is in a braking state;

[0127] The torque increasing unit 64 is used to determine the pre-output torque for the motor of the vehicle and control the motor of the vehicle to establish the pre-output torque when detecting that the voltage value is reduced to a first preset voltage value;

[0128] The driving unit 65 is used to control the motor of the vehicle to output the pre-output torque to provide driving force for the vehicle when it is detected that the voltage value is reduced to a second preset voltage value.

[0129] Optionally, the device comprises:

[0130] A first braking state detection unit, for detecting the uphill and downhill state and gear information of the vehicle when detecting that the brake valve is in a braking state;

[0131] A second brake state detection unit is used to obtain in real time a voltage value corresponding to the brake air pressure of the brake valve when the vehicle is in a downhill state and the gear information is reverse gear;

[0132] The third brake state detection unit is used to obtain the voltage value corresponding to the brake air pressure of the brake valve in real time when the vehicle is in an uphill state and the gear information is a forward gear.

[0133] Optionally, the device comprises:

[0134] A micro-control torque boost unit is used to send a torque boost signal corresponding to the pre-output torque to the micro-control unit of the vehicle, so that the micro-control unit of the vehicle sends a corresponding torque request signal to the motor of the vehicle, and the motor of the vehicle is used to establish the pre-output torque according to the torque request signal.

[0135] Optionally, the device comprises:

[0136] The periodic detection unit is used to periodically obtain the voltage value corresponding to the brake air pressure of the brake valve when the voltage value increases or when the voltage value does not decrease to the first preset voltage value.

[0137] Optionally, the device comprises:

[0138] The brake air pressure of the brake valve is obtained by an air pressure sensor arranged at the air outlet of the brake valve;

[0139] The voltage value corresponding to the brake air pressure of the brake valve is obtained by linearly converting the value of the brake air pressure by the air pressure sensor.

[0140] Optionally, the device comprises:

[0141] The brake pressure corresponding to the first preset voltage value is greater than the hill start pressure of the brake valve, and is less than the full brake pressure of the brake valve;

[0142] The hill start air pressure is the maximum brake air pressure when the vehicle starts on the slope.

[0143] Optionally, the device comprises:

[0144] The pre-output torque is not less than a minimum torque required for the vehicle to start on the slope.

[0145] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the method described in any of the above embodiments are implemented.

[0146] Based on the same inventive concept, an embodiment of the present application also provides a vehicle, wherein the vehicle controller of the vehicle implements the steps in the method described in any of the above embodiments when executed.

[0147] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0148] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, devices, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0149] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0150] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0151] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0152] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0153] Finally, it should be noted that, in the present embodiment, relational terms such as first and second, etc., are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device 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 terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or terminal device including the elements.

[0154] A vehicle hill start control method, a vehicle hill start control device, a readable storage medium and a vehicle provided by the present application are introduced in detail above. In this embodiment, specific examples are used to illustrate the principle and implementation method of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for a person skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A vehicle hill start control method, characterized in that: The method comprises: Detecting the slope of the road on which the vehicle is currently located; When the slope of the road is greater than a preset slope, detecting the state of the brake valve of the vehicle; When it is detected that the brake valve is in a braking state, a voltage value corresponding to the brake air pressure of the brake valve is acquired in real time; In the case of detecting that the voltage value decreases to a first preset voltage value, determining a pre-output torque for the motor of the vehicle, and controlling the motor of the vehicle to establish the pre-output torque; When it is detected that the voltage value is reduced to a second preset voltage value, the motor of the vehicle is controlled to output the pre-output torque to provide driving force for the vehicle.

2. The method according to claim 1, characterized in that When it is detected that the brake valve is in a braking state, a voltage value corresponding to the brake air pressure of the brake valve is obtained in real time, including: When it is detected that the brake valve is in a braking state, detecting the uphill and downhill state and gear position information of the vehicle; When the vehicle is in a downhill state and the gear information is reverse gear, a voltage value corresponding to the brake air pressure of the brake valve is obtained in real time; When the vehicle is in an uphill state and the gear information is a forward gear, a voltage value corresponding to the brake air pressure of the brake valve is obtained in real time.

3. The method according to claim 1, characterized in that Controlling the electric machine of the vehicle to establish the pre-output torque includes: A torque increase signal corresponding to the pre-output torque is sent to a microcontroller unit of the vehicle, so that the microcontroller unit of the vehicle sends a corresponding torque request signal to the motor of the vehicle, and the motor of the vehicle is used to establish the pre-output torque according to the torque request signal.

4. The method according to claim 1, characterized in that: The method further comprises: When the voltage value increases, or when the voltage value does not decrease to the first preset voltage value, the voltage value corresponding to the brake air pressure of the brake valve is periodically acquired.

5. The method according to claim 1, characterized in that The brake air pressure of the brake valve is obtained by an air pressure sensor arranged at the air outlet of the brake valve; The voltage value corresponding to the brake air pressure of the brake valve is obtained by linearly converting the value of the brake air pressure by the air pressure sensor.

6. The method according to claim 1, characterized in that The brake pressure corresponding to the first preset voltage value is greater than the hill start pressure of the brake valve, and is less than the full brake pressure of the brake valve; The hill start air pressure is the maximum brake air pressure when the vehicle starts on the slope.

7. The method according to claim 1, characterized in that The pre-output torque is not less than a minimum torque required for the vehicle to start on the slope.

8. A vehicle hill start control device, characterized in that: The device comprises: A slope detection unit, used to detect the slope of the road on which the vehicle is currently located; a brake state detection unit, used to detect the state of the brake valve of the vehicle when the slope of the road is greater than a preset slope; A brake air pressure detection unit, used to obtain a voltage value corresponding to the brake air pressure of the brake valve in real time when detecting that the brake valve is in a braking state; a torque increasing unit, configured to determine a pre-output torque for the motor of the vehicle and control the motor of the vehicle to establish the pre-output torque when detecting that the voltage value is reduced to a first preset voltage value; The driving unit is used to control the motor of the vehicle to output the pre-output torque to provide driving force for the vehicle when it is detected that the voltage value drops to a second preset voltage value.

9. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: The vehicle controller of the vehicle implements the steps in the method according to any one of claims 1 to 7 when executed.

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