A parking slope control method and related device

Abstract

The present invention provides a hill-holding control method and related devices. In the present invention, vehicle information of a target vehicle is obtained, and the vehicle information includes vehicle motion information and / or driver operation information. Based on the vehicle information, it is determined whether the target vehicle meets the state entry condition corresponding to the preset hill-holding state, and the preset hill-holding state at least includes an anti-slipping state. If the target vehicle meets the state entry condition corresponding to the anti-slipping state, the motor is controlled to output a torque opposite to the sliding direction to reduce the vehicle's sliding speed. That is, in the present invention, an anti-slipping strategy under the hill-holding anti-slipping condition of starting on a slope is provided, which ensures the hill-holding safety of the vehicle under the hill-holding anti-slipping condition of starting on a slope, and improves the accuracy of hill-holding control. In addition, the present invention also takes into account the driver's operation information during hill-holding control, that is, the driver's operation factors are considered, and the factors are considered more comprehensively, which can also further improve the accuracy of hill-holding control.

Description

Technical Field

[0001] The present invention relates to the field of hill-holding control, and more specifically, to a hill-holding control method and related device. Background Art

[0002] With the rapid development of new energy technologies, motor drive systems represented by permanent magnet synchronous motors have been widely used in new energy vehicles. In the vehicle field, such as the forklift or electric vehicle field, the trend of electrification is becoming more and more obvious. Replacing the original engine drive system with a permanent magnet synchronous motor drive system can effectively reduce fuel consumption and achieve the purpose of energy conservation and emission reduction. Taking a forklift as an example, the operating environment of a forklift is complex, and the climbing condition is relatively common. At present, the permanent magnet synchronous motor drive system can achieve torque output at zero speed, so as to meet the hill-holding requirements of electric forklifts.

[0003] During the hill-holding control process of a forklift, in order to prevent the forklift from slipping, the anti-slip hill-holding function can be triggered. At present, this function can achieve deceleration and stop hill-holding when releasing the accelerator pedal during driving on a slope, but does not consider the anti-slip hill-holding condition during hill start, resulting in low accuracy of hill-holding control. Summary of the Invention

[0004] In view of this, the present invention provides a hill-holding control method and related device to solve the problem of low accuracy of hill-holding control.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A hill-holding control method, including:

[0007] Obtaining vehicle information of a target vehicle, where the vehicle information includes vehicle motion information and / or driver operation information;

[0008] Based on the vehicle information, determining whether the target vehicle meets the state entry conditions corresponding to a preset hill-holding state; the preset hill-holding state at least includes an anti-slip state;

[0009] If the target vehicle meets the state entry conditions corresponding to the anti-slip state, controlling the motor to output a torque opposite to the slipping direction to reduce the slipping speed of the vehicle.

[0010] Optionally, the state entry conditions corresponding to the anti-slip state include:

[0011] The current gear of the vehicle is not in neutral, the current gear of the vehicle is opposite to the driving intention, and the slipping speed is greater than a preset anti-slip entry speed.

[0012] Optionally, after controlling the motor to output a torque opposite to the slipping direction to reduce the slipping speed of the vehicle, it further includes:

[0013] If the target vehicle meets the state exit conditions corresponding to the anti-rolling state, control the target vehicle to exit the anti-rolling state;

[0014] The state exit conditions corresponding to the anti-rolling state include:

[0015] The rolling speed is less than the preset rolling-in speed for slope holding;

[0016] Or, the target vehicle travels normally in the gear direction after the driver steps on the accelerator pedal;

[0017] Or, the gear of the target vehicle is switched to neutral or reverse gear.

[0018] Optionally, the preset slope-holding state includes the slope-holding stationary state, and the slope-holding control method further includes:

[0019] If the target vehicle meets the state entry conditions corresponding to the slope-holding stationary state, maintain the vehicle stationary state by controlling the motor output torque.

[0020] Optionally, the state entry conditions corresponding to the slope-holding stationary state include:

[0021] When the target vehicle is in the anti-rolling state, the rolling speed is less than the preset rolling-in speed for slope holding, and the motor torque is greater than the preset rolling-in torque for slope holding;

[0022] Or, when the driver outputs a deceleration action of releasing the accelerator pedal during driving on a slope, the vehicle speed is less than the preset rolling-in speed for slope holding, and the motor torque is greater than the preset rolling-in torque for slope holding.

[0023] Optionally, after maintaining the vehicle stationary state by controlling the motor output torque, it further includes:

[0024] If the target vehicle meets the state exit conditions corresponding to the slope-holding stationary state, control the target vehicle to exit the slope-holding stationary state;

[0025] The state exit conditions corresponding to the slope-holding stationary state include:

[0026] The duration of slope-holding stationary reaches the set maximum slope-holding time;

[0027] Or, a stall fault occurs during the slope-holding stationary process;

[0028] Or, the gear is switched to N gear and lasts for a set time during the slope-holding stationary process;

[0029] Or, the target vehicle travels normally in the gear direction after the driver steps on the accelerator pedal.

[0030] Optionally, the preset slope-holding state includes a slope-holding release state, and the slope-holding control method further includes:

[0031] If the target vehicle meets the state entry condition corresponding to the slope-holding release state, control the target vehicle to coast downhill at a constant speed.

[0032] Optionally, the state entry condition corresponding to the slope-holding release state includes:

[0033] The duration of slope-holding stillness reaches the set maximum slope-holding time;

[0034] Or, a stall fault occurs during the slope-holding stillness;

[0035] Or, the gear is switched to the N gear and lasts for a set time during the slope-holding stillness.

[0036] Optionally, after controlling the target vehicle to coast downhill at a constant speed, it further includes:

[0037] If the target vehicle meets the state exit condition corresponding to the slope-holding release state, control the target vehicle to exit the slope-holding release state;

[0038] The state exit condition corresponding to the slope-holding release state includes:

[0039] The sign of the current torque of the motor is the same as the current speed;

[0040] Or, after the driver steps on the accelerator pedal, the target vehicle travels normally in the gear direction.

[0041] A slope-holding control device includes:

[0042] An information acquisition module, configured to acquire vehicle information of a target vehicle, where the vehicle information includes vehicle motion information and / or driver operation information;

[0043] A condition judgment module, configured to judge whether the target vehicle meets the state entry condition corresponding to a preset slope-holding state based on the vehicle information; the preset slope-holding state at least includes an anti-coasting state;

[0044] A coasting control module, configured to control the motor to output a torque opposite to the coasting direction to reduce the coasting speed of the vehicle if the target vehicle meets the state entry condition corresponding to the anti-coasting state.

[0045] A slope-holding controller is configured to execute the above slope-holding control method.

[0046] A vehicle includes the above slope-holding controller.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The present invention provides a slope-holding control method and related devices. In the present invention, vehicle information of a target vehicle is obtained, and the vehicle information includes vehicle movement information and / or driver operation information. Based on the vehicle information, it is determined whether the target vehicle meets the state entry conditions corresponding to a preset slope-holding state, and the preset slope-holding state at least includes an anti-rollback state. If the target vehicle meets the state entry conditions corresponding to the anti-rollback state, the motor is controlled to output a torque opposite to the rollback direction to reduce the rollback speed of the vehicle. That is, in the present invention, an anti-rollback strategy under the working condition of slope-starting anti-rollback and slope-holding is given, which ensures the vehicle slope-holding safety under the working condition of slope-starting anti-rollback and slope-holding and improves the accuracy of slope-holding control. In addition, when performing slope-holding control, the present invention also considers driver operation information, that is, considers driver operation factors, and the considered factors are more comprehensive, which can further improve the accuracy of slope-holding control. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for description in the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0050] Figure 1 It is a flowchart of a slope-holding control method provided by an embodiment of the present invention;

[0051] Figure 2 It is a switching schematic diagram of a preset slope-holding state provided by an embodiment of the present invention;

[0052] Figure 3 It is a flowchart of another slope-holding control method provided by an embodiment of the present invention;

[0053] Figure 4 It is a flowchart of yet another slope-holding control method provided by an embodiment of the present invention;

[0054] Figure 5 It is a structural schematic diagram of a slope-holding control device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0056] With the rapid development of new energy technologies, motor drive systems represented by permanent magnet synchronous motors have been widely used in new energy vehicles. In the vehicle field, such as in the forklift or electric vehicle fields, the trend towards electrification is becoming increasingly evident. Replacing the original engine drive system with a permanent magnet synchronous motor drive system can effectively reduce fuel consumption and achieve the goal of energy conservation and emission reduction. Taking forklifts as an example, the operating environment of forklifts is complex, and climbing slopes is a common working condition. At present, the permanent magnet synchronous motor drive system can achieve torque output at zero speed, thus meeting the slope-holding requirements of electric forklifts.

[0057] In electric forklifts, the throttle pedal signal is usually associated with the motor speed command, and the motor drive systems used often adopt a speed control mode. The target speed of the motor is set according to the depth of the throttle pedal, that is, the target vehicle speed of the whole vehicle. When the depth of the throttle pedal is at its maximum value, the target speed of the motor is the maximum speed, and when the throttle pedal is released, the target speed of the motor is 0, and the whole vehicle is in a stationary state. Therefore, the slope-holding working conditions of electric forklifts can be further divided into slope-holding when decelerating and stopping by releasing the throttle pedal during slope driving and anti-rollback slope-holding during slope starting.

[0058] During the slope-holding control process of forklifts, in order to prevent the forklift from rolling back, the anti-rollback slope-holding function can be triggered. At present, this function can achieve slope-holding when decelerating and stopping by releasing the throttle pedal during slope driving, but does not consider the working condition of anti-rollback slope-holding during slope starting, resulting in low accuracy of slope-holding control.

[0059] In addition, during the slope-holding process, the driver's operations on the gear and throttle pedal will also affect the execution of the slope-holding strategy. For example, when the vehicle is stationary on a slope, the driver's operations such as stepping on the throttle and shifting gears also determine whether to exit the slope-holding state. Similarly, during the anti-rollback control process, the driver's operation factors should also be considered. In the current slope-holding control schemes, the driver's operation factors are not considered.

[0060] Therefore, the present invention provides a slope-holding control method for the working condition of anti-rollback slope-holding during slope starting, and comprehensively considers the vehicle operating conditions and various influencing factors, such as the driver's operation factors.

[0061] Specifically, the present invention provides a slope parking control method and related device. In the present invention, vehicle information of a target vehicle is obtained, and the vehicle information includes vehicle movement information and / or driver operation information. Based on the vehicle information, it is determined whether the target vehicle meets the state entry conditions corresponding to a preset slope parking state, and the preset slope parking state at least includes an anti-rollback state. If the target vehicle meets the state entry conditions corresponding to the anti-rollback state, the motor is controlled to output a torque opposite to the rollback direction to reduce the rollback speed of the vehicle. That is, in the present invention, an anti-rollback strategy under the working condition of slope start anti-rollback and slope parking is given, which ensures the vehicle slope parking safety under the working condition of slope start anti-rollback and slope parking and improves the accuracy of slope parking control. In addition, when performing slope parking control, the present invention also considers driver operation information, that is, considers driver operation factors, and the considered factors are more comprehensive, which can further improve the accuracy of slope parking control.

[0062] Based on the above content, referring to Figure 1 , a slope parking control method in the present invention may include:

[0063] S11. Obtain the vehicle information of the target vehicle.

[0064] Among them, the vehicle information includes vehicle movement information and / or driver operation information. The vehicle movement information may be information related to vehicle movement such as vehicle speed, gear, motor speed, motor torque, etc. The driver operation information may be information related to driver operation such as gear shifting, stepping on the accelerator pedal, and releasing the accelerator pedal.

[0065] The target vehicle in this embodiment may be an electric forklift. In addition, it may also be other electric vehicles with a throttle pedal associated speed command.

[0066] S12. Determine whether the target vehicle meets the state entry conditions corresponding to the preset slope parking state; if the target vehicle meets the state entry conditions corresponding to the anti-rollback state, execute step S13.

[0067] In practical applications, based on the vehicle information, it can be determined whether the target vehicle meets the state entry conditions corresponding to the preset slope parking state.

[0068] Among them, the preset slope parking state at least includes an anti-rollback state. In addition, it may also include a slope parking stationary state and a slope parking release state.

[0069] In practical applications, slope parking can be divided into three states: anti-rollback state, slope parking stationary state, and slope parking release state.

[0070] Among them, the anti-sliding state is the process of reducing the sliding speed of the vehicle to a stop by the braking torque of the motor when the vehicle slides. The parked state at rest is the process of the vehicle torque-parking on the slope at a torque greater than the set parked torque. The parked state release is the process of the vehicle sliding at a set speed after actively exiting the parked state at rest. Among them, only one of the anti-sliding state, the parked state at rest, and the parked state release can be activated at the same time, and the parked state release must be activated after the parked state at rest.

[0071] In practical applications, for the working condition of decelerating and parking on a slope by releasing the accelerator pedal, the parked state at rest and the parked state release will be involved. For the working condition of anti-sliding and parking on a slope during a hill start, the anti-sliding state, the parked state at rest, and the parked state release will be involved.

[0072] Refer to Figure 2 , the switching processes of the three states of the anti-sliding state, the parked state at rest, and the parked state release are given. For each preset parked state, corresponding state entry conditions and state exit conditions are configured, and are introduced separately below.

[0073] The state entry conditions corresponding to the anti-sliding state include:

[0074] The current gear of the vehicle is not in neutral, the current gear of the vehicle is opposite to the driving intention, and the sliding speed is greater than the preset anti-sliding entry speed.

[0075] In practical applications, when the state entry conditions corresponding to the anti-sliding state are all met, the vehicle can enter the anti-sliding state.

[0076] The current gear of the vehicle being opposite to the driving intention means that if it is in the forward gear at this time but the detected motor speed is negative, or if it is in the reverse gear at this time but the detected motor speed is positive, it is considered that the current gear of the vehicle is opposite to the driving intention, and there is a sliding speed that violates the driving intention.

[0077] In addition, the preset anti-sliding entry speed in the present invention is preset and can be a value slightly greater than 0, such as 10, 15, etc.

[0078] It should be noted that when the target vehicle is not in the parked state at rest and the parked state release, if the target vehicle meets the state entry conditions corresponding to the anti-sliding state, it is allowed to enter the anti-sliding state. That is, only one of the anti-sliding state, the parked state at rest, and the parked state release can be activated at the same time.

[0079] S13. Control the motor to output a torque opposite to the sliding direction to reduce the sliding speed of the vehicle.

[0080] Specifically, if the target vehicle meets the state entry conditions corresponding to the anti-sliding state, control the motor to output a torque opposite to the sliding direction to reduce the sliding speed of the vehicle.

[0081] More specifically, after the target vehicle enters the anti-rolling state, the motor outputs a torque opposite to the gravitational force to reduce the rolling speed of the vehicle.

[0082] After the target vehicle enters the anti-rolling state and controls the motor to output a torque opposite to the rolling direction to reduce the rolling speed of the vehicle, if the target vehicle meets the state exit conditions corresponding to the anti-rolling state, then control the target vehicle to exit the anti-rolling state.

[0083] Specifically, the state exit conditions corresponding to the anti-rolling state include:

[0084] The rolling speed is less than the preset rolling-in speed for slope parking;

[0085] Or, the target vehicle travels normally in the gear direction after the driver steps on the accelerator pedal;

[0086] Or, the gear of the target vehicle is switched to neutral or reverse gear.

[0087] It should be noted that as long as one of the above state exit conditions corresponding to the anti-rolling state is met, the anti-rolling state can be exited.

[0088] Specifically, when the rolling speed of the vehicle is less than the set preset rolling-in speed for slope parking, it is judged as parking on a slope and the anti-rolling state is exited. Or, when the driver switches the gear to neutral (N gear) or reverse gear, the anti-rolling state is exited. Or, when the driver steps on the accelerator pedal to make the vehicle travel normally in the gear direction, the anti-rolling state is exited.

[0089] In this embodiment, vehicle information of the target vehicle is obtained. The vehicle information includes vehicle motion information and / or driver operation information. Based on the vehicle information, it is judged whether the target vehicle meets the state entry conditions corresponding to the preset slope parking state. The preset slope parking state at least includes the anti-rolling state. If the target vehicle meets the state entry conditions corresponding to the anti-rolling state, then control the motor to output a torque opposite to the rolling direction to reduce the rolling speed of the vehicle. That is, in the present invention, an anti-rolling strategy under the working condition of anti-rolling and slope parking during hill start is given, which ensures the vehicle slope parking safety under the working condition of anti-rolling and slope parking during hill start and improves the accuracy of slope parking control. In addition, when the present invention controls slope parking, driver operation information is also considered, that is, driver operation factors are considered, and more factors are considered, which can further improve the accuracy of slope parking control.

[0090] The above embodiment focuses on explaining the anti-rolling state, and this embodiment introduces the slope parking stationary state in detail.

[0091] Specifically, the preset slope parking state includes a slope parking stationary state. Referring to Figure 3 , the slope parking control method further includes:

[0092] S24. Maintain the vehicle in a stationary state by controlling the output torque of the motor.

[0093] Specifically, if the target vehicle meets the state entry conditions corresponding to the slope parking stationary state, maintain the vehicle in a stationary state by controlling the output torque of the motor.

[0094] Among them, the state entry conditions corresponding to the slope parking stationary state include:

[0095] When the target vehicle is in the anti-roll state, the roll speed is less than the preset slope parking entry speed, and the motor torque is greater than the preset slope parking entry torque;

[0096] Or, when the driver outputs a deceleration action of releasing the accelerator pedal during driving on a slope, the vehicle speed is less than the preset slope parking entry speed, and the motor torque is greater than the preset slope parking entry torque.

[0097] In practical applications, as long as one of the state entry conditions corresponding to the slope parking stationary state is met, the slope parking stationary state can be entered.

[0098] Specifically, when the vehicle parks on a slope, it is further divided into slope parking stationary and non-slope parking.

[0099] In detail, when the vehicle is in the anti-roll state and the roll speed is less than the set preset slope parking entry speed, or when the accelerator pedal is released to decelerate on the slope until the current motor speed is less than the preset slope parking entry speed, it is judged as parking on a slope.

[0100] When parking on a slope, rely on the output torque of the motor to maintain the stationary state of the vehicle. At this time, if the current motor torque does not exceed the set preset slope parking entry torque, it is judged as non-slope parking. In this case, the vehicle can continue to be stationary on the slope until the driver has operations such as shifting gears or stepping on the accelerator pedal. If the current motor torque is greater than the set preset slope parking entry torque, the slope parking stationary state is entered.

[0101] On the basis of this embodiment, after maintaining the vehicle in a stationary state by controlling the output torque of the motor, if the target vehicle meets the state exit conditions corresponding to the slope parking stationary state, control the target vehicle to exit the slope parking stationary state.

[0102] Among them, the state exit conditions corresponding to the slope parking stationary state include:

[0103] The duration of slope parking stationary reaches the set maximum slope parking time;

[0104] Or, a stall fault occurs during slope parking stationary;

[0105] Or, the gear is switched to the N gear and lasts for a set time during slope parking stationary;

[0106] Or, after the driver steps on the accelerator pedal, the target vehicle travels normally in the gear direction.

[0107] It should be noted that as long as one of the state exit conditions corresponding to the parked-on-slope stationary state is satisfied, the parked-on-slope stationary state can be exited.

[0108] Specifically, when the vehicle is parked on the slope and stationary, the motor does not perform commutation, and heat will concentrate on two phases of the motor and the motor controller, which will cause the temperature of power devices such as IGBTs in the motor controller to rise rapidly. Since the temperature that the power devices can withstand is limited, the vehicle cannot remain stationary on the slope continuously. When the parked-on-slope stationary duration reaches the set maximum parked-on-slope time, the parked-on-slope stationary state will be exited and the parked-on-slope release state will be entered. During the parked-on-slope stationary process, if a stall fault occurs in the motor controller, the parked-on-slope stationary state will be immediately exited and the parked-on-slope release state will be entered. In addition, if the driver operates to switch to the N gear, after a certain delay, the parked-on-slope stationary state will be exited and the parked-on-slope release state will be entered. In addition, when the driver steps on the accelerator pedal to make the vehicle travel normally in the gear direction, the parked-on-slope stationary state will be exited, but the parked-on-slope release state will not be entered.

[0109] It should be noted that Figure 3 For the specific explanations of steps S21 - S23 in , please refer to the corresponding descriptions in the above embodiments.

[0110] In another implementation manner of the present invention, the parked-on-slope release state is introduced in detail. The preset parked-on-slope state includes the parked-on-slope release state. Referring to Figure 4 , the parked-on-slope control method further includes:

[0111] S35. Control the target vehicle to coast downhill at a constant speed.

[0112] Specifically, if the target vehicle meets the state entry conditions corresponding to the parked-on-slope release state, control the target vehicle to coast downhill at a constant speed.

[0113] The state entry conditions corresponding to the parked-on-slope release state include:

[0114] The parked-on-slope stationary duration reaches the set maximum parked-on-slope time;

[0115] Or, a stall fault occurs during the parked-on-slope stationary process;

[0116] Or, the gear is switched to the N gear and lasts for a set time during the parked-on-slope stationary process.

[0117] It should be noted that as long as one of the state entry conditions corresponding to the parked-on-slope release state is satisfied, the parked-on-slope release state can be entered. The state entry conditions corresponding to the parked-on-slope release state can refer to the above corresponding explanations and will not be elaborated here.

[0118] After the vehicle enters the slope release state, the motor controller will control the vehicle to coast downhill at a constant speed. The coasting speed is usually set very small to give the driver sufficient reaction time.

[0119] Based on this embodiment, after controlling the target vehicle to coast downhill at a constant speed, if the target vehicle meets the state exit conditions corresponding to the slope release state, then control the target vehicle to exit the slope release state.

[0120] Among them, the state exit conditions corresponding to the slope release state include:

[0121] The current torque of the motor and the current speed have the same sign;

[0122] Or, after the driver steps on the accelerator pedal, the target vehicle travels normally in the gear direction.

[0123] It should be noted that as long as one of the state exit conditions corresponding to the slope release state is met, the slope release state can be exited.

[0124] Specifically, when the current torque of the motor and the current speed have the same sign, it is judged that the slope coasting ends and the vehicle coasts to flat ground, and at this time, the slope release state is exited. In addition, during the process of the vehicle coasting at a constant speed, if the driver steps on the accelerator pedal to make the vehicle travel normally in the gear direction, the slope release state will also be exited, and the driver will perform the operation.

[0125] It should be noted that Figure 4 For the specific explanations of steps S31 - S34 in , please refer to the corresponding descriptions in the above embodiments.

[0126] In this embodiment, the slope holding is divided into three states: anti - coasting state, slope - holding static state, and slope release state. The switching between the three states is realized by judging different entry and exit conditions. In addition, through the setting of the anti - coasting state, it not only meets the requirement of decelerating and stopping on the slope when releasing the accelerator pedal during slope driving, but also can realize anti - coasting during slope start. In addition, this embodiment takes the driver's operation as a condition for slope - holding state switching, which is more practical.

[0127] Optionally, based on the above - mentioned embodiment of a slope - holding control method, another embodiment of the present invention provides a slope - holding control device. Referring to Figure 5 , it may include:

[0128] An information acquisition module 11, configured to acquire vehicle information of the target vehicle, where the vehicle information includes vehicle motion information and / or driver operation information;

[0129] A condition judgment module 12, configured to determine whether the target vehicle meets the state entry conditions corresponding to a preset slope parking state based on the vehicle information; the preset slope parking state at least includes an anti-rollback state;

[0130] A rollback control module 13, configured to, if the target vehicle meets the state entry conditions corresponding to the anti-rollback state, control the motor to output a torque opposite to the rollback direction to reduce the rollback speed of the vehicle.

[0131] Further, the state entry conditions corresponding to the anti-rollback state include:

[0132] The current gear of the vehicle is not in neutral, the current gear of the vehicle is opposite to the driving intention, and the rollback speed is greater than a preset anti-rollback entry speed.

[0133] Further, the rollback control module 13 is further configured to:

[0134] If the target vehicle meets the state exit conditions corresponding to the anti-rollback state, control the target vehicle to exit the anti-rollback state;

[0135] The state exit conditions corresponding to the anti-rollback state include:

[0136] The rollback speed is less than a preset slope parking entry speed;

[0137] Or, the target vehicle travels normally in the gear direction after the driver steps on the accelerator pedal;

[0138] Or, the gear of the target vehicle is switched to neutral or reverse gear

[0139] Further, the preset slope parking state includes a slope parking stationary state, and the slope parking control device further includes:

[0140] A slope parking control module, configured to, if the target vehicle meets the state entry conditions corresponding to the slope parking stationary state, maintain the stationary state of the vehicle by controlling the torque output of the motor.

[0141] Further, the state entry conditions corresponding to the slope parking stationary state include:

[0142] When the target vehicle is in the anti-rollback state, the rollback speed is less than a preset slope parking entry speed, and the motor torque is greater than a preset slope parking entry torque;

[0143] Or, when the driver outputs a deceleration action of releasing the accelerator pedal during driving on a slope, the vehicle speed is less than a preset slope parking entry speed, and the motor torque is greater than a preset slope parking entry torque.

[0144] Further, the slope parking control module is further configured to:

[0145] If the target vehicle meets the state exit conditions corresponding to the parked-on-slope stationary state, control the target vehicle to exit the parked-on-slope stationary state;

[0146] The state exit conditions corresponding to the parked-on-slope stationary state include:

[0147] The parked-on-slope stationary duration reaches the set maximum parked-on-slope time;

[0148] Or, a stall fault occurs during the parked-on-slope stationary process;

[0149] Or, the gear is switched to the N gear and lasts for a set time during the parked-on-slope stationary process;

[0150] Or, after the driver steps on the accelerator pedal, the target vehicle travels normally in the gear direction.

[0151] Furthermore, the preset parked-on-slope state includes a parked-on-slope release state, and the parked-on-slope control module is further configured to:

[0152] If the target vehicle meets the state entry conditions corresponding to the parked-on-slope release state, control the target vehicle to coast downhill at a constant speed.

[0153] Furthermore, the state entry conditions corresponding to the parked-on-slope release state include:

[0154] The parked-on-slope stationary duration reaches the set maximum parked-on-slope time;

[0155] Or, a stall fault occurs during the parked-on-slope stationary process;

[0156] Or, the gear is switched to the N gear and lasts for a set time during the parked-on-slope stationary process.

[0157] Furthermore, the parked-on-slope control module is further configured to:

[0158] If the target vehicle meets the state exit conditions corresponding to the parked-on-slope release state, control the target vehicle to exit the parked-on-slope release state;

[0159] The state exit conditions corresponding to the parked-on-slope release state include:

[0160] The current torque of the motor and the current rotational speed have the same sign;

[0161] Or, after the driver steps on the accelerator pedal, the target vehicle travels normally in the gear direction.

[0162] In this embodiment, vehicle information of the target vehicle is obtained. The vehicle information includes vehicle motion information and / or driver operation information. Based on the vehicle information, it is determined whether the target vehicle meets the state entry conditions corresponding to a preset slope-holding state. The preset slope-holding state includes at least an anti-rollback state. If the target vehicle meets the state entry conditions corresponding to the anti-rollback state, the motor is controlled to output a torque opposite to the rollback direction to reduce the rollback speed of the vehicle. That is, in the present invention, an anti-rollback strategy under the working condition of slope-starting anti-rollback slope-holding is given, which ensures the vehicle slope-holding safety under the working condition of slope-starting anti-rollback slope-holding and improves the accuracy of slope-holding control. In addition, when performing slope-holding control, the present invention also considers driver operation information, that is, considers driver operation factors, with more comprehensive consideration factors, and can further improve the accuracy of slope-holding control.

[0163] It should be noted that for the working processes of the respective modules in this embodiment, please refer to the corresponding descriptions in the above embodiments and will not be elaborated herein.

[0164] Optionally, based on the above embodiment of a slope-holding control method and device, another embodiment of the present invention provides a slope-holding controller for executing the above slope-holding control method.

[0165] Optionally, based on the above embodiment of a slope-holding controller, another embodiment of the present invention provides a vehicle including the above slope-holding controller.

[0166] In this embodiment, vehicle information of the target vehicle is obtained. The vehicle information includes vehicle motion information and / or driver operation information. Based on the vehicle information, it is determined whether the target vehicle meets the state entry conditions corresponding to a preset slope-holding state. The preset slope-holding state includes at least an anti-rollback state. If the target vehicle meets the state entry conditions corresponding to the anti-rollback state, the motor is controlled to output a torque opposite to the rollback direction to reduce the rollback speed of the vehicle. That is, in the present invention, an anti-rollback strategy under the working condition of slope-starting anti-rollback slope-holding is given, which ensures the vehicle slope-holding safety under the working condition of slope-starting anti-rollback slope-holding and improves the accuracy of slope-holding control. In addition, when performing slope-holding control, the present invention also considers driver operation information, that is, considers driver operation factors, with more comprehensive consideration factors, and can further improve the accuracy of slope-holding control.

[0167] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A slope-holding control method, characterized in that, it includes: obtaining vehicle information of a target vehicle, where the vehicle information includes vehicle motion information and / or driver operation information; based on the vehicle information, determining whether the target vehicle meets the state entry conditions corresponding to a preset slope-holding state; the preset slope-holding state at least includes an anti-rollback state; if the target vehicle meets the state entry conditions corresponding to the anti-rollback state, controlling the motor to output a torque opposite to the rollback direction to reduce the rollback speed of the vehicle; the preset slope-holding state includes a slope-holding stationary state, and the slope-holding control method further includes: if the target vehicle meets the state entry conditions corresponding to the slope-holding stationary state, maintaining the stationary state of the vehicle by controlling the output torque of the motor; the preset slope-holding state includes a slope-holding release state, and the slope-holding control method further includes: if the target vehicle meets the state entry conditions corresponding to the slope-holding release state, controlling the target vehicle to roll down the slope at a constant speed.

2. The slope-holding control method according to claim 1, characterized in that, the state entry conditions corresponding to the anti-rollback state include: the current gear of the vehicle is not in neutral, the current gear of the vehicle is opposite to the driving intention, and the rollback speed is greater than a preset anti-rollback entry speed.

3. The slope-holding control method according to claim 1, characterized in that, after controlling the motor to output a torque opposite to the rollback direction to reduce the rollback speed of the vehicle, it further includes: if the target vehicle meets the state exit conditions corresponding to the anti-rollback state, controlling the target vehicle to exit the anti-rollback state; the state exit conditions corresponding to the anti-rollback state include: the rollback speed is less than a preset slope-holding entry speed; or, the target vehicle travels normally in the gear direction after the driver steps on the accelerator pedal; or, the gear of the target vehicle is switched to neutral or reverse gear.

4. The slope-holding control method according to claim 1, characterized in that, the state entry conditions corresponding to the slope-holding stationary state include: when the target vehicle is in the anti-rollback state, the rollback speed is less than a preset slope-holding entry speed, and the motor torque is greater than a preset slope-holding entry torque; or, when the driver outputs a deceleration action of releasing the accelerator pedal during driving on a slope, the vehicle speed is less than a preset slope-holding entry speed, and the motor torque is greater than a preset slope-holding entry torque.

5. The slope-holding control method according to claim 4, characterized in that, after maintaining the stationary state of the vehicle by controlling the output torque of the motor, it further includes: if the target vehicle meets the state exit conditions corresponding to the slope-holding stationary state, controlling the target vehicle to exit the slope-holding stationary state; the state exit conditions corresponding to the slope-holding stationary state include: the slope-holding stationary duration reaches the set maximum slope-holding time; or, a stall fault occurs during the slope-holding stationary process; or, the gear is switched to N gear and lasts for a set time during the slope-holding stationary process; or, the target vehicle travels normally in the gear direction after the driver steps on the accelerator pedal.

6. The slope-holding control method according to claim 1, characterized in that, the state entry conditions corresponding to the slope-holding release state include: The duration of the vehicle staying on the slope at rest reaches the set maximum slope staying time; or, a stall fault occurs during the vehicle staying on the slope at rest; or, the gear is switched to the N gear during the vehicle staying on the slope at rest and lasts for a set time.

7. The slope staying control method according to claim 1, characterized in that, after controlling the target vehicle to coast downhill at a constant speed, it further includes: if the target vehicle meets the state exit conditions corresponding to the slope staying release state, controlling the target vehicle to exit the slope staying release state; the state exit conditions corresponding to the slope staying release state include: the current torque of the motor and the current rotational speed have the same sign; or, after the driver of the target vehicle steps on the accelerator pedal, the vehicle travels normally in the gear direction.

8. A slope staying control device, characterized in that, it includes: an information acquisition module, configured to acquire vehicle information of the target vehicle, where the vehicle information includes vehicle motion information and / or driver operation information; a condition judgment module, configured to judge whether the target vehicle meets the state entry conditions corresponding to a preset slope staying state based on the vehicle information; the preset slope staying state at least includes an anti-coasting state; a coasting control module, configured to, if the target vehicle meets the state entry conditions corresponding to the anti-coasting state, control the motor to output a torque opposite to the coasting direction to reduce the coasting rotational speed of the vehicle; the preset slope staying state includes a slope staying at rest state, if the target vehicle meets the state entry conditions corresponding to the slope staying at rest state, maintaining the vehicle at a stationary state by controlling the motor to output torque; the preset slope staying state includes a slope staying release state, if the target vehicle meets the state entry conditions corresponding to the slope staying release state, controlling the target vehicle to coast downhill at a constant speed.

9. A slope staying controller, characterized in that, it is used to execute the slope staying control method according to any one of claims 1-7.

10. A vehicle, characterized in that, it includes the slope staying controller according to claim 9.

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