A vehicle anti-rolling control method and device

Abstract

The present application provides a vehicle anti-rollback control method and device. The method includes: during the active parking control process, monitoring the wheel speeds of the driving wheels and non-driving wheels of the target vehicle; calculating the current driving wheel slip ratio of the target vehicle according to the wheel speeds of the driving wheels and non-driving wheels; when the driving wheel slip ratio is greater than a preset slip ratio threshold, determining the driving force according to the wheel speeds of the driving wheels and non-driving wheels, and performing closed-loop control of the driving force; monitoring the first current non-driving wheel speed of the target vehicle; when the first current non-driving wheel speed is less than a first preset wheel speed threshold, actively applying braking force. It can be seen that the method and device can actively perform vehicle anti-rollback, have good applicability, and can achieve safe and stable vehicle parking.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology. Specifically, it relates to a vehicle anti-rollback control method and device. Background Art

[0002] Currently, for existing active anti-rollback technologies, when the vehicle controller or the motor controller detects that the vehicle is approaching a stop on a slope, the driving force is output through motor closed-loop control to counteract the slope resistance and stop the vehicle. However, it is found in practice that on low-adhesion slopes such as ice and snow, when the adhesion of the driving wheels of a two-wheel drive vehicle is less than the slope resistance, it is impossible to rely solely on the motor to output the driving force to keep the vehicle stable on the slope. It can be seen that the existing methods have low applicability and cannot achieve safe and stable vehicle parking. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a vehicle anti-rollback control method and device, which can actively perform vehicle anti-rollback, have good applicability, and can achieve safe and stable vehicle parking.

[0004] The first aspect of the embodiments of this application provides a vehicle anti-rollback control method, including:

[0005] During the active parking control process, monitor the driving wheel speed and non-driving wheel speed of the target vehicle;

[0006] Calculate the current driving wheel slip rate of the target vehicle according to the driving wheel speed and the non-driving wheel speed;

[0007] When the driving wheel slip rate is greater than a preset slip rate threshold, determine the driving force according to the driving wheel speed and the non-driving wheel speed, and perform closed-loop control on the driving force;

[0008] Monitor the first current non-driving wheel speed of the target vehicle;

[0009] When the first current non-driving wheel speed is less than the first preset wheel speed threshold, actively apply braking force.

[0010] In the above implementation process, the method can first monitor the driving wheel speed and non-driving wheel speed of the target vehicle during the active parking control process; then, calculate the current driving wheel slip rate of the target vehicle according to the driving wheel speed and non-driving wheel speed; then, when the driving wheel slip rate is greater than the preset slip rate threshold, determine the driving force according to the driving wheel speed and non-driving wheel speed, and perform closed-loop control on the driving force; at the same time, monitor the first current non-driving wheel speed of the target vehicle; finally, when the first current non-driving wheel speed is less than the first preset wheel speed threshold, actively apply braking force. It can be seen that the method can actively perform vehicle anti-rollback, has good applicability, and can achieve safe and stable vehicle parking.

[0011] Further, before monitoring the driving wheel speed and non-driving wheel speed of the monitored target vehicle, the method further includes:

[0012] When it is detected that the target vehicle decelerates on a low-adhesion ramp, control the target vehicle to enter the active parking control process.

[0013] Further, the method further includes:

[0014] Monitor the second current non-driving wheel speed of the target vehicle;

[0015] Determine whether the second current non-driving wheel speed is greater than a second preset wheel speed threshold; wherein, the second preset wheel speed threshold is greater than the first preset wheel speed threshold;

[0016] If so, unload the target braking force.

[0017] Further, the active loading of the braking force includes:

[0018] Obtain the ramp resistance;

[0019] Determine the braking force according to the ramp resistance and the driving force, and actively load the braking force.

[0020] Further, the method further includes:

[0021] Determine whether the target vehicle is in a parked state;

[0022] If so, end the active parking control process.

[0023] A second aspect of the embodiments of the present application provides a vehicle anti-rollback control device, and the vehicle anti-rollback control device includes:

[0024] A first monitoring unit, configured to monitor the driving wheel speed and non-driving wheel speed of a target vehicle during an active parking control process;

[0025] A calculation unit, configured to calculate the current driving wheel slip ratio of the target vehicle according to the driving wheel speed and the non-driving wheel speed;

[0026] A determination unit, configured to determine the driving force according to the driving wheel speed and the non-driving wheel speed when the driving wheel slip ratio is greater than a preset slip ratio threshold;

[0027] A control unit, configured to perform closed-loop control on the driving force;

[0028] A second monitoring unit, configured to monitor the first current non-driving wheel speed of the target vehicle;

[0029] An active loading unit for actively loading braking force when the rotational speed of the first current non-driven wheel is less than a first preset wheel speed threshold.

[0030] In the above implementation process, the device can monitor the rotational speeds of the driving wheels and non-driven wheels of the target vehicle through the first monitoring unit under the active parking control process; calculate the current driving wheel slip rate of the target vehicle according to the rotational speeds of the driving wheels and non-driven wheels through the calculation unit; determine the driving force according to the rotational speeds of the driving wheels and non-driven wheels when the driving wheel slip rate is greater than a preset slip rate threshold through the determination unit; control the driving force in a closed loop through the control unit; monitor the rotational speed of the first current non-driven wheel of the target vehicle through the second monitoring unit; and then actively load braking force through the active loading unit when the rotational speed of the first current non-driven wheel is less than the first preset wheel speed threshold. It can be seen that the device can actively prevent the vehicle from rolling backward, has good applicability, and can achieve safe and stable vehicle parking.

[0031] Furthermore, the control unit is also used to control the target vehicle to enter the active parking control process when it detects that the target vehicle decelerates on a low-adhesion ramp before monitoring the rotational speeds of the driving wheels and non-driven wheels of the target vehicle.

[0032] Furthermore, the vehicle anti-rollback control device further includes:

[0033] The second monitoring unit is also used to monitor the rotational speed of the second current non-driven wheel of the target vehicle;

[0034] A judgment unit for judging whether the rotational speed of the second current non-driven wheel is greater than a second preset wheel speed threshold; wherein, the second preset wheel speed threshold is greater than the first preset wheel speed threshold;

[0035] An unloading unit for unloading the target braking force when it is judged that the rotational speed of the second current non-driven wheel is greater than the second preset wheel speed threshold.

[0036] Furthermore, the active loading unit includes:

[0037] An acquisition subunit for acquiring ramp resistance when the rotational speed of the first current non-driven wheel is less than the first preset wheel speed threshold;

[0038] A determination subunit for determining the braking force according to the ramp resistance and the driving force and actively loading the braking force.

[0039] Furthermore, the judgment unit is also used to judge whether the target vehicle is in a parked state;

[0040] The control unit is also used to end the active parking control process when the target vehicle is in a parked state.

[0041] In a third aspect of the embodiments of the present application, an electronic device is provided, including a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the vehicle anti-rollback control method according to any one of the first aspects of the embodiments of the present application.

[0042] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, which stores computer program instructions. When the computer program instructions are read and run by a processor, the vehicle anti-rollback control method according to any one of the first aspects of the embodiments of the present application is executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0044] Figure 1 It is a schematic flow chart of a vehicle anti-rollback control method provided by the embodiments of the present application;

[0045] Figure 2 It is a schematic structural diagram of a vehicle anti-rollback control device provided by the embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The following will describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application.

[0047] It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions, and cannot be understood as indicating or implying relative importance.

[0048] Embodiment 1

[0049] Please refer to Figure 1 , Figure 1 which is a schematic flow chart of a vehicle anti-rollback control method provided by this embodiment. Among them, the vehicle anti-rollback control method includes:

[0050] S101. When it is detected that the target vehicle decelerates on a low-adhesion ramp, control the target vehicle to enter the active parking control process.

[0051] S102. Under the active parking control process, monitor the driving wheel speed and non-driving wheel speed of the target vehicle.

[0052] S103. Calculate the current driving wheel slip ratio of the target vehicle according to the driving wheel speed and non-driving wheel speed.

[0053] S104. When the driving wheel slip ratio is greater than the preset slip ratio threshold, determine the driving force according to the driving wheel speed and non-driving wheel speed, and perform closed-loop control of the driving force.

[0054] S105. Monitor the first current non-driving wheel speed of the target vehicle.

[0055] S106. When the first current non-driving wheel speed is less than the first preset wheel speed threshold, obtain the ramp resistance.

[0056] S107. Determine the braking force according to the ramp resistance and the driving force, and actively apply the braking force.

[0057] S108. Monitor the second current non-driving wheel speed of the target vehicle.

[0058] S109. Determine whether the target vehicle is in the parking state. If so, execute step S112; if not, execute step S110.

[0059] S110. Determine whether the second current non-driving wheel speed is greater than the second preset wheel speed threshold. If so, execute steps S111 - S112; if not, execute steps S108 - S109.

[0060] In this embodiment, the second preset wheel speed threshold is greater than the first preset wheel speed threshold.

[0061] S111. Unload the target braking force.

[0062] S112. End the active parking control process.

[0063] When the vehicle is on a low-adhesion ramp such as ice and snow, the adhesion of the driving wheels is easily less than the ramp resistance, making it impossible for the vehicle to stop stably on the ramp relying only on the driving force output by the motor. To solve this problem, the present application proposes a new vehicle anti-rollback control method to assist the vehicle to achieve the effect of active parking on a low-adhesion ramp. Specifically, this method can detect whether the driving wheels are on a low-adhesion road surface by coordinating the control of the motor driving force and the hydraulic system braking force, and limit the driving force not to exceed the adhesion when the driving wheels are on a low-adhesion road surface; at the same time, when the non-driving wheel speed approaches 0, actively apply the braking force to assist the vehicle in parking on the ramp; and when the non-driving wheel speed exceeds a certain value, quickly cancel the braking force to avoid vehicle yaw.

[0064] In this embodiment, this method can be instantiated into the following process:

[0065] Monitor the driving wheel speed and the non - driving wheel speed;

[0066] Calculate the driving wheel slip ratio in real - time = (|driving wheel speed - non - driving wheel speed|) / driving wheel speed;

[0067] When the driving wheel slip ratio is greater than the set slip ratio threshold 1; according to the driving wheel speed and the non - driving wheel speed, close - loop control the driving force to make the slip ratio less than the set slip ratio threshold 2;

[0068] When |non - driving wheel speed| is less than the set wheel speed threshold 1, actively apply braking force according to the driving force and the ramp resistance;

[0069] When |non - driving wheel speed| is greater than the set wheel speed threshold 2, quickly release the braking force.

[0070] For example, the method can be implemented through the following steps:

[0071] (1) The vehicle coasts and decelerates on a low - adhesion ramp and enters the active parking control logic.

[0072] (2) Monitor the driving wheel speed V Drive and the non - driving wheel speed V NonDrive , and calculate the real - time slip ratio:

[0073] S = (|V Drive - V NonDrive |) / V Drive .

[0074] (3) If the slip ratio S > the set slip ratio threshold, control the driving force FD rive = f(V Drive , V NonDrive ): Among them, the slip ratio threshold can be obtained by looking up the table according to the non - driving wheel vehicle speed.

[0075] (4) When |non - driving wheel speed| < wheel speed threshold 1, actively apply braking force according to the driving force and the ramp resistance; generally, the greater the difference between the ramp resistance and the driving force, the faster the application. The wheel speed threshold 1 is generally taken as 1.5 kph.

[0076] (5) If the vehicle completes parking, end this control method.

[0077] (6) If the sum of the driving wheel adhesion and the non - driving wheel adhesion is less than the ramp resistance, the vehicle will slide backward. When |non - driving wheel speed| > wheel speed threshold 2, quickly cancel the braking force to avoid vehicle yaw. The wheel speed threshold 2 is generally taken as 3 kph.

[0078] In this embodiment, the execution subject of this method can be a computing device such as a computer or a server, and no limitation is made in this embodiment.

[0079] In this embodiment, the execution subject of the method may also be a smart device such as a smart phone or a tablet computer, and no limitation is made in this embodiment.

[0080] It can be seen that by implementing the vehicle anti-rollback control method described in this embodiment, when it is recognized that the driving wheels are in a state of a low-adhesion road surface, the adhesion of the driving wheels and the adhesion of the non-driving wheels can be utilized to assist the vehicle to achieve active parking on a low-adhesion ramp.

[0081] Embodiment 2

[0082] Please refer to Figure 2 , Figure 2 , which is a schematic structural diagram of a vehicle anti-rollback control device provided in this embodiment. As Figure 2 shown, the vehicle anti-rollback control device includes:

[0083] A first monitoring unit 210, configured to monitor the rotational speed of the driving wheels and the rotational speed of the non-driving wheels of the target vehicle in an active parking control process;

[0084] A calculation unit 220, configured to calculate the current driving wheel slip ratio of the target vehicle according to the rotational speed of the driving wheels and the rotational speed of the non-driving wheels;

[0085] A determination unit 230, configured to determine the driving force according to the rotational speed of the driving wheels and the rotational speed of the non-driving wheels when the driving wheel slip ratio is greater than a preset slip ratio threshold;

[0086] A control unit 240, configured to perform closed-loop control on the driving force;

[0087] A second monitoring unit 250, configured to monitor the first current rotational speed of the non-driving wheels of the target vehicle;

[0088] An active loading unit 260, configured to actively load the braking force when the first current rotational speed of the non-driving wheels is less than a first preset rotational speed threshold.

[0089] As an optional implementation manner, the control unit 240 is further configured to, before monitoring the rotational speed of the driving wheels and the rotational speed of the non-driving wheels of the target vehicle, when it is detected that the target vehicle decelerates on a low-adhesion ramp, control the target vehicle to enter the active parking control process.

[0090] As an optional implementation manner, the vehicle anti-rollback control device further includes:

[0091] The second monitoring unit 250 is further configured to monitor the second current rotational speed of the non-driving wheels of the target vehicle;

[0092] A judgment unit 270, configured to judge whether the second current rotational speed of the non-driving wheels is greater than a second preset rotational speed threshold; wherein, the second preset rotational speed threshold is greater than the first preset rotational speed threshold;

[0093] An unloading unit 280, configured to unload a target braking force when it is determined that the rotational speed of the second current non-driven wheel is greater than a second preset wheel speed threshold.

[0094] As an alternative embodiment, the active loading unit 260 includes:

[0095] An acquisition subunit 261, configured to acquire ramp resistance when the rotational speed of the first current non-driven wheel is less than a first preset wheel speed threshold;

[0096] A determination subunit 262, configured to determine a braking force based on the ramp resistance and the driving force, and actively load the braking force.

[0097] As an alternative embodiment, the determination unit 270 is further configured to determine whether the target vehicle is in a parked state;

[0098] The control unit 240 is further configured to end the active parking control process when the target vehicle is in a parked state.

[0099] As an alternative embodiment, the determination unit 270 is specifically configured to determine whether the rotational speed of the second current non-driven wheel is greater than a second preset wheel speed threshold when the target vehicle is not in a parked state.

[0100] An unloading unit 280, configured to unload a target braking force when it is determined that the rotational speed of the second current non-driven wheel is greater than a second preset wheel speed threshold;

[0101] The control unit 240 is further configured to end the active parking control process after unloading the target braking force.

[0102] In the embodiments of the present application, the explanation of the vehicle anti-rollback control device may refer to the description in Embodiment 1, and will not be elaborated herein.

[0103] It can be seen that by implementing the vehicle anti-rollback control device described in this embodiment, when it is recognized that the driving wheels are in a state of a low-adhesion road surface, the adhesion of the driving wheels and the adhesion of the non-driven wheels can be utilized to assist the vehicle in achieving active parking on a low-adhesion ramp.

[0104] The embodiments of the present application provide an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the vehicle anti-rollback control method in Embodiment 1 of the present application.

[0105] The embodiments of the present application provide a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and run by a processor, the vehicle anti-rollback control method in Embodiment 1 of the present application is executed.

[0106] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0107] In addition, each functional module in various embodiments of the present application can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0108] If the above functions are implemented in the form of software function modules and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0109] The above are only embodiments of the present application and are not intended to limit the protection scope of the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0110] As described above, this is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, and all should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0111] It should be noted that in this text, relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

Claims

1. A vehicle anti-rolling control method, characterized in that Including: When it is detected that the target vehicle decelerates on a low - adhesion ramp, controlling the target vehicle to enter the active parking control process; Under the active parking control process, monitoring the driving wheel speed and non - driving wheel speed of the target vehicle; Calculating the current driving wheel slip ratio of the target vehicle according to the driving wheel speed and the non - driving wheel speed; When the driving wheel slip ratio is greater than a preset slip ratio threshold, determining the driving force according to the driving wheel speed and the non - driving wheel speed, and performing closed - loop control on the driving force; Monitoring the first current non - driving wheel speed of the target vehicle; When the first current non - driving wheel speed is less than the first preset wheel speed threshold, actively applying braking force; Monitoring the second current non - driving wheel speed of the target vehicle; Judging whether the second current non - driving wheel speed is greater than a second preset wheel speed threshold; wherein, the second preset wheel speed threshold is greater than the first preset wheel speed threshold; If so, unloading the braking force.

2. The vehicle anti-rolling control method according to claim 1, wherein The actively applying braking force includes: Obtaining the ramp resistance; Determining the braking force according to the ramp resistance and the driving force, and actively applying the braking force.

3. The vehicle anti-rollback control method according to claim 1, wherein The method further includes: Judging whether the target vehicle is in a parked state; If so, ending the active parking control process.

4. A vehicle anti-rolling control device, characterized in that, The vehicle anti - rollback control device includes: A control unit, configured to control the target vehicle to enter the active parking control process when it is detected that the target vehicle decelerates on a low - adhesion ramp before monitoring the driving wheel speed and non - driving wheel speed of the target vehicle; A first monitoring unit, configured to monitor the driving wheel speed and non - driving wheel speed of the target vehicle under the active parking control process; A calculation unit, configured to calculate the current driving wheel slip ratio of the target vehicle according to the driving wheel speed and the non - driving wheel speed; A determination unit, configured to determine the driving force according to the driving wheel speed and the non - driving wheel speed when the driving wheel slip ratio is greater than a preset slip ratio threshold; The control unit is further configured to perform closed - loop control on the driving force; A second monitoring unit, configured to monitor the first current non - driving wheel speed of the target vehicle; An active loading unit, configured to actively apply braking force when the first current non - driving wheel speed is less than the first preset wheel speed threshold; Wherein, the vehicle anti - rollback control device further includes: The second monitoring unit is further configured to monitor the second current non - driving wheel speed of the target vehicle; A judgment unit, configured to judge whether the second current non - driving wheel speed is greater than a second preset wheel speed threshold; wherein, the second preset wheel speed threshold is greater than the first preset wheel speed threshold; An unloading unit, configured to unload the braking force when it is judged that the second current non - driving wheel speed is greater than the second preset wheel speed threshold.

5. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the vehicle anti - rollback control method according to any one of claims 1 to 3.

6. A readable storage medium, characterized in that, The readable storage medium stores computer program instructions, and when the computer program instructions are read and run by a processor, the vehicle anti-sliding control method according to any one of claims 1 to 3 is executed.

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