Method, device, vehicle and storage medium for exiting uphill assist function

Abstract

The present application relates to the field of new energy vehicle technology, and in particular to a method, device, vehicle, and storage medium for exiting an uphill assist function, wherein the method comprises: identifying the on / off state of the vehicle's uphill assist function; when identifying that the on / off state is off, determining that the uphill assist function has been exited, and obtaining the vehicle's handbrake state, current gear position, and actual slope value; matching the vehicle's parking exit gradient according to the handbrake state, current gear position, and / or actual slope value, and controlling the vehicle's drive motor to output torque according to the parking exit gradient to maintain the vehicle in a preset stable state when the uphill assist function is exited. This solves the problem that when the uphill assist function is exited by using a motor stall method in the related art, the torque of the motor stall suddenly disappears, causing the entire vehicle to vibrate and impact, resulting in a poor user experience, and other problems.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and in particular to a method, device, vehicle, and storage medium for exiting a hill-climbing assist function. Background Art

[0002] Hill-start Assist Control (HAC) is a function developed based on the Electronic Stability Program (ESP). When starting on a slope, the vehicle can continue to brake for a few seconds even if the right foot is off the brake pedal. This allows the driver to easily shift his foot from the brake pedal to the accelerator pedal to prevent the vehicle from slipping and causing an accident.

[0003] Considering factors such as vehicle cost, application, and vehicle model, many electric vehicles currently lack ESP or, if equipped, lack hill-start assist. Related technologies implement hill-start assist by using a motor stalled rotor. However, the torque direction of the stalled motor in these technologies differs from the torque direction of the vehicle controller's torque command. This can easily cause the vehicle to vibrate and jolt when the hill-start assist function is disabled, significantly reducing the user's driving experience. Summary of the Invention

[0004] This application provides a method, device, vehicle and storage medium for exiting the uphill assist function to solve the problem of

[0005] When the uphill assist function implemented by the motor stalling method in the related art is exited, the torque of the motor stalling suddenly disappears, causing the entire vehicle to vibrate and impact, resulting in poor user experience and other problems.

[0006] A first aspect embodiment of the present application provides a method for exiting a hill-start assist function, comprising the following steps: identifying the switch state of a vehicle's hill-start assist function; when it is identified that the switch state is off, determining that the hill-start assist function has been exited, and obtaining the vehicle's handbrake state, current gear position, and actual slope value; matching the vehicle's hold-on exit gradient according to the handbrake state, the current gear position, and / or the actual slope value, and controlling the vehicle's drive motor to output torque according to the hold-on exit gradient, so as to maintain the vehicle in a preset stable state when the hill-start assist function is exited.

[0007] Optionally, in one embodiment of the present application, the hill-staying exit gradient of the vehicle is matched according to the handbrake state, the current gear and / or the actual slope, including: if the handbrake state is the pulled-up state, the current gear is the parking gear or the current gear is the neutral gear, then the hill-staying exit gradient is the first preset loading gradient; if the current gear is the forward gear and the actual slope value is greater than the preset slope, then the hill-staying exit gradient is the second preset loading gradient, wherein the second preset loading gradient is greater than the first preset loading gradient; if the current gear is the reverse gear and the actual slope value is less than the preset slope, then the hill-staying exit gradient is the third preset loading gradient, wherein the absolute value of the third preset loading gradient is greater than the first preset gradient.

[0008] Optionally, in one embodiment of the present application, if the hill-staying exit gradient is a first preset loading gradient, controlling the drive motor of the vehicle to output torque according to the hill-staying exit gradient includes: determining whether the current speed of the drive motor is less than a first preset speed; if the current speed is greater than or equal to the first preset speed, controlling the drive motor to output torque according to the first preset loading gradient, otherwise controlling the drive motor to output torque according to a fourth preset loading gradient.

[0009] Optionally, in one embodiment of the present application, if the hill-staying exit gradient is a second preset loading gradient and a third preset loading gradient, controlling the drive motor of the vehicle to output torque according to the hill-staying exit gradient includes: judging whether the absolute value of the vehicle's required torque is greater than a first preset torque; if the absolute value of the required torque is greater than the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the second preset torque, or the absolute value of the required torque is less than or equal to the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the third preset torque, then controlling the drive motor to output torque according to the second preset loading gradient or the third preset loading gradient, otherwise controlling the drive motor to output torque according to the fourth preset loading gradient.

[0010] The second aspect of the present application provides a device for exiting a hill-start assist function, comprising: an identification module for identifying the switch state of a vehicle's hill-start assist function; an acquisition module for determining that the hill-start assist function has been exited when it is identified that the switch state is off, and acquiring the vehicle's handbrake state, current gear position and actual slope value; a control module for matching the vehicle's hold-on exit gradient according to the handbrake state, the current gear position and / or the actual slope value, and controlling the vehicle's drive motor to output torque according to the hold-on exit gradient, so as to maintain the vehicle in a preset stable state when the hill-start assist function is exited.

[0011] Optionally, in one embodiment of the present application, the control module includes: a first judgment unit, which is used to determine that if the handbrake state is in the pulled-up state, the current gear is the parking gear or the current gear is the neutral gear, the hill-staying exit gradient is a first preset loading gradient; a second judgment unit, which is used to determine that if the current gear is the forward gear and the actual slope value is greater than the preset slope, the hill-staying exit gradient is a second preset loading gradient, wherein the second preset loading gradient is greater than the first preset loading gradient; a third judgment unit, which is used to determine that if the current gear is the reverse gear and the actual slope value is less than the preset slope, the hill-staying exit gradient is a third preset loading gradient, wherein the absolute value of the third preset loading gradient is greater than the first preset gradient.

[0012] Optionally, in one embodiment of the present application, if the hill-holding exit gradient is a first preset loading gradient, the control module is further used to determine whether the current speed of the drive motor is less than the first preset speed; if the current speed is greater than or equal to the first preset speed, the drive motor is controlled to output torque according to the first preset loading gradient, otherwise the drive motor is controlled to output torque according to a fourth preset loading gradient.

[0013] Optionally, in one embodiment of the present application, if the hill-holding exit gradient is a second preset loading gradient and a third preset loading gradient, the control module is further used to determine whether the absolute value of the vehicle's required torque is greater than the first preset torque; if the absolute value of the required torque is greater than the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the second preset torque, or the absolute value of the required torque is less than or equal to the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the third preset torque, then the drive motor is controlled to output torque according to the second preset loading gradient or the third preset loading gradient, otherwise the drive motor is controlled to output torque according to the fourth preset loading gradient.

[0014] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for exiting the uphill assist function as described in the above embodiment.

[0015] The fourth aspect of the present application provides a computer-readable storage medium on which a computer program is stored. The program is executed by a processor to implement the method for exiting the uphill assist function as described in the above embodiment.

[0016] Therefore, this application has at least the following beneficial effects:

[0017] When the hill-start assist function is exited, the embodiment of the present application can control the vehicle's drive motor to output torque according to different holding-slope exit gradients based on the different vehicle states at the time of exit. This can reduce the stall torque according to the gradient, avoiding the sudden loss of stall torque that would cause the vehicle to shake and impact, improve the stability of the vehicle when the hill-start assist function is exited, and enhance the comfort of using the hill-start assist function. This solves the problem in related technologies where the direction of the motor output torque during holding the slope differs from the direction of the vehicle controller torque command when the accelerator is pressed, causing vehicle shaking when the function is exited, thereby reducing the user's driving experience.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 This is a flowchart of a method for exiting a hill-climb assist function according to an embodiment of the present application;

[0021] Figure 2 A schematic diagram of a hill-start assist system provided according to an embodiment of the present application;

[0022] Figure 3 This is a flowchart of exiting the uphill assist function according to an embodiment of the present application;

[0023] Figure 4 This is a flowchart of exiting the gradient loading module 1 according to an embodiment of the present application;

[0024] Figure 5 This is a flowchart of exiting the gradient loading module 2 according to an embodiment of the present application;

[0025] Figure 6This is a flowchart of exiting the gradient loading module 3 according to an embodiment of the present application;

[0026] Figure 7 Schematic diagram of a device for exiting a hill-climbing assist function according to an embodiment of the present application;

[0027] Figure 8 A schematic structural diagram of a vehicle provided according to an embodiment of the present application.

[0028] Description of reference numerals: identification module-100, acquisition module-200, control module-300, memory-801, processor-802, communication interface-803. DETAILED DESCRIPTION

[0029] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0030] The following describes the method, device, vehicle and storage medium for exiting the uphill assist function of an embodiment of the present application with reference to the accompanying drawings. In response to the problems mentioned in the above background technology, the present application provides a method for exiting the uphill assist function. In this method, when the uphill assist function is exited, the vehicle's drive motor is controlled to output torque according to different parking exit gradients according to the different states of the vehicle at the time of exit, so that the stall torque can be reduced according to the gradient, avoiding the sudden disappearance of the stall torque causing the whole vehicle to vibrate and impact, improving the stability of the whole vehicle when the uphill assist function is exited, and improving the comfort of using the uphill assist function. Thus, the problem that when the uphill assist function is exited by using the motor stall method in the related technology, the motor stall torque suddenly disappears, causing the whole vehicle to vibrate and impact, and the user experience is poor is solved.

[0031] Specifically, Figure 1 A flowchart of a method for exiting the uphill assist function provided in an embodiment of the present application.

[0032] like Figure 1 As shown, the method for exiting the hill-climbing assist function includes the following steps:

[0033] In step S101 , the on / off state of the hill-climb assist function of the vehicle is identified.

[0034] It can be understood that the embodiment of the present application can determine whether the vehicle has exited the hill-start assist function by real-time identifying the switch status of the hill-start assist function issued by the vehicle control system during the process of the motor controlling the vehicle to implement the hill-start assist function, thereby ensuring that the vehicle is in a stable state when the function is exited.

[0035] In step S102, when it is identified that the switch state is the off state, it is determined that the uphill assist function is exited, and the vehicle's handbrake state, current gear position and actual slope value are obtained.

[0036] When the switch state is in the off state, it can be determined that the uphill assist function has exited. The embodiment of the present application can obtain the vehicle's handbrake state, current gear position and actual slope value at this time, and take different hill-holding exit operations according to the different states of the vehicle when exiting.

[0037] The method for exiting the hill-climbing assist function in the embodiment of the present application includes: a vehicle control system, a motor control system, a motor, a brake pedal, an accelerator pedal, an electronic parking system, and a gear signal. In the actual implementation process, if Figure 2 As shown, the embodiment of the present application can receive the torque command, gear information, uphill assist function switch, throttle opening, brake pedal status and slope value of the vehicle control system through the motor control system; and receive the status of the electronic parking system EPB through the motor control system.

[0038] In step S103, the vehicle's hold-on exit gradient is matched according to the handbrake status, current gear position and / or actual slope value, and the vehicle's drive motor is controlled to output torque according to the hold-on exit gradient to maintain the vehicle in a preset stable state when the uphill assist function is exited.

[0039] like Figure 3 As shown, the embodiment of the present application can adopt different holding slope exit gradient loading modules when the uphill assist function is exited, depending on the handbrake status of the entire vehicle, the current gear and / or the actual slope value at the time of exit, to ensure that the entire vehicle is in a stable state when the function is exited, and continue to maintain the vehicle's boarding assist function when the uphill assist function switch is in the on-state, further improving the user's comfort in using the uphill assist function.

[0040] In one embodiment of the present application, the vehicle's hill-staying exit gradient is matched according to the handbrake state, the current gear position and / or the actual slope, including: if the handbrake state is pulled up, the current gear position is the parking gear position or the current gear position is the neutral gear position, then the hill-staying exit gradient is the first preset loading gradient; if the current gear position is the forward gear position and the actual slope value is greater than the preset slope, then the hill-staying exit gradient is the second preset loading gradient, wherein the second preset loading gradient is greater than the first preset loading gradient; if the current gear position is the reverse gear position and the actual slope value is less than the preset slope, then the hill-staying exit gradient is the third preset loading gradient, wherein the absolute value of the third preset loading gradient is greater than the first preset gradient.

[0041] In the embodiment of the present application, when the vehicle's EPB is in the pulled-up state or the gear is in P gear or N gear, the hold-up slope exit gradient loading module 1 is adopted; when the uphill assist function is exited and the vehicle is in D gear uphill condition, the hold-up slope exit gradient loading module 2 is adopted; when the uphill assist function is exited and the vehicle is in R gear uphill condition, the hold-up slope exit gradient loading module 3 is adopted. At the same time, it is judged whether the conditions for exiting the hold-up slope exit gradient loading module are met. When the conditions are met, the hold-up slope exit gradient loading module is exited and the normal torque loading gradient is restored. Among them, the preset slope, the first preset loading gradient of the hold-up slope exit gradient loading module 1, the second preset loading gradient of the hold-up slope exit gradient loading module 2, and the third preset loading gradient of the hold-up slope exit gradient loading module 3 can be set according to actual conditions. For example, the preset slope is set to 0, the first preset loading gradient is 0.02Nm / ms, the second preset loading gradient can be 0.2Nm / ms, and the third preset loading gradient can be 0.02Nm / ms or 0.2Nm / ms, without specific limitation. Specifically, if Figure 3 As shown, the following steps are included:

[0042] Step 3-1: Determine whether the uphill assist function switch is on or off. If so, proceed to step 3-2; otherwise, proceed to step 3-8;

[0043] Step 32: Determine whether the EPB is pulled up. If so, proceed to step 3-3; otherwise, proceed to step 3-4.

[0044] Step 3-3, setting the torque loading gradient of the ramp exit gradient loading module 1 to 0.02 Nm / ms;

[0045] Step 3-4: Determine whether the gear is in N or P. If so, proceed to step 3-3; otherwise, proceed to step 3-5.

[0046] Step 3-5: Determine whether the vehicle is in the D gear uphill operating condition. If so, proceed to step 3-6; otherwise, proceed to step 3-7. In the embodiment of the present application, the specific conditions for the D gear uphill operating condition are: the gear is in D gear, and the slope value is greater than 0;

[0047] Step 3-6: Set the torque loading gradient of the ramp exit gradient loading module 2 to 0.2 Nm / ms;

[0048] Step 3-7: Determine whether the vehicle is in the R gear uphill operating condition. In the embodiment of the present application, the specific conditions for the R gear uphill operating condition are: the gear is in R gear and the slope value is less than 0. The torque loading gradient of the slope exit gradient loading module 3 is set as follows: determine whether the output torque of the motor control system is less than the absolute value T0, T0 is a torque near zero, which can be set to 2Nm; if so, set the torque loading gradient of the slope exit gradient loading module 3 to 0.02Nm / ms; otherwise, set the torque loading gradient of the slope exit gradient loading module 3 to 0.2Nm / ms;

[0049] Step 3-8: Maintain the hill-start assist function and keep the vehicle stationary.

[0050] In one embodiment of the present application, if the hill-holding exit gradient is a first preset loading gradient, controlling the vehicle's drive motor to output torque according to the hill-holding exit gradient includes: determining whether the current speed of the drive motor is less than the first preset speed; if the current speed is greater than or equal to the first preset speed, controlling the drive motor to output torque according to the first preset loading gradient, otherwise controlling the drive motor to output torque according to a fourth preset loading gradient.

[0051] Among them, the fourth preset loading gradient can be a normal torque loading gradient; the first preset speed can be set according to actual conditions, such as 1-5rpm, without specific limitation. Specifically, the embodiment of the present application can obtain the motor speed through the motor control system and control the motor output torque. Figure 4 As shown, by judging whether the motor speed is less than the first preset speed N (such as 1-5rpm), if so, the embodiment of the present application can exit the hill-staying exit gradient loading module 1 and restore the normal torque loading gradient; if not, the embodiment of the present application can maintain the first preset loading gradient output torque of the hill-staying exit gradient loading module 1, thereby ensuring that the entire vehicle is in a stable state when the function is exited.

[0052] In one embodiment of the present application, if the hill-staying exit gradient is the second preset loading gradient and the third preset loading gradient, the vehicle's drive motor is controlled to output torque according to the hill-staying exit gradient, including: judging whether the absolute value of the vehicle's required torque is greater than the first preset torque; if the absolute value of the required torque is greater than the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the second preset torque, or the absolute value of the required torque is less than or equal to the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the third preset torque, then the drive motor is controlled to output torque according to the second preset loading gradient or the third preset loading gradient, otherwise the drive motor is controlled to output torque according to the fourth preset loading gradient.

[0053] Among them, the first preset torque, the second preset torque and the third preset torque can be set according to actual conditions. For example, the first preset torque is set to 20%-25% of the peak torque, the second preset torque is set to 5Nm, and the third preset torque can be set to 2Nm, without specific limitation.

[0054] Specifically, the embodiment of the present application can control the vehicle's drive motor to output torque according to the hill-parking exit gradient when the hill-parking exit gradient is the second preset loading gradient, such as Figure 5 The specific steps are as follows:

[0055] Step 5-1: Determine whether the torque command of the vehicle control system is greater than the first preset torque T3 (such as 20%-25% of the peak torque). If so, proceed to step 5-2; otherwise, proceed to step 5-3;

[0056] Step 5-2: Determine whether the absolute value of the difference between the torque command of the vehicle control system and the output torque of the motor control system is less than a second preset torque T4 (e.g., 5 Nm). If so, proceed to step 5-4; otherwise, proceed to step 5-5.

[0057] Step 5-3: Determine whether the absolute value of the difference between the torque command of the vehicle control system and the output torque of the motor control system is less than a third preset torque T5 (e.g., 2 Nm). If so, proceed to step 5-4; otherwise, proceed to step 5-5.

[0058] Step 5-4: Exit the ramp-holding exit gradient loading module 2 and restore the normal torque loading gradient.

[0059] Step 5-5: Maintain the second preset loading gradient output torque of the ramp exit gradient loading module 2.

[0060] Furthermore, the embodiment of the present application can control the vehicle's drive motor to output torque according to the hill-parking exit gradient when the hill-parking exit gradient is a third preset loading gradient, such as Figure 6 The specific steps are as follows:

[0061] 6-1. Determine whether the torque command of the vehicle control system is less than the first preset torque T3 (e.g., 20%-25% of the peak torque). If so, proceed to step 6-2; otherwise, proceed to step 6-3.

[0062] 6-2. Determine whether the absolute value of the difference between the torque command of the vehicle control system and the output torque of the motor control system is less than a second preset torque T4 (e.g., 5 Nm). If so, proceed to step 6-4; otherwise, proceed to step 6-5.

[0063] 6-3 Determine whether the absolute value of the difference between the torque command of the vehicle control system and the output torque of the motor control system is less than a third preset torque T5 (such as 2 Nm). If so, proceed to step 6-4; otherwise, proceed to step 6-5;

[0064] 6-4. Exit the ramp and exit the gradient loading module 3, and resume the normal torque loading gradient;

[0065] 6-5. Maintain the third preset loading gradient output torque of the ramp exit gradient loading module 3.

[0066] In summary, the embodiments of the present application can adopt different hill-holding exit gradient loading modules to control the drive motor to output torque according to different loading gradients, thereby ensuring that the entire vehicle is in a stable state when the function is exited, avoiding impact and shaking, and improving the user's driving experience.

[0067] According to the method for exiting the hill-start assist function proposed in the embodiment of the present application, when the hill-start assist function is exited, the vehicle's drive motor is controlled to output torque according to different parking exit gradients based on the different states of the vehicle at the time of exit. This allows the stall torque to be reduced according to the gradient, avoiding the sudden disappearance of the stall torque, which may cause the vehicle to vibrate and impact, thereby improving the stability of the vehicle when the hill-start assist function is exited and enhancing the comfort of using the hill-start assist function. This solves the problem in the related art of using the motor stall method to exit the hill-start assist function, where the motor stall torque suddenly disappears, causing the vehicle to vibrate and impact, and resulting in a poor user experience.

[0068] Next, a device for exiting the uphill assist function according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0069] Figure 7 It is a block diagram of a device for exiting the uphill assist function according to an embodiment of the present application.

[0070] like Figure 7 As shown, the device 10 for exiting the hill-climbing assist function includes: an identification module 100 , an acquisition module 200 and a control module 300 .

[0071] Among them, the identification module 100 is used to identify the switch state of the vehicle's hill-start assist function; the acquisition module 200 is used to determine that the hill-start assist function is exited when it is identified that the switch state is off, and to obtain the vehicle's handbrake state, current gear position and actual slope value; the control module 300 is used to match the vehicle's hold-on exit gradient according to the handbrake state, current gear position and / or actual slope value, and control the vehicle's drive motor to output torque according to the hold-on exit gradient to maintain the vehicle in a preset stable state when the hill-start assist function is exited.

[0072] In one embodiment of the present application, the control module 300 includes: a first judgment unit, a second judgment unit, and a third judgment unit.

[0073] Among them, the first judgment unit is used to determine that if the handbrake state is in the pulled-up state, the current gear is the parking gear or the current gear is the neutral gear, the slope exit gradient is the first preset loading gradient; the second judgment unit is used to determine that if the current gear is the forward gear and the actual slope value is greater than the preset slope, the slope exit gradient is the second preset loading gradient, wherein the second preset loading gradient is greater than the first preset loading gradient; the third judgment unit is used to determine that if the current gear is the reverse gear and the actual slope value is less than the preset slope, the slope exit gradient is the third preset loading gradient, wherein the absolute value of the third preset loading gradient is greater than the first preset gradient.

[0074] In one embodiment of the present application, if the hill-holding exit gradient is a first preset loading gradient, the control module 300 is further used to determine whether the current speed of the drive motor is less than the first preset speed; if the current speed is greater than or equal to the first preset speed, the drive motor is controlled to output torque according to the first preset loading gradient, otherwise the drive motor is controlled to output torque according to a fourth preset loading gradient.

[0075] In one embodiment of the present application, if the hill-holding exit gradient is the second preset loading gradient and the third preset loading gradient, the control module 300 is further used to determine whether the absolute value of the vehicle's required torque is greater than the first preset torque; if the absolute value of the required torque is greater than the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the second preset torque, or the absolute value of the required torque is less than or equal to the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the third preset torque, then the drive motor is controlled to output torque according to the second preset loading gradient or the third preset loading gradient, otherwise the drive motor is controlled to output torque according to the fourth preset loading gradient.

[0076] It should be noted that the above explanation of the embodiment of the method for exiting the uphill assist function is also applicable to the device for exiting the uphill assist function in this embodiment, and will not be repeated here.

[0077] According to the device for exiting the hill-start assist function proposed in the embodiment of the present application, when the hill-start assist function is exited, the vehicle's drive motor is controlled to output torque according to different parking exit gradients based on the different states of the vehicle at the time of exit. This allows the stall torque to be reduced according to the gradient, avoiding the sudden disappearance of the stall torque, which would cause the vehicle to vibrate and impact, thereby improving the stability of the vehicle when the hill-start assist function is exited and enhancing the comfort of using the hill-start assist function. This solves the problem in the related art of exiting the hill-start assist function by using the motor stall method, where the motor stall torque suddenly disappears, causing the vehicle to vibrate and impact, and resulting in a poor user experience.

[0078] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0079] A memory 801 , a processor 802 , and a computer program stored in the memory 801 and executable on the processor 802 .

[0080] When the processor 802 executes the program, the method for exiting the hill-climbing assist function provided in the above embodiment is implemented.

[0081] Furthermore, the vehicle further comprises:

[0082] The communication interface 803 is used for communication between the memory 801 and the processor 802 .

[0083] The memory 801 is used to store computer programs that can be run on the processor 802.

[0084] The memory 801 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0085] If the memory 801, processor 802, and communication interface 803 are implemented independently, the communication interface 803, memory 801, and processor 802 can be connected to each other via a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0086] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can communicate with each other through an internal interface.

[0087] The processor 802 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0088] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for exiting the uphill assist function.

[0089] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0090] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0091] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0092] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0093] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

Claims

1. A method for exiting a hill-climbing assist function, characterized in that: The following steps are involved: Identify the on / off status of the vehicle's hill-start assist function; When it is identified that the switch state is the off state, determining that the uphill assist function is exited, and obtaining the parking brake state, current gear position and actual slope value of the vehicle; matching a hill-hold exit gradient of the vehicle according to the parking brake state, the current gear position, and / or the actual slope value, and controlling a drive motor of the vehicle to output torque according to the hill-hold exit gradient, so as to maintain the vehicle in a preset stable state when the hill-hold assist function is exited; The step of matching the vehicle's hill-parking exit gradient according to the parking brake state, the current gear position, and / or the actual slope value includes: If the parking brake is in the pulled-up state, the current gear is the parking gear, or the current gear is the neutral gear, the parking slope exit gradient is the first preset loading gradient; If the current gear is a forward gear and the actual slope value is greater than the preset slope, the hill-holding exit gradient is a second preset loading gradient, wherein the second preset loading gradient is greater than the first preset loading gradient; If the current gear is a reverse gear and the actual slope value is less than the preset slope, the hill-holding exit gradient is a third preset loading gradient, wherein the absolute value of the third preset loading gradient is greater than the first preset loading gradient; If the hill-holding exit gradient is the second preset loading gradient and the third preset loading gradient, controlling the drive motor of the vehicle to output torque according to the hill-holding exit gradient includes: determining whether an absolute value of a required torque of the vehicle is greater than a first preset torque; If the absolute value of the required torque is greater than the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the second preset torque, or the absolute value of the required torque is less than or equal to the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the third preset torque, the drive motor is controlled to output torque according to the second preset loading gradient or the third preset loading gradient; otherwise, the drive motor is controlled to output torque according to the fourth preset loading gradient.

2. The method according to claim 1, characterized in that If the hill-holding exit gradient is a first preset loading gradient, controlling the drive motor of the vehicle to output torque according to the hill-holding exit gradient includes: Determining whether the current rotation speed of the drive motor is less than a first preset rotation speed; If the current speed is greater than or equal to the first preset speed, the drive motor is controlled to output torque according to the first preset loading gradient; otherwise, the drive motor is controlled to output torque according to a fourth preset loading gradient.

3. A device for exiting the uphill assist function, characterized in that: include: An identification module, used to identify the on / off status of the vehicle's hill-climbing assist function; an acquisition module, configured to determine that the uphill assist function is exited when recognizing that the switch state is off, and to acquire the handbrake state, current gear position, and actual slope value of the vehicle; a control module, configured to match a hill-hold exit gradient of the vehicle according to the parking brake state, the current gear position, and / or the actual slope value, and control a drive motor of the vehicle to output torque according to the hill-hold exit gradient, so as to maintain the vehicle in a preset stable state when the hill-hold exit function is exited; The control module includes: a first judgment unit, configured to determine that the parking slope exit gradient is a first preset loading gradient if the parking brake state is in the pulled state, the current gear position is the parking gear position, or the current gear position is the neutral gear position; a second judgment unit, configured to determine, if the current gear is a forward gear and the actual slope value is greater than a preset slope, that the hill-holding exit gradient is a second preset loading gradient, wherein the second preset loading gradient is greater than the first preset loading gradient; a third judgment unit, configured to determine, if the current gear is a reverse gear and the actual slope value is less than a preset slope, that the hill-holding exit gradient is a third preset loading gradient, wherein an absolute value of the third preset loading gradient is greater than the first preset loading gradient; If the ramp exit gradient is the second preset loading gradient and the third preset loading gradient, the control module is further configured to: determining whether an absolute value of a required torque of the vehicle is greater than a first preset torque; If the absolute value of the required torque is greater than the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the second preset torque, or the absolute value of the required torque is less than or equal to the first preset torque, and the absolute value of the difference between the absolute value of the required torque and the actual output torque of the drive motor is less than the third preset torque, the drive motor is controlled to output torque according to the second preset loading gradient or the third preset loading gradient; otherwise, the drive motor is controlled to output torque according to the fourth preset loading gradient.

4. The device according to claim 3, characterized in that If the ramp exit gradient is the first preset loading gradient, the control module is further configured to: Determining whether the current rotation speed of the drive motor is less than a first preset rotation speed; If the current speed is greater than or equal to the first preset speed, the drive motor is controlled to output torque according to the first preset loading gradient; otherwise, the drive motor is controlled to output torque according to a fourth preset loading gradient.

5. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for exiting the uphill assist function as described in any one of claims 1 to 2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method for exiting the hill-climbing assist function as described in any one of claims 1-2.

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