Vehicle hill hold control method and device, electronic equipment and storage medium

Abstract

The application provides a vehicle hill parking control method and device, electronic equipment and computer readable storage medium, the method comprises the following steps: in the case that the vehicle is in the state of sliding down the slope, the working state of the brake of the vehicle is determined; wherein the brake of the vehicle is used to control the vehicle to brake; in the case that the working state of the brake of the vehicle is not working, the fault state of the vehicle is acquired; in the case that the fault state of the vehicle meets the preset fault state, the current speed of the vehicle is determined; wherein the preset fault state is used to represent that the vehicle triggers the limited torque or the high voltage power-off operation; in the case that the current speed of the vehicle is greater than the preset speed, the hydraulic brake parking request instruction and the slope value are sent to the hydraulic brake system of the vehicle, so that the hydraulic brake system of the vehicle controls the vehicle to park on the slope based on the slope value. The application can effectively ensure the stability of the vehicle parking on the slope.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, and particularly to a vehicle hill parking control method and device, electronic equipment and a computer readable storage medium. BACKGROUND

[0002] The parking brake force required after parking on a slope is large, and when the parking brake force is insufficient, it is easy to cause the vehicle to slide, which endangers life and property safety. When the vehicle is parked on a slope and there is no other auxiliary device, the driver mainly relies on the front wheel steering to block the rolling of the wheel through the road edge to achieve the purpose of anti-slip.

[0003] In order to realize the parking of the vehicle on the slope, two methods of vehicle hill parking are provided in the prior art:

[0004] One: after the vehicle obtains the gear signal, the throttle signal, the brake signal, the hand brake signal and the current road slope value, it is determined whether to send an initial hill-holding torque value instruction to the motor controller according to the gear signal, the throttle signal, the brake signal, the hand brake signal and the current road slope value. When the initial hill-holding torque value instruction is sent to the motor controller, it is judged whether the motor speed is negative. If yes, torque compensation is performed on the motor controller to control the vehicle to park on the slope. If no, the vehicle is directly controlled to park on the slope.

[0005] However, using the motor to increase the locked-rotor torque to realize the hill parking of the vehicle can easily cause the motor system to overheat and damage the motor, resulting in the failure of the anti-slip function and the risk of the vehicle sliding again.

[0006] The second: the anti-slip system of the electric vehicle includes an anti-lock system, a vehicle controller, a gear sensor, a motor controller, a motor, a throttle pedal, a brake pedal, a hand brake switch and a slope sensor. The throttle pedal, the brake pedal, the hand brake switch, the slope sensor and the gear sensor are connected to the vehicle controller by a hard line. The anti-lock system is connected to the vehicle controller by a hard line or a CAN line. The vehicle controller is connected to the motor controller by a CAN line. The motor controller is connected to the motor by a hard line. After receiving the instruction, the anti-lock system adjusts the pressure of the four wheel cylinders through the brake pressure adjusting device to increase the pressure to the preset pressure, and then performs pressure maintaining brake to stop the electric vehicle on the slope.

[0007] However, when the vehicle is in a fault state (such as: high pressure or torque limiting state), the motor torque cannot meet the hill parking requirement, and the coordination of the hydraulic brake system for hydraulic braking and P-gear parking control is not considered.

[0008] Therefore, how to effectively ensure the stability of the vehicle parked on the slope is a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0009] The application aims to provide a vehicle hill parking control method, device, electronic equipment and computer readable storage medium, thereby effectively ensuring the stability of the vehicle parking on the hill.

[0010] According to a first aspect of the application, a vehicle hill parking control method is provided, which comprises: determining the working state of the brake of the vehicle in the case that the vehicle is in a hill descent state; wherein the brake of the vehicle is used to control the vehicle to brake;

[0011] In the case that the working state of the brake of the vehicle is not working, the fault state of the vehicle is obtained;

[0012] In the case that the fault state of the vehicle meets a preset fault state, the current vehicle speed of the vehicle is determined; wherein the preset fault state is used to represent that the vehicle triggers a limited torque or a high-voltage power-off operation;

[0013] In the case that the current vehicle speed of the vehicle is greater than a preset vehicle speed, a hydraulic brake parking request instruction and a slope value are sent to the hydraulic brake system of the vehicle, so that the hydraulic brake system of the vehicle controls the vehicle to park on the hill based on the slope value.

[0014] Optionally, in the case that the fault state of the vehicle meets the preset fault state, after the current vehicle speed of the vehicle is determined, the method further comprises:

[0015] In the case that the current vehicle speed is less than the preset vehicle speed, a control signal is sent to the motor controller of the vehicle, so that the motor controller of the vehicle controls the motor to output torque based on the control signal.

[0016] Optionally, in the case that the current vehicle speed of the vehicle is greater than the preset vehicle speed, the hydraulic brake parking request instruction and the slope value are sent to the hydraulic brake system of the vehicle, so that the hydraulic brake system of the vehicle controls the vehicle to park on the hill based on the slope value, which comprises:

[0017] In the case that the current vehicle speed of the vehicle is greater than the preset vehicle speed, the hydraulic brake parking request instruction and the slope value are sent to the hydraulic brake system of the vehicle, so that the hydraulic brake system of the vehicle calculates the hydraulic braking force based on the slope value and controls the brake mechanism to apply the hydraulic braking force to the tire of the vehicle.

[0018] Optionally, in the case that the current vehicle speed of the vehicle is greater than the preset vehicle speed, after the hydraulic brake parking request instruction and the slope value are sent to the hydraulic brake system of the vehicle, so that the hydraulic brake system of the vehicle controls the vehicle to park on the hill based on the slope value, the method further comprises:

[0019] The motor controller of the vehicle is controlled to determine the actual torque of the motor in real time;

[0020] The actual torque of the motor is compared with the preset torque range, and a comparison result is generated;

[0021] When the comparison result is that the actual torque of the motor is in the preset torque range, a gear parking signal is sent to a gear controller of the vehicle, and a hand brake parking signal is sent to an electronic hand brake controller of the vehicle, so that the gear controller controls the gear to switch to P gear based on the gear parking signal, and the electronic hand brake controller controls the electronic hand brake to start based on the hand brake parking signal.

[0022] Optionally, after the actual torque of the motor is compared with the preset torque range, and the comparison result is generated, the method further comprises:

[0023] When the comparison result is that the actual torque of the motor is not in the preset torque range, the step of sending a hydraulic brake parking request instruction and a slope value to a hydraulic brake system of the vehicle to control the vehicle to perform slope parking based on the slope value until the comparison result is that the actual torque of the motor is in the preset torque range is repeatedly executed under the condition that the current speed of the vehicle is greater than the preset speed.

[0024] Optionally, the method further comprises sending a display instruction to a vehicle body controller to control a double flash indicator light of the vehicle to be on based on the display instruction.

[0025] Optionally, after the comparison result is that the actual torque of the motor is in the preset torque range, the gear parking signal is sent to the gear controller of the vehicle, and the hand brake parking signal is sent to the electronic hand brake controller of the vehicle, so that the gear controller controls the gear to switch to P gear based on the gear parking signal, and the electronic hand brake controller controls the electronic hand brake to start based on the hand brake parking signal, the method further comprises controlling the hydraulic brake system to release the hydraulic brake force.

[0026] According to a second aspect of the present application, a control device for slope parking of a vehicle is provided, and the device comprises:

[0027] A first determination module is configured to determine a working state of a brake of the vehicle under the condition that the vehicle is in a coasting state; wherein the brake of the vehicle is configured to control the vehicle to brake;

[0028] A first acquisition module is configured to acquire a fault state of the vehicle under the condition that the working state of the brake of the vehicle is not working;

[0029] A second determination module is configured to determine a current speed of the vehicle under the condition that the fault state of the vehicle meets a preset fault state; wherein the preset fault state is configured to represent that the vehicle triggers a torque limit or a high-voltage power-off operation;

[0030] The first sending module is configured to send a hydraulic braking parking request instruction and a slope value to the hydraulic braking system of the vehicle when the current speed of the vehicle is greater than the preset speed, so that the hydraulic braking system of the vehicle controls the vehicle to park on a slope based on the slope value.

[0031] Optionally, the device further comprises a second sending module configured to send a control signal to the motor controller of the vehicle when the current speed is less than the preset speed, so that the motor controller of the vehicle controls the motor to output torque based on the control signal.

[0032] Optionally, the first sending module is configured to send a hydraulic braking parking request instruction and a slope value to the hydraulic braking system of the vehicle when the current speed of the vehicle is greater than the preset speed, so that the hydraulic braking system of the vehicle calculates a hydraulic braking force based on the slope value and controls the braking mechanism to apply the hydraulic braking force to the tire of the vehicle.

[0033] Optionally, the device further comprises a third determining module configured to control the motor controller of the vehicle to determine the actual torque of the motor in real time; a comparison module configured to compare the actual torque of the motor with a preset torque range to generate a comparison result; and a third sending module configured to send a gear parking signal to the gear controller of the vehicle and send a hand brake parking signal to the electronic hand brake controller of the vehicle when the comparison result is that the actual torque of the motor is within the preset torque range, so that the gear controller controls the gear to switch to the P gear based on the gear parking signal, and the electronic hand brake controller controls the electronic hand brake to start based on the hand brake parking signal.

[0034] Optionally, the device further comprises a cycle module configured to cyclically execute the step of sending a hydraulic braking parking request instruction and a slope value to the hydraulic braking system of the vehicle when the current speed of the vehicle is greater than the preset speed, so that the hydraulic braking system of the vehicle controls the vehicle to park on a slope based on the slope value, until the comparison result is that the actual torque of the motor is within the preset torque range.

[0035] Optionally, the device further comprises a fourth sending module configured to send a display instruction to the body controller, so that the body controller controls the double flash indicator light of the vehicle to light based on the display instruction.

[0036] Optionally, the device further comprises a control module configured to control the hydraulic braking system to release the hydraulic braking force.

[0037] According to a third aspect of the present application, an electronic device is provided, which comprises a processor, a memory, and a program or instruction stored on the memory and executable on the processor, and the program or instruction is executed by the processor to implement the steps of the control method for vehicle slope parking as shown in the first aspect.

[0038] According to a fourth aspect of the present application, a readable storage medium is provided, and the readable storage medium stores a program or instructions, which, when executed by a processor, implement the steps of the control method for vehicle hill hold as shown in the first aspect.

[0039] When the vehicle is on a hill and the brake is not working, a fault state of the vehicle is acquired, and in a case where the fault state of the vehicle meets a preset fault state, a current vehicle speed of the vehicle is determined; wherein the preset fault state is used to represent that the vehicle triggers a limited torque or a high-voltage power-off operation, and in a case where the current vehicle speed of the vehicle is greater than a preset vehicle speed, a hydraulic brake parking request instruction and a slope value are sent to a hydraulic brake system of the vehicle, so that the hydraulic brake system of the vehicle controls the vehicle to perform hill hold based on the slope value. That is, the present application controls the vehicle to perform hill hold operation by the hydraulic brake system of the vehicle according to the slope value when the vehicle triggers the limited torque or the high-voltage power-off operation. The present application can effectively ensure the stability of the vehicle on the hill. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0041] Figure 1 A flowchart of the control method for vehicle hill hold provided by the embodiment of the present application;

[0042] Figure 2 A flowchart of the control method for vehicle hill hold provided by the embodiment of the present application;

[0043] Figure 3 A schematic diagram of the control method for vehicle hill hold provided by the embodiment of the present application;

[0044] Figure 4 A schematic diagram of the control method for vehicle hill hold provided by the embodiment of the present application; and

[0045] Figure 5 A schematic diagram of the control device for vehicle hill hold provided by the embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the above and other features and advantages of the present application clearer, the present application will be further described below with reference to the drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation and are only exemplary, but are not limiting.

[0047] In the following description, numerous specific details are set forth to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the application can be practiced without the specific details. In other instances, well-known steps or services have not been described in detail in order to avoid obscuring the application.

[0048] Based on the content of the background section, in the prior art, when the vehicle is in a fault state (such as: high pressure or limited torque state), and the motor torque cannot meet the hill holding requirement, the hydraulic brake system is not considered to be coordinated to perform hydraulic braking and P-gear parking control.

[0049] To solve the above technical problems, the present application provides a vehicle hill parking control method, device, electronic equipment and computer readable storage medium. In the following, the vehicle hill parking control method provided by the present application will be described in detail through specific embodiments and their application scenarios.

[0050] As shown in Figure 1 The present application provides a vehicle hill parking control method, which can include:

[0051] Step S11: determining the working state of the brake of the vehicle in the case that the vehicle is in a hill descent state; wherein the brake of the vehicle is used to control the vehicle to brake.

[0052] Specifically, in the present application, the vehicle controller can be used as the execution subject of the present application, wherein the vehicle controller can establish a communication relationship with the brake of the vehicle. In the case that the vehicle is in a hill descent state, the vehicle controller needs to determine the working state of the brake of the vehicle, that is, the vehicle controller needs to judge whether the brake of the vehicle is working. It should be noted that the brake of the vehicle is used to control the vehicle to brake.

[0053] Optionally, the brake of the vehicle can be one or more of the accelerator pedal, the brake pedal or the hand brake.

[0054] Step S13: obtaining the fault state of the vehicle in the case that the working state of the brake of the vehicle is not working.

[0055] Specifically, in the present application, in the case that the working state of the brake of the vehicle is not working, the vehicle controller needs to judge the fault state of the vehicle, that is, the vehicle controller needs to judge the fault state of the vehicle, and then control the corresponding vehicle controller to control the vehicle according to the fault state of the vehicle.

[0056] In an optional embodiment, when the vehicle is coasting down a slope and the working state of the brake of the vehicle is working, i.e., the driver has an active braking intention, an output instruction is sent to the motor controller, and the motor controller controls the motor to output the required torque corresponding to the pedal opening at zero vehicle speed based on the output instruction after receiving the output instruction.

[0057] Step S15: determining the current vehicle speed when the fault state of the vehicle meets the preset fault state; wherein, the preset fault state is used to represent that the vehicle triggers the limited torque or the high-voltage power-off operation.

[0058] Specifically, in the present application, when the fault state of the vehicle meets the preset fault state,

[0059] The vehicle controller needs to determine the current vehicle speed. It should be noted that the preset state is used to represent that the vehicle triggers the limited torque or the high-voltage power-off operation, wherein the preset fault state can be determined by the vehicle fault level and the fault information state.

[0060] It should be noted that when the fault state of the vehicle meets the preset fault state, the vehicle power is insufficient or power is lost, that is, the motor torque of the vehicle cannot meet the demand of vehicle parking.

[0061] In an optional embodiment, the vehicle controller can send a vehicle speed extraction signal to the vehicle speed sensor, so that the vehicle speed sensor detects the current vehicle speed based on the vehicle speed extraction signal, and then sends the current vehicle speed of the vehicle to the vehicle controller.

[0062] Step S17: sending a hydraulic brake parking request instruction and a slope value to the hydraulic brake system of the vehicle when the current vehicle speed is greater than the preset vehicle speed, so that the hydraulic brake system of the vehicle controls the vehicle to park on the slope based on the slope value.

[0063] Specifically, in the present application, the vehicle controller can establish a communication relationship with the hydraulic brake system of the vehicle, wherein when the current vehicle speed is greater than the preset vehicle speed, that is, when the vehicle is accelerating and coasting, the vehicle controller sends a hydraulic brake parking request and a slope value to the hydraulic brake system, and then the hydraulic brake system of the vehicle performs a parking action according to the hydraulic brake parking request and controls the vehicle to park on the slope according to the slope value, i.e., adjusts the current vehicle speed to 0.

[0064] Optionally, the preset vehicle speed can be 10 km / h.

[0065] It should be noted that the hydraulic braking system can be controlled by the hydraulic braking system controller, that is, the vehicle controller can transmit signals or instructions to the hydraulic braking system controller to control the hydraulic braking system to work based on the signals or instructions.

[0066] In an optional embodiment, step S15 comprises: in the case that the current vehicle speed is greater than the preset vehicle speed, sending a hydraulic braking parking request instruction and a slope value to the hydraulic braking system of the vehicle, so that the hydraulic braking system of the vehicle calculates the hydraulic braking force based on the slope value and controls the brake mechanism to apply the hydraulic braking force to the tire of the vehicle.

[0067] Specifically, in the present application, in the case that the current vehicle speed is greater than the preset vehicle speed, the vehicle controller sends a hydraulic braking parking request instruction and a slope value to the hydraulic braking system of the vehicle. After receiving the hydraulic braking parking request instruction, the hydraulic braking system calculates the hydraulic braking force according to the obtained slope value, and then controls the brake mechanism to apply the hydraulic braking force to the tire of the vehicle, so that the speed of the tire of the vehicle is reduced under the action of the hydraulic braking force until the speed of the tire is 0.

[0068] It should be noted that the slope value and the driving torque required to overcome the slope can be calculated by feeding back the slope signal through the slope sensor and combining the actual speed of the motor, the actual torque of the motor, the state of the electronic hand brake and the brake pedal.

[0069] Compared with the prior art, the present application can effectively ensure the stability of the vehicle when the vehicle is triggered to limit the torque or operate under high voltage.

[0070] In an optional embodiment, after step S15, the method further comprises:

[0071] In the case that the current vehicle speed is less than the preset vehicle speed, a control signal is sent to the motor controller of the vehicle, so that the motor controller of the vehicle controls the motor to output torque based on the control signal.

[0072] Specifically, in the present application, in the case that the current vehicle speed is less than the preset vehicle speed, the vehicle controller sends a control signal to the motor controller of the vehicle, so that the motor controller of the vehicle controls the motor to output torque based on the control signal, that is, only the motor output torque is needed when the current vehicle speed is small (less than the preset vehicle speed) to achieve the inhibition of the vehicle rolling down the slope.

[0073] In an optional embodiment, during the process of the motor output torque, the speed of the vehicle rolling down the slope will continuously increase, and when the speed of the vehicle reaches or exceeds the preset speed, the vehicle is parked by the above-mentioned hydraulic braking system.

[0074] As Figure 2 shown in FIG. 17, in an optional embodiment, after step S17, the method further comprises:

[0075] Step S19: controlling the motor controller of the vehicle to determine the actual torque of the motor in real time.

[0076] Step S21: comparing the actual torque of the motor with the preset torque range to generate a comparison result.

[0077] Step S23: when the comparison result is that the actual torque of the motor is within the preset torque range, sending a gear parking signal to the gear controller of the vehicle and a handbrake parking signal to the electronic handbrake controller of the vehicle, so that the gear controller controls the gear to switch to P based on the gear parking signal, and the electronic handbrake controller of the vehicle controls the electronic handbrake to start based on the handbrake parking signal.

[0078] Specifically, in the present application, after the brake hydraulic system of the vehicle controls the wheel speed of the vehicle to decelerate through brake hydraulic pressure, it is necessary to determine whether the actual torque of the motor of the vehicle is within the preset torque range, that is, to determine whether the actual torque of the motor can still support the operation of the motor of the vehicle. If the actual torque of the motor cannot support the operation of the motor of the vehicle, and the vehicle is in a stopped state, the vehicle controller sends a gear parking signal to the gear controller of the vehicle and a handbrake parking signal to the electronic handbrake controller of the vehicle, so that the gear controller controls the gear to switch to P based on the gear parking signal, and the electronic handbrake controller of the vehicle controls the electronic handbrake to start based on the handbrake parking signal. Through this step, the stability of the vehicle after parking can be effectively guaranteed.

[0079] In an optional embodiment, after step S21, the method further comprises:

[0080] When the comparison result is that the actual torque of the motor is not within the preset torque range, the step of sending a hydraulic brake parking request instruction and a slope value to the hydraulic brake system of the vehicle to make the hydraulic brake system of the vehicle control the vehicle to park on a slope based on the slope value until the comparison result is that the actual torque of the motor is within the preset torque range is repeatedly executed under the condition that the current speed of the vehicle is greater than the preset speed.

[0081] Specifically, in the present application, when the actual torque of the motor is not within the preset torque range, the above-mentioned step S19 needs to be repeatedly executed, that is, the vehicle needs to be continuously decelerated until the actual torque of the motor is within the preset torque range. Through this step, the stability of the vehicle during parking can be effectively improved.

[0082] In an optional embodiment, the method further comprises: sending a display instruction to the vehicle body controller to make the vehicle body controller control the double flash indicator light of the vehicle to be on based on the display instruction.

[0083] Specifically, in the present application, the vehicle controller can establish a communication relationship with the vehicle body controller. When the vehicle controller sends a hydraulic braking parking request instruction to the hydraulic braking system of the vehicle, a display instruction also needs to be sent to the vehicle body controller, and then the vehicle body controller controls the double flash indicator light of the vehicle to be on according to the display instruction. Through this step, when the vehicle is rolling due to a fault, the hydraulic braking system participates in the anti-rolling control and the double flash warning light is turned on at the same time to prompt other vehicles, further reducing the probability of traffic accidents and reducing the loss to the owner.

[0084] It should be noted that during the rolling process, the double flash indicator light of the vehicle is always on.

[0085] In an optional embodiment, after step S23, the method further comprises:

[0086] Controlling the hydraulic braking system to release the hydraulic braking force.

[0087] Specifically, in the present application, when the vehicle has completely stopped (the actual torque of the motor is close to zero, and the vehicle is stopped), the vehicle controller can send a release signal to the hydraulic braking system, and the hydraulic braking system controls the hydraulic braking system to release the hydraulic braking force based on the release signal.

[0088] In combination with Figure 3 In an optional embodiment, the controller of the present application can include: a vehicle controller, a gear shifter, a motor controller, a motor, an accelerator pedal, a brake pedal, an electronic hand brake switch, a slope sensor, a vehicle body controller, and a hydraulic braking system controller. The accelerator pedal, the brake pedal, and the slope sensor are connected to the vehicle controller through a hard wire, the gear shifter, the motor controller, the electronic hand brake, and the hydraulic braking system are connected through a CAN line, and the motor controller is connected to the motor through a hard wire. The vehicle controller determines whether the vehicle is in a rolling state through the actual speed and actual steering signal of the motor sent by the motor controller, the gear signal sent by the gear shifter, and the vehicle speed signal.

[0089] It should be noted that the accelerator pedal: feedback pedal opening degree analog signal; brake pedal: feedback brake pedal digital signal; slope sensor: feedback current detection slope value; gear selector: feedback driver gear request; motor controller, feedback motor actual speed, steering and torque; electronic hand brake: execute hand brake parking control; hydraulic brake system controller: receive hydraulic brake parking request instruction and slope, calculate the slope demand brake force and control the actuator to perform hydraulic brake, feedback hydraulic brake state; body controller: receive double flash warning light lighting instruction and control double flash light active lighting.

[0090] In combination Figure 4 As shown in the flow chart of the control method of the vehicle hill hold, the present application provides.

[0091] Get gear signal, accelerator pedal opening degree signal, brake pedal signal, motor actual torque signal, motor actual speed signal, motor actual steering signal, vehicle speed signal, electronic hand brake signal and current road slope value.

[0092] The system estimates the current slope and the first drive torque required to overcome the slope by combining the slope signal fed back by the slope sensor, the motor actual speed, the motor actual torque, the electronic hand brake and the brake pedal state.

[0093] Determine whether the vehicle is in the coasting state by the gear signal, the motor actual speed, the motor actual steering signal and the vehicle speed signal.

[0094] In the case where the vehicle is not in the coasting state, output the driver demand torque, and do not execute the anti-coasting control logic (steps S11-S17 in the present application).

[0095] In the case where the vehicle is in the coasting state, determine whether the driver has an active driving intention by the accelerator pedal, the brake pedal and the hand brake.

[0096] In the vehicle driving state (active driving intention exists), the brake pedal and the electronic hand brake are in the released state, the vehicle controller outputs the driver request torque to the motor controller through the CAN signal, and the motor controller controls the motor to output the torque to drive the vehicle. When the system detects that the vehicle is coasting on the slope, the vehicle controller maintains the output of the large drive torque demand (B Nm) corresponding to the throttle opening at zero vehicle speed, and suppresses the vehicle from rolling down the slope.

[0097] In the case that the vehicle is in a power deficiency or power loss fault state, and the driver does not step on the brake pedal and does not pull up the electronic hand brake to slow down the vehicle, if the vehicle cannot output the torque A required to overcome the slope at this time, the vehicle accelerates and rolls. When the vehicle rolling speed exceeds a certain threshold C (compared to 10) Km / h, the vehicle controller sends a hydraulic brake parking request instruction and the current estimated slope value to the hydraulic brake system and sends an instruction to the body controller to turn on the double flash warning light. When the hydraulic brake system receives the hydraulic brake parking request instruction and the slope value, it calculates and controls the brake mechanism to apply hydraulic braking force to the four wheels to force the vehicle to slow down. When the vehicle slows down to a stop and the actual torque output of the motor is close to 0 Nm, the vehicle controller controls the vehicle to enter P gear and sends an electronic hand brake pull parking instruction, and the hydraulic brake system gradually releases the hydraulic braking force. If the vehicle slows down to a stop and the motor has actual torque output, the hydraulic brake system maintains the braking force, and the vehicle controller waits for the user to actively step on the brake pedal or pull up the electronic hand brake to brake.

[0098] When the vehicle speed is less than a certain threshold (C Km / h), the vehicle controller outputs the driver's requested torque through a CAN signal to the motor controller, and the motor controller controls the motor to output torque to drive the vehicle. When the system detects that the vehicle is rolling on the slope, the vehicle controller maintains a large driving torque demand (B Nm) corresponding to the throttle opening at zero vehicle speed, and suppresses the vehicle from rolling down the slope. When the vehicle speed reaches a certain threshold (C Km / h) while the vehicle is rolling down the slope, the fault state anti-rolling control strategy is executed.

[0099] In an optional embodiment, if the vehicle is in a power deficiency or power loss fault state, causing the vehicle to be unable to output the driver's demand torque B Nm, the vehicle controller recognizes that the driver steps on the brake pedal or pulls up the electronic hand brake during the vehicle acceleration and rolling process, and the vehicle controller does not request the hydraulic brake system to work for hydraulic brake parking and does not request the body controller to turn on the double flash warning light.

[0100] Compared with the prior art, the application can effectively ensure the stability of the vehicle when the vehicle is triggered to limit torque or high voltage operation, and the vehicle is parked on the slope by the hydraulic brake system of the vehicle according to the slope value. The application can effectively ensure the stability of the vehicle when the vehicle is triggered to limit torque or high voltage operation, and the vehicle is parked on the slope by the hydraulic brake system of the vehicle according to the slope value.

[0101] In addition, by sending a display signal to the body controller, the body controller controls the double flash indicator light of the vehicle according to the display signal, so that the hydraulic brake system participates in the anti-rolling control when the vehicle is rolling due to a fault, and at the same time, the double flash warning light is turned on to alert other vehicles, further reducing the probability of traffic accidents and reducing the loss to the vehicle owner.

[0102] In addition, this application avoids triggering an overheating fault and exiting the anti-rollover control logic by coordinating the motor and the hydraulic braking system to prevent the motor from outputting a large stall torque when stuck on a slope.

[0103] like Figure 5 As shown, in an optional embodiment, this application provides a vehicle ramp parking control device, which may include: a first determining module 51, used to determine the working state of the vehicle's brakes when the vehicle is in a ramp state; wherein the vehicle's brakes are used to control the vehicle to brake; a first acquiring module 52, used to acquire the vehicle's fault state when the vehicle's brakes are not working; a second determining module 53, used to determine the vehicle's current speed when the vehicle's fault state meets a preset fault state; wherein the preset fault state is used to characterize the vehicle triggering torque limiting or high-voltage power-off operation; and a first sending module 54, used to send a hydraulic brake parking request command and a slope value to the vehicle's hydraulic braking system when the vehicle's current speed is greater than a preset speed, so that the vehicle's hydraulic braking system controls the vehicle to perform ramp parking based on the slope value.

[0104] Optionally, the device further includes a second transmitting module, used to send a control signal to the vehicle's motor controller when the current vehicle speed is less than a preset vehicle speed, so that the vehicle's motor controller controls the motor output torque based on the control signal.

[0105] Optionally, the first sending module 54 is used to send a hydraulic braking parking request command and a slope value to the vehicle's hydraulic braking system when the vehicle's current speed is greater than a preset speed, so that the vehicle's hydraulic braking system can calculate the hydraulic braking force based on the slope value and control the braking mechanism to apply hydraulic braking force to the vehicle's tires.

[0106] Optionally, the device further includes: a third determining module for controlling the vehicle's motor controller to determine the actual torque of the motor in real time; a comparison module for comparing the actual torque of the motor with a preset torque range and generating a comparison result; and a third sending module for sending a gear position parking signal to the vehicle's gear position controller and a handbrake parking signal to the vehicle's electronic handbrake controller when the comparison result indicates that the actual torque of the motor is within the preset torque range, so that the gear position controller controls the gear to switch to P gear based on the gear position parking signal, and the vehicle's electronic handbrake controller controls the electronic handbrake to start based on the handbrake parking signal.

[0107] Optionally, the device further comprises a cycle module configured to cyclically execute the following step: when the comparison result is that the actual torque of the motor is not within the preset torque range, if the current speed of the vehicle is greater than the preset speed, sending a hydraulic braking parking request instruction and a slope value to the hydraulic braking system of the vehicle, so that the hydraulic braking system of the vehicle controls the vehicle to perform slope parking based on the slope value until the comparison result is that the actual torque of the motor is within the preset torque range.

[0108] Optionally, the device further comprises a fourth sending module configured to send a display instruction to the vehicle body controller, so that the vehicle body controller controls the double flash indicator light of the vehicle to be on based on the display instruction.

[0109] Optionally, the device further comprises a control module configured to control the hydraulic braking system to release the hydraulic braking force.

[0110] Compared with the prior art, the present application can effectively ensure the stability of the vehicle when the vehicle is triggered to limit the torque or high voltage operation, and the vehicle is parked on the slope by the hydraulic braking system of the vehicle according to the slope value.

[0111] In addition, by sending a display signal to the vehicle body controller, the vehicle body controller controls the double flash indicator light of the vehicle to be on according to the display signal, which can participate in the anti-slip control of the hydraulic braking system when the vehicle is faulted and the double flash warning light is on to prompt other vehicles, further reducing the probability of traffic accidents and reducing the loss to the owner.

[0112] In addition, the present application avoids the motor outputting a large stall torque to trigger an over-temperature fault to exit the anti-slip control logic by cooperating between the motor and the hydraulic braking system.

[0113] It should be understood that each module / unit of the device of the present application can be realized by software, hardware, firmware or a combination thereof, in whole or in part. Each module / unit can be embedded in the processor of the electronic device or independent of the processor in hardware or firmware form, or stored in the memory of the electronic device in software form for the processor to call to perform the services of each module / unit. Each module / unit can be realized as an independent component or module, or two or more modules / unit can be realized as a single component or module.

[0114] In one embodiment, an electronic device is provided, which includes a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions, when executed by the processor, instructing the processor to perform the steps of the method of the present application. The electronic device can be a server, a terminal, or any other electronic device with necessary computing and / or processing capability in a broad sense. In one embodiment, the electronic device can include a processor, a memory, a network interface, a communication interface, etc. connected by a system bus. The processor of the electronic device can be used to provide necessary computing, processing and / or control capability. The memory of the electronic device can include a non-volatile storage medium and an internal memory. The non-volatile storage medium can have or store a service system, a computer program, etc. therein or thereon. The internal memory can provide an environment for running of the service system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the electronic device can be used to connect and communicate with external devices through a network.

[0115] The present application can be implemented as a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of the method of the present application to be performed. In one embodiment, the computer program is distributed over a network of coupled electronic devices or processors such that the computer program is stored, accessed and executed in a distributed manner by one or more electronic devices or processors. A single method step / service, or two or more method steps / services, can be performed by a single electronic device or processor or by two or more electronic devices or processors. One or more method steps / services can be performed by one or more electronic devices or processors and one or more other method steps / services can be performed by one or more other electronic devices or processors. One or more electronic devices or processors can perform a single method step / service, or perform two or more method steps / services.

[0116] It will be appreciated by those skilled in the art that the steps of the method of the present application can be instructed by a computer program to relevant hardware such as an electronic device or a processor, and the computer program can be stored in a non-transitory computer-readable storage medium, which, when executed, causes the steps of the method of the present application to be performed. Depending on the circumstances, any reference herein to a memory, storage, database or other medium can include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tapes, floppy disks, magneto-optical data storage devices, optical data storage devices, hard disks, solid-state disks, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0117] The technical features described above can be combined arbitrarily. Although all possible combinations of the technical features are not described, any combination of the technical features should be considered to be covered by the present specification, as long as such a combination does not result in a contradiction.

[0118] Although the present application has been described in connection with the embodiments thereof, it will be understood that the description and drawings merely illustrate the application and are not intended to limit its scope to the embodiments disclosed. Various modifications and variations of the application will be apparent to those skilled in the art without departing from the spirit of the application.

Claims

1. A control method of vehicle hill hold, characterized by, The method comprises: In the case that the vehicle is in the condition of coasting down the slope, the working state of the brake of the vehicle is determined; wherein the brake of the vehicle is used to control the vehicle to brake; In the case that the working state of the brake of the vehicle is not working, the fault state of the vehicle is acquired; In the case that the fault state of the vehicle meets the preset fault state, it is determined that the vehicle is power deficient or power loss, and the current speed of the vehicle is determined; wherein the preset fault state is used to represent that the vehicle triggers the limited torque or the high voltage power-off operation; In the case that the current speed of the vehicle is greater than the preset speed, the hydraulic brake parking request instruction and the slope value are sent to the hydraulic brake system of the vehicle, so that the hydraulic brake system of the vehicle controls the vehicle to park on the slope based on the slope value; The motor controller of the vehicle is controlled to determine the actual torque of the motor in real time; The actual torque of the motor is compared with the preset torque range to generate a comparison result; In the case that the comparison result is that the actual torque of the motor is in the preset torque range, the gear parking signal is sent to the gear controller of the vehicle and the hand brake parking signal is sent to the electronic hand brake controller of the vehicle, so that the gear controller controls the gear to switch to P based on the gear parking signal, and the electronic hand brake controller controls the electronic hand brake to start based on the hand brake parking signal.

2. The control method of vehicle hill hold according to claim 1, characterized by, After it is determined that the fault state of the vehicle meets the preset fault state, the method further comprises: In the case that the current speed is less than the preset speed, a control signal is sent to the motor controller of the vehicle, so that the motor controller of the vehicle controls the motor to output torque based on the control signal.

3. The control method of vehicle hill hold according to claim 1, characterized by, In the case that the current speed of the vehicle is greater than the preset speed, the hydraulic brake parking request instruction and the slope value are sent to the hydraulic brake system of the vehicle, so that the hydraulic brake system of the vehicle controls the vehicle to park on the slope based on the slope value, comprising: In the case that the current speed of the vehicle is greater than the preset speed, the hydraulic brake parking request instruction and the slope value are sent to the hydraulic brake system of the vehicle, so that the hydraulic brake system of the vehicle calculates the hydraulic braking force based on the slope value, and controls the brake mechanism to apply the hydraulic braking force to the tire of the vehicle.

4. The control method of vehicle hill hold according to claim 1, characterized by, After comparing the actual torque of the motor with the preset torque to generate a comparison result, the method further comprises: In the case that the comparison result is that the actual torque of the motor is not in the preset torque range, the step of sending the hydraulic brake parking request instruction and the slope value to the hydraulic brake system of the vehicle in the case that the current speed of the vehicle is greater than the preset speed, so that the hydraulic brake system of the vehicle controls the vehicle to park on the slope based on the slope value, is executed circularly until the comparison result is that the actual torque of the motor is in the preset torque range.

5. The control method of vehicle hill hold according to claim 1, characterized by, The method further comprises: A display instruction is sent to the body controller, so that the body controller controls the double flash indicator light of the vehicle to be on based on the display instruction.

6. The control method of vehicle hill hold according to claim 5, characterized by, The method further comprises: controlling the hydraulic brake system to release the hydraulic brake force.

7. A control device for vehicle hill hold, characterized by comprising: The device comprises: a first determination module configured to determine a working state of a brake of the vehicle when the vehicle is in a hill-start state, wherein the brake of the vehicle is configured to brake the vehicle; a first acquisition module configured to acquire a fault state of the vehicle when the working state of the brake of the vehicle is in a non-working state; a second determination module configured to determine power deficiency or power loss of the vehicle and determine a current vehicle speed of the vehicle when the fault state of the vehicle meets a preset fault state, wherein the preset fault state is configured to represent that the vehicle triggers a torque limit or a high-voltage power-off operation; a sending module configured to send a hydraulic brake parking request instruction and a slope value to a hydraulic brake system of the vehicle when the current vehicle speed of the vehicle is greater than a preset vehicle speed, so that the hydraulic brake system of the vehicle controls the vehicle to perform hill parking based on the slope value; a third determination module configured to control a motor controller of the vehicle to determine an actual torque of a motor in real time; a comparison module configured to compare the actual torque of the motor with a preset torque range to generate a comparison result; a third sending module configured to send a gear parking signal to a gear controller of the vehicle and send a handbrake parking signal to an electronic handbrake controller of the vehicle when the comparison result is that the actual torque of the motor is in the preset torque range, so that the gear controller controls gear switching to P based on the gear parking signal, and the electronic handbrake controller of the vehicle controls the electronic handbrake to start based on the handbrake parking signal.

8. An electronic device, comprising: The electronic device comprises a processor and a memory storing computer program instructions; The processor executes the computer program instructions to implement the vehicle hill parking control method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by the processor to implement the vehicle hill parking control method of any one of claims 1-6.

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