Anti-slip control method, device, equipment and storage medium

Abstract

The present application provides an anti-slip control method, device, equipment and storage medium, the method comprising: determining that the ACC function of the vehicle is turned on, and obtaining the slope information of the road where the vehicle is currently located when at least determining that the speed of the vehicle has not reached a preset speed threshold; calculating the engine demand torque of the vehicle based on the slope information; generating and outputting an engine torque request according to the calculated engine demand torque, wherein the engine torque request is used to make the vehicle actuator of the vehicle output torque according to the engine demand torque. The anti-slip control method of the present application can ensure that there is enough output torque to overcome the gravity component of the vehicle to prevent the vehicle from slipping by calculating the engine demand torque according to the slope information when the vehicle speed is low, making the ACC function following the vehicle more robust, improving the driving experience and driving safety, as well as user satisfaction.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an anti-slip control method, device, equipment and storage medium. Background Art

[0002] Intelligence is one of the important trends in the development of the automotive industry today. The vehicle cruise system can replace the driver to perform longitudinal operations of the vehicle under certain working conditions, thereby freeing the driver's feet and reducing driving fatigue. The car's cruise system has gradually developed from the initial high-speed fixed-speed cruise mode to the Adaptive Cruise Control (ACC) mode with a higher degree of automation, such as low-speed following and distance keeping. The active safety performance of the car is constantly improving, and the driving experience in the corresponding mode is also improved accordingly.

[0003] The ACC system is an intelligent automatic control system. During the driving process, the distance sensor (radar) installed at the front of the vehicle continuously scans the road ahead of the vehicle, while the wheel speed sensor collects the vehicle speed signal. When the distance to the vehicle in front is too large or too small, the ACC system can coordinate with the Anti-lock Brake System (ABS) and the Engine Management System (EMS) to keep the vehicle and the vehicle in front at a set safe distance.

[0004] The current ACC system's request logic for the braking process and the starting process of following the vehicle in front is to directly output a fixed required torque request to the vehicle actuators, including the EMS, Electronic Stability Controller (ESC), etc., but the above method has a simple logic setting, which may result in probabilistic slipping of the vehicle during the braking process and the starting process of following the vehicle in front on a slope, affecting the driving experience and safety, and affecting customer satisfaction. Summary of the invention

[0005] The present application provides an anti-slip control method, device, equipment and storage medium, which can reduce the probability of a vehicle slipping.

[0006] In a first aspect, the present application provides an anti-slip control method, the method comprising:

[0007] Determining that the ACC function of the vehicle is turned on, and when at least determining that the speed of the vehicle does not reach a preset speed threshold, obtaining the slope information of the road where the vehicle is currently located;

[0008] Calculating the required engine torque of the vehicle based on the slope information;

[0009] An engine torque request is generated and output according to the calculated engine demand torque, wherein the engine torque request is used to enable a vehicle actuator of the host vehicle to output torque according to the engine demand torque.

[0010] In some implementations, when at least determining that the speed of the vehicle has not reached a preset speed threshold, obtaining the slope information of the road on which the vehicle is currently located includes:

[0011] When it is determined that the speed of the vehicle does not reach the preset speed threshold and the ACC driving departure request is true, obtaining the slope information of the road where the vehicle is currently located;

[0012] The ACC driving departure request being true indicates that a driving start request is obtained within a preset historical time.

[0013] In some implementations, obtaining the slope information of the road on which the vehicle is currently located includes:

[0014] Acquire the longitudinal acceleration and dynamic acceleration of the vehicle, wherein the dynamic acceleration is calculated based on the wheel speed information of the vehicle;

[0015] The slope information of the road on which the vehicle is currently located is calculated according to the longitudinal acceleration and the dynamic acceleration.

[0016] In some implementations, the calculating the engine required torque of the vehicle based on the slope information includes:

[0017] Obtaining the total mass of the vehicle and the correction coefficient corresponding to the vehicle;

[0018] The engine required torque is calculated according to the total mass, the correction coefficient and the slope information.

[0019] In some embodiments, the method further comprises: generating the driving start request when a preset condition is met;

[0020] The preset conditions include:

[0021] The vehicle ahead is detected to have left within a preset time after the vehicle behind the vehicle has braked to zero speed; or

[0022] ACC resume operation is detected after the host vehicle following the vehicle stops; or

[0023] The accelerator pedal is detected after the following vehicle stops.

[0024] In some embodiments, the method further comprises:

[0025] The drive start request is output to the vehicle actuator together with the engine torque request, so that the vehicle actuator outputs torque at a speed higher than a preset speed threshold based on the drive start request.

[0026] In a second aspect, the present application provides an anti-slip control device, the device comprising:

[0027] A slope acquisition module, used to determine whether the ACC function of the vehicle is turned on, and when at least determining that the speed of the vehicle does not reach a preset speed threshold, acquire the slope information of the road where the vehicle is currently located;

[0028] A torque calculation module, used for calculating the engine torque required by the vehicle based on the slope information;

[0029] The request output module is used to generate and output an engine torque request according to the calculated engine demand torque, wherein the engine torque request is used to enable the vehicle actuator of the vehicle to output torque according to the engine demand torque.

[0030] The beneficial effects that can be achieved in the second aspect can refer to the beneficial effects of any implementation scheme of the first aspect of the present application, and will not be repeated here.

[0031] In a third aspect, the present application provides an anti-slip control device, the device comprising:

[0032] The ACC dynamic attribute controller is used to generate a driving start request and send it to the ACC motion controller when a preset condition is met; wherein the preset condition includes: detecting that the preceding vehicle has left within a preset time after the following vehicle of the vehicle has stopped by braking until the vehicle speed reaches 0; or detecting that the ACC resume operation has been performed after the following vehicle of the vehicle has stopped; or detecting that the accelerator pedal has been stepped on after the following vehicle of the vehicle has stopped;

[0033] The ACC motion controller is used to obtain the slope information of the road where the vehicle is currently located after obtaining the driving start request and at least determining that the vehicle speed has not reached a preset vehicle speed threshold; calculate the engine demand torque of the vehicle based on the slope information; generate and output an engine torque request according to the calculated engine demand torque, wherein the engine torque request is used to enable the vehicle actuator of the vehicle to output torque according to the engine demand torque.

[0034] In some embodiments, the ACC motion controller is used to obtain the slope information of the road on which the vehicle is currently located when it is determined that the vehicle speed has not reached a preset vehicle speed threshold and when it is determined that the ACC driving departure request is true; wherein, the ACC driving departure request being true indicates that a driving start request is obtained within a preset historical time.

[0035] The beneficial effects that can be achieved in the third aspect can refer to the beneficial effects of any implementation scheme of the first aspect of the present application, and will not be repeated here.

[0036] In a fourth aspect, the present application provides an electronic device, including a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the anti-slip control method as described above. The beneficial effects that can be achieved in the fourth aspect can refer to the beneficial effects of any embodiment of the first aspect of the present application, and will not be repeated here.

[0037] In a fifth aspect, the present application provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the anti-slip control method as described above. The beneficial effects that can be achieved in the fifth aspect can refer to the beneficial effects of any embodiment of the first aspect of the present application, and will not be repeated here.

[0038] The beneficial effects of this application are:

[0039] In the above scheme of the present application, when the ACC function is turned on, the slope information of the road on which the vehicle is currently located is obtained when the vehicle speed is low in the starting phase, and the actual required torque of the engine is calculated based on the slope information, and then the engine torque request is generated and output to the vehicle actuator. This can ensure that the vehicle actuator has sufficient output torque to overcome the gravity component of the vehicle to prevent the vehicle from slipping, making the ACC function's following driving process more robust, reducing driving safety risks, and improving driving experience and driving safety, as well as user satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 This is a schematic diagram of a vehicle driving scenario provided by an embodiment of the present application;

[0042] Figure 2 is a system architecture diagram of an ACC system provided by an embodiment of the present application;

[0043] Figure 3 is a flow chart of an anti-slip control method provided by an embodiment of the present application;

[0044] Figure 4 is a flow chart of calculating dynamic acceleration provided by an embodiment of the present application;

[0045] Figure 5 is a flow chart of an anti-slip control method provided by another embodiment of the present application;

[0046] Figure 6 is a flow chart of an anti-slip control method provided by another embodiment of the present application;

[0047] Figure 7 is a schematic structural diagram of an anti-slip control device provided by an embodiment of the present application;

[0048] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0049] The illustrative embodiments of the present application include but are not limited to an anti-slip control method, device, equipment and storage medium. The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application.

[0050] It can be understood that the anti-slip control method provided in the embodiment of the present application can be applied to various electronic devices with ACC function, such as on-board devices (On Board Unit, OBU), etc. In some embodiments, the on-board device here may include a vehicle computer or an on-board unit arranged in the vehicle, and the on-board device may be provided with an ACC system, that is, it may be a vehicle-mounted device with ACC function.

[0051] Reference Manual Attached Figure 1 , which exemplarily shows a schematic diagram of a vehicle driving scenario provided by an embodiment of the present application.

[0052] like Figure 1 As shown, the vehicle 100 is traveling on an uphill ramp, and the vehicle 100 can obtain its own driving data through the driving system of the vehicle-mounted device, such as: its own position, speed, gear, braking, heading angle, vehicle size, total vehicle mass and vehicle type. The vehicle 100 can also detect the driving data of the vehicle in front of the vehicle 100 through the ACC system of the vehicle-mounted device, such as: speed, acceleration, distance between the vehicle 100 and the vehicle. When the ACC function is turned on, if it is detected that the vehicle in front of the vehicle 100 stops (for example, the vehicle encounters a red light), the vehicle 100 can stop following the vehicle in front. If it is detected that the vehicle in front of the vehicle 100 starts, the vehicle 100 can start following the vehicle in front and maintain a set safety distance from the vehicle in front.

[0053] In some embodiments, when the ACC function is turned on, if the vehicle 100 detects that the vehicle in front has started within a preset time after the vehicle 100 stops following the vehicle in front until the speed reaches 0 (at this time, the vehicle 100 has a speed of 0 but the ESC may not have maintained pressure, and the vehicle 100 has not completely stopped, which is called the process of stopping following the vehicle in front), the ACC system can send the initial engine torque to the vehicle actuator of the vehicle 100, so that the vehicle actuator controls the vehicle to start following the vehicle in front with the initial engine torque. The length of the preset time can be preset according to actual conditions, for example, it can be set to 5s, and the embodiment of the present application does not impose specific restrictions on this.

[0054] Specifically, after receiving the initial engine torque, the EMS may control the engine to output torque according to the initial engine torque, so that the vehicle 100 may start under the driving force of the engine.

[0055] However, since the ACC request engine torque of the vehicle 100 will gradually decrease when the vehicle 100 is braking to a stop following the vehicle in front, the vehicle 100 responds to the minimum indicated torque of the engine at the moment when the vehicle speed is 0. If the vehicle in front starts immediately after the vehicle 100's speed drops to 0, the vehicle 100 may not have performed ESC pressure maintenance in this case (probably due to poor response and followability of ESC). If the vehicle 100 starts to start following the vehicle in front at this time, since the vehicle 100 is driving on a slope, the initial engine torque may be insufficient to overcome the gravity component of the vehicle, causing a probabilistic vehicle slip, affecting driving safety and driving experience. After the vehicle 100 stops following the vehicle in front until the vehicle speed reaches 0 after a preset time, the vehicle 100 has performed ESC pressure maintenance. If the vehicle 100 starts to start following the vehicle in front at this time, the ESC pressure maintenance can be used to ensure that the vehicle does not slip.

[0056] In some embodiments, when the ACC function is turned on, when the vehicle 100 stops following the vehicle in front, if the parking time exceeds the preset time threshold, the ACC system will enter a waiting state. At this time, even if the vehicle in front is detected to start, the ACC system will not perform any operation, and the user needs to intervene manually. At this time, if the user presses the ACC recovery button or steps on the accelerator pedal (called the process of following the vehicle in front to start), the ACC system can resume work and send the initial engine torque to the vehicle actuator of the vehicle 100, so that the vehicle actuator controls the vehicle to start with the initial engine torque. Among them, the preset time threshold can be pre-set according to the actual situation, for example, it can be set to 30s, and the embodiment of the present application does not impose specific restrictions on this.

[0057] Specifically, after receiving the initial engine torque, the EMS may control the engine to output torque according to the initial engine torque, so that the vehicle 100 may start under the driving force of the engine.

[0058] Although vehicle 100 will maintain ESC pressure when the front vehicle stops for a long time, vehicle 100 can keep the vehicle stationary on the slope without rolling according to the minimum indicated torque of the engine and the braking force of ESC. However, if the front vehicle starts after stopping, vehicle 100 starts after the user confirms (pressing the ACC recovery button / stepping on the accelerator pedal) after the front vehicle starts, ESC will lose pressure quickly. Since vehicle 100 is driving on a slope, sufficient engine torque is needed to overcome the gravity component of the vehicle to ensure that the vehicle is stable and does not roll. Therefore, when the initial engine torque cannot overcome the gravity component of the vehicle, vehicle 100 will roll, affecting driving safety and driving experience.

[0059] Therefore, in order to solve the problem of probabilistic slipping when following the front vehicle braking to a stop or starting to follow the front vehicle while the vehicle is traveling uphill, an anti-slip control method is proposed in an embodiment of the present application, which is applied to the ACC system of the vehicle-mounted equipment.

[0060] According to one embodiment of the present application, when the ACC function is turned on, by obtaining the slope information of the road on which the vehicle is currently located when the vehicle speed is low in the starting phase, and calculating the required torque of the engine based on the slope information, it can be ensured that there is sufficient output torque to overcome the gravity component of the vehicle to prevent the vehicle from slipping, making the ACC function's following driving process more robust, reducing safety risks, and improving driving experience and driving safety, as well as user satisfaction.

[0061] In addition, by introducing a low-speed stage and calculating the required torque of the engine based on the slope information only in the low-speed stage, it is possible to effectively avoid the vehicle from slipping while minimizing the starting time of the vehicle and ensuring the starting efficiency of the vehicle.

[0062] According to another embodiment of the present application, by filtering the calculated slope information to remove the influence of noise and interference, more realistic slope data can be obtained, thereby improving the credibility of the slope information and making the slope information more usable for calculation, thereby improving the accuracy of the calculated engine demand torque.

[0063] According to another embodiment of the present application, by adding a judgment logic for issuing a driving start request, it is possible to avoid the probability of the vehicle slipping when the front vehicle stops and the probability of the vehicle slipping when the front vehicle starts during the following process of turning on the ACC function, thereby meeting the user's driving safety needs. In addition, by outputting the driving start request together with the engine torque request to the vehicle actuator, the engine torque output can be quickly increased so that the torque can compensate for the resistance of the slope in time, effectively avoiding the occurrence of the vehicle slipping phenomenon.

[0064] In order to more clearly and in detail introduce the anti-slip control method provided by the embodiment of the present application, Figure 2 The system architecture of the anti-slip control method provided by the embodiment of the present application is introduced. Figure 2 , which exemplarily shows a system architecture diagram of an ACC system provided by an embodiment of the present application.

[0065] like Figure 2 As shown, the ACC system may include at least an ACC dynamic attribute controller 210 and an ACC motion controller 220. The ACC dynamic attribute controller 210 may be connected to the ACC motion controller 220 via a controller area network (CAN) bus or a local interconnect network (LIN) bus, and the ACC motion controller 220 may be connected to the vehicle actuator 230 via a CAN bus or a LIN bus.

[0066] In some embodiments, the ACC dynamic attribute controller 210 can determine whether the vehicle 100 detects the departure of the preceding vehicle within a preset time after the vehicle 100 stops following the vehicle and the vehicle speed reaches 0 when the ACC function is turned on. If the judgment result is yes, it can be determined that the vehicle 100 starts, and then a driving start request is generated and sent to the ACC motion controller 220. The length of the preset time can be preset according to actual conditions, for example, it can be set to 5s, and the embodiment of the present application does not impose specific restrictions on this.

[0067] In some embodiments, the ACC dynamic attribute controller 210 can determine whether an ACC recovery operation is detected after the vehicle 100 stops following the vehicle 100 when the ACC function is turned on. If the judgment result is yes, it can be determined that the vehicle 100 starts, and then generate a driving start request and send it to the ACC motion controller 220.

[0068] In some embodiments, the ACC dynamic attribute controller 210 can determine whether an accelerator pedal depression operation is detected after the vehicle 100 stops following the vehicle 100 when the ACC function is turned on. If the judgment result is yes, it can be determined that the vehicle 100 starts, and then generate a driving start request and send it to the ACC motion controller 220.

[0069] In some embodiments, after receiving the driving start request, the ACC motion controller 220 can calculate the slope information of the road where the vehicle 100 is currently located in real time when the vehicle speed does not reach the preset vehicle speed threshold, and filter the calculated slope information to remove noise and interference in the signal, so that the slope information is more accurate and more usable for calculation. The ACC motion controller 220 can also calculate the engine demand torque in real time according to the calculated slope information, and generate an engine torque request according to the calculated engine demand torque, and output the generated engine torque request (or the generated engine torque request and the driving start request together) to the vehicle actuator 230 of the vehicle 100, so that the vehicle actuator 230 outputs torque according to the engine demand torque, thereby controlling the vehicle 100 to start, so that the output torque can compensate for the resistance of the slope in time, and ensure that there is enough torque output to overcome the gravity component of the vehicle to prevent the vehicle from slipping.

[0070] It should be noted that the number of ACC dynamic attribute controllers 210, ACC motion controllers 220, and vehicle actuators 230 in the ACC system is only an example, and the embodiments of the present application do not limit the number of ACC dynamic attribute controllers 210, ACC motion controllers 220, and vehicle actuators 230. In addition, the ACC system may also include other participants, which is not limited by the embodiments of the present application. In the process from the ACC dynamic attribute controller 210 sending a driving start request to the ACC motion controller 220, and then the ACC motion controller 220 sending an engine torque request and a driving start request to the vehicle actuator 230, other devices may perform forwarding, preprocessing, and other operations, which is not limited by the embodiments of the present application.

[0071] In passing Figure 2 After introducing the system architecture of the ACC system of the embodiment of the present application, the anti-slip control method provided by the embodiment of the present application is described in detail.

[0072] Reference Manual Attached Figure 3 , which exemplarily shows the process of an anti-slip control method provided by an embodiment of the present application, which can be applied to Figure 2 In the ACC system, the ACC system can be set in the vehicle-mounted equipment of the vehicle. Figure 3 As shown, the method may include the following steps S301-S310:

[0073] S301: The ACC dynamic attribute controller determines whether preset conditions are met, which include: detecting that the leading vehicle leaves within a preset time after the vehicle following the vehicle stops at a speed of 0; or detecting that the ACC resumes after the vehicle following the vehicle stops; or detecting that the accelerator pedal is depressed after the vehicle following the vehicle stops.

[0074] S302: When the judgment result is yes, the ACC dynamic attribute controller generates a driving start request.

[0075] In the embodiment of the present application, the vehicle-mounted device of the vehicle may be provided with an ACC system, that is, the vehicle may be a vehicle with an ACC function. The method provided in the embodiment of the present application is implemented in the scenario where the ACC function of the vehicle is turned on.

[0076] In the embodiment of the present application, the ACC dynamic attribute controller can determine whether the front vehicle is detected to have left within a preset time after the vehicle following the vehicle brakes to a speed of 0 when the ACC function is turned on. If the judgment result is yes, it can be determined that the vehicle following the vehicle starts, and then a driving start request can be generated and sent to the ACC motion controller. The length of the preset time can be preset according to actual conditions, for example, it can be set to 5s, and the embodiment of the present application does not make specific restrictions on this.

[0077] In actual applications, when the following vehicle of the vehicle brakes to a stop at a speed of 0, the ACC dynamic attribute controller can count the time through a timer, and can detect the driving data of the vehicle in front of the vehicle through radar, such as speed, acceleration, relative distance from the vehicle, etc. The ACC dynamic attribute controller can also judge the driving state of the vehicle in front according to the driving data of the vehicle in front to determine whether the vehicle in front has left. When the ACC dynamic attribute controller determines that the vehicle in front has left when the timing time is less than the preset time, a driving start request can be generated and sent to the ACC motion controller. Among them, the preset time can be pre-set according to the actual situation, for example, it can be set to 5s, and the embodiment of the present application does not impose specific restrictions on this.

[0078] In an embodiment of the present application, the ACC dynamic attribute controller can determine whether an ACC recovery operation is detected after the vehicle following the vehicle stops when the ACC function is turned on. If the judgment result is yes, it can determine that the vehicle has started, and then generate a driving start request and send it to the ACC motion controller.

[0079] In actual application, when the vehicle following the vehicle stops, the combination switch module of the vehicle can detect the user's pressing operation on the ACC recovery button. When the user's pressing operation on the ACC recovery button is detected, an ACC recovery instruction can be generated and sent to the ACC dynamic attribute controller. After receiving the ACC recovery instruction, the ACC dynamic attribute controller can determine that the ACC recovery operation is detected, generate a driving start request and send it to the ACC motion controller.

[0080] In an embodiment of the present application, the ACC dynamic attribute controller can determine whether an accelerator pedal depression operation is detected after the vehicle following the vehicle stops when the ACC function is turned on. If the judgment result is yes, it can determine that the vehicle has started, and then generate a driving start request and send it to the ACC motion controller.

[0081] In actual application, when the vehicle following the vehicle stops, the pedal position sensor of the vehicle can detect the position of the accelerator pedal. When the opening of the accelerator pedal is detected to be greater than the preset opening threshold, it can be determined that the user's stepping operation on the accelerator pedal is detected, and a start instruction can be generated and sent to the ACC dynamic attribute controller. After receiving the start instruction, the ACC dynamic attribute controller can determine that the accelerator pedal stepping operation is detected, generate a driving start request and send it to the ACC motion controller. Among them, the preset opening threshold can be pre-set according to actual conditions, for example, it can be set to 5%, and the embodiment of the present application does not impose specific restrictions on this.

[0082] It can be understood that the embodiment of the present application increases the judgment logic for issuing a driving start request, and triggers the generation of a driving start request when it is judged that one of the above three conditions is met, so as to adopt the anti-rolling control method provided by the embodiment of the present application. In the process of following the vehicle with the ACC function turned on, the probabilistic rolling of the vehicle when braking to a stop and the probabilistic rolling of the vehicle when starting can be avoided, thereby meeting the user's driving safety needs.

[0083] S303: The ACC dynamic attribute controller sends a driving start request to the ACC motion controller.

[0084] In the embodiment of the present application, after the ACC dynamic attribute controller generates a driving start request, the generated driving start request may be sent to the ACC motion controller.

[0085] Correspondingly, the ACC motion controller receives the driving start request sent by the ACC dynamic attribute controller.

[0086] S304: After receiving the driving start request, the ACC motion controller obtains the vehicle speed.

[0087] In the embodiment of the present application, after receiving the driving start request, the ACC motion controller can determine that the vehicle turns on the ACC function, and at this time, the vehicle speed of the vehicle can be obtained from the driving system of the vehicle. For example, a vehicle speed acquisition request can be sent to the driving system of the vehicle, and the vehicle speed returned by the driving system in response to the vehicle speed acquisition request can be received.

[0088] S305: The ACC motion controller determines whether the vehicle speed is less than 5 km / h (as an example of a preset vehicle speed threshold).

[0089] S306: When the vehicle speed is less than 5 km / h, the ACC motion controller obtains the slope information of the road where the vehicle is currently located.

[0090] Since the vehicle may roll when driving on an uphill slope only at a low speed, the slope information of the road the vehicle is currently on can be calculated when the vehicle is at a low speed, and the required torque of the engine can be calculated based on the slope information of the road the vehicle is driving on, thereby ensuring that there is enough torque request at a low speed to overcome the gravity component of the vehicle to prevent the vehicle from rolling. This torque calculation method is not used when the vehicle is at a high speed, which can minimize the starting time of the vehicle and ensure the starting efficiency of the vehicle.

[0091] In the embodiment of the present application, after receiving the driving start request, the ACC motion controller can obtain the vehicle speed in real time, determine whether the vehicle speed is less than 5km / h (i.e., the preset vehicle speed threshold), and when the vehicle speed is less than 5km / h, calculate the slope information of the road where the vehicle is currently located in real time, and then calculate the engine demand torque and output it to the vehicle actuator. In other words, after receiving the driving start request, the ACC motion controller can execute steps S304 to S310 multiple times to generate and output the engine torque request to the vehicle actuator. Among them, the slope information can be calculated based on the longitudinal acceleration of the vehicle and the wheel speed information of the vehicle, and the calculation method of the slope information will be described in detail later.

[0092] It should be noted that the above-mentioned implementation of setting the preset vehicle speed threshold to 5km / h is only exemplary. In actual applications, the preset vehicle speed threshold can be pre-set according to actual conditions. For example, it can be set to 6km / h, 10km / h, etc. The embodiment of the present application does not impose specific restrictions on this.

[0093] It can be understood that the embodiment of the present application introduces a low-speed stage and calculates the required torque of the engine based on the slope information only in the low-speed stage. This can effectively avoid the occurrence of the vehicle rolling while minimizing the starting time of the vehicle and ensuring the starting efficiency of the vehicle.

[0094] In some embodiments, after determining that the speed of the vehicle is less than 5 km / h, the ACC motion controller can also determine whether the ACC driving departure request is true. If the ACC driving departure request is true, the step of obtaining the slope information of the road where the vehicle is currently located is performed. Among them, the ACC driving departure request is true, which means that the driving start request is obtained within the preset historical time. The preset historical time can be preset according to the actual situation, for example, it can be set to 2s, and the embodiment of the present application does not make specific restrictions on this.

[0095] In actual applications, when the ACC motion controller receives the driving start request sent by the ACC dynamic attribute controller, the ACC driving departure request can be set to true and last for a period of time, for example, it can be set to last for 2 seconds. During this duration, the ACC motion controller can determine that the ACC driving departure request is true, that is, the anti-slip control method provided in the embodiment of the present application can be used to calculate the engine demand torque according to the slope information and output it to the vehicle actuator.

[0096] In some embodiments, the step of obtaining the slope information of the road on which the vehicle is currently located may include: obtaining the longitudinal acceleration and dynamic acceleration of the vehicle, wherein the dynamic acceleration is calculated based on the wheel speed information of the vehicle; and calculating the slope information of the road on which the vehicle is currently located according to the longitudinal acceleration and the dynamic acceleration. The slope information may be used to indicate the slope of the road on which the vehicle is currently located.

[0097] Specifically, when the ACC motion controller determines that the vehicle speed is less than 5 km / h, it can obtain the longitudinal acceleration of the vehicle from the ESC and the dynamic acceleration of the vehicle from the body dynamic module.

[0098] In practical applications, ESC can obtain the longitudinal acceleration of the vehicle through inertial sensors and send it to the ACC motion controller. The body dynamics module can calculate the vehicle speed information based on the wheel speed information and wheel speed pulses of the vehicle, verify the calculated vehicle speed information, perform differential calculations, obtain the dynamic acceleration of the vehicle, and send the calculated dynamic acceleration to the ACC motion controller.

[0099] Specifically, in conjunction with the reference manual Figure 4 The vehicle body dynamics module can collect wheel speed information and wheel speed pulses of the four wheels of the vehicle (including the left front wheel, the right front wheel, the left rear wheel and the right rear wheel) respectively, and perform Kalman filtering on the collected wheel speed information and wheel speed pulses to obtain processed wheel speed information and wheel speed pulses. Figure 4 As shown, the vehicle body dynamics module can directly obtain the wheel speed information and wheel speed pulses, and can also obtain the wheel speed circumference and wheel speed pulses of each wheel, and calculate the corresponding wheel speed information based on the wheel speed circumference and wheel speed pulses.

[0100] Specifically, Figure 4 As shown, the vehicle body dynamics module can correct the processed wheel speed information based on the processed wheel speed pulse and taking into account the vehicle body slip, and perform confidence verification on the corrected wheel speed information to obtain verified wheel speed information. The vehicle body dynamics module can also calculate the wheel speed variance of the corresponding wheel based on the verified wheel speed information.

[0101] Specifically, Figure 4As shown, the vehicle body dynamics module can fuse the wheel speed information of the four wheels of the vehicle based on the wheel speed variance of the four wheels of the vehicle, and then perform Kalman filtering to obtain the first vehicle speed information of the vehicle.

[0102] At the same time, the vehicle body dynamics module can also calculate the vehicle speed information directly according to the radar detection characteristics without relying on the CAN signal to obtain the second vehicle speed information of the vehicle. Specifically, the radar installed on the vehicle can detect the relative speed between the vehicle and other vehicles (such as the front vehicle), and detect the absolute speed of the required stationary object based on the current reference vehicle speed information. The vehicle body dynamics module can calculate the second vehicle speed information of the vehicle according to the relative speed and the absolute speed.

[0103] Specifically, Figure 4 As shown, the vehicle body dynamics module can use the second vehicle speed information detected by the radar to correct the first vehicle speed information to obtain the corrected vehicle speed information. For example, the vehicle body dynamics module can compare and calculate the first vehicle speed information and the second vehicle speed information to obtain accurate vehicle speed information. The vehicle body dynamics module verifies the corrected vehicle speed information and then performs differential calculation to obtain the dynamic acceleration of the vehicle.

[0104] It should be noted that the specific content of the dynamic acceleration calculated by the vehicle body dynamic module in the embodiment of the present application can refer to the conventional dynamic acceleration calculation method in the technical field, and the embodiment of the present application will not be repeated here.

[0105] Specifically, after obtaining the longitudinal acceleration and dynamic acceleration, the ACC motion controller can use the following formula (1) to calculate the slope information of the road where the vehicle is currently located:

[0106] Road_slope=VEH_ACCEL_SEN-VEH_ACCEL_VDY (1)

[0107] Among them, Road_slope is the slope information of the road where the vehicle is currently located, which is used to indicate the slope of the road where the vehicle is currently located, VEH_ACCEL_SEN is the longitudinal acceleration of the vehicle, and VEH_ACCEL_VDY is the dynamic acceleration of the vehicle.

[0108] It should be noted that since the vehicle speed, wheel speed and other information are changing in real time during the starting process, the engine's required torque can be calculated in real time for output during the starting process, thereby ensuring that the vehicle will not slip during the entire starting process.

[0109] S307: The ACC motion controller performs filtering processing on the slope information to obtain filtered slope information.

[0110] In the embodiment of the present application, after the ACC motion controller calculates the slope information, it can also filter the calculated slope information to remove the influence of noise and interference and obtain more realistic slope data.

[0111] Specifically, the ACC motion controller can use various existing filtering processing technologies to process the slope information, for example, filtering methods such as mean filtering, median filtering or Kalman filtering can be used. The embodiments of the present application do not impose specific restrictions on the filtering processing method.

[0112] It can be understood that the embodiment of the present application can obtain more realistic slope data by filtering the calculated slope information to remove the influence of noise and interference, thereby improving the credibility of the slope information, making the slope information more usable for calculation, and thereby improving the accuracy of the calculated engine demand torque.

[0113] S308: The ACC motion controller calculates the required engine torque of the vehicle based on the filtered slope information.

[0114] In the embodiment of the present application, the ACC motion controller can calculate the required torque of the engine in real time according to the slope information of the road on which the vehicle is currently located, thereby ensuring that there is sufficient torque request to overcome the gravity component of the vehicle to prevent the vehicle from slipping.

[0115] In some embodiments, step S308 may further include: obtaining the total mass of the vehicle and the correction coefficient corresponding to the vehicle; and calculating the engine required torque according to the total mass, the correction coefficient and the slope information after filtering.

[0116] Specifically, the ACC motion controller can obtain the total mass of the vehicle from the driving system of the vehicle, or directly read the total mass of the vehicle stored in advance. The specific method for obtaining the total mass of the vehicle from the driving system can refer to the method for obtaining the vehicle speed in step S304, and the embodiments of this application will not be repeated here.

[0117] Optionally, the correspondence between one or more information of vehicle type information, ramp information and vehicle speed and the correction coefficient can be pre-stored. After obtaining the slope information after filtering, the ACC motion controller can obtain one or more information of the vehicle type information, ramp information and vehicle speed, and determine the corresponding correction coefficient based on the one or more information as the corresponding correction coefficient of the vehicle.

[0118] Optionally, the ACC motion controller may also determine and store the corresponding correction coefficient in advance according to the vehicle model information of the vehicle, and after obtaining the slope information after filtering, the pre-stored correction coefficient may be directly read.

[0119] Specifically, the ACC motion controller can obtain the vehicle model information and / or vehicle speed from the vehicle's driving system, or directly read the vehicle model information of the vehicle stored in advance. The specific method for obtaining the vehicle model information and / or vehicle speed from the driving system can refer to the specific content of obtaining the vehicle speed in step S304, and the embodiments of the present application will not be repeated here.

[0120] Specifically, after obtaining the total mass of the vehicle and the correction coefficient corresponding to the vehicle, the ACC motion controller can calculate the engine required torque using the following formula (2):

[0121] T = M × Road_slope × γ (2)

[0122] Among them, T is the engine required torque, M is the total mass of the vehicle, Road_slope is the slope information, and γ is the correction coefficient.

[0123] It can be understood that the embodiment of the present application calculates the required torque of the engine according to the total weight of the vehicle, slope information and correction coefficient, thereby ensuring that there is sufficient output torque to overcome the gravity component of the vehicle to prevent the vehicle from rolling.

[0124] It should be noted that, in some embodiments, step S307 may not be performed, but the engine torque requirement of the vehicle may be directly calculated based on the slope information calculated in real time. Specifically, the step of calculating the engine torque requirement of the vehicle based on the slope information may include: obtaining the total mass of the vehicle and the correction coefficient corresponding to the vehicle; and calculating the engine torque requirement based on the total mass, the correction coefficient and the slope information. The specific calculation method can refer to the relevant content of the above formula (2), and the embodiments of the present application will not be repeated here.

[0125] S309: The ACC motion controller generates an engine torque request according to the calculated engine required torque.

[0126] In the embodiment of the present application, the engine torque request may include a calculated engine demand torque, and the engine torque request is used to enable the vehicle actuator of the vehicle to output torque according to the engine demand torque.

[0127] S310: The ACC motion controller outputs the acquired driving start request together with the generated engine torque request to the vehicle actuator, so that the vehicle actuator outputs torque at a speed higher than a preset speed threshold based on the driving start request.

[0128] In the embodiment of the present application, the ACC motion controller may output the driving start request sent by the ACC dynamic attribute controller together with the engine torque request generated in step S309 to the vehicle actuator of the vehicle.

[0129] Accordingly, after receiving the engine torque request, the vehicle actuator may analyze the engine torque request, determine the size of the corresponding engine demand torque, and output torque according to the size of the engine demand torque.

[0130] In practical applications, the vehicle actuator may include an EMS and an ESC. After receiving the engine torque request, the EMS may analyze the engine torque request, determine the size of the corresponding engine demand torque, and perform torque compensation according to the size of the engine demand torque. For example, when the current output torque of the engine of the vehicle is less than the engine demand torque, the engine is controlled to increase the torque output so that the engine output has the same torque as the engine demand torque. After receiving the engine torque request, the ESC may reduce the pressure according to a preset pressure reduction curve, so that the vehicle can start under the driving force of the engine, and ensure that there is enough torque output to overcome the gravity component of the vehicle to prevent the vehicle from slipping.

[0131] Accordingly, after receiving the driving start request, the vehicle actuator may output torque at a speed higher than a preset speed threshold in response to the driving start request. The preset speed threshold may be preset according to actual conditions, and the preset speed threshold may preferably be set to be greater than or equal to the torque output speed of the vehicle actuator after receiving only the engine torque request, which is not specifically limited in the present embodiment of the application.

[0132] In actual applications, according to the response priority strategy of the current vehicle actuator, the response priority is higher when receiving a driving start request, and the torque processing speed is faster. If the driving start request is not received, the response speed will be slower. Therefore, the ACC motion controller outputs the driving start request together with the engine torque request to the vehicle actuator. Compared with only outputting the engine torque request to the vehicle actuator, the vehicle actuator responds to the torque request faster, which enables the engine to quickly increase the torque output, so that the torque output can compensate for the resistance of the slope in time, effectively preventing the occurrence of slipping.

[0133] It should be noted that, in some embodiments, the ACC motion controller may also only output the generated engine torque request to the vehicle actuator, so that the vehicle actuator outputs torque according to the size of the engine demand torque corresponding to the engine torque request.

[0134] In actual applications, after the ACC motion controller receives the driving start request, when calculating the engine demand torque for the first time, the driving start request and the engine torque request can be output to the vehicle actuator together to improve the response speed of the vehicle actuator. When calculating the engine demand torque subsequently, only the engine torque request can be output to the vehicle actuator so that the vehicle actuator can perform torque compensation according to the size of the engine demand torque.

[0135] In some embodiments, in step S302, when the judgment result is yes, the ACC dynamic attribute controller can also calculate the first acceleration required for the starting stage of the vehicle according to the detected driving data of the preceding vehicle and the driving data of the vehicle. The calculated first acceleration is compared with the pre-calibrated second acceleration, the smaller value is taken as the initial acceleration, and an acceleration request is generated.

[0136] The driving data of the preceding vehicle may include but are not limited to one or more of the acceleration, speed, and relative distance between the preceding vehicle and the present vehicle, and the driving data of the present vehicle may include but are not limited to one or more of the speed, relative speed and relative distance between the preceding vehicle and the present vehicle, deviation between the control distance and the relative distance, and the rate of change of acceleration affected by the degree of control smoothness. The control distance may be preset according to actual conditions, for example, according to safety requirements, and the present application embodiment does not impose specific restrictions on this.

[0137] The magnitude of the second acceleration may be pre-calibrated according to actual conditions, for example, according to laws, regulations and safety requirements. The embodiment of the present application does not impose any specific limitation on this.

[0138] It should be noted that, in actual applications, since the second acceleration is pre-calibrated according to laws, regulations and safety requirements, when the calculated first acceleration is greater than the second acceleration, the smaller second acceleration can be taken as the initial acceleration in consideration of laws, regulations and safety requirements; when the calculated first acceleration is less than the second acceleration, if a larger second acceleration is taken, in some special circumstances, such as sudden deceleration of the vehicle in front, it may cause the vehicle to shake. Therefore, in order to ensure comfort, the smaller first acceleration can be taken as the initial acceleration.

[0139] Accordingly, in step S303, the ACC dynamic attribute controller may send the acceleration request together with the driving start request to the ACC motion controller. The ACC motion controller may receive the driving start request and the acceleration request sent by the ACC dynamic attribute controller.

[0140] In some embodiments, after receiving the acceleration request sent by the ACC dynamic attribute controller, the ACC motion controller may parse the acceleration request to obtain the corresponding initial acceleration, and calculate the minimum indicated torque based on the initial acceleration. The ACC motion controller may also generate a minimum indicated torque request based on the calculated minimum indicated torque, and output the generated minimum indicated torque request together with the driving start request sent by the ACC dynamic attribute controller to the vehicle actuator.

[0141] Accordingly, after receiving the minimum indicated torque request, the vehicle actuator may analyze the minimum indicated torque request, determine the magnitude of the corresponding minimum indicated torque, and output torque according to the magnitude of the minimum indicated torque.

[0142] In actual applications, after the ACC motion controller receives the driving start request and the acceleration request, it can immediately calculate the minimum indicated torque and generate the minimum indicated torque request, and output the driving start request and the minimum indicated torque request together to the vehicle actuator to improve the response speed of the vehicle actuator. When the engine demand torque is subsequently calculated, only the engine torque request can be output to the vehicle actuator, so that the vehicle actuator can perform torque compensation according to the size of the engine demand torque.

[0143] It can be understood that, since the process of calculating the required torque of the engine through the slope information and outputting it in the embodiment of the present application has a certain delay, a minimum indicated torque can be output to the vehicle actuator first, so that the vehicle actuator can output according to the minimum indicated torque first, thereby ensuring the normal start of the vehicle. When the engine required torque is subsequently calculated and output to the vehicle actuator, the vehicle actuator can perform torque compensation based on the minimum indicated torque and the size of the engine required torque, which can ensure the smooth increase of the output torque, improve the stability of the vehicle starting process, and further enhance the driving experience.

[0144] In passing Figure 3 After introducing the anti-slip control method for an ACC system provided in the embodiment of the present application, the following is a Figure 5 The process of implementing the anti-slip control method by the functional modules in the ACC system is further described.

[0145] Reference Manual Attached Figure 5 , which exemplarily shows the process of the anti-slip control method provided by an embodiment of the present application, which can be applied to Figure 2 In the ACC motion controller in the ACC system in the ACC. It can be understood that Figure 5 The execution subject of each step of the process shown can be the ACC motion controller. In order to avoid repeated description, the execution subject of each step will not be described in the description of the following steps.

[0146] Specific as Figure 5 As shown, the method may include the following steps:

[0147] S501: Obtain a driving start request of the vehicle.

[0148] In the embodiment of the present application, the ACC motion controller can obtain the driving start request of the vehicle from the ACC dynamic attribute controller. The driving start request can be generated by the ACC dynamic attribute controller when a preset condition is met. The preset condition may include: detecting that the leading vehicle leaves within a preset time after the vehicle following the vehicle stops until the vehicle speed reaches 0; or detecting the ACC recovery operation after the vehicle following the vehicle stops; or detecting the accelerator pedal stepping operation after the vehicle following the vehicle stops.

[0149] Specifically, the ACC dynamic attribute controller can determine whether the preceding vehicle has been detected to have left within a preset time after the vehicle following the vehicle has stopped and the vehicle speed has reached 0; determine whether the ACC recovery operation has been detected after the vehicle following the vehicle has stopped; and determine whether the accelerator pedal has been detected after the vehicle following the vehicle has stopped. If any of the judgment results is yes, the ACC dynamic attribute controller can determine that the preset conditions are met, that is, a driving start request can be generated and sent to the ACC motion controller.

[0150] Accordingly, the ACC motion controller may receive a driving start request sent by the ACC dynamic attribute controller.

[0151] In some embodiments, the method may further include: obtaining an acceleration request of the vehicle.

[0152] In the embodiment of the present application, the ACC motion controller can obtain the acceleration request of the vehicle from the ACC dynamic attribute controller.

[0153] Specifically, when any one of the judgment results is yes, the ACC dynamic attribute controller can also calculate the first acceleration required for the starting stage of the vehicle according to the detected driving data of the preceding vehicle and the driving data of the vehicle. The calculated first acceleration is compared with the pre-calibrated second acceleration, the smaller value is taken as the initial acceleration, and an acceleration request is generated. The ACC dynamic attribute controller can send the acceleration request together with the driving start request to the ACC motion controller.

[0154] Accordingly, the ACC motion controller may receive the driving start request and acceleration request sent by the ACC dynamic attribute controller.

[0155] S502: After receiving the driving start request, obtain the slope information of the road where the vehicle is currently located.

[0156] In the embodiment of the present application, after the ACC motion controller receives the driving start request, it can determine that the ACC function of the vehicle is turned on, and the vehicle has not started to accelerate at this time, and the speed of the vehicle is 0. Therefore, the condition that the speed of the vehicle does not reach the preset speed threshold is met. The slope information of the road where the vehicle is currently located can be directly calculated, and the required torque of the engine can be calculated based on the slope information of the road on which the vehicle is traveling, thereby ensuring that there is sufficient torque request to overcome the gravity component of the vehicle to prevent the vehicle from slipping.

[0157] In some embodiments, after receiving the driving start request, the ACC motion controller can also set the ACC driving departure request to true and last for a period of time, for example, it can be set to last for 2 seconds. Therefore, after receiving the driving start request, the ACC motion controller can determine whether the conditions for the ACC driving departure request to be true are met, that is, the slope information of the road where the vehicle is currently located can be directly calculated, and the required torque of the engine can be calculated based on the slope information of the road where the vehicle is traveling, thereby ensuring that there is enough torque request to overcome the gravity component of the vehicle to prevent the vehicle from slipping.

[0158] In some embodiments, step S502 may include: obtaining the longitudinal acceleration and dynamic acceleration of the vehicle, wherein the dynamic acceleration is calculated based on the wheel speed information of the vehicle; and calculating the slope information of the road where the vehicle is currently located based on the longitudinal acceleration and the dynamic acceleration.

[0159] It should be noted that the calculation method of slope information can refer to Figure 3 The specific content of the method embodiment shown will not be repeated in detail in the embodiments of the present application.

[0160] S503: Calculate the required engine torque of the vehicle based on the slope information.

[0161] In the embodiment of the present application, the ACC motion controller can calculate the required torque of the engine according to the slope information of the road on which the vehicle is currently located, thereby ensuring that there is sufficient torque request to overcome the gravity component of the vehicle to prevent the vehicle from slipping.

[0162] Specifically, step S503 may include: obtaining the total mass of the vehicle and the correction coefficient corresponding to the vehicle; and calculating the engine required torque according to the total mass, the correction coefficient and the slope information.

[0163] In some embodiments, the method may further include: filtering the slope information to obtain filtered slope information; wherein step S503 may include: calculating the required engine torque of the vehicle based on the filtered slope information.

[0164] In the embodiment of the present application, after the ACC motion controller calculates the slope information, it can filter the calculated slope information to remove the influence of noise and interference and obtain more realistic slope data. Accordingly, the engine required torque can be calculated using the filtered slope information to obtain more accurate torque data.

[0165] Specifically, the step of calculating the engine required torque of the vehicle based on the filtered slope information may include: obtaining the total mass of the vehicle and the correction coefficient corresponding to the vehicle; calculating the engine required torque based on the total mass, the correction coefficient and the filtered slope information.

[0166] It should be noted that the calculation method of the engine required torque can refer to Figure 3 The specific content of the method embodiment shown will not be repeated in detail in the embodiments of the present application.

[0167] S504: Generate and output an engine torque request according to the calculated engine required torque.

[0168] In the embodiment of the present application, the engine torque request may include a calculated engine demand torque, and the engine torque request is used to enable the vehicle actuator of the vehicle to output torque according to the engine demand torque.

[0169] In the embodiment of the present application, the ACC motion controller can output the generated engine torque request to the vehicle actuator. Accordingly, after receiving the engine torque request, the vehicle actuator can analyze the engine torque request, determine the size of the corresponding engine demand torque, and output torque according to the size of the engine demand torque.

[0170] In some embodiments, the method may further include: outputting the drive start request together with the engine torque request to the vehicle actuator, so that the vehicle actuator outputs torque at a speed higher than a preset speed threshold based on the drive start request.

[0171] Accordingly, after receiving the engine torque request, the vehicle actuator may analyze the engine torque request, determine the size of the corresponding engine demand torque, and output torque according to the size of the engine demand torque.

[0172] Accordingly, after receiving the driving start request, the vehicle actuator may output torque at a speed higher than a preset speed threshold in response to the driving start request. The preset speed threshold may be preset according to actual conditions, and the preset speed threshold may preferably be set to be greater than or equal to the torque output speed of the vehicle actuator after receiving only the engine torque request, which is not specifically limited in the present embodiment of the application.

[0173] In actual applications, according to the response priority strategy of the current vehicle actuator, the response priority is higher when receiving a driving start request, and the torque processing speed is faster. If the driving start request is not received, the response speed will be slower. Therefore, the ACC motion controller outputs the driving start request together with the engine torque request to the vehicle actuator. Compared with only outputting the engine torque request to the vehicle actuator, the vehicle actuator responds to the torque request faster, which enables the engine to quickly increase the torque output, so that the torque output can compensate for the resistance of the slope in time, effectively preventing the occurrence of slipping.

[0174] In some embodiments, after receiving the acceleration request sent by the ACC dynamic attribute controller, the ACC motion controller may parse the acceleration request to obtain the corresponding initial acceleration, and calculate the minimum indicated torque based on the initial acceleration. The ACC motion controller may also generate a minimum indicated torque request based on the calculated minimum indicated torque, and output the generated minimum indicated torque request together with the driving start request sent by the ACC dynamic attribute controller to the vehicle actuator.

[0175] Accordingly, after receiving the minimum indicated torque request, the vehicle actuator may analyze the minimum indicated torque request, determine the magnitude of the corresponding minimum indicated torque, and output torque according to the magnitude of the minimum indicated torque.

[0176] It can be understood that, since the process of calculating the required torque of the engine through the slope information and outputting it in the embodiment of the present application has a certain delay, a minimum indicated torque can be output to the vehicle actuator first, so that the vehicle actuator can output according to the minimum indicated torque first, thereby ensuring the normal start of the vehicle. When the engine required torque is subsequently calculated and output to the vehicle actuator, the vehicle actuator can perform torque compensation based on the minimum indicated torque and the size of the engine required torque, which can ensure the smooth increase of the output torque, improve the stability of the vehicle starting process, and further enhance the driving experience.

[0177] It should be noted that other contents in the embodiments of this application can be referred to Figure 3 The specific content of the method embodiment shown will not be repeated in detail in the embodiments of the present application.

[0178] Reference Manual Attached Figure 6 , which exemplarily shows the process of the anti-slip control method provided by an embodiment of the present application, which can be applied to Figure 2 In the ACC motion controller in the ACC system in the ACC. It can be understood that Figure 6 The execution subject of each step of the process shown can be the ACC motion controller. In order to avoid repeated description, the execution subject of each step will not be described in the description of the following steps.

[0179] Specific as Figure 6 As shown, the method may include the following steps:

[0180] S601: Determine that the ACC function of the vehicle is turned on, and when it is at least determined that the speed of the vehicle has not reached 5 km / h (as an example of a preset speed threshold), obtain the slope information of the road where the vehicle is currently located.

[0181] In the embodiment of the present application, the ACC motion controller can obtain the driving start request of the vehicle from the ACC dynamic attribute controller. After the ACC motion controller obtains the driving start request, it can be determined that the ACC function of the vehicle is turned on.

[0182] In an embodiment of the present application, the ACC motion controller can obtain the speed of the vehicle and determine whether the speed of the vehicle is less than 5km / h. When the speed of the vehicle is less than 5km / h, the ACC motion controller obtains the slope information of the road on which the vehicle is currently located.

[0183] In some embodiments, the ACC motion controller can obtain the slope information of the road where the vehicle is currently located when it is determined that the vehicle speed has not reached 5km / h and the ACC driving departure request is true; wherein the ACC driving departure request is true, indicating that the driving start request is obtained within a preset historical time. The preset historical time can be preset according to actual conditions, for example, it can be set to 2s, and the embodiments of the present application do not impose specific restrictions on this.

[0184] Specifically, when the ACC motion controller receives the driving start request sent by the ACC dynamic attribute controller, the ACC driving departure request can be set to true and last for a period of time, for example, it can be set to last for 2 seconds. During this duration, the ACC motion controller can determine that the ACC driving departure request is true, that is, the anti-slip control method provided in the embodiment of the present application can be used to calculate the engine demand torque according to the slope information and output it to the vehicle actuator.

[0185] S602: Calculate the required engine torque of the vehicle based on the slope information.

[0186] S603: Generate and output an engine torque request according to the calculated engine required torque.

[0187] In the embodiment of the present application, the engine torque request may include a calculated engine demand torque, and the engine torque request is used to enable the vehicle actuator of the vehicle to output torque according to the engine demand torque.

[0188] In some embodiments, the method may further include: outputting the drive start request together with the engine torque request to the vehicle actuator, so that the vehicle actuator outputs torque at a speed higher than a preset speed threshold based on the drive start request.

[0189] It should be noted that, during the starting process of the vehicle, as long as the vehicle speed is less than 5 km / h (or the vehicle speed is less than 5 km / h and the ACC driving departure request is set to true), the slope information can be continuously obtained multiple times, and the engine required torque is calculated according to the slope information, and finally the engine torque request is generated and output (or the driving start request is output at the same time). In other words, steps S601 to S603 provided in the embodiment of the present application can be executed multiple times to continuously send the engine torque request (or the engine torque request together with the driving start request) to the vehicle actuator multiple times.

[0190] It should be noted that other contents in the embodiments of this application can be referred to Figures 3 to 5 The specific content of the method embodiment shown will not be repeated in detail in the embodiments of the present application.

[0191] Reference Manual Attached Figure 7 , which exemplarily shows the structure of an anti-slip control device 700 provided by an embodiment of the present application, and the device 700 can be set in the vehicle-mounted equipment of the vehicle. Figure 7 As shown, the apparatus 700 may include:

[0192] The slope acquisition module 710 is used to determine whether the ACC function of the vehicle is turned on, and when it is at least determined that the speed of the vehicle has not reached a preset speed threshold, obtain the slope information of the road where the vehicle is currently located;

[0193] The torque calculation module 720 is used to calculate the engine torque required by the vehicle based on the slope information;

[0194] The request output module 730 is used to generate and output an engine torque request according to the calculated engine demand torque, wherein the engine torque request is used to enable the vehicle actuator of the vehicle to output torque according to the engine demand torque.

[0195] In some embodiments, the slope acquisition module 710 is used to obtain the slope information of the road on which the vehicle is currently located when it is determined that the vehicle speed has not reached a preset speed threshold and when it is determined that the ACC driving departure request is true; wherein, the ACC driving departure request being true indicates that a driving start request is obtained within a preset historical time.

[0196] In some embodiments, the request output module 730 may be further configured to output the driving start request together with the engine torque request to the vehicle actuator, so that the vehicle actuator outputs torque at a speed higher than a preset speed threshold based on the driving start request.

[0197] In some embodiments, the apparatus 700 may further include:

[0198] The driving start request generation module is used to generate a driving start request when a preset condition is met; wherein the preset condition includes: detecting that the leading vehicle leaves within a preset time after the following vehicle of the present vehicle stops at a speed of 0; or detecting an ACC recovery operation after the following vehicle of the present vehicle stops; or detecting an accelerator pedal stepping operation after the following vehicle of the present vehicle stops.

[0199] It should be noted that the device provided in the above embodiment, when implementing its functions, only uses the division of the above functional modules as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the corresponding method embodiment belong to the same concept, and the specific implementation process is detailed in the corresponding method embodiment, which will not be repeated here.

[0200] An embodiment of the present application further provides an anti-slip control device, comprising:

[0201] The ACC dynamic attribute controller is used to generate a driving start request and send it to the ACC motion controller when a preset condition is met; wherein the preset condition includes: detecting that the preceding vehicle has left within a preset time after the following vehicle of the vehicle has stopped by braking until the vehicle speed reaches 0; or detecting that the ACC resume operation has been performed after the following vehicle of the vehicle has stopped; or detecting that the accelerator pedal has been depressed after the following vehicle of the vehicle has stopped;

[0202] The ACC motion controller is used to obtain the slope information of the road where the vehicle is currently located after obtaining a driving start request and at least determining that the vehicle speed has not reached a preset vehicle speed threshold; calculate the engine demand torque of the vehicle based on the slope information; generate and output an engine torque request according to the calculated engine demand torque, wherein the engine torque request is used to enable the vehicle actuator of the vehicle to output torque according to the engine demand torque.

[0203] In some embodiments, the ACC motion controller is used to obtain the slope information of the road on which the vehicle is currently located when it is determined that the vehicle speed has not reached a preset vehicle speed threshold and when it is determined that the ACC driving departure request is true; wherein, the ACC driving departure request being true indicates that a driving start request is obtained within a preset historical time.

[0204] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the anti-skid control method provided in the above method embodiment.

[0205] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0206] In conjunction with the reference manual Figure 8 , which exemplarily shows a structural diagram of an electronic device 800 applicable to an embodiment of the present application.

[0207] like Figure 8 As shown, the electronic device 800 may be a terminal device such as a mobile phone, a tablet computer, a laptop computer, a wearable device, a vehicle-mounted device, etc. The electronic device 800 may include: an audio module 810, a speaker 810A, a microphone 810B, a screen 820, a processor 830, an internal memory 840, an external memory interface 850, a power management module 860, a sensor 870, a button 880, an antenna 1, an antenna 2 (not shown), a mobile communication module 894, a wireless communication module 895, etc.

[0208] The processor 830 may include one or more processing units, for example, the processor 830 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processor (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0209] The processor 830 can generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0210] In some embodiments, when the ACC function is turned on, the electronic device 800 can obtain the slope information of the road on which the vehicle is currently located through the processor 830 when the vehicle speed is low during the process of braking to a stop or starting following the vehicle in front, and calculate the required torque of the engine based on the slope information, and generate an engine torque request based on the engine required torque and output it to the vehicle actuator, or output the driving start request together with the engine torque request to the vehicle actuator, which can ensure that there is sufficient output torque to overcome the gravity component of the vehicle to prevent the vehicle from slipping, making the ACC function following the vehicle more robust, reducing safety risks, and improving driving experience and driving safety, as well as user satisfaction.

[0211] In some embodiments, the electronic device 800 can also filter the determined slope information through the processor 830 to remove the influence of noise and interference, so as to obtain more realistic slope data and improve the credibility of the slope information. The processor 830 can then calculate the engine demand torque of the vehicle according to the slope information after filtering, so as to improve the accuracy of the calculated engine demand torque.

[0212] The processor 830 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 830 is a cache memory. The memory may store instructions or data that the processor 830 has just used or cyclically used. If the processor 830 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 830, and thus improves the efficiency of the system.

[0213] The electronic device 800 can implement audio functions through an audio module 810, a speaker 810A, a microphone 810B, a receiver, an earphone interface, and an application processor.

[0214] The audio module 810 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signal. The audio module 810 can also be used to encode and decode audio signals. In some embodiments, the audio module 810 can be arranged in the processor 830, or some functional modules of the audio module 810 can be arranged in the processor 830.

[0215] The speaker 810A, also called a "horn", is used to convert audio electrical signals into sound signals.

[0216] Microphone 810B, also called "microphone" or "microphone", is used to convert sound signals into electrical signals.

[0217] The screen 820 may be a touch screen composed of a touch sensor and a display screen, also known as a "touch screen", for detecting gesture operations applied thereon or near the screen 820. The screen 820 may transmit the detected gesture operations to the processor 830 to determine the type of the gesture operation.

[0218] The internal memory 840 may be used to store computer executable program codes, which include instructions. The internal memory 840 may include a program storage area and a data storage area. The processor 830 executes various functional applications and data processing of the electronic device 800 by running the instructions stored in the internal memory 840 and / or the instructions stored in the memory provided in the processor 830.

[0219] In some embodiments, the internal memory 840 may store instructions for an anti-roll control method. By running the anti-roll control method instructions, the processor 830 can obtain the slope information of the road on which the vehicle is currently located, calculate the required torque of the engine based on the slope information, and generate an engine torque request based on the engine required torque and output it to the vehicle actuator, or output the driving start request together with the engine torque request to the vehicle actuator, thereby ensuring that there is sufficient output torque to overcome the gravity component of the vehicle to prevent the vehicle from rolling.

[0220] The external memory interface 850 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device 800. The external memory card communicates with the processor 830 through the external memory interface 850 to implement a data storage function, such as storing music, video and other files in the external memory card.

[0221] The power management module 860 is used to input power to the electronic device 800 from the vehicle's power supply equipment.

[0222] The sensor 870 may include a position sensor (such as a global positioning system (GPS), an inertial measurement unit (IMU), a radar sensor, a light detection and ranging (LIDAR) sensor, an image sensor, a mileage sensor, a temperature / humidity sensor, an infrared sensor, an atmospheric pressure sensor, a proximity sensor, an illumination sensor, a magnetic sensor, an acceleration sensor, or a gyroscope sensor. For example, the electronic device 800 may detect a user's stepping operation on the accelerator pedal through a position sensor and generate a starting instruction.

[0223] The key 880 includes a power button, a volume button, etc. The key 880 may be a mechanical key or a touch key. The electronic device 800 may receive key input and generate key signal input related to user settings and function control of the electronic device 800. For example, the electronic device 800 may receive a user's pressing operation on an ACC recovery button and generate an ACC recovery instruction.

[0224] The wireless communication function of the electronic device 800 can be realized by antenna 1, antenna 2, mobile communication module 894, wireless communication module 895, modem processor and baseband processor, etc. Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals.

[0225] The mobile communication module 894 can provide wireless communication solutions including 5G / 4G / 3G etc. applied on the electronic device 800 .

[0226] The wireless communication module 895 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) network), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., applied to the electronic device 800. The wireless communication module 895 receives electromagnetic waves via the antenna 2, modulates the electromagnetic wave signal and performs filtering, and sends the processed signal to the processor 830.

[0227] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electronic device 800. In other embodiments of the present application, the electronic device 800 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0228] An embodiment of the present application also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing an anti-roll control method. The at least one instruction or the at least one program is loaded and executed by the processor to implement the anti-roll control method provided by the above method embodiment.

[0229] Optionally, in an embodiment of the present application, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0230] One embodiment of the present application also provides a computer program product, which includes a computer program / instructions. When the computer program product is run on an electronic device, the computer program / instructions are loaded and executed by a processor to implement the steps of the anti-skid control method provided in the above-mentioned various optional embodiments.

[0231] It should be understood that although the terms "first", "second", etc. may be used herein to describe various features, these features should not be limited by these terms. These terms are used only to distinguish and should not be understood as indicating or implying relative importance. For example, a first feature may be referred to as a second feature, and similarly a second feature may be referred to as a first feature without departing from the scope of the exemplary embodiments.

[0232] In addition, various operations will be described as multiple separate operations in a manner that is most helpful for understanding the illustrative embodiments; however, the order of description should not be interpreted as implying that these operations must rely on the order of description, and many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can also be rearranged. When the described operations are completed, the process can be terminated, but there can also be additional operations not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0233] References in the specification to "one embodiment," "an embodiment," "an illustrative embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or property, but each embodiment may or may not necessarily include the particular feature, structure, or property. Moreover, these phrases are not necessarily directed to the same embodiment. In addition, when particular features are described in conjunction with a specific embodiment, the knowledge of those skilled in the art can affect the combination of these features with other embodiments, whether or not these embodiments are explicitly described.

[0234] Unless the context dictates otherwise, the terms "comprising," "having," and "including" are synonymous. The phrase "A / B" means "A or B." The phrase "A and / or B" means "(A), (B), or (A and B)."

[0235] As used herein, the term "module" may refer to, be part of, or include: a memory (shared, dedicated, or group) for running one or more software or firmware programs, an application-specific integrated circuit (ASIC), an electronic circuit and / or processor (shared, dedicated, or group), a combinational logic circuit, and / or other suitable components that provide the described functionality.

[0236] In the accompanying drawings, some structural or method features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order is not required. Instead, in some embodiments, these features may be described in a manner and / or order different from that shown in the illustrative drawings. In addition, the structural or method features included in a specific figure do not mean that all embodiments need to include such features. In some embodiments, these features may not be included, or these features may be combined with other features.

[0237] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the use of the technical solution of the present application is not limited to the various applications mentioned in the embodiments of the present patent. Various structures and variations can be easily implemented with reference to the technical solution of the present application to achieve the various beneficial effects mentioned herein. Various changes made within the knowledge of ordinary technicians in the field without departing from the purpose of the present application should all fall within the scope of the patent application.

Claims

1. A method for preventing a vehicle from sliding, characterized in that: The method comprises: Determine that the ACC function of the vehicle is turned on, and generate a driving start request when it is determined that the vehicle meets the preset conditions; When it is at least determined that the speed of the vehicle does not reach a preset speed threshold, obtaining the slope information of the road where the vehicle is currently located; Calculating the required engine torque of the vehicle based on the slope information; generating and outputting an engine torque request according to the calculated engine demand torque, wherein the engine torque request is used to enable a vehicle actuator of the host vehicle to output torque according to the engine demand torque; The driving start request and the engine torque request are output to the vehicle actuator of the host vehicle; wherein, When the vehicle actuator receives only the engine torque request, the vehicle actuator outputs torque at a first torque output speed, where the first torque output speed is the torque output speed after the vehicle actuator receives only the engine torque request; When the vehicle actuator receives the driving start request, the vehicle actuator outputs torque at a speed higher than a preset speed threshold, and the preset speed threshold is greater than or equal to the first torque output speed.

2. The method according to claim 1, characterized in that The step of obtaining the slope information of the road on which the vehicle is currently located, when at least determining that the vehicle speed has not reached a preset vehicle speed threshold, includes: When it is determined that the speed of the vehicle does not reach the preset speed threshold and the ACC driving departure request is true, obtaining the slope information of the road where the vehicle is currently located; The ACC driving departure request being true indicates that a driving start request is obtained within a preset historical time.

3. The method according to claim 1 or 2, characterized in that: The step of obtaining the slope information of the road on which the vehicle is currently located includes: Acquire the longitudinal acceleration and dynamic acceleration of the vehicle, wherein the dynamic acceleration is calculated based on the wheel speed information of the vehicle; The slope information of the road on which the vehicle is currently located is calculated according to the longitudinal acceleration and the dynamic acceleration.

4. The method according to claim 1, characterized in that: The calculating the engine required torque of the vehicle based on the slope information includes: Obtaining the total mass of the vehicle and the correction coefficient corresponding to the vehicle; The engine required torque is calculated according to the total mass, the correction coefficient and the slope information.

5. The method according to claim 1, characterized in that The preset conditions include: The vehicle ahead is detected to have left within a preset time after the vehicle behind the vehicle has braked to zero speed; or ACC resume operation is detected after the host vehicle following the vehicle stops; or The accelerator pedal is detected after the following vehicle stops.

6. The method according to claim 1, characterized in that The method further comprises: Determining a first acceleration based on the driving data of the host vehicle and the driving data of the preceding vehicle; Using the minimum acceleration between the first acceleration and the preset second acceleration as the initial acceleration; calculating an indicated torque based on the initial acceleration; generating an indicated torque request based on the calculated indicated torque; The indicated torque request is output together with the drive start request to a vehicle actuator of the host vehicle.

7. The method according to claim 6, characterized in that The method further comprises: The vehicle actuator determines a magnitude of a corresponding indicated torque based on the indicated torque request, and outputs a torque according to the magnitude of the indicated torque; and When the vehicle actuator receives the engine torque request, torque compensation is performed on the output indicated torque according to the engine demand torque corresponding to the engine torque request.

8. An anti-slip control device, characterized in that: include: A driving start request module is used to generate a driving start request and send it to the ACC motion controller when a preset condition is met; wherein the preset condition includes: detecting that the preceding vehicle has left within a preset time after the following vehicle of the vehicle has stopped by braking until the vehicle speed reaches 0; or detecting that the ACC resume operation has been performed after the following vehicle of the vehicle has stopped; or detecting that the accelerator pedal has been stepped on after the following vehicle of the vehicle has stopped; A slope acquisition module, used to determine whether the ACC function of the vehicle is turned on, and when at least determining that the speed of the vehicle does not reach a preset speed threshold, acquire the slope information of the road where the vehicle is currently located; A torque calculation module, used for calculating the engine torque required by the vehicle based on the slope information; a request output module, configured to generate and output an engine torque request according to the calculated engine demand torque, wherein the engine torque request is used to enable a vehicle actuator of the host vehicle to output torque according to the engine demand torque; The request output module is also used to output the driving start request and the engine torque request to the vehicle actuator of the vehicle; wherein, When the vehicle actuator receives only the engine torque request, the vehicle actuator outputs torque at a first torque output speed, where the first torque output speed is the torque output speed after the vehicle actuator receives only the engine torque request; When the vehicle actuator receives the driving start request, the vehicle actuator outputs torque at a speed higher than a preset speed threshold, and the preset speed threshold is greater than or equal to the first torque output speed.

9. An anti-slip control device, characterized in that: include: The ACC dynamic attribute controller is used to generate a driving start request and send it to the ACC motion controller when a preset condition is met; wherein the preset condition includes: detecting that the preceding vehicle has left within a preset time after the following vehicle of the vehicle has stopped by braking until the vehicle speed reaches 0; or detecting that the ACC resume operation has been performed after the following vehicle of the vehicle has stopped; or detecting that the accelerator pedal has been stepped on after the following vehicle of the vehicle has stopped; The ACC motion controller is used to obtain the slope information of the road where the vehicle is currently located after obtaining the driving start request and when at least determining that the vehicle speed of the vehicle has not reached a preset vehicle speed threshold; Calculating the engine demand torque of the host vehicle based on the slope information; generating and outputting an engine torque request according to the calculated engine demand torque, wherein the engine torque request is used to enable the vehicle actuator of the host vehicle to output torque according to the engine demand torque; The ACC motion controller is also used to output the driving start request together with the engine torque request to the vehicle actuator of the vehicle; wherein, When the vehicle actuator receives only the engine torque request, the vehicle actuator outputs torque at a first torque output speed, where the first torque output speed is the torque output speed after the vehicle actuator receives only the engine torque request; When the vehicle actuator receives the driving start request, the vehicle actuator outputs torque at a speed higher than a preset speed threshold, and the preset speed threshold is greater than or equal to the first torque output speed.

10. The device according to claim 9, characterized in that The ACC motion controller is used to obtain the slope information of the road on which the vehicle is currently located when it is determined that the vehicle speed has not reached a preset vehicle speed threshold and when it is determined that the ACC driving departure request is true; wherein, the ACC driving departure request being true indicates that a driving start request is obtained within a preset historical time.

11. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the anti-skid control method as described in any one of claims 1-7.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the anti-slip control method as described in any one of claims 1-7.

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