Adaptive starting method, device, apparatus and computer readable storage medium

Abstract

The application relates to the technical field of vehicles, in particular to a self-adaptive starting method, device and equipment and a computer readable storage medium, the method comprising the following steps: when a target vehicle starts to go uphill, acquiring motor data and starting driving data of the target vehicle, and determining a vehicle starting working condition of the target vehicle based on the motor data and the starting driving data; acquiring a starting working condition torque diagram and a starting working condition torque gradient corresponding to the vehicle starting working condition, and controlling the target vehicle to drive according to the starting working condition torque diagram and the starting working condition torque gradient. The application realizes self-adaptive starting according to a vehicle working condition, so that the vehicle starting process conforms to the actual operation of the target vehicle, and the starting safety of the target vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to an adaptive start-up method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] As people's living standards improve, vehicles are playing an increasingly important role in their daily lives. Stopping and starting are essential parts of vehicle operation, especially for public transportation vehicles, which frequently need to stop and start at various stops. The control required for starting after stopping is very high. If the vehicle starts slowly, it may roll backward, causing a safety hazard; if the acceleration is too rapid, it may also lead to safety hazards due to excessive acceleration. Summary of the Invention

[0003] The main objective of this application is to provide an adaptive start-up method, apparatus, device, and computer-readable storage medium, which aims to enable adaptive start-up of vehicles under operating conditions, thereby improving vehicle safety.

[0004] To achieve the above objectives, this application provides an adaptive start-up method, which includes the following steps:

[0005] When the target vehicle starts uphill, the motor data and starting driving data of the target vehicle are acquired, and the vehicle starting condition of the target vehicle is determined based on the motor data and the starting driving data.

[0006] Obtain the starting torque diagram and starting torque gradient corresponding to the vehicle's starting condition, and control the target vehicle's driving according to the starting torque diagram and starting torque gradient.

[0007] Optionally, the vehicle starting conditions include hill start, hill driving, and flat road driving conditions;

[0008] The step of determining the vehicle starting condition of the target vehicle based on the motor data and the starting driving data includes:

[0009] Based on the motor data of the target vehicle, detect whether the target vehicle has a tendency to roll backwards;

[0010] If the target vehicle has a tendency to roll back down the slope, then the target vehicle is determined to be in the slope start-up condition.

[0011] If the target vehicle does not show any tendency to roll back down the slope, then the starting driving data is used to detect whether the target vehicle is on a slope.

[0012] If the target vehicle is on a slope, then the target vehicle is determined to be in the slope driving condition;

[0013] If the target vehicle is not on a slope, then the target vehicle is determined to be in the flat road driving condition.

[0014] Optionally, the motor data includes the motor speed;

[0015] The step of detecting whether the target vehicle has a tendency to roll backwards based on the target vehicle's motor data includes:

[0016] Detect whether the motor speed is less than a preset speed threshold;

[0017] If the motor speed is less than a preset speed threshold, it is determined that the target vehicle has a tendency to roll downhill.

[0018] If the motor speed is greater than or equal to the preset speed threshold, then it is determined that the target vehicle has a tendency to roll downhill.

[0019] Optionally, the starting driving data includes accelerator pedal opening and starting vehicle speed;

[0020] The step of detecting whether the target vehicle is on a slope based on the starting driving data includes:

[0021] Determine the duration for which the accelerator pedal opening and the starting vehicle speed are in a preset state, and detect whether the duration is greater than the preset duration, wherein the preset state is that the accelerator pedal opening is greater than a preset opening threshold and the starting vehicle speed is less than a preset first vehicle speed threshold.

[0022] If the duration exceeds the preset duration, then the target vehicle is determined to be on a slope;

[0023] If the duration is less than or equal to the preset duration, then it is determined that the target vehicle is not on the slope.

[0024] Optionally, the step of obtaining the starting torque map and the starting torque gradient corresponding to the vehicle's starting condition includes:

[0025] If the vehicle starting condition is the hill start condition, then obtain the hill start torque diagram and hill start torque gradient corresponding to the hill start condition.

[0026] If the vehicle starts under the condition of driving on an incline, then the incline torque diagram and the incline torque gradient are determined based on the duration.

[0027] If the vehicle starts under the flat road driving condition, a preset flat road driving torque map and a preset flat road driving torque increase gradient are obtained; wherein, the starting torque value in the ramp start torque map is greater than the starting torque value in the flat road driving torque map; the ramp start torque increase gradient is greater than the ramp driving torque increase gradient, and the ramp state torque increase gradient is greater than the flat road driving torque increase gradient.

[0028] Optionally, the step of determining the ramp torque map and ramp torque gradient based on the duration includes:

[0029] Determine the target duration range corresponding to the duration from each preset duration range;

[0030] The preset torque map corresponding to the target duration range is used as the slope driving torque map, and the preset torque increase gradient corresponding to the target duration range is used as the slope driving torque increase gradient. The higher the upper limit of the target duration range, the greater the slope driving torque increase gradient.

[0031] Optionally, after the step of controlling the target vehicle's movement according to the starting torque diagram and the starting torque gradient, the method further includes:

[0032] The vehicle speed of the target vehicle is obtained, and it is detected whether the vehicle speed is greater than a preset second speed threshold.

[0033] If the driving speed is greater than the second speed threshold, the target vehicle is controlled to drive according to the preset flat road driving conditions.

[0034] If the driving speed is less than or equal to the second speed threshold, then return to the step of controlling the target vehicle's driving according to the starting torque diagram and the starting torque gradient.

[0035] To achieve the above objectives, this application also provides an adaptive starting device, the adaptive starting device comprising:

[0036] The determination module is used to acquire the motor data and starting driving data of the target vehicle when the target vehicle starts uphill, and determine the vehicle starting condition of the target vehicle based on the motor data and the starting driving data.

[0037] The control module is used to control the target vehicle to drive according to the starting torque diagram and starting torque gradient corresponding to the vehicle's starting conditions.

[0038] To achieve the above objectives, this application also provides an adaptive start device, which includes: a memory, a processor, and an adaptive start program stored in the memory and executable on the processor. When the adaptive start program is executed by the processor, it implements the steps of the adaptive start method as described above.

[0039] In addition, to achieve the above objectives, this application also proposes a computer-readable storage medium storing an adaptive start program, which, when executed by a processor, implements the steps of the adaptive start method as described above.

[0040] In this application, when a target vehicle starts uphill, its motor data and starting driving data are acquired, and the vehicle's starting conditions are determined based on these data. A starting torque diagram and a starting torque gradient corresponding to the starting conditions are obtained, and the target vehicle's movement is controlled according to these diagrams. This embodiment achieves adaptive starting based on vehicle operating conditions, ensuring that the vehicle's starting process conforms to the actual operating conditions of the target vehicle, thus improving starting safety. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the hardware driving environment involved in the embodiments of this application;

[0042] Figure 2 This is a flowchart illustrating the first embodiment of the adaptive start-up method of this application;

[0043] Figure 3 This is a flowchart illustrating the second embodiment of the adaptive start-up method of this application;

[0044] Figure 4 This is a flowchart illustrating the third embodiment of the adaptive start-up method of this application;

[0045] Figure 5 This is a schematic diagram of the control framework involved in one embodiment of the adaptive start-up method of this application;

[0046] Figure 6 This is a schematic diagram of the application process involved in one embodiment of the adaptive start-up method of this application;

[0047] Figure 7 This is a schematic diagram of the functional modules of a preferred embodiment of the adaptive starting device of this application.

[0048] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0050] like Figure 1 As shown, Figure 1 This is a schematic diagram of the device structure of the hardware driving environment involved in the embodiments of this application.

[0051] It should be noted that the adaptive starting device in this application embodiment can be a vehicle controller or a device that establishes a communication connection with the vehicle controller, such as a server or computer, etc., and no specific limitation is made here.

[0052] like Figure 1 As shown, the adaptive start-up device may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0053] Those skilled in the art will understand that Figure 1 The device structure shown does not constitute a limitation on the adaptive start device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0054] like Figure 1 As shown, the memory 1005, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an adaptive startup program. The operating system is a program that manages and controls the device's hardware and software resources, supporting the adaptive startup program and the operation of other software or programs. Figure 1 In the device shown, the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used for establishing a communication connection with the server; and the processor 1001 can be used to call the adaptive start program stored in the memory 1005 and perform the following operations:

[0055] When the target vehicle starts uphill, the motor data and starting driving data of the target vehicle are acquired, and the vehicle starting condition of the target vehicle is determined based on the motor data and the starting driving data.

[0056] Obtain the starting torque diagram and starting torque gradient corresponding to the vehicle's starting condition, and control the target vehicle's driving according to the starting torque diagram and starting torque gradient.

[0057] Furthermore, the vehicle starting conditions include hill start, hill driving, and flat road driving conditions;

[0058] The step of determining the vehicle starting condition of the target vehicle based on the motor data and the starting driving data includes:

[0059] Based on the motor data of the target vehicle, detect whether the target vehicle has a tendency to roll backwards;

[0060] If the target vehicle has a tendency to roll back down the slope, then the target vehicle is determined to be in the slope start-up condition.

[0061] If the target vehicle does not show any tendency to roll back down the slope, then the starting driving data is used to detect whether the target vehicle is on a slope.

[0062] If the target vehicle is on a slope, then the target vehicle is determined to be in the slope driving condition;

[0063] If the target vehicle is not on a slope, then the target vehicle is determined to be in the flat road driving condition.

[0064] Furthermore, the motor data includes the motor speed;

[0065] The step of detecting whether the target vehicle has a tendency to roll backwards based on the target vehicle's motor data includes:

[0066] Detect whether the motor speed is less than a preset speed threshold;

[0067] If the motor speed is less than a preset speed threshold, it is determined that the target vehicle has a tendency to roll downhill.

[0068] If the motor speed is greater than or equal to the preset speed threshold, then it is determined that the target vehicle has a tendency to roll downhill.

[0069] Furthermore, the starting driving data includes the accelerator pedal opening and the starting vehicle speed;

[0070] The step of detecting whether the target vehicle is on a slope based on the starting driving data includes:

[0071] Determine the duration for which the accelerator pedal opening and the starting vehicle speed are in a preset state, and detect whether the duration is greater than the preset duration, wherein the preset state is that the accelerator pedal opening is greater than a preset opening threshold and the starting vehicle speed is less than a preset first vehicle speed threshold.

[0072] If the duration exceeds the preset duration, then the target vehicle is determined to be on a slope;

[0073] If the duration is less than or equal to the preset duration, then it is determined that the target vehicle is not on the slope.

[0074] Further, the step of obtaining the starting torque map and the starting torque gradient corresponding to the vehicle's starting condition includes:

[0075] If the vehicle starting condition is the hill start condition, then obtain the hill start torque diagram and hill start torque gradient corresponding to the hill start condition.

[0076] If the vehicle starts under the condition of driving on an incline, then the incline torque diagram and the incline torque gradient are determined based on the duration.

[0077] If the vehicle starts under the flat road driving condition, a preset flat road driving torque map and a preset flat road driving torque increase gradient are obtained; wherein, the starting torque value in the ramp start torque map is greater than the starting torque value in the flat road driving torque map; the ramp start torque increase gradient is greater than the ramp driving torque increase gradient, and the ramp state torque increase gradient is greater than the flat road driving torque increase gradient.

[0078] Further, the step of determining the ramp torque map and ramp torque gradient based on the duration includes:

[0079] Determine the target duration range corresponding to the duration from each preset duration range;

[0080] The preset torque map corresponding to the target duration range is used as the slope driving torque map, and the preset torque increase gradient corresponding to the target duration range is used as the slope driving torque increase gradient. The higher the upper limit of the target duration range, the greater the slope driving torque increase gradient.

[0081] Furthermore, after the step of controlling the target vehicle's movement according to the starting torque diagram and the starting torque gradient, the method further includes:

[0082] The vehicle speed of the target vehicle is obtained, and it is detected whether the vehicle speed is greater than a preset second speed threshold.

[0083] If the driving speed is greater than the second speed threshold, the target vehicle is controlled to drive according to the preset flat road driving conditions.

[0084] If the driving speed is less than or equal to the second speed threshold, then return to the step of controlling the target vehicle's driving according to the starting torque diagram and the starting torque gradient.

[0085] Based on the above structure, various embodiments of the adaptive start-up method are proposed.

[0086] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the adaptive start-up method of this application.

[0087] This application provides an embodiment of an adaptive start-up method. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order. In this embodiment, the executing entity of the adaptive start-up method can be a vehicle controller or a device that establishes a communication connection with the vehicle controller, such as a server or computer. No limitation is made in this embodiment. For ease of description, the executing entity is omitted from the following description of each embodiment. In this embodiment, the adaptive start-up method includes steps S10-S20.

[0088] Step S10: When the target vehicle starts uphill, acquire the motor data and starting driving data of the target vehicle, and determine the vehicle starting condition of the target vehicle based on the motor data and the starting driving data.

[0089] As people's living standards improve, vehicles are playing an increasingly important role in their daily lives. Stopping and starting are essential parts of vehicle operation, especially for public transportation vehicles, which frequently need to stop and start at various stops. Stopping and then starting on a slope requires relatively high precision in starting control. If the vehicle starts slowly, it may roll back down the slope, creating a safety hazard; if the acceleration is too rapid, it may also cause safety risks due to excessive acceleration.

[0090] Currently, there are three main strategies for starting uphill:

[0091] An adaptive start control method for electric vehicles based on four-wheel hub motors is implemented. The slope of the road on which the electric vehicle is traveling is estimated in real time by using a Lomborg state observer to obtain the road slope estimate α. Then, the parking torque for the vehicle to remain stationary at slope α is calculated according to the vehicle dynamics formula.

[0092] A slope angle sensor is used to collect the slope angle value α, and the traction force required by the vehicle in the current state is calculated based on the slope angle value.

[0093] The system collects throttle opening and throttle change rate, and predicts the driver's starting intention based on the throttle opening and throttle change rate to achieve vehicle smoothness control.

[0094] However, in the above uphill start strategies, adding a slope angle sensor or using four-wheel hub motors would increase vehicle costs; predicting the driver's starting intention based on throttle opening and throttle change rate to achieve vehicle smoothness control cannot adaptively recognize the slope.

[0095] In this embodiment, without adding a slope angle sensor, the operating conditions of the target vehicle are distinguished based on driving data and motor data, thereby adaptively controlling the target vehicle to start according to the actual operating conditions.

[0096] Specifically, in this embodiment, the vehicle traveling on the slope is referred to as the target vehicle. In this embodiment, when the target vehicle starts uphill, the motor data of the motor in the target vehicle and the vehicle driving data of the target vehicle during the starting process are acquired. Among them, the motor data is used to characterize the operating status of the motor, such as motor speed, torque, etc.; the starting driving data is used to characterize the driving state of the target vehicle during the starting process, such as vehicle speed, accelerator pedal opening, etc., which are not limited here.

[0097] In this embodiment, the operating state of the vehicle during the starting process is referred to as the vehicle starting condition. The process of determining the vehicle starting condition based on motor data and starting driving data is not limited here. For example, in one feasible implementation, a mapping relationship between different starting conditions, motor data, and starting mode data can be pre-set, and the vehicle starting condition corresponding to the motor data and starting driving data can be determined based on this mapping relationship. In another feasible implementation, the vehicle starting condition can be determined based on the numerical range of the motor data and starting driving data. Furthermore, in yet another feasible implementation, the vehicle starting condition can be determined based on machine learning, neural network models, etc., and can be specifically set according to actual needs.

[0098] Step S20: Obtain the starting torque diagram and starting torque gradient corresponding to the vehicle starting condition, and control the target vehicle to drive according to the starting torque diagram and the starting torque gradient.

[0099] In this embodiment, the torque map (Engine Speed ​​Torque Heat Map) refers to the torque output curve of the vehicle engine. It describes the torque values ​​generated by the engine at various speeds and throttle openings. For ease of description, it is referred to as a torque map. The torque maps corresponding to different vehicle starting conditions are called starting condition torque maps for distinction. The rate of torque increase is called the torque gradient. The torque gradient corresponding to different vehicle starting conditions is called the starting condition torque gradient for distinction. It should be noted that the larger the torque gradient, the shorter the time it takes for the torque to increase to the target value.

[0100] The method for obtaining the starting torque diagram and starting torque gradient corresponding to the vehicle's starting condition is not limited here. In one feasible implementation, a mapping relationship between the starting torque diagram and starting torque gradient and the vehicle's driving conditions can be preset, and the starting torque diagram and starting torque gradient corresponding to the vehicle's driving conditions can be determined based on this mapping relationship. In another feasible implementation, the torque diagram and torque gradient of the target vehicle when driving on a flat road can be set, hereinafter referred to as the flat road driving torque diagram and flat road driving torque gradient. A first adjustment value and a second adjustment value corresponding to the vehicle's starting condition are determined according to the preset mapping relationship. The flat road driving torque diagram is adjusted according to the first adjustment value to obtain the starting torque diagram, and the flat road driving torque gradient is adjusted according to the second adjustment value to obtain the starting torque gradient. The specific settings can be made according to actual needs.

[0101] Based on the torque diagram and torque increase gradient under starting conditions, the vehicle motor is controlled to determine the target vehicle's movement.

[0102] Furthermore, in one feasible embodiment, after step S20: controlling the target vehicle to drive according to the starting torque diagram and the starting torque gradient, steps S30-S40 are also included.

[0103] Step S30: Obtain the driving speed of the target vehicle and detect whether the driving speed is greater than a preset second speed threshold.

[0104] In this embodiment, the speed of the target vehicle during its journey is referred to as the driving speed.

[0105] A preset speed threshold is set, which is used to determine whether the vehicle has completed its start-up. This threshold is referred to as the second speed threshold for distinction. The system detects whether the vehicle speed exceeds the preset second speed threshold to determine if the vehicle has completed its start-up.

[0106] Step S40: If the driving speed is greater than the second speed threshold, then control the target vehicle to drive according to the preset flat road driving conditions.

[0107] If the vehicle speed is greater than the second speed threshold, it indicates that the target vehicle has started. Then, the target vehicle is controlled to drive according to the preset flat road driving conditions, so that the target vehicle operates in the high-efficiency zone and improves the vehicle's economy.

[0108] Step S50: If the driving speed is less than or equal to the second vehicle speed threshold, then return to the step of controlling the target vehicle's driving according to the starting torque diagram and the starting torque gradient.

[0109] If the vehicle speed is less than or equal to the second speed threshold, it indicates that the target vehicle has not yet completed its start. In this case, the process returns to the steps of controlling the target vehicle's movement according to the torque map and torque gradient of the starting condition, so as to continue driving according to the actual starting condition of the vehicle.

[0110] In this embodiment, the vehicle speed is detected to determine whether the vehicle has started. If the start is complete, the target vehicle is controlled to drive according to the preset flat road driving conditions, so that the target vehicle operates in the high-efficiency zone and the vehicle economy is improved.

[0111] In this embodiment, when the target vehicle starts uphill, its motor data and starting driving data are acquired, and the vehicle's starting conditions are determined based on these data. The starting torque diagram and starting torque gradient corresponding to the starting conditions are obtained, and the target vehicle's movement is controlled according to these diagrams. This embodiment achieves adaptive starting based on vehicle conditions, ensuring that the vehicle's starting process conforms to the actual operating conditions of the target vehicle, thus improving starting safety.

[0112] Furthermore, in this embodiment, adaptive start can be achieved without adding sensors to the target vehicle or improving the vehicle's existing hardware, which reduces the cost of adaptive start, improves the economy of adaptive start, and reduces the difficulty of vehicle maintenance.

[0113] Furthermore, based on the first embodiment described above, a second embodiment of the adaptive start-up method of this application is proposed, referring to... Figure 4 In this embodiment, the vehicle starting conditions include hill start conditions, hill driving conditions, and flat road driving conditions. Step S10: Determine the vehicle starting conditions of the target vehicle based on the motor data and the starting driving data, including steps S101-S105.

[0114] Step S101: Detect whether the target vehicle has a tendency to roll downhill based on the motor data of the target vehicle.

[0115] In this embodiment, the vehicle starting conditions include hill start, hill driving, and flat road driving. The process for determining the starting torque diagram and the starting torque gradient can differ for each starting condition. Specifically, the hill start condition is when the target vehicle tends to roll backward during the start-up process; the hill driving condition is when the target vehicle starts normally uphill without rolling backward; and the flat road driving condition is when the target vehicle starts on a gentle slope or has already traveled over a slope and entered a flat road.

[0116] The detection of whether the target vehicle has a tendency to roll backwards is based on the target vehicle's motor data. Specifically, it can be detected by using data such as motor speed and torque. The specific process will not be elaborated here, but can be referred to as the conventional rollback detection process.

[0117] Furthermore, in one feasible embodiment, the motor controller can detect whether there is a tendency to roll backward based on motor data, and then send the detection result to the vehicle controller. In this embodiment, the vehicle controller can directly obtain the detection result to determine whether the target vehicle has a tendency to roll backward. In this embodiment, the motor controller can either directly send the detection result or modify the value of the rollback indicator based on the detection result and transmit the detection result to the vehicle controller through the value of the rollback indicator.

[0118] Step S102: If the target vehicle has a tendency to roll back down the slope, then it is determined that the target vehicle is in the slope start-up condition.

[0119] If the target vehicle has a tendency to roll backwards, it is determined that the target vehicle is in a hill start condition. At this time, the target vehicle can be started according to the hill start torque diagram and hill start torque gradient corresponding to the hill start condition to avoid the vehicle rolling backwards.

[0120] Step S103: If the target vehicle does not have a tendency to roll back downhill, then detect whether the target vehicle is on a slope based on the starting driving data.

[0121] Since vehicle driving data on slopes and flat roads typically differs—for example, driving on a slope usually requires more power—this embodiment detects whether the target vehicle is on a slope based on its initial driving data if the target vehicle does not show any tendency to roll backwards.

[0122] Step S104: If the target vehicle is on a slope, then it is determined that the target vehicle is in the slope driving condition.

[0123] If the target vehicle is on a slope, it is determined that the target vehicle is in a slope driving condition. At this time, the target vehicle can be controlled to start according to the slope driving condition, thereby improving vehicle safety.

[0124] Step S105: If the target vehicle is not on a slope, then it is determined that the target vehicle is in the flat road driving condition.

[0125] If the target vehicle is not on a slope, it is determined that the target vehicle is in a level driving condition. At this time, the target vehicle can be controlled to start as if it were in a level driving condition, thereby improving the vehicle's fuel economy.

[0126] Further, in one feasible embodiment, the motor data includes motor speed, and step S101: detect whether the target vehicle has a tendency to roll downhill based on the motor data of the target vehicle, including steps S1031-S1033.

[0127] Step S1031: Detect whether the motor speed is less than a preset speed threshold;

[0128] During vehicle start-up, if there is insufficient power output, the vehicle motor speed will decrease, causing the vehicle to fail to start normally. In this situation, the vehicle tends to roll backwards. Therefore, if the motor speed is abnormally low, it may indicate a problem with the vehicle rolling backwards when starting. Specifically, in this embodiment, the motor speed is detected to be lower than a preset speed threshold. The preset speed threshold can be set according to actual needs and is not limited here.

[0129] Step S1032: If the motor speed is less than a preset speed threshold, it is determined that the target vehicle has a tendency to roll downhill.

[0130] If the motor speed is less than the preset speed threshold, it is determined that the target vehicle has a tendency to roll downhill.

[0131] Step S1033: If the motor speed is greater than or equal to the preset speed threshold, then it is determined that the target vehicle has a tendency to roll downhill.

[0132] If the motor speed is greater than or equal to the preset speed threshold, it is determined that the target vehicle has a tendency to roll downhill.

[0133] In this embodiment, the system detects whether the target vehicle has a tendency to roll backwards based on its motor data. If the target vehicle has a tendency to roll backwards, it is determined that the target vehicle is in a hill start condition. If the target vehicle does not have a tendency to roll backwards, the system detects whether the target vehicle is on a slope based on its starting driving data. If the target vehicle is on a slope, it is determined that the target vehicle is in a slope driving condition. If the target vehicle is not on a slope, it is determined that the target vehicle is in a flat road driving condition. In this embodiment, the starting condition of the target vehicle can be determined without adding sensors or modifying the vehicle's existing hardware, thereby achieving adaptive starting based on the starting condition. This reduces the cost of adaptive starting, improves its economy and convenience, and also reduces the difficulty of vehicle maintenance.

[0134] Furthermore, based on the first and / or second embodiments described above, a third embodiment of this application is proposed, wherein the starting driving data includes the accelerator pedal opening and the starting vehicle speed. (Refer to...) Figure 4 In this embodiment, step S102: Detecting whether the target vehicle is on a slope based on the starting driving data, including steps S1021-S1023.

[0135] Step S1021: Determine the duration for which the accelerator pedal opening and the starting vehicle speed are in a preset state, and detect whether the duration is greater than the preset duration. The preset state is when the accelerator pedal opening is greater than a preset opening threshold and the starting vehicle speed is less than a preset first vehicle speed threshold.

[0136] In this embodiment, the target vehicle is detected as being on a slope based on the accelerator pedal opening and the vehicle speed during the starting process (hereinafter referred to as the starting speed), thereby determining whether the target vehicle is in a slope driving condition or a flat road driving condition.

[0137] In this embodiment, the state in which the accelerator pedal opening is greater than a preset opening threshold and the starting vehicle speed is less than a preset first vehicle speed threshold is called the preset state.

[0138] Specifically, it detects whether the accelerator pedal opening is greater than a preset threshold. From the moment it is determined that the accelerator pedal opening is greater than the preset threshold, it accumulates the duration for which the accelerator pedal opening and the starting vehicle speed remain in a preset state. The duration can be accumulated either by summarizing the total time or by counting each occurrence at a specific moment; no specific restriction is imposed here.

[0139] When the accelerator pedal opening and starting speed are in the preset state, it can be determined that the target vehicle has a tendency to drive on a slope. By detecting whether the duration is greater than the preset duration, it can be determined whether the target vehicle is in a slope driving state. In other words, it can detect whether the target vehicle is on a slope, thereby determining whether the target vehicle is in a slope driving condition or a flat road driving condition.

[0140] Step S1022: If the duration is longer than the preset duration, then the target vehicle is determined to be on a slope.

[0141] If the duration exceeds the preset duration, it indicates that the accelerator pedal opening and starting speed have been in the preset state for too long, and the target vehicle has been in a state of driving on the slope for a long time. In other words, it is determined that the target vehicle is on the slope.

[0142] Step S1023: If the duration is less than or equal to the preset duration, then it is determined that the target vehicle is not on the slope.

[0143] If the duration is less than or equal to the preset duration, it indicates that the target vehicle briefly experienced uphill driving. The target vehicle may have been driving on a flat road or on a very short or gentle slope, such as a slope created by a speed bump. Since a very short or gentle slope will not significantly affect the target vehicle's movement, it is considered that the target vehicle is not on a slope. In other words, if the duration is less than or equal to the preset duration, it is determined that the target vehicle is not on a slope.

[0144] Further, in one feasible embodiment, step S20: obtaining the starting torque diagram and starting torque gradient corresponding to the vehicle starting condition, including steps S201-S203.

[0145] Step S201: If the vehicle starting condition is the hill start condition, then obtain the hill start torque diagram and hill start torque gradient corresponding to the hill start condition.

[0146] In this embodiment, if the vehicle starts on an incline, the incline start torque diagram and incline start torque gradient corresponding to the incline start condition are obtained. It should be noted that the starting torque value in the incline start torque diagram is greater than the starting torque value in the flat road driving torque diagram. The starting torque value refers to the torque value corresponding to the condition where the accelerator pedal opening is less than a preset reference opening and the starting vehicle speed is less than a preset reference vehicle speed. For example, in a feasible embodiment, the starting torque value can be the torque value when the accelerator pedal opening is less than 20% and the vehicle speed is less than 15 km / h.

[0147] In one feasible implementation, the hill start torque diagram can be set based on the engineer's experience; in another feasible implementation, the hill start torque diagram can be obtained by increasing the torque value of the starting condition based on the flat road driving torque diagram. The specific settings can be set according to actual needs and are not limited here.

[0148] In this embodiment, by acquiring the hill start torque diagram and the hill start torque gradient, wherein the starting torque value in the hill start torque diagram is greater than the starting torque value in the flat road driving torque diagram; the hill start torque gradient is greater than the hill driving torque gradient, and the hill condition torque gradient is greater than the flat road driving torque gradient, this embodiment increases the vehicle's starting torque value when the vehicle has a tendency to roll backward, thereby increasing the vehicle's power, preventing the vehicle from rolling backward, and improving the vehicle's starting safety.

[0149] Step S202: If the vehicle starting condition is the slope driving condition, then the slope driving torque diagram and slope driving torque gradient are determined based on the duration.

[0150] In this embodiment, it is determined whether the accelerator pedal opening is greater than a preset opening threshold. From the moment it is determined that the accelerator pedal opening is greater than the preset opening threshold, the duration for which the accelerator pedal opening is greater than the preset opening threshold and the starting vehicle speed is less than a preset first vehicle speed threshold is accumulated. The duration can reflect the gradient of the slope; specifically, the longer the duration, the longer the vehicle takes to start and the greater the gradient.

[0151] Therefore, in this embodiment, if the vehicle starts on an incline, the incline torque diagram and incline torque gradient are determined based on the duration of the incline. It should be noted that the longer the duration, the greater the incline torque gradient.

[0152] This implementation method enables the target vehicle to adapt to the actual slope of the road when starting uphill, avoiding insufficient starting power and excessive acceleration, thus improving the safety of starting the target vehicle.

[0153] Step S203: If the vehicle starting condition is the flat road driving condition, then obtain a preset flat road driving torque map and a preset flat road driving torque increase gradient; wherein, the starting torque value in the ramp starting torque map is greater than the starting torque value in the flat road driving torque map; the ramp starting torque increase gradient is greater than the ramp driving torque increase gradient, and the ramp state torque increase gradient is greater than the flat road driving torque increase gradient.

[0154] If the vehicle starts under flat road driving conditions, then obtain the preset flat road driving torque map and the preset flat road driving torque increase gradient.

[0155] Further, in one feasible embodiment, step S202: determining the ramp driving torque map and ramp driving torque gradient based on the duration, includes steps S2021-S2022.

[0156] Step S2021: Determine the target duration range corresponding to the duration from each preset duration range.

[0157] In this embodiment, the target duration range corresponding to the duration is determined from each preset duration range.

[0158] Step S2022: Use the preset torque map corresponding to the target duration range as the slope driving torque map, and use the preset torque increase gradient corresponding to the target duration range as the slope driving torque increase gradient. The higher the upper limit of the target duration range, the greater the slope driving torque increase gradient.

[0159] The preset torque map corresponding to the target duration range is used as the slope driving torque map, and the preset torque increase gradient corresponding to the target duration range is used as the slope driving torque increase gradient.

[0160] It should be noted that, within each preset time range, the higher the upper limit of the target time range, the greater the torque gradient during hill driving.

[0161] In this embodiment, the starting conditions of the target vehicle are determined by measuring the duration for which the accelerator pedal opening is greater than a preset threshold and the starting speed is less than a preset first speed threshold, and by detecting whether the duration is greater than a preset duration. If the duration is greater than the preset duration, the target vehicle is determined to be on a slope; if the duration is less than or equal to the preset duration, the target vehicle is determined not to be on a slope. In this embodiment, the starting conditions of the target vehicle can be determined without adding sensors or modifying the vehicle's existing hardware, thereby achieving adaptive starting based on the starting conditions. This reduces the cost of adaptive starting, improves its economy and convenience, and also reduces the difficulty of vehicle maintenance.

[0162] Exemplarily, in one feasible implementation, reference is made to Figure 5 The adaptive start control framework can be:

[0163] The vehicle controller acquires the motor speed n via CAN messages. N Calculate the starting speed V of the target vehicle. sv (km / h), the vehicle speed calculation method can refer to the formula:

[0164] V sv (t)=0.377*r*n N t0

[0165] In the formula: r is the tire rolling radius, and t0 is the main reduction ratio.

[0166] The vehicle controller acquires the analog voltage signal from the accelerator pedal and calculates it as the accelerator pedal opening. It receives the anti-rollback flag signal from the motor controller via CAN message. The vehicle controller comprehensively judges the accelerator pedal opening, vehicle speed, and anti-rollback flag to distinguish whether the vehicle is in a hill start, hill driving, or flat road driving condition. In different modes, it controls the output of different torque MAPs and torque increase gradients. The vehicle controller sends a request to the motor controller for the torque value to drive the motor.

[0167] Exemplarily, in one feasible implementation, reference is made to Figure 6 The adaptive start process can be:

[0168] S1. When the vehicle is READY and meets the driving conditions, the vehicle controller first determines the anti-rollback flag sent by the motor controller. If the anti-rollback flag is 1, proceed to step S2; if the anti-rollback flag is 0, proceed to step S3 (that is, when the target vehicle starts uphill, obtain the target vehicle's motor data and starting driving data, and determine the target vehicle's starting conditions based on the motor data and starting driving data; obtain the starting torque diagram and starting torque gradient corresponding to the vehicle's starting conditions, and control the target vehicle's driving according to the starting torque diagram and starting torque gradient).

[0169] S2. When the anti-rollback flag is 1, it is considered that the vehicle has a tendency to roll back. The vehicle controller will then enter the hill start mode. When in the hill start mode, the hill start torque map is obtained by increasing the torque value by less than 20% of the accelerator pedal opening and the vehicle speed by less than 15km / h based on the flat road driving torque MAP. In this embodiment, the hill start torque gradient is: the time for the drive torque to rise from 0 to the motor peak torque is 1.8s (that is, if the vehicle starts in the hill start mode, the hill start torque map and hill start torque gradient corresponding to the hill start mode are obtained).

[0170] The vehicle controller sends a request for drive torque to the motor controller via CAN message. The motor controller then controls the motor to execute the torque requested by the vehicle controller, driving the vehicle to start smoothly. When the vehicle speed is greater than 10km / h, the vehicle controller will switch to the flat road driving condition and execute according to the drive torque MAP and torque increase gradient of the flat road driving condition.

[0171] S3. When the anti-rollback indicator is 0, the vehicle controller will determine whether the vehicle is currently in a flat road driving condition or a slope driving condition by judging the accelerator pedal opening and vehicle speed. If it is in a slope driving condition, it will switch to S4-S7 (that is, if the vehicle starts in a slope driving condition, the slope driving torque diagram and slope driving torque gradient will be determined based on the duration); if it is in a flat road driving condition, it will switch to S3.

[0172] S4. When the accelerator pedal opening is greater than 60%, the vehicle controller starts timing. If t > 0.8s, that is, if the vehicle speed is still less than 0.2km / h (stationary state) after 0.8s, the vehicle controller determines that the vehicle is in a slope driving condition. When 0.8s < t < 1.2s, the vehicle controller will enter slope driving condition 1. When in slope driving condition 1, the vehicle controller will execute the torque MAP and torque gradient of slope driving condition 1. Specifically, in this embodiment, the slope driving torque gradient is: the time for the drive torque to increase from 0 to the motor peak torque is 2.25s. The vehicle controller sends a request for drive torque to the motor controller through a CAN message. The motor controller controls the motor to execute the torque requested by the vehicle controller, driving the vehicle to start smoothly. When the vehicle speed is greater than 10km / h, the vehicle controller will switch to flat road driving condition and execute according to the drive torque MAP and torque gradient of flat road driving condition.

[0173] S5. When the anti-rollover indicator is 0, the vehicle controller starts timing when the accelerator pedal opening is greater than 60%. If t > 0.8s, that is, if the vehicle speed is still less than 0.2km / h (stationary state) after 0.8s, the vehicle controller determines that the vehicle is in the slope driving condition. When 1.2s ≤ t < 1.6s, the vehicle controller will enter the slope driving condition 2. When in the slope driving condition 2, the vehicle controller will execute the torque MAP and torque gradient of the slope driving condition 2. Specifically, the slope driving torque gradient is: the time for the drive torque to increase from 0 to the peak torque of the motor is 2s.

[0174] The vehicle controller sends a request for drive torque to the motor controller via CAN message. The motor controller then controls the motor to execute the torque requested by the vehicle controller, driving the vehicle to start smoothly. When the vehicle speed is greater than 10km / h, the vehicle controller will switch to the flat road driving condition and execute according to the drive torque MAP and torque increase gradient of the flat road driving condition.

[0175] S6. When the anti-rollback indicator is 0, the vehicle controller starts timing when the accelerator pedal opening is greater than 60%. If t > 0.8s, that is, if the vehicle speed is still less than 0.2km / h (stationary state) after 0.8s, the vehicle controller determines that the vehicle is in the slope driving condition. When 1.6s ≤ t < 2s, the vehicle controller will enter the slope driving condition 3. When in the slope driving condition 3, the vehicle controller will execute the slope driving condition 3 torque MAP and torque gradient. The time for the drive torque to go from 0 to the motor peak torque is 1.75s.

[0176] The vehicle controller sends a request for drive torque to the motor controller via CAN message. The motor controller then controls the motor to execute the torque requested by the vehicle controller, driving the vehicle to start smoothly. When the vehicle speed is greater than 10km / h, the vehicle controller will switch to the flat road driving condition and execute according to the drive torque MAP and torque increase gradient of the flat road driving condition.

[0177] S7. When the anti-rollover indicator is 0, the vehicle controller starts timing when the accelerator pedal opening is greater than 60%. If t > 0.8s, that is, if the vehicle speed is still less than 0.2km / h (stationary state) after 0.8s, the vehicle controller determines that the vehicle is in the slope driving condition. When t ≥ 2s, the vehicle controller will enter the slope driving condition 4. When in the slope driving condition 4, the vehicle controller will execute the slope driving condition 4 torque MAP and torque gradient. The time for the drive torque to go from 0 to the motor peak torque is 1.5s.

[0178] The vehicle controller sends a request for drive torque to the motor controller via CAN message. The motor controller then controls the motor to execute the torque requested by the vehicle controller, driving the vehicle to start smoothly. When the vehicle speed is greater than 10km / h, the vehicle controller will switch to the flat road driving condition and execute according to the drive torque MAP and torque increase gradient of the flat road driving condition.

[0179] S8. When the anti-rollover indicator is 0, if the accelerator pedal opening is ≤60% or if the accelerator pedal opening is greater than 60% and the vehicle speed is <0.2km / h for a time t <0.8s, the vehicle controller determines that the vehicle is in a flat road driving condition. The vehicle controller will then enter the flat road driving condition. When in the flat road driving condition, the vehicle controller will execute the flat road driving torque MAP and torque increase gradient. The flat road driving torque MAP will try to select the high-efficiency range of the motor to improve the vehicle's economy. The time for the drive torque to increase from 0 to the motor peak torque is 2.5s (that is, if the vehicle starts in the flat road driving condition, the preset flat road driving torque map and the preset flat road driving torque increase gradient will be obtained).

[0180] The vehicle controller sends a request for drive torque to the motor controller via CAN messages. The motor controller then controls the motor to execute the torque requested by the vehicle controller, driving the vehicle to start smoothly.

[0181] Furthermore, embodiments of this application also propose an adaptive starting device, referring to... Figure 7 The adaptive starting device includes:

[0182] The determination module 10 is used to acquire the motor data and starting driving data of the target vehicle when the target vehicle starts uphill, and determine the vehicle starting condition of the target vehicle based on the motor data and the starting driving data.

[0183] Control module 20 is used to control the target vehicle to drive according to the starting torque diagram and starting torque gradient corresponding to the starting conditions of the vehicle.

[0184] Furthermore, the vehicle starting conditions include hill start conditions, hill driving conditions, and flat road driving conditions; the determining module 10 is also used for:

[0185] Based on the motor data of the target vehicle, detect whether the target vehicle has a tendency to roll backwards;

[0186] If the target vehicle has a tendency to roll back down the slope, then the target vehicle is determined to be in the slope start-up condition.

[0187] If the target vehicle does not show any tendency to roll back down the slope, then the starting driving data is used to detect whether the target vehicle is on a slope.

[0188] If the target vehicle is on a slope, then the target vehicle is determined to be in the slope driving condition;

[0189] If the target vehicle is not on a slope, then the target vehicle is determined to be in the flat road driving condition.

[0190] Furthermore, the motor data includes the motor speed; the determining module 10 is also used for:

[0191] Detect whether the motor speed is less than a preset speed threshold;

[0192] If the motor speed is less than a preset speed threshold, it is determined that the target vehicle has a tendency to roll downhill.

[0193] If the motor speed is greater than or equal to the preset speed threshold, then it is determined that the target vehicle has a tendency to roll downhill.

[0194] Furthermore, the starting driving data includes the accelerator pedal opening and the starting vehicle speed; the determining module 10 is also used for:

[0195] Determine the duration for which the accelerator pedal opening and the starting vehicle speed are in a preset state, and detect whether the duration is greater than the preset duration, wherein the preset state is that the accelerator pedal opening is greater than a preset opening threshold and the starting vehicle speed is less than a preset first vehicle speed threshold.

[0196] If the duration exceeds the preset duration, then the target vehicle is determined to be on a slope;

[0197] If the duration is less than or equal to the preset duration, then it is determined that the target vehicle is not on the slope.

[0198] Furthermore, the control module 20 is also used for:

[0199] If the vehicle starting condition is the hill start condition, then obtain the hill start torque diagram and hill start torque gradient corresponding to the hill start condition.

[0200] If the vehicle starts under the condition of driving on an incline, then the incline torque diagram and the incline torque gradient are determined based on the duration.

[0201] If the vehicle starts under the flat road driving condition, a preset flat road driving torque map and a preset flat road driving torque increase gradient are obtained; wherein, the starting torque value in the ramp start torque map is greater than the starting torque value in the flat road driving torque map; the ramp start torque increase gradient is greater than the ramp driving torque increase gradient, and the ramp state torque increase gradient is greater than the flat road driving torque increase gradient.

[0202] Furthermore, the control module 20 is also used for:

[0203] Determine the target duration range corresponding to the duration from each preset duration range;

[0204] The preset torque map corresponding to the target duration range is used as the slope driving torque map, and the preset torque increase gradient corresponding to the target duration range is used as the slope driving torque increase gradient. The higher the upper limit of the target duration range, the greater the slope driving torque increase gradient.

[0205] Furthermore, the adaptive starting device also includes a detection module for:

[0206] The vehicle speed of the target vehicle is obtained, and it is detected whether the vehicle speed is greater than a preset second speed threshold.

[0207] If the driving speed is greater than the second speed threshold, the target vehicle is controlled to drive according to the preset flat road driving conditions.

[0208] If the driving speed is less than or equal to the second speed threshold, then return to the step of controlling the target vehicle's driving according to the starting torque diagram and the starting torque gradient.

[0209] The various embodiments of the adaptive starting device of this application can be referred to the various embodiments of the adaptive starting method of this application, and will not be repeated here.

[0210] Furthermore, embodiments of this application also propose a computer-readable storage medium storing an adaptive start program, which, when executed by a processor, implements the steps of the adaptive start method described below.

[0211] The various embodiments of the adaptive start-up device and computer-readable storage medium of this application can be referred to the various embodiments of the adaptive start-up method of this application, and will not be repeated here.

[0212] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0213] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0214] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0215] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An adaptive start-up method, characterized in that, The adaptive start-up method includes the following steps: When the target vehicle starts uphill, the system acquires the target vehicle's motor data and starting driving data, including accelerator pedal opening and starting speed. The vehicle's starting conditions include hill start, hill driving, and flat road driving. First, based on the motor data, the system detects whether the target vehicle has a tendency to roll backward. If a rolling backward tendency exists, the target vehicle is determined to be in the hill start condition. If no rolling backward tendency exists, the system further detects whether the target vehicle is on a slope based on the starting driving data: It determines the duration for which the accelerator pedal opening and starting speed are in a preset state, and checks whether the duration is greater than the preset duration. The preset state is where the accelerator pedal opening is greater than a preset opening threshold and the starting speed is less than a preset first speed threshold. If the duration is greater than the preset duration, the target vehicle is determined to be on a slope, corresponding to the hill driving condition. If the duration is less than or equal to the preset duration, the target vehicle is determined to be in the flat road driving condition. Obtain the starting torque diagram and starting torque gradient corresponding to the vehicle's starting condition, and control the target vehicle to drive according to the starting torque diagram and starting torque gradient, wherein the torque rises from 0 to the motor peak value in the slope start torque gradient takes 1.8s.

2. The adaptive start-up method as described in claim 1, characterized in that, The motor data includes the motor speed; The step of detecting whether the target vehicle has a tendency to roll backwards based on the target vehicle's motor data includes: Detect whether the motor speed is less than a preset speed threshold; If the motor speed is less than a preset speed threshold, it is determined that the target vehicle has a tendency to roll downhill. If the motor speed is greater than or equal to the preset speed threshold, then it is determined that the target vehicle has no tendency to roll backwards.

3. The adaptive start-up method as described in claim 2, characterized in that, The steps of obtaining the starting torque map and starting torque gradient corresponding to the vehicle's starting condition include: If the vehicle starting condition is the hill start condition, then obtain the hill start torque diagram and hill start torque gradient corresponding to the hill start condition. If the vehicle starts under the condition of driving on an incline, then the incline torque diagram and the incline torque gradient are determined based on the duration. If the vehicle starts under the condition of driving on a flat road, then a preset flat road driving torque map and a preset flat road driving torque increase gradient are obtained; wherein, the starting torque value in the slope start torque map is greater than the starting torque value in the flat road driving torque map; the slope start torque increase gradient is greater than the slope driving torque increase gradient, and the slope driving torque increase gradient is greater than the flat road driving torque increase gradient.

4. The adaptive start-up method as described in claim 3, characterized in that, The step of determining the ramp torque map and ramp torque gradient based on the duration includes: Determine the target duration range corresponding to the duration from each preset duration range; The preset torque map corresponding to the target duration range is used as the slope driving torque map, and the preset torque increase gradient corresponding to the target duration range is used as the slope driving torque increase gradient. The higher the upper limit of the target duration range, the greater the slope driving torque increase gradient.

5. The adaptive start-up method as described in any one of claims 1 to 4, characterized in that, After the step of controlling the target vehicle's movement according to the starting torque diagram and the starting torque gradient, the method further includes: The vehicle speed of the target vehicle is obtained, and it is detected whether the vehicle speed is greater than a preset second speed threshold. If the driving speed is greater than the second speed threshold, the target vehicle is controlled to drive according to the preset flat road driving conditions. If the driving speed is less than or equal to the second speed threshold, then return to the step of controlling the target vehicle's driving according to the starting torque diagram and the starting torque gradient.

6. An adaptive starting device, characterized in that, The adaptive start-up device includes: The determination module is used to acquire the motor data and starting driving data of the target vehicle when it starts on an incline, and to determine the vehicle's starting condition based on the motor data and the starting driving data. Specifically, the determination module is used to: first, detect whether the target vehicle has a tendency to roll backwards based on the motor data; if a tendency to roll backwards exists, then determine that the target vehicle is in the incline start condition; if no tendency to roll backwards exists, then... Based on the starting driving data, it is detected whether the target vehicle is on a slope: the duration for which the accelerator pedal opening and the starting speed are in a preset state is determined, and it is detected whether the duration is greater than the preset duration, wherein the preset state is that the accelerator pedal opening is greater than a preset opening threshold and the starting speed is less than a preset first speed threshold; if the duration is greater than the preset duration, it is determined that the target vehicle is on a slope, corresponding to the slope driving condition; if the duration is less than or equal to the preset duration, it is determined that the target vehicle is in the flat road driving condition. The control module is used to control the target vehicle to drive according to the starting torque diagram and starting torque gradient corresponding to the starting conditions of the vehicle, wherein the torque rises from 0 to the motor peak time in 1.8 seconds for the starting torque gradient on the slope.

7. An adaptive starting device, characterized in that, The adaptive start device includes: a memory, a processor, and an adaptive start program stored in the memory and executable on the processor, wherein the adaptive start program, when executed by the processor, implements the steps of the adaptive start method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an adaptive start program, which, when executed by a processor, implements the steps of the adaptive start method as described in any one of claims 1 to 5.

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