Control method and device, apparatus, computer readable storage medium
By obtaining the accelerator pedal opening and brake master cylinder pressure to determine the target vehicle speed, calculating the power source torque and switching the torque control mode, the problem of slipping on slopes during start-up is solved, achieving stable vehicle start-up and a good driving experience.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGZHOU AUTOMOBILE GROUP CO LTD
- Filing Date
- 2022-09-22
- Publication Date
- 2026-07-21
AI Technical Summary
Existing hill start assist systems cannot accurately adjust the torque of the power source according to the vehicle's operating conditions, which may cause the vehicle to slip when starting on a slope.
The preset target vehicle speed is determined by acquiring the accelerator pedal opening and brake master cylinder pressure, and the target torque of the power source is calculated. Combined with the torque control logic of Creep and Launch mode switching, it ensures that the vehicle outputs sufficient power source torque when starting on an incline to avoid rolling back.
It enables precise control of vehicle start-up based on vehicle operating conditions, preventing rollback and improving driving experience and vehicle operation stability.
Smart Images
Figure CN117774976B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicles, and more specifically to a control method, apparatus, device, and computer-readable storage medium. Background Technology
[0002] To address the issue of vehicles rolling backwards on slopes, most vehicles use a hill start assist system. This system allows the driver to maintain braking even when the right foot is off the accelerator pedal, without needing to use the handbrake. This makes it easier for the driver to switch their foot from the brake pedal to the accelerator pedal, preventing the vehicle from rolling backwards and causing an accident, and also preventing the driver from feeling flustered.
[0003] However, the hill start assist system mechanically outputs a fixed power source torque, and cannot accurately adjust the output power source torque according to the current vehicle operating conditions. This may result in the vehicle slipping when starting on a hill due to insufficient output power source torque. Summary of the Invention
[0004] To address the aforementioned technical problems, embodiments of this application provide a control method, apparatus, device, and computer-readable storage medium to provide a suitable power source torque for a vehicle, thereby precisely controlling the vehicle's start-up.
[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.
[0006] According to one aspect of the embodiments of this application, a control method is provided, comprising: acquiring a preset target vehicle speed corresponding to the opening of the accelerator pedal at the current moment or the brake master cylinder pressure at the current moment; calculating a first power source target torque based on the preset target vehicle speed; detecting whether the opening of the accelerator pedal at the current moment is less than a preset opening; if the detection is yes, then detecting whether the vehicle speed at the current moment is greater than zero and less than a preset threshold; if the detection is that the vehicle speed at the current moment is greater than zero and less than the preset threshold, then controlling the vehicle to start based on the first power source target torque.
[0007] According to one aspect of the embodiments of this application, a control device is provided, comprising: an acquisition module configured to acquire a preset target vehicle speed corresponding to the opening of the accelerator pedal at a current moment or the brake master cylinder pressure at a current moment; a power source target torque calculation module configured to calculate a first power source target torque based on the preset target vehicle speed; a first detection module configured to detect whether the opening of the accelerator pedal at a current moment is less than a preset opening; a second detection module configured to, if the detection is positive, detect whether the vehicle speed at a current moment is greater than zero and less than a preset threshold; and a first control module configured to, if the detection is positive, control the vehicle to start based on the first power source target torque.
[0008] In another embodiment, the control device further includes: a third detection module configured to determine a second power source target torque based on the current vehicle speed, the current accelerator pedal opening, and the first power source target torque if the detection is negative; and a second control module configured to control the vehicle to start based on the second power source target torque.
[0009] In another embodiment, the third detection module includes: a third power source target torque determination unit, configured to determine the third power source target torque based on the current vehicle speed and the current accelerator pedal opening; and a second power source target torque calculation unit, configured to calculate the second power source target torque based on the first power source target torque and the third power source target torque.
[0010] In another embodiment, the second power source target torque calculation unit includes: a power source target torque ratio calculation module, configured to calculate a power source target torque ratio based on the first power source target torque and the third power source target torque; a preset power source target torque ratio determination module, configured to determine a preset power source target torque ratio based on the power source target torque ratio; and a second power source target torque calculation module, configured to calculate the second power source target torque based on the first power source target torque, the third power source target torque, and the preset power source target torque ratio.
[0011] In another embodiment, the preset power source target torque ratio determination module includes: a first preset value sub-module, configured such that if the power source target torque ratio is less than a first preset torque ratio, then the preset power source target torque ratio is a first preset value; and a second preset value sub-module, configured such that if the power source target torque ratio is greater than a second preset torque ratio, then the preset power source target torque ratio is a second preset value.
[0012] In another embodiment, the second control module includes: an operating condition detection unit, configured to detect whether the operating conditions of the vehicle at the current moment meet the preset operating conditions required to control the vehicle to start; wherein the preset operating conditions include the gear being in a drivable gear, the accelerator pedal signal being fault-free, the electronic parking function not being activated, the vehicle speed being within a preset speed range, the cruise control function not being activated, and the automatic parking function not being activated; and a second power source target torque control unit, configured to control the vehicle to start according to the second power source target torque if the conditions are met.
[0013] In another embodiment, the control device further includes an idle speed control module configured to perform idle speed control on the vehicle if the vehicle speed at the current moment is detected to be zero.
[0014] According to one aspect of the embodiments of this application, an electronic device is provided, including: a controller; and a memory for storing one or more programs, which, when executed by the controller, perform the control method described above.
[0015] According to one aspect of the embodiments of this application, a computer-readable storage medium is also provided, on which computer-readable instructions are stored, which, when executed by a computer's processor, cause the computer to perform the control method described above.
[0016] According to one aspect of the embodiments of this application, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the control method described above.
[0017] In the technical solution provided by the embodiments of this application, the preset target vehicle speed is quickly determined by introducing the opening of the accelerator pedal or the pressure of the brake master cylinder at the current moment, and the target torque of the first power source is determined according to the preset target vehicle speed; the opening of the accelerator pedal and the vehicle speed at the current moment are respectively tested for conditions. If both satisfy the preset conditions, it indicates that the target torque of the first power source can meet the needs of the vehicle starting on the slope at the current moment, so as to control the vehicle to start according to the target torque of the first power source and avoid the vehicle rolling back when starting on the slope.
[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description
[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:
[0020] Figure 1 This is a schematic diagram of an implementation environment of an embodiment of this application;
[0021] Figure 2 This is a flowchart illustrating a control method in an exemplary embodiment of this application;
[0022] Figure 3 Based on Figure 2 A flowchart of another control method proposed in the illustrated embodiment;
[0023] Figure 4 Based on Figure 3 A flowchart of another control method proposed in the illustrated embodiment;
[0024] Figure 5 Based on Figure 4 A flowchart of another control method proposed in the illustrated embodiment;
[0025] Figure 6 This is a schematic diagram illustrating the closed-loop correction process of the target torque of the creep start power source, as shown in an exemplary embodiment.
[0026] Figure 7 based on Figure 5 A flowchart of another control method proposed in the illustrated embodiment;
[0027] Figure 8 Based on Figures 3 to 5 , Figure 7 A flowchart of another control method proposed in any of the embodiments shown in the figure;
[0028] Figure 9 This is a flowchart illustrating an exemplary embodiment of the process of determining whether the vehicle's current operating conditions allow the vehicle to start in Launch mode;
[0029] Figure 10 Based on Figure 8 A flowchart of another control method proposed in the illustrated embodiment;
[0030] Figure 11 This is a schematic diagram of the structure of the control device shown in an exemplary embodiment of this application;
[0031] Figure 12 An exemplary embodiment of this application illustrates a schematic diagram of the structure of a computer system for an electronic device. Detailed Implementation
[0032] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0033] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.
[0034] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.
[0035] In this application, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.
[0036] Please refer to the following first. Figure 1 , Figure 1 This is a schematic diagram of an implementation environment for an embodiment of this application. The implementation environment is a vehicle, which includes a data acquisition device 100 and a server 200, which communicate with each other via a wired or wireless network.
[0037] The data acquisition device 100 is a device used to collect vehicle-related parameters, which can, for example... Figure 1 The device can be placed inside or outside the vehicle, such as a cloud-based data collection device, to collect relevant vehicle parameters based on data transmitted from the vehicle. These parameters include, but are not limited to, accelerator pedal opening, brake master cylinder pressure, and vehicle speed.
[0038] Server 200, as the executing entity, executes the control method, which can be as follows: Figure 1 The device can be placed inside or outside the vehicle. For example, server 200 obtains the current accelerator pedal opening or brake master cylinder pressure from acquisition device 100, and matches a preset vehicle speed based on the current accelerator pedal opening or brake master cylinder pressure to obtain a corresponding preset target vehicle speed; server 200 calculates the first power source target torque based on the preset target vehicle speed; detects whether the current accelerator pedal opening is less than a preset opening; if so, it detects whether the current vehicle speed is greater than zero and less than a preset threshold; if the current vehicle speed is detected to be greater than zero and less than the preset threshold, it controls the vehicle to start based on the first power source target torque.
[0039] The data acquisition device 100 can be a physical device with data receiving capabilities or a virtual device located in the cloud; this is not a limitation. In some embodiments, the data acquisition device 100 also has the function of storing the data it receives. The server 200 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. Multiple servers can form a blockchain, and the server is a node on the blockchain. The server 200 can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms; this is also not a limitation.
[0040] When a vehicle rolls backward on a slope with a light touch of the accelerator, the user typically presses the accelerator pedal harder to increase the torque output. However, because this is a manual press of the accelerator pedal, it cannot be guaranteed that the increased torque will meet the vehicle's starting requirements on the slope. If the accelerator is pressed insufficiently, the torque output may be insufficient for a proper start, meaning the wheel torque will be less than the slope's resistance torque, causing the vehicle to roll backward. Furthermore, the required torque varies depending on the slope's resistance torque. Existing hill start strategies cannot cover all user scenarios, especially the torque requirements in Craep mode. They cannot adaptively output the appropriate target torque based on the vehicle's current operating conditions to control the start.
[0041] To address the aforementioned technical problems, this application provides a control method, details of which can be found in the attached document. Figure 2 , Figure 2 This is a flowchart illustrating an exemplary embodiment of the present application, which can be performed by... Figure 1 The method is specifically executed by server 200 in the illustrated implementation environment. Of course, this method can also be applied to other implementation environments and executed by server devices in other implementation environments; this embodiment does not limit this. Figure 2 As shown, the method includes at least S210 to S250, which are described in detail below:
[0042] S210: Obtain the current accelerator pedal opening or the preset target vehicle speed corresponding to the current brake master cylinder pressure.
[0043] There is a certain mapping relationship between the preset target vehicle speed and the preset accelerator pedal opening or the preset brake master cylinder pressure. That is, the preset target vehicle speed corresponds to the above two, and the preset target vehicle speed can be determined based on the preset accelerator pedal opening or the preset brake master cylinder pressure.
[0044] For example, the current accelerator pedal opening is matched with a preset accelerator pedal opening to obtain a successfully matched preset accelerator pedal opening. The corresponding preset target vehicle speed is then determined based on this matched preset accelerator pedal opening. For instance, if the current accelerator pedal opening is A, the matched preset accelerator pedal opening is B, and the preset target vehicle speed corresponding to B is C, then C is obtained as the preset target vehicle speed. As another example, if the current accelerator pedal opening and the preset accelerator pedal opening are directly equivalent, then the current accelerator pedal opening is directly matched with the preset target vehicle speed: for the current accelerator pedal opening A, the preset target vehicle speed C corresponding to A is directly obtained.
[0045] Another example is to match the current brake master cylinder pressure with the preset vehicle speed to obtain the corresponding preset target vehicle speed. The specific matching process is similar to the example described above, and will not be repeated here.
[0046] S220: The target torque of the first power source is calculated based on the preset target vehicle speed.
[0047] The target torque of the primary power source is the output torque used to enable the vehicle to reach the target speed.
[0048] This embodiment calculates the target torque of the first power source based on a preset target vehicle speed and other vehicle parameters. For example, the target torque of the first power source can be calculated according to the following formula:
[0049]
[0050] Among them, T tq The torque of the primary power source (Nm); u a is the preset target vehicle speed (km / h); is the wheel radius (m); i g i is the gear ratio of the transmission; i0 is the gear ratio of the reducer; η T F0 represents the transmission efficiency of the gearbox; F1 and F2 are road resistance coefficients, all of which are constants.
[0051] S230: Detect whether the current accelerator pedal opening is less than the preset opening.
[0052] The preset accelerator pedal opening is a value set before the vehicle leaves the factory, used to select the appropriate starting mode for the vehicle in real time. In this embodiment, the starting mode suitable for the vehicle at the current moment can be selected based on the current accelerator pedal opening. For example, if it is detected that the current accelerator pedal opening is less than the preset opening, then the detection result of the current vehicle speed is combined to determine whether to perform Creep mode starting control for the vehicle; if it is detected that the current accelerator pedal opening is greater than or equal to the preset opening, then Launch (accelerator pedal start) mode starting control can be directly performed for the vehicle.
[0053] S240: If the detection is yes, then check whether the vehicle speed at the current moment is greater than zero and less than a preset threshold.
[0054] The preset threshold is a value corresponding to the preset vehicle speed set before the vehicle leaves the factory. It serves as a condition for determining whether the vehicle meets the requirements for starting in Creep mode at the current moment.
[0055] This embodiment uses the current accelerator pedal opening and the current vehicle speed as the basis for judgment, which can accurately determine the starting mode of the vehicle at the current moment and provide the appropriate power source torque to the vehicle for precise control of vehicle start-up.
[0056] S250: If the vehicle speed at the current moment is detected to be greater than zero and less than a preset threshold, the vehicle will start according to the target torque of the first power source.
[0057] For example, if the current vehicle speed is 8 units and the preset threshold is 10 units, then if the current vehicle speed is greater than zero and less than the preset threshold, the vehicle will start according to the target torque of the first power source. The target speed of the power source is calculated according to the following formula, and the vehicle is controlled to output the target torque of the first power source according to this target speed:
[0058]
[0059] Among them, u a is the current vehicle speed (km / h); n is the target rotational speed of the power source (r / min), and r is the wheel radius (m); i g i is the transmission ratio of the gearbox; i0 is the transmission ratio of the reducer.
[0060] Obviously, in this embodiment, steps S210 to S220 only need to be performed before step S250, and are not necessarily to be interpreted as follows: Figure 2 The sequence of steps shown is such that, in this embodiment, steps S210 to S220 need to be executed only before step S250, and no restrictions are placed on their specific execution order.
[0061] Ideally, outputting the target torque of the first power source to control the vehicle's start-up can enable the vehicle speed to reach the preset target speed. However, in actual situations, the vehicle speed may not reach the preset target speed. In this case, in order to make the vehicle speed reach the preset target speed, it is necessary to increase the value of the target torque of the first power source. For example, if the calculated target torque of the first power source is 10 units, in order to make the vehicle speed reach the preset target speed, it is necessary to increase the torque value by 1 unit. In this case, the target torque of the first power source is 11 units.
[0062] This embodiment quickly determines a preset target vehicle speed by introducing the current accelerator pedal opening or the current brake master cylinder pressure, and determines the first power source target torque based on the preset target vehicle speed; condition detection is performed on the current accelerator pedal opening and the current vehicle speed respectively. If both preset conditions are met, it indicates that the first power source target torque can meet the vehicle's hill start requirements at the current moment, so as to control the vehicle start according to the first power source target torque and avoid the vehicle rolling backward when starting on a hill.
[0063] In most driving scenarios with low slope resistance, the target torque required by the power source in Creep mode is close to the minimum torque output by the pedal in Launch mode. Users can achieve higher speeds by lightly pressing the accelerator pedal more than about 2% of its opening. Therefore, users perceive a positive linear relationship between pedal opening, wheel torque, and vehicle acceleration. This linear relationship makes the vehicle easier to handle and is the foundation for a good driving experience. However, in driving scenarios with slightly steeper slopes, the target torque required by the power source in Creep mode significantly exceeds the minimum torque output by the pedal in Launch mode. If users need to gradually increase speed and operate the vehicle using the established linear perception—that is, lightly pressing the accelerator pedal—it may cause the vehicle to roll backward. This means that even if the driver updates their perception based on the above behavior, the vehicle may still be labeled as difficult to handle.
[0064] To address the aforementioned technical issues, this application adds torque control logic when switching between Creep and Launch modes, ensuring that the wheel-end torque demand calculated by the vehicle controller is always greater than or equal to the wheel-end torque demand calculated from the slope resistance. This guarantees that the vehicle will not roll backward regardless of driver operation. In another exemplary embodiment of this application, the process of controlling vehicle start-up under another detection condition in S230 is further described, namely, the process of controlling vehicle start-up in Launch mode. Please refer to [link / reference] for details. Figure 3 , Figure 3 Based on Figure 2 A flowchart of another control method proposed in the illustrated embodiment. This method... Figure 2 The S230 shown includes at least S310 to S320, which will be described in detail below:
[0065] S310: If the detection is negative, then the target torque of the second power source is determined based on the current vehicle speed, the current accelerator pedal opening, and the target torque of the first power source.
[0066] In this embodiment, the first power source target torque is the power source target torque corresponding to the actual vehicle speed reaching the preset target speed. This first power source target torque is the power source target torque required in Creep mode. For example, if the calculated first power source target torque is 15 units, and 15 units of power source target torque are output, but the vehicle speed has not reached the preset target speed, in order to make the vehicle speed reach the preset target speed, it is necessary to increase the torque value by 1 unit. In this case, the first power source target torque is 16 units. This 16-unit power source target torque is the power source target torque required in Creep mode, and this power source target torque required in Creep mode is stored in the vehicle's memory, which can be used as a parameter for calculating the power source target torque for controlling vehicle start-up in Launch mode.
[0067] If the accelerator pedal opening is detected to be greater than or equal to the preset opening, the vehicle can be directly controlled to start in Launch mode. This mode needs to determine the power source torque required for the vehicle to start in Launch mode (i.e., the second power source target torque in this embodiment) based on the power source torque corresponding to the vehicle reaching the target preset speed in Creep mode (i.e., the first power source target torque in this embodiment).
[0068] S320: Controls vehicle start-up based on the target torque of the second power source.
[0069] This embodiment is illustrated as follows: If the accelerator pedal opening at the current moment is detected to be greater than or equal to a preset opening, the first power source target torque is obtained, and the second power source target torque is calculated based on the current vehicle speed, the current accelerator pedal opening, and the first power source target torque. The second power source target torque is then output to enable vehicle start-up. The introduction of the first power source target torque allows for correction of the power source torque value during the calculation of the second power source target torque, resulting in a more accurate calculated second power source target torque.
[0070] In addition, this application can directly calculate the target torque of the second power source based on the current vehicle speed and the current accelerator pedal opening, that is, the power source torque required for the vehicle to start in Launch mode can be directly calculated without the need for the target torque of the first power source.
[0071] This embodiment further illustrates how the vehicle performs a start-up operation in Launch mode. Specifically, if the current accelerator pedal opening is detected to be greater than or equal to a preset opening, the vehicle is determined to start in Launch mode. Based on the current vehicle speed, the current accelerator pedal opening, and the first power source target torque, the required power source torque for starting the vehicle in Launch mode is calculated. This embodiment introduces a calculation process for the second power source target torque based on the first power source target torque, correcting the power source torque value to make the calculated second power source target torque more accurate.
[0072] Meanwhile, this embodiment adds torque control logic when switching between Creep and Launch modes, ensuring that the wheel-end torque demand calculated by the vehicle controller is always greater than or equal to the wheel-end torque demand calculated by the slope resistance, thus ensuring that the vehicle will not slip on the slope regardless of how the driver operates it.
[0073] This application explains how to calculate the target torque of the second power source, thereby accurately calculating the target torque required by the vehicle during Launch mode start-up based on the vehicle's current parameters. This target torque meets the vehicle's wheel-end torque requirements and prevents the vehicle from rolling backwards. For details, please refer to [link to details]. Figure 4 , Figure 4 Based on Figure 3 A flowchart of another control method proposed in the illustrated embodiment. This method, as shown in... Figure 3 The S310 shown also includes S410 to S420, which will be described in detail below:
[0074] S410: Determine the target torque of the third power source based on the current vehicle speed and the current accelerator pedal opening.
[0075] The target torque of the third power source is an intermediate value calculated from the target torque of the second power source. It can be obtained by matching a preset map. For example, in the preset map, the first dimension is vehicle speed, and the second dimension is the accelerator pedal opening. A coordinate point can be determined based on the first and second dimensions, and the target torque value of the power source is inserted at each coordinate point. Based on the current vehicle speed and the current accelerator pedal opening, a target coordinate point is determined in the preset map, and the target torque of the power source at that target coordinate point is obtained and used as the target torque of the third power source.
[0076] S420: The target torque of the second power source is calculated based on the target torque of the first power source and the target torque of the third power source.
[0077] For example, the target torque of the second power source is calculated according to the following formula:
[0078] z = ax + by;
[0079] Where z represents the target torque of the second power source; x represents the target torque of the first power source; y represents the target torque of the third power source; and a and b are both constants.
[0080] This embodiment further illustrates how the target torque of the second power source is calculated based on the target torque of the first power source and the target torque of the third power source. Both the target torque of the first and third power sources are calculated based on the current accelerator pedal opening and other parameters, resulting in a correlation between their calculation sources and thus making the target torque of the second power source calculated from them more accurate.
[0081] In another exemplary embodiment of this application, the above-described S420 is described in detail; please refer to [link / reference needed]. Figure 5 , Figure 5 Based on Figure 4 A flowchart of another control method proposed in the illustrated embodiment. This method, as shown in... Figure 4 The S420 shown includes at least S510 to S530, which will be described in detail below:
[0082] S510: Calculate the target torque ratio of the power sources based on the target torque of the first power source and the target torque of the third power source.
[0083] S520: Determines the preset target torque ratio of the power source based on the target torque ratio of the power source.
[0084] S530: The target torque of the second power source is calculated based on the target torque of the first power source, the target torque of the third power source, and the preset ratio of the target torque of the power source.
[0085] This embodiment will be described by way of example: First, according to The target torque ratio of the power source is calculated; where P1 represents the target torque ratio of the power source; T1 represents the target torque of the first power source; and T3 represents the target torque of the third power source. Then, from the preset calibration curve, a preset target torque ratio P2 corresponding to the target torque ratio of the power source is selected; finally, the target torque of the second power source is calculated according to T2 = T1*P2 + T3.
[0086] This embodiment can perform closed-loop correction for the target torque of the first power source, such as... Figure 6 As shown, Figure 6This is a schematic diagram illustrating the closed-loop correction process of the target torque of the creep start power source in an exemplary embodiment. Ideally, the target torque of the creep start power source is the first target torque of the power source in this embodiment; in a non-ideal state, the target torque of the creep start power source is the corrected first target torque of the power source in this embodiment. The speed difference is the difference between the actual vehicle speed and the target vehicle speed corresponding to the actual vehicle speed.
[0087] like Figure 6 As shown, a torque proportional adjustment coefficient Map is constructed based on the actual vehicle speed and the difference between the actual and target vehicle speeds. The difference between the current vehicle speed and the target vehicle speed is input into the Map to obtain the first correction value. An integral adjustment coefficient curve is constructed based on the actual and target vehicle speeds. The second correction value is obtained by performing integral calculation according to a certain time step, i.e., according to a certain time period. Based on the first and second correction values, the target torque of the creep start power source is obtained, i.e., the target torque of the first power source under ideal conditions.
[0088] This embodiment specifically illustrates how the target torque of the second power source is calculated based on the target torque of the first power source, the target torque of the third power source, and a preset ratio of the target torque of the power source. Specifically, the ratio of the target torques of the first and third power sources is calculated, and then the preset ratio of the target torques of the power sources is determined based on this ratio. This effectively corrects the actual target torque ratio of the power sources, thereby making the calculated target torque of the second power source more accurate.
[0089] In another exemplary embodiment of this application, the above-described S520 is described in detail; please refer to [link / reference needed]. Figure 7 , Figure 7 based on Figure 5 A flowchart of another control method proposed in the illustrated embodiment. This method, as shown in... Figure 4 The S520 shown includes at least S710 to S720, which will be described in detail below:
[0090] S710: If the target torque ratio of the power source is less than the first preset torque ratio, then the preset target torque ratio of the power source is the first preset value.
[0091] S720: If the target torque ratio of the power source is greater than the second preset torque ratio, then the preset target torque ratio of the power source is the second preset value.
[0092] In this embodiment, the first preset torque ratio and the second preset torque ratio are preset torque ratio values. Similarly, the first preset value and the second preset value are also preset values, which are the values of the preset power source target torque ratio.
[0093] This embodiment is illustrated by example: From the preset calibration curve, a preset power source target torque ratio (P2) corresponding to the power source target torque ratio (P1) is selected. Wherein, if P1 is greater than 1, P2 is 0; if P1 is less than 0.1, P2 is 1; if 0.1≤P1≤1, P2 is determined to a specific value based on actual road driving experience and the magnitude of P1, and this value ranges from (0, 1).
[0094] This embodiment illustrates different values of the preset power source target torque ratio. That is, based on the comparison between the power source target torque ratio and the relevant preset torque ratio, the specific value of the preset power source target torque ratio is accurately and quickly determined, so as to facilitate the calculation of the second power source target torque.
[0095] In another exemplary embodiment of this application, the above-described S230 is described in detail; please refer to [link / reference needed]. Figure 8 , Figure 8 Based on Figures 3 to 5 , Figure 7 A flowchart of another control method proposed in any of the embodiments shown. This method includes at least S810 to S820 in S320, which are described in detail below:
[0096] S810: Detects whether the vehicle's current operating conditions meet the preset operating conditions required to start the vehicle; among which, the preset operating conditions include the gear being in a drivable gear, the accelerator pedal signal being fault-free, the electronic parking function not being activated, the vehicle speed being within the preset speed range, the cruise function not being activated, and the automatic parking function not being activated.
[0097] S820: If satisfied, the vehicle will start according to the target torque of the second power source.
[0098] Combination Figure 9 This embodiment will be described by way of example. Figure 9 This is a flowchart illustrating an exemplary embodiment of the process for determining whether the vehicle's current operating conditions allow the vehicle to start in Launch mode. The process includes at least steps S910 to S980, as detailed below:
[0099] S910: Detects whether the vehicle is currently in a drivable gear.
[0100] S920: Check if the accelerator pedal signal is fault-free.
[0101] S930: Check if the electronic parking brake function is not activated.
[0102] S840: Detects whether the vehicle speed is within the preset speed range.
[0103] S950: Check if the cruise control function is not activated.
[0104] S960: Check if the automatic parking function is not activated.
[0105] The order of S910 to S960 can be arbitrarily changed, and S910 to S960 can be executed simultaneously. This embodiment does not restrict the order of the above steps.
[0106] S970: Launch mode start-up assist function can be activated.
[0107] S980: Launch mode start-up assist function cannot be activated.
[0108] If the results of the above S910 to S960 are all yes, then execute S970 to activate the Launch mode start-up assist function, which allows the vehicle to start in Launch mode; if any of the results of S910 to S960 are no, then execute S980, which means that the Launch mode start-up assist function cannot be activated.
[0109] like Figure 9 As shown, if the detection results of S910 to S960 are all yes, it indicates that the vehicle's operating conditions at the current moment meet the preset operating conditions required for controlling the vehicle to start in Launch mode, and then the vehicle starts according to the target torque of the second power source.
[0110] If any of the detection results in S910 to S960 is negative, it indicates that the vehicle's operating conditions at the current moment do not meet the preset operating conditions required for controlling the vehicle to start in Launch mode. Therefore, the accelerator torque assist function is not activated, and the vehicle's current control state is maintained.
[0111] This embodiment further illustrates the prerequisites for activating the vehicle Launch mode assisted start function. Only when the vehicle's operating conditions at the current moment meet the preset operating conditions required for controlling the vehicle to start can the vehicle start according to the target torque of the second power source. If the preset operating conditions are not met, the accelerator torque assist function will not be activated, and the vehicle's current control state will be maintained.
[0112] In another exemplary embodiment of this application, the above-described S240 is described in detail; please refer to [link / reference needed]. Figure 10 , Figure 10 Based on Figure 8 A flowchart of another control method proposed in the illustrated embodiment. This method further includes at least S1010 in S240, which will be described in detail below:
[0113] S1010: If the vehicle speed is detected to be zero at the current moment, then the vehicle will be idled.
[0114] As described in S250, if the current vehicle speed is greater than zero and less than a preset threshold, the vehicle is started according to the target torque of the first power source, i.e., the vehicle is started in crawl mode. If the current vehicle speed is zero, the vehicle is idled.
[0115] Another aspect of this application provides a control device, such as Figure 11 As shown, Figure 11 This is a schematic diagram of the structure of a control device according to an exemplary embodiment of this application. The control device includes:
[0116] The acquisition module 1110 is configured to acquire the current accelerator pedal opening or the preset target vehicle speed corresponding to the current brake master cylinder pressure.
[0117] The power source target torque calculation module 1130 is configured to calculate the first power source target torque based on a preset target vehicle speed.
[0118] The first detection module 1150 is configured to detect whether the opening of the accelerator pedal at the current moment is less than the preset opening.
[0119] The second detection module 1170 is configured to detect whether the vehicle speed at the current moment is greater than zero and less than a preset threshold if the detection is positive.
[0120] The first control module 1190 is configured to control the vehicle to start based on the target torque of the first power source if the vehicle speed at the current moment is detected to be greater than zero and less than a preset threshold.
[0121] In another embodiment, the control device further includes:
[0122] The third detection module is configured to determine the target torque of the second power source based on the current vehicle speed, the current accelerator pedal opening, and the target torque of the first power source if the detection fails.
[0123] The second control module is configured to control the vehicle to start based on the target torque of the second power source.
[0124] In another embodiment, the third detection module includes:
[0125] The third power source target torque determination unit is configured to determine the third power source target torque based on the current vehicle speed and the current accelerator pedal opening.
[0126] The second power source target torque calculation unit is configured to calculate the second power source target torque based on the first power source target torque and the third power source target torque.
[0127] In another embodiment, the second power source target torque calculation unit includes:
[0128] The target torque ratio calculation module for the power source is configured to calculate the target torque ratio of the power source based on the target torque of the first power source and the target torque of the third power source.
[0129] The preset power source target torque ratio determination module is configured to determine the preset power source target torque ratio based on the power source target torque ratio.
[0130] The second power source target torque calculation module is configured to calculate the second power source target torque based on the first power source target torque, the third power source target torque, and the preset power source target torque ratio.
[0131] In another embodiment, the preset power source target torque ratio determination module includes:
[0132] The first preset value sub-module is configured such that if the target torque ratio of the power source is less than the first preset torque ratio, then the target torque ratio of the power source is preset to the first preset value.
[0133] The second preset value sub-module is configured such that if the target torque ratio of the power source is greater than the second preset torque ratio, then the target torque ratio of the power source is preset to the second preset value.
[0134] In another embodiment, the second control module includes:
[0135] The operating condition detection unit is configured to detect whether the current operating conditions of the vehicle meet the preset operating conditions required to control the vehicle to start; wherein the preset operating conditions include the gear being in a drivable gear, the accelerator pedal signal being fault-free, the electronic parking function not being activated, the vehicle speed being within a preset speed range, the cruise function not being activated, and the automatic parking function not being activated.
[0136] The second power source target torque control unit is configured to control the vehicle to start based on the second power source target torque if the target torque is satisfied.
[0137] In another embodiment, the control device further includes:
[0138] The idle speed control module is configured to control the vehicle's idle speed if it detects that the current vehicle speed is zero.
[0139] It should be noted that the control device provided in the above embodiments and the control method provided in the foregoing embodiments belong to the same concept. The specific way in which each module and unit performs operations has been described in detail in the method embodiments, and will not be repeated here.
[0140] Another aspect of this application provides an electronic device, including: a controller; and a memory for storing one or more programs, which, when executed by the controller, perform the methods described above.
[0141] Please see Figure 12 , Figure 12 This is a schematic diagram of the structure of a computer system for an electronic device, illustrating an exemplary embodiment of this application. It shows a schematic diagram of the structure of a computer system suitable for implementing the embodiments of this application.
[0142] It should be noted that, Figure 12 The computer system 1200 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.
[0143] like Figure 12 As shown, the computer system 1200 includes a Central Processing Unit (CPU) 1201, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 1202 or programs loaded from storage portion 1208 into Random Access Memory (RAM) 1203. The RAM 1203 also stores various programs and data required for system operation. The CPU 1201, ROM 1202, and RAM 1203 are interconnected via a bus 1204. An Input / Output (I / O) interface 1205 is also connected to the bus 1204.
[0144] The following components are connected to I / O interface 1205: an input section 1206 including a keyboard, mouse, etc.; an output section 1207 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to I / O interface 1205 as needed. Removable media 1211, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1210 as needed so that computer programs read from them can be installed into storage section 1208 as needed.
[0145] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1209, and / or installed from removable medium 1211. When the computer program is executed by central processing unit (CPU) 1201, it performs various functions defined in the system of this application.
[0146] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.
[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
[0148] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.
[0149] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.
[0150] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the control methods provided in the various embodiments described above.
[0151] According to one aspect of the embodiments of this application, a computer system is also provided, including a Central Processing Unit (CPU), which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) or a program loaded from storage into random access memory (RAM), such as performing the methods described above. Various programs and data required for system operation are also stored in the RAM. The CPU, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.
[0152] The following components are connected to the I / O interface: input components including keyboards, mice, etc.; output components including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage components including hard drives; and communication components including network interface cards such as LAN (Local Area Network) cards and modems. The communication components perform communication processing via networks such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical discs, magneto-optical discs, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage components as required.
[0153] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.
Claims
1. A control method, characterized in that, include: Obtain the current accelerator pedal opening or the preset target vehicle speed corresponding to the current brake master cylinder pressure; The target torque of the first power source is calculated based on the preset target vehicle speed; Detect whether the current accelerator pedal opening is less than the preset opening; If the detection is yes, then check whether the current vehicle speed is greater than zero and less than a preset threshold. If the current vehicle speed is detected to be greater than zero and less than the preset threshold, the vehicle is controlled to start according to the target torque of the first power source. If the detection is negative, the target torque of the third power source is determined based on the current vehicle speed and the current accelerator pedal opening. The target torque ratio of the power sources is calculated based on the target torque of the first power source and the target torque of the third power source. The preset target torque ratio of the power source is determined based on the target torque ratio of the power source. The target torque of the second power source is calculated based on the ratio of the target torque of the first power source, the target torque of the third power source, and the preset target torque of the power source. The vehicle starts by controlling the target torque of the second power source.
2. The method according to claim 1, characterized in that, Determining the preset target torque ratio of the power source based on the target torque ratio of the power source includes: If the target torque ratio of the power source is less than the first preset torque ratio, then the preset target torque ratio of the power source is the first preset value; If the target torque ratio of the power source is greater than the second preset torque ratio, then the preset target torque ratio of the power source is the second preset value.
3. The method according to any one of claims 1 to 2, characterized in that, The step of controlling vehicle start-up based on the target torque of the second power source includes: Detect whether the current operating conditions of the vehicle meet the preset operating conditions required to control the vehicle to start; The preset operating conditions include the gear being in a drivable gear, the accelerator pedal signal being fault-free, the electronic parking function not being activated, the vehicle speed being within a preset speed range, the cruise control function not being activated, and the automatic parking function not being activated. If the target torque of the second power source is met, the vehicle will start.
4. The method according to claim 3, characterized in that, The method further includes: If the vehicle speed is detected to be zero at the current moment, then the vehicle will be subject to idle speed control.
5. A control device, characterized in that, include: The acquisition module is configured to acquire the current accelerator pedal opening or the preset target vehicle speed corresponding to the current brake master cylinder pressure. The power source target torque calculation module is configured to calculate the first power source target torque based on the preset target vehicle speed; The first detection module is configured to detect whether the current accelerator pedal opening is less than a preset opening. The second detection module is configured to detect whether the vehicle speed at the current moment is greater than zero and less than a preset threshold if the detection is positive. The first control module is configured to control the vehicle to start based on the target torque of the first power source if it detects that the current vehicle speed is greater than zero and less than the preset threshold. The third power source target torque determination unit is configured to determine the third power source target torque based on the current vehicle speed and the current accelerator pedal opening if the detection is negative. The power source target torque ratio calculation module is configured to calculate the power source target torque ratio based on the first power source target torque and the third power source target torque. The preset power source target torque ratio determination module is configured to determine the preset power source target torque ratio based on the power source target torque ratio; The second power source target torque calculation module is configured to calculate the second power source target torque based on the ratio of the first power source target torque, the third power source target torque and the preset power source target torque. The second control module is configured to control the vehicle to start based on the target torque of the second power source.
6. An electronic device, characterized in that, include: Controller; A memory for storing one or more programs that, when executed by the controller, cause the controller to implement the control method as described in any one of claims 1 to 4.
7. A computer-readable storage medium, characterized in that, It stores computer-readable instructions that, when executed by the computer's processor, cause the computer to perform the control method according to any one of claims 1 to 4.