Vehicle backward sliding control method, device, controller, storage medium and vehicle

Abstract

The present application relates to a vehicle backward slip control method, device, controller, storage medium and vehicle. The method includes: when it is determined that the vehicle is in a backward slip state, obtaining the backward slip speed of the vehicle; if the backward slip speed is greater than a first speed threshold and the vehicle meets the backward slip braking condition, controlling the motor to generate a braking torque to brake the vehicle in the backward slip direction; and when the backward slip speed is less than a second speed threshold, controlling the motor to generate a driving torque to drive the vehicle in the opposite direction to the backward slip direction. In the above scheme, when the backward slip speed of the vehicle is large, the vehicle is first braked in the backward slip direction, and when the backward slip speed of the vehicle is reduced to a small value, the motor is controlled to generate a driving torque to drive the vehicle in the opposite direction to the backward slip direction, thereby improving the starting smoothness of the vehicle and reducing tire friction.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle rearward sliding control method, device, controller, storage medium and vehicle. Background Art

[0002] Vehicle rollback refers to the action or phenomenon of a vehicle sliding backward. This can occur on uneven or slippery roads. Rollback scenarios typically involve rolling start.

[0003] Traditionally, rolling start technology typically controls the motor's output of driving force in the opposite direction of rolling to offset slope resistance, enabling the vehicle to start from a rolling position. However, this method, when rolling at high speed, often causes the vehicle to quickly stop and move forward, or the drive wheels to rapidly spin, resulting in poor starting smoothness and increased tire friction. Summary of the Invention

[0004] Based on this, it is necessary to provide a vehicle backward sliding control method, device, controller, storage medium and vehicle to address the above technical problems, which can improve the vehicle's starting smoothness and reduce tire friction.

[0005] In a first aspect, the present application provides a vehicle backward roll control method, which is applied to a controller and includes:

[0006] When it is determined that the vehicle is in a backward sliding state, obtaining the backward sliding speed of the vehicle;

[0007] If the backward rolling speed is greater than a first vehicle speed threshold and the vehicle satisfies a backward rolling braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the backward rolling direction; wherein the backward rolling braking condition is that the number of times the vehicle is braked in the backward rolling direction during a start is less than a preset threshold;

[0008] When the rearward sliding speed is less than a second vehicle speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the rearward sliding direction; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

[0009] In one embodiment, the method further comprises:

[0010] If the backward rolling speed is greater than the first vehicle speed threshold and the vehicle does not meet the backward rolling braking condition, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward rolling direction.

[0011] In one embodiment, controlling the motor to generate braking torque includes:

[0012] Acquire accelerator pedal information of the vehicle; wherein the accelerator pedal information includes at least accelerator pedal opening and accelerator pedal opening rate;

[0013] According to the accelerator pedal information, the motor is controlled to generate braking torque.

[0014] In one embodiment, the method further comprises:

[0015] If the backward rolling speed is less than or equal to the first vehicle speed threshold, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward rolling direction.

[0016] In one embodiment, determining that the vehicle is in a backward sliding state includes:

[0017] Get the vehicle's current gear, motor rotation direction, and gearbox type;

[0018] Determine whether the vehicle is in a backward rolling state based on at least two of the current gear, the motor rotation direction, and the gearbox type.

[0019] In one embodiment, determining whether the vehicle is in a backward rolling state based on at least two of the current gear position, the motor rotation direction, and the gearbox type includes:

[0020] If the current gear is a forward gear and the motor is rotating in the reverse direction, it is determined that the vehicle is in a backward rolling state;

[0021] If the current gear is reverse gear, the transmission type has a reverse gear, and the motor rotation direction is reverse, then it is determined that the vehicle is in a backward rolling state;

[0022] If the current gear is the reverse gear, the transmission type does not have a reverse gear, and the motor rotation direction is forward, it is determined that the vehicle is in a backward sliding state.

[0023] In a second aspect, the present application further provides a vehicle backward slip control device, which is configured in a controller and includes:

[0024] An acquisition module, configured to acquire the backward sliding speed of the vehicle when it is determined that the vehicle is in a backward sliding state;

[0025] a braking module configured to control the motor to generate a braking torque to brake the vehicle in a backward sliding direction if the backward sliding speed is greater than a first vehicle speed threshold and the vehicle satisfies a backward sliding braking condition; wherein the backward sliding braking condition is that the number of times the vehicle is braked in the backward sliding direction during a single start is less than a preset threshold;

[0026] The driving module is used to control the motor to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction when the backward sliding speed is less than a second vehicle speed threshold; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

[0027] In a third aspect, the present application further provides a controller, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0028] When it is determined that the vehicle is in a backward sliding state, obtaining the backward sliding speed of the vehicle;

[0029] If the backward rolling speed is greater than a first vehicle speed threshold and the vehicle satisfies a backward rolling braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the backward rolling direction; wherein the backward rolling braking condition is that the number of times the vehicle is braked in the backward rolling direction during a start is less than a preset threshold;

[0030] When the rearward sliding speed is less than a second vehicle speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the rearward sliding direction; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

[0031] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the following steps:

[0032] When it is determined that the vehicle is in a backward sliding state, obtaining the backward sliding speed of the vehicle;

[0033] If the backward rolling speed is greater than a first vehicle speed threshold and the vehicle satisfies a backward rolling braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the backward rolling direction; wherein the backward rolling braking condition is that the number of times the vehicle is braked in the backward rolling direction during a start is less than a preset threshold;

[0034] When the rearward sliding speed is less than a second vehicle speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the rearward sliding direction; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

[0035] In a fifth aspect, the present application also provides a vehicle, comprising the controller described in the third aspect.

[0036] In a sixth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0037] When it is determined that the vehicle is in a backward sliding state, obtaining the backward sliding speed of the vehicle;

[0038] If the backward rolling speed is greater than a first vehicle speed threshold and the vehicle satisfies a backward rolling braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the backward rolling direction; wherein the backward rolling braking condition is that the number of times the vehicle is braked in the backward rolling direction during a start is less than a preset threshold;

[0039] When the rearward sliding speed is less than a second vehicle speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the rearward sliding direction; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

[0040] The above-mentioned vehicle backward slip control method, device, controller, storage medium, and vehicle, upon determining that the vehicle is in a backward slip state, obtain the vehicle's backward slip speed; if the backward slip speed is greater than a first speed threshold and the vehicle meets the backward slip braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the backward slip direction; and if the backward slip speed is less than a second speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in the direction opposite to the backward slip direction. In the above scheme, when the vehicle's backward slip speed is relatively high, the vehicle is first braked in the backward slip direction. When the vehicle's backward slip speed is reduced to a relatively low level, the motor is then controlled to generate a driving torque to drive the vehicle in the direction opposite to the backward slip direction. This can improve vehicle starting smoothness and reduce tire friction. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 1 is a flow chart of a vehicle backward sliding control method according to an embodiment;

[0042] Figure 2 1 is a schematic diagram of a flow chart for controlling a motor to generate braking torque in one embodiment;

[0043] Figure 3 1 is a flow chart of determining whether a vehicle is in a backward sliding state in one embodiment;

[0044] Figure 4 1 is a schematic diagram of a process for switching between coasting braking and forward driving in one embodiment;

[0045] Figure 5 1 is a flow chart of another method for controlling rearward roll of a vehicle according to an embodiment;

[0046] Figure 6 2 is a structural block diagram of a vehicle rearward sliding control device in one embodiment;

[0047] Figure 7 FIG. 4 is a diagram showing the internal structure of a controller in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0049] The vehicle rollback control method provided in the embodiments of the present application can be applied to the application scenario of the vehicle rollback start. The method can be executed by a controller in the vehicle, specifically the vehicle controller, motor controller, or transmission controller.

[0050] In one embodiment, Figure 1 As shown, a vehicle backward sliding control method is provided, which is described by taking the method applied to a controller as an example, and includes the following steps:

[0051] S101: When it is determined that the vehicle is in a backward sliding state, obtain the backward sliding speed of the vehicle.

[0052] For example, it is possible to determine whether the vehicle is in a backward sliding state based on the vehicle's operating status data, and if it is determined that the vehicle is in a backward sliding state, obtain the backward sliding speed of the vehicle.

[0053] S102: If the backward rolling speed is greater than the first vehicle speed threshold and the vehicle meets the backward rolling braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the backward rolling direction.

[0054] For example, the first speed threshold is used to determine the speed at which the hand enters the rearward roll braking state and can be set based on actual conditions. If the rearward roll speed is greater than the first speed threshold and the vehicle meets the rearward roll braking condition, the motor can be controlled to generate braking torque to brake the vehicle in the rearward roll direction to reduce the rearward roll speed. The rearward roll braking condition is that the number of times the vehicle is braked in the rearward roll direction during a single start is less than a preset threshold; the preset threshold can be set based on actual conditions or needs, for example, it can be set to 5 times.

[0055] It should be noted that the rear-slip braking condition is set to prevent the phenomenon in some steep slope scenarios where the driving force increases too slowly during forward driving, resulting in frequent switching between the rear-slip braking and forward driving states.

[0056] S103 , when the backward rolling speed is less than a second vehicle speed threshold, controlling the motor to generate a driving torque to drive the vehicle in a direction opposite to the backward rolling direction.

[0057] For example, the second vehicle speed threshold is used to represent the speed at which the vehicle exits the rearward rolling braking state. When the rearward rolling speed is less than the second vehicle speed threshold, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the rearward rolling direction to achieve forward propulsion of the vehicle. The first vehicle speed threshold is greater than the second vehicle speed threshold.

[0058] The above-mentioned vehicle backward roll control method, upon determining that the vehicle is in a backward roll state, obtains the vehicle's backward roll speed; if the backward roll speed is greater than a first speed threshold and the vehicle meets the backward roll braking conditions, controls the motor to generate a braking torque to brake the vehicle in the backward roll direction; and if the backward roll speed is less than a second speed threshold, controls the motor to generate a driving torque to drive the vehicle in the direction opposite to the backward roll direction. In the above scheme, when the vehicle's backward roll speed is relatively high, the vehicle is first braked in the backward roll direction. When the vehicle's backward roll speed is reduced to a relatively low level, the motor is then controlled to generate a driving torque to drive the vehicle in the direction opposite to the backward roll direction. This improves vehicle starting smoothness and reduces tire friction.

[0059] In some optional implementations, if the backward sliding speed is greater than the first vehicle speed threshold and the vehicle does not meet the backward sliding braking condition, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction.

[0060] It can be understood that even if the rear-slip speed is greater than the first speed threshold, if the vehicle does not meet the rear-slip braking condition, that is, during a starting process, the rear-slip braking state and the forward driving state have been switched for a preset threshold number of times, in order to avoid the driving force increasing too slowly during forward driving in some steep slope scenarios, the motor can be directly controlled to generate driving torque to drive the vehicle in the direction opposite to the rear-slip direction, that is, to drive the vehicle forward.

[0061] In an embodiment of the present application, even when the rear-slip speed is greater than the first vehicle speed threshold, in order to avoid the driving force increasing too slowly during forward driving in some steep slope scenarios, resulting in frequent switching between the rear-slip braking state and the forward driving state, the vehicle can be driven forward directly when the rear-slip braking conditions are not met.

[0062] In some optional implementations, see Figure 2 , Figure 2 A schematic flow chart of controlling a motor to generate braking torque is provided, which specifically includes the following steps:

[0063] S201, obtaining vehicle accelerator pedal information.

[0064] For example, a sensor may be provided at the accelerator pedal position to obtain accelerator pedal information of the vehicle through the sensor, wherein the accelerator pedal information includes at least the accelerator pedal opening and the accelerator pedal opening rate.

[0065] S202: Control the motor to generate braking torque according to the accelerator pedal information.

[0066] Furthermore, the driver's driving intention to operate the vehicle forward can be determined based on the accelerator pedal information, and then the corresponding braking torque can be determined based on the accelerator pedal information according to the conversion relationship between the accelerator pedal information and the braking torque.

[0067] For example, a conversion relationship between accelerator pedal information and brake torque can be pre-established, perhaps through calibration. For example, if the accelerator pedal opening in the accelerator pedal information is relatively large, indicating a strong driver's intention to drive the vehicle forward, the brake torque can be determined to be larger to accelerate the reduction of the rolling vehicle speed to the second speed threshold, thereby facilitating the vehicle's forward propulsion as quickly as possible.

[0068] In an embodiment of the present application, by obtaining the vehicle's accelerator pedal information, the driver's need to drive the vehicle forward is determined, and then the motor can be controlled to generate braking torque based on the accelerator pedal information, so as to meet the driver's intention to perform rearward braking and forward driving of the vehicle.

[0069] In some optional implementations, if the vehicle's backward sliding speed is relatively low, the vehicle may be directly controlled to move forward.

[0070] For example, if the backward sliding speed is less than or equal to the first speed threshold, which means that the backward sliding speed of the vehicle is relatively low, the motor can be controlled to generate driving torque to drive the vehicle in the direction opposite to the backward sliding direction, that is, to drive the vehicle forward.

[0071] In the embodiment of the present application, when the speed of the vehicle is low, driving the vehicle forward will not cause stalling or drive wheel slippage, so the vehicle can be driven forward directly, which can shorten the time it takes to start the vehicle from sliding backward.

[0072] In some optional implementations, see Figure 3 , Figure 3 A schematic flow chart for determining whether a vehicle is in a backward sliding state is provided, which specifically includes the following steps:

[0073] S301, obtaining the vehicle's current gear, motor rotation direction, and gearbox type.

[0074] Exemplarily, the current gear position, motor rotation direction and transmission type of the vehicle can be obtained first, wherein the current gear position of the vehicle includes parking gear, reverse gear, neutral gear and forward gear; the motor rotation direction includes forward rotation and reverse rotation; the transmission type includes having a reverse gear and not having a reverse gear.

[0075] S302: Determine whether the vehicle is in a backward rolling state based on at least two of the current gear position, the motor rotation direction, and the transmission type.

[0076] Furthermore, whether the vehicle is in a reverse rolling state can be determined based on at least two of the current gear position, motor rotation direction, and transmission type. Specifically, the vehicle driving states corresponding to different current gear positions, different motor rotation directions, and different transmission types can be calibrated. The vehicle driving states herein can include a forward state, a reverse rolling state, and a parked state. Furthermore, whether the vehicle is in a reverse rolling state can be determined based on the obtained at least two of the current gear position, motor rotation direction, and transmission type, and the calibrated relationship.

[0077] In an embodiment of the present application, a feasible method is provided for determining whether a vehicle is in a backward sliding state based on at least two items of the current gear position, the motor rotation direction, and the gearbox type, so as to facilitate a method for subsequent vehicle sliding control.

[0078] For example, an embodiment of the present application provides a specific implementation method for determining whether a vehicle is in a backward rolling state based on at least two of the current gear position, the motor rotation direction, and the gearbox type. The specific implementation process is as follows:

[0079] If the current gear is the forward gear and the motor rotation direction is reverse, it is determined that the vehicle is in a backward sliding state; it should be noted that if the current gear of the vehicle is the forward gear and the motor rotation direction is forward, it means that the vehicle is moving forward. If the motor rotation direction is reverse, it means that the vehicle is in a backward sliding state.

[0080] If the current gear is reverse gear, the transmission type has a reverse gear, and the motor rotation direction is reverse, then the vehicle is determined to be in a reverse sliding state; it should be noted that when the current gear is reverse gear, if the transmission type has a reverse gear, the normal reverse motor rotation direction of the vehicle should be forward. If the motor rotation direction is reverse, then the vehicle is determined to be in a reverse sliding state.

[0081] If the current gear is reverse gear, the transmission type does not have a reverse gear, and the motor rotation direction is forward, then the vehicle is determined to be in a reverse sliding state; it should be noted that if the current gear is reverse gear, the transmission type does not have a reverse gear, and the vehicle's normal reverse motor rotation direction should be reverse. If the motor rotation direction is forward, then the vehicle is determined to be in a reverse sliding state.

[0082] The embodiments of the present application provide a feasible method for determining whether a vehicle is in a backward sliding state, thereby facilitating a method for controlling subsequent vehicle sliding.

[0083] In some optional implementations, see Figure 4 , Figure 4 A schematic flow chart of switching between coasting braking and forward drive during vehicle coasting control is provided, wherein transfer condition 1 is that the rear coasting speed is greater than a first speed threshold and the number of rear coasting braking events during this starting process is less than a preset threshold; transfer condition 2 is that the rear coasting speed is less than a second speed threshold.

[0084] The following is a detailed introduction to the implementation process of the vehicle's backward sliding start:

[0085] After determining that the vehicle is sliding backward, if the number of times the vehicle enters the sliding backward braking state during this starting process is less than the preset threshold, and the sliding backward speed is greater than the first speed threshold, it is considered that the current sliding backward speed is high, and it is necessary to brake in the direction of sliding down the slope first and then drive in the forward direction. At this time, the vehicle enters the sliding backward braking state.

[0086] After entering the rear-slip braking state, the controller requests the motor to generate braking torque in the rear-slip direction to brake the vehicle. The size and change rate of the motor braking torque can be associated with the driver's needs, such as the accelerator pedal opening, the accelerator pedal opening change rate, etc., so that the speed of rear-slip braking can be controlled by the driver.

[0087] If the vehicle speed is lower than the second speed threshold after braking in the backward sliding direction, it is considered that the vehicle is close to being stopped, and the motor can be directly requested to output driving force in the forward direction opposite to the sliding direction. At this time, the backward sliding braking state is exited and the forward driving state is entered.

[0088] If after entering the forward drive state, the vehicle slides backward again and the backward speed is greater than the first speed threshold, then if the number of backward braking times during this starting process has not reached the preset threshold, the vehicle will enter the backward braking state again; if the number of backward braking times during this starting process is greater than or equal to the preset threshold, the backward braking control will no longer be performed to prevent frequent switching between the backward braking state and the forward drive state during one starting process.

[0089] After entering the forward drive state, the controller requests the motor to generate a driving force in the forward direction opposite to the backward sliding direction to drive the vehicle forward; at this time, since the previous backward sliding braking control process has already controlled the backward sliding speed to a lower level, after requesting the forward direction driving force, the vehicle can quickly switch from a lower speed backward sliding to forward drive. Due to the lower speed, the smoothness can be greatly improved, and the slip between the drive wheels and the ground will also be greatly reduced.

[0090] If the vehicle is sliding backward at the beginning of this starting process but the speed is low and does not meet the requirements for entering the sliding braking state, the forward driving state will be entered first. At this time, if the driving force is insufficient and the vehicle slides down the slope again and the sliding speed is higher than the first speed threshold, the rear sliding braking state will be entered for braking because the rear sliding braking state was not entered during this start. After the rear sliding speed of the vehicle is lower than the second speed threshold, the forward driving state will be entered again.

[0091] See also Figure 5 , Figure 5 A flow chart of another vehicle rollback control method is provided, which specifically includes the following steps:

[0092] S501, obtaining the vehicle's current gear, motor rotation direction, and gearbox type.

[0093] S502: Determine whether the vehicle is in a backward rolling state based on at least two of the current gear position, the motor rotation direction, and the transmission type.

[0094] S503: When it is determined that the vehicle is in a backward sliding state, obtain the backward sliding speed of the vehicle.

[0095] S504, determine whether the rolling speed is greater than the first vehicle speed threshold, if so, execute S505, if not, execute S508.

[0096] S505, determine whether the vehicle meets the rear-slip braking condition, if so, execute S506, if not, execute S508.

[0097] S506: Acquire the accelerator pedal information of the vehicle.

[0098] S507: Control the motor to generate braking torque according to the accelerator pedal information to brake the vehicle in the backward sliding direction.

[0099] S508: Control the motor to generate a driving torque to drive the vehicle in a direction opposite to the backward sliding direction.

[0100] The specific processes of S501 to S508 can be found in the description of the above method embodiment. The implementation principles and technical effects are similar and will not be repeated here.

[0101] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0102] Based on the same inventive concept, embodiments of the present application also provide a vehicle rollback control device for implementing the aforementioned vehicle rollback control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle rollback control device embodiments provided below can be found in the aforementioned limitations of the vehicle rollback control method and will not be further elaborated here.

[0103] In one embodiment, Figure 6 As shown, a vehicle backward sliding control device is provided, which is configured in a controller and includes:

[0104] The acquisition module 10 is used to acquire the backward sliding speed of the vehicle when it is determined that the vehicle is in the backward sliding state;

[0105] a braking module 20 configured to control the motor to generate a braking torque to brake the vehicle in the backward sliding direction if the backward sliding speed is greater than a first vehicle speed threshold and the vehicle satisfies a backward sliding braking condition; wherein the backward sliding braking condition is that the number of times the vehicle is braked in the backward sliding direction during a single start is less than a preset threshold;

[0106] The driving module 30 is used to control the motor to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction when the backward sliding speed is less than the second vehicle speed threshold; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

[0107] The vehicle rollback control device, upon determining that the vehicle is in a rollback state, obtains the vehicle's rollback speed; if the rollback speed is greater than a first speed threshold and the vehicle satisfies the rollback braking condition, controls the motor to generate a braking torque to brake the vehicle in the rollback direction; and, if the rollback speed is less than a second speed threshold, controls the motor to generate a driving torque to drive the vehicle in the direction opposite to the rollback direction. In the above scheme, when the vehicle's rollback speed is high, the vehicle is first braked in the rollback direction. When the rollback speed is reduced to a low level, the motor is then controlled to generate a driving torque to drive the vehicle in the direction opposite to the rollback direction. This improves vehicle start-up smoothness and reduces tire friction.

[0108] In one embodiment, the driving module 30 is further configured to:

[0109] If the backward sliding speed is greater than the first vehicle speed threshold and the vehicle does not meet the backward sliding braking condition, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction.

[0110] In one embodiment, the braking module 20 is specifically configured to:

[0111] Acquire the accelerator pedal information of the vehicle; wherein the accelerator pedal information includes at least the accelerator pedal opening and the accelerator pedal opening rate; and control the motor to generate braking torque according to the accelerator pedal information.

[0112] In one embodiment, the driving module 30 is further configured to:

[0113] If the backward rolling speed is less than or equal to the first vehicle speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the backward rolling direction.

[0114] In one embodiment, the apparatus further includes a determination module, the determination module being specifically configured to:

[0115] Obtain the vehicle's current gear, motor rotation direction, and transmission type; and determine whether the vehicle is in a backward rolling state based on at least two of the current gear, motor rotation direction, and transmission type.

[0116] In one embodiment, the determination module is specifically configured to:

[0117] If the current gear is the forward gear and the motor rotation direction is reverse, it is determined that the vehicle is in a backward rolling state; if the current gear is the reverse gear, the transmission type is a type with a reverse gear, and the motor rotation direction is reverse, it is determined that the vehicle is in a backward rolling state; if the current gear is the reverse gear, the transmission type is a type without a reverse gear, and the motor rotation direction is forward, it is determined that the vehicle is in a backward rolling state.

[0118] Each module in the aforementioned vehicle rollback control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor within a controller in hardware form, or stored in memory within the controller in software form, allowing the processor to call and execute the corresponding operations of each module.

[0119] In one embodiment, a controller is provided. The controller may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The controller includes a processor, a memory, and a network interface connected via a system bus. The processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the controller is used to store vehicle operation data. The network interface of the controller is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a vehicle rearward sliding control method is implemented.

[0120] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the controller to which the solution of the present application is applied. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0121] In one embodiment, a controller is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0122] When it is determined that the vehicle is in a backward sliding state, obtaining the backward sliding speed of the vehicle;

[0123] If the rolling speed is greater than a first speed threshold and the vehicle satisfies a rolling braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the rolling direction; wherein the rolling braking condition is that the number of times the vehicle is braked in the rolling direction during a single start is less than a preset threshold;

[0124] When the backward sliding speed is less than the second vehicle speed threshold, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

[0125] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0126] If the backward sliding speed is greater than the first vehicle speed threshold and the vehicle does not meet the backward sliding braking condition, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction.

[0127] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0128] Acquire the accelerator pedal information of the vehicle; wherein the accelerator pedal information includes at least the accelerator pedal opening and the accelerator pedal opening rate; and control the motor to generate braking torque according to the accelerator pedal information.

[0129] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0130] If the backward rolling speed is less than or equal to the first vehicle speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the backward rolling direction.

[0131] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0132] Obtain the vehicle's current gear, motor rotation direction, and transmission type; and determine whether the vehicle is in a backward rolling state based on at least two of the current gear, motor rotation direction, and transmission type.

[0133] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0134] If the current gear is the forward gear and the motor rotation direction is reverse, it is determined that the vehicle is in a backward rolling state; if the current gear is the reverse gear, the transmission type is a type with a reverse gear, and the motor rotation direction is reverse, it is determined that the vehicle is in a backward rolling state; if the current gear is the reverse gear, the transmission type is a type without a reverse gear, and the motor rotation direction is forward, it is determined that the vehicle is in a backward rolling state.

[0135] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0136] When it is determined that the vehicle is in a backward sliding state, obtaining the backward sliding speed of the vehicle;

[0137] If the rolling speed is greater than a first speed threshold and the vehicle satisfies a rolling braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the rolling direction; wherein the rolling braking condition is that the number of times the vehicle is braked in the rolling direction during a single start is less than a preset threshold;

[0138] When the backward sliding speed is less than the second vehicle speed threshold, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

[0139] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0140] If the backward sliding speed is greater than the first vehicle speed threshold and the vehicle does not meet the backward sliding braking condition, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction.

[0141] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0142] Acquire the accelerator pedal information of the vehicle; wherein the accelerator pedal information includes at least the accelerator pedal opening and the accelerator pedal opening rate; and control the motor to generate braking torque according to the accelerator pedal information.

[0143] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0144] If the backward rolling speed is less than or equal to the first vehicle speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the backward rolling direction.

[0145] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0146] Obtain the vehicle's current gear, motor rotation direction, and transmission type; and determine whether the vehicle is in a backward rolling state based on at least two of the current gear, motor rotation direction, and transmission type.

[0147] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0148] If the current gear is the forward gear and the motor rotation direction is reverse, it is determined that the vehicle is in a backward rolling state; if the current gear is the reverse gear, the transmission type is a type with a reverse gear, and the motor rotation direction is reverse, it is determined that the vehicle is in a backward rolling state; if the current gear is the reverse gear, the transmission type is a type without a reverse gear, and the motor rotation direction is forward, it is determined that the vehicle is in a backward rolling state.

[0149] In one embodiment, a vehicle is provided. The vehicle includes the controller described in the above embodiment.

[0150] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0151] When it is determined that the vehicle is in a backward sliding state, obtaining the backward sliding speed of the vehicle;

[0152] If the rolling speed is greater than a first speed threshold and the vehicle satisfies a rolling braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the rolling direction; wherein the rolling braking condition is that the number of times the vehicle is braked in the rolling direction during a single start is less than a preset threshold;

[0153] When the backward sliding speed is less than the second vehicle speed threshold, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

[0154] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0155] If the backward sliding speed is greater than the first vehicle speed threshold and the vehicle does not meet the backward sliding braking condition, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction.

[0156] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0157] Acquire the accelerator pedal information of the vehicle; wherein the accelerator pedal information includes at least the accelerator pedal opening and the accelerator pedal opening rate; and control the motor to generate braking torque according to the accelerator pedal information.

[0158] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0159] If the backward rolling speed is less than or equal to the first vehicle speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the backward rolling direction.

[0160] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0161] Obtain the vehicle's current gear, motor rotation direction, and transmission type; and determine whether the vehicle is in a backward rolling state based on at least two of the current gear, motor rotation direction, and transmission type.

[0162] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0163] If the current gear is the forward gear and the motor rotation direction is reverse, it is determined that the vehicle is in a backward rolling state; if the current gear is the reverse gear, the transmission type is a type with a reverse gear, and the motor rotation direction is reverse, it is determined that the vehicle is in a backward rolling state; if the current gear is the reverse gear, the transmission type is a type without a reverse gear, and the motor rotation direction is forward, it is determined that the vehicle is in a backward rolling state.

[0164] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0165] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0166] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0167] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for controlling a vehicle sliding backward, characterized in that: The method is applied to a controller, and the method includes: When it is determined that the vehicle is in a backward sliding state, obtaining the backward sliding speed of the vehicle; If the backward rolling speed is greater than a first vehicle speed threshold and the vehicle satisfies a backward rolling braking condition, the motor is controlled to generate a braking torque to brake the vehicle in the backward rolling direction; wherein the backward rolling braking condition is that the number of times the vehicle is braked in the backward rolling direction during a start is less than a preset threshold; When the rearward sliding speed is less than a second vehicle speed threshold, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the rearward sliding direction; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

2. The method according to claim 1, characterized in that The method further comprises: If the backward rolling speed is greater than the first vehicle speed threshold and the vehicle does not meet the backward rolling braking condition, the motor is controlled to generate a driving torque to drive the vehicle in a direction opposite to the backward rolling direction.

3. The method according to claim 1, characterized in that The controlling the motor to generate braking torque comprises: Acquire accelerator pedal information of the vehicle; wherein the accelerator pedal information includes at least accelerator pedal opening and accelerator pedal opening rate; According to the accelerator pedal information, the motor is controlled to generate braking torque.

4. The method according to claim 1, wherein The method further comprises: If the backward rolling speed is less than or equal to the first vehicle speed threshold, the motor is controlled to generate driving torque to drive the vehicle in a direction opposite to the backward rolling direction.

5. The method according to claim 1, wherein Determine if the vehicle is in a backward sliding state, including: Get the vehicle's current gear, motor rotation direction, and gearbox type; Determine whether the vehicle is in a backward rolling state based on at least two of the current gear, the motor rotation direction, and the gearbox type.

6. The method according to claim 5, characterized in that The determining whether the vehicle is in a backward rolling state according to at least two of the current gear position, the motor rotation direction, and the gearbox type includes: If the current gear is a forward gear and the motor is rotating in the reverse direction, it is determined that the vehicle is in a backward rolling state; If the current gear is reverse gear, the transmission type has a reverse gear, and the motor rotation direction is reverse, then it is determined that the vehicle is in a backward rolling state; If the current gear is the reverse gear, the transmission type does not have a reverse gear, and the motor rotation direction is forward, it is determined that the vehicle is in a backward sliding state.

7. A vehicle backward sliding control device, characterized in that: The device is configured in a controller, and the device includes: An acquisition module, configured to acquire the backward sliding speed of the vehicle when it is determined that the vehicle is in a backward sliding state; a braking module configured to control the motor to generate a braking torque to brake the vehicle in a backward sliding direction if the backward sliding speed is greater than a first vehicle speed threshold and the vehicle satisfies a backward sliding braking condition; wherein the backward sliding braking condition is that the number of times the vehicle is braked in the backward sliding direction during a single start is less than a preset threshold; The driving module is used to control the motor to generate driving torque to drive the vehicle in a direction opposite to the backward sliding direction when the backward sliding speed is less than a second vehicle speed threshold; wherein the first vehicle speed threshold is greater than the second vehicle speed threshold.

8. A controller comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A vehicle, characterized in that: The vehicle includes the controller of claim 8.

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