An AMT-based vehicle hill start control method and device

Abstract

The application provides a vehicle hill start control method and device based on AMT, and relates to the technical field of vehicle control. The method comprises the following steps: determining that the vehicle is on an uphill slope, acquiring the slope of the uphill slope where the vehicle is located and the vehicle load and vehicle throttle signals transmitted by a vehicle control unit when the vehicle is on the uphill slope; selecting corresponding engine target torque and clutch target transmission torque from a preset control library according to the slope, vehicle load and vehicle throttle signals; the preset control library comprises a plurality of engine torques and a plurality of clutch transmission torques, each engine torque corresponds to a set of slope, vehicle load and vehicle throttle signals, and each clutch transmission torque corresponds to a set of slope, vehicle load and vehicle throttle signals; and determining the target position of the clutch according to the engine target torque and the clutch target transmission torque, transmitting the target position of the clutch to an execution unit to control the action of the clutch and complete the vehicle hill start control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle ramp starting control method and device based on AMT. BACKGROUND

[0002] Ramp starting refers to when the vehicle is on a ramp, the driver releases the brake pedal for a certain time or steps on the accelerator pedal to make the driving torque sufficient to meet the climbing requirements, and then releases the brake torque to realize the starting of the vehicle. When the vehicle starts on an uphill ramp, the engine torque and the clutch position need to be reasonably controlled to ensure that the driving torque can overcome the resistance, otherwise the engine of the vehicle may stall during the starting process and the vehicle cannot start normally, which seriously affects the safety and comfort of vehicle driving. At present, the gearbox of some vehicles adopts AMT (Automatic Mechanical Transmission) gearbox, and in the AMT gearbox technology, the strategy of keeping 3s after the brake pedal is released is generally adopted, but due to the complex and changeable road and engine torque conditions, the vehicle may be easily moved and other situations may occur. SUMMARY

[0003] In view of the problems in the prior art, the present application provides a vehicle ramp starting control method and device based on AMT.

[0004] The present application provides a vehicle ramp starting control method based on AMT, comprising: determining that the vehicle is in the situation of uphill ramp, acquiring the slope of the uphill ramp where the vehicle is located transmitted by the slope sensor, and the vehicle load and the vehicle throttle signal transmitted by the vehicle control unit; selecting corresponding engine target torque and clutch target transmission torque from a preset control library according to the slope, the vehicle load and the vehicle throttle signal; the preset control library includes a plurality of engine torques and a plurality of clutch transmission torques, each engine torque corresponds to a group of slope, vehicle load and vehicle throttle signal, and each clutch transmission torque corresponds to a group of slope, vehicle load and vehicle throttle signal; determining the clutch target position according to the engine target torque and the clutch target transmission torque, transmitting the clutch target position to the execution unit to control the action of the clutch, and completing the vehicle ramp starting control.

[0005] The AMT-based vehicle hill start control method provided by the application comprises the following steps: determining a clutch target position according to an engine target torque and a clutch target transmission torque; transmitting the clutch target position to an execution unit to control clutch action; obtaining an engine actual torque transmitted by an engine control unit to determine a torque deviation between the engine target torque and the engine actual torque; obtaining a clutch feedback adjustment position based on the torque deviation; and transmitting the clutch feedback adjustment position to the execution unit to control the clutch action.

[0006] The AMT-based vehicle hill start control method provided by the application comprises the following steps: determining a clutch target position according to an engine target torque and a clutch target transmission torque; transmitting the clutch target position to an execution unit to control clutch action; obtaining an engine actual torque transmitted by an engine control unit to determine a torque deviation between the engine target torque and the engine actual torque; obtaining a clutch feedback adjustment position based on the torque deviation; and transmitting the clutch feedback adjustment position to the execution unit to control the clutch action.

[0007] The AMT-based vehicle hill start control method provided by the application comprises the following steps: determining a clutch target position according to an engine target torque and a clutch target transmission torque; transmitting the clutch target position to an execution unit to control clutch action; obtaining an engine actual torque transmitted by an engine control unit to determine a torque deviation between the engine target torque and the engine actual torque; obtaining a clutch feedback adjustment position based on the torque deviation; and transmitting the clutch feedback adjustment position to the execution unit to control the clutch action.

[0008] The AMT-based vehicle hill start control method provided by the application comprises the following steps: determining a clutch target position according to an engine target torque and a clutch target transmission torque; transmitting the clutch target position to an execution unit to control clutch action; obtaining an engine actual torque transmitted by an engine control unit to determine a torque deviation between the engine target torque and the engine actual torque; obtaining a clutch feedback adjustment position based on the torque deviation; and transmitting the clutch feedback adjustment position to the execution unit to control the clutch action.

[0009] According to the AMT-based vehicle hill start control method provided by the application, after the torque deviation between the engine target torque and the engine actual torque is determined, the method further comprises: determining that the torque deviation is greater than a preset threshold, obtaining a current clutch torque transmission characteristic curve, determining a clutch feedback adjustment position in the current clutch torque transmission characteristic curve according to the clutch target transmission torque, transmitting the clutch feedback adjustment position to the execution unit to control the clutch action, and completing the vehicle hill start control; determining that the torque deviation is not greater than the preset threshold, obtaining a current clutch torque transmission characteristic curve, and completing the vehicle hill start control.

[0010] The application further provides an AMT-based vehicle hill start control device, comprising: a parameter acquisition module, configured to determine that a vehicle is on an uphill slope, and acquire a slope of the uphill slope transmitted by a slope sensor and a vehicle load and a vehicle throttle signal transmitted by a vehicle control unit; a torque acquisition module, configured to select corresponding engine target torque and clutch target transmission torque from a preset control library according to the slope, the vehicle load and the vehicle throttle signal; the preset control library comprises a plurality of engine torques and a plurality of clutch transmission torques, each of the engine torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal, and each of the clutch transmission torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal; and an execution module, configured to determine a clutch target position according to the engine target torque and the clutch target transmission torque, transmit the clutch target position to an execution unit to control the clutch action, and complete the vehicle hill start control.

[0011] The application further provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the AMT-based vehicle hill start control method according to any one of the above when executing the computer program.

[0012] The application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the AMT-based vehicle hill start control method according to any one of the above.

[0013] The application further provides a computer program product, comprising a computer program, and the computer program is executable on a processor to implement the AMT-based vehicle hill start control method according to any one of the above.

[0014] The application provides a vehicle hill start control method and device based on AMT, which determines that the vehicle is on an uphill slope, acquires the slope, the vehicle load and the vehicle throttle signal to select the corresponding engine target torque and clutch target transmission torque from a preset control library, determines the engine target torque and clutch target transmission torque according to the road and the actual situation of the vehicle, determines the clutch target position according to the engine target torque and clutch target transmission torque, transmits the clutch target position to an execution unit to control the clutch action, and completes the vehicle hill start control, so that the problems such as vehicle jolt during the vehicle hill start can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort.

[0016] Figure 1 is one of the flowcharts of the vehicle hill start control method based on AMT provided by the application.

[0017] Figure 2 is a clutch torque transmission characteristic curve diagram in the vehicle hill start control method based on AMT provided by the application.

[0018] Figure 3 is a structural diagram of the vehicle hill start control device based on AMT provided by the application.

[0019] Figure 4 is a structural diagram of the electronic device provided by the application. DETAILED DESCRIPTION

[0020] In order to make the objects, technical solutions and advantages of the application clearer, the technical solutions in the application will be described clearly and completely below with reference to the drawings in the application. Obviously, the described embodiments are some of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative effort belong to the protection scope of the application.

[0021] The application will be described below with reference to the drawings. Figures 1-4 The application provides a vehicle hill start control method and device based on AMT.

[0022] Figure 1 is a flowchart of the vehicle hill start control method based on AMT provided by the application, as shown in the figure, the method comprises: Figure 1 ​

[0023] In step 102, when it is determined that the vehicle is on an uphill slope, the slope of the uphill slope where the vehicle is located is obtained from the slope sensor, and the vehicle load and the vehicle throttle signal are obtained from the vehicle control unit.

[0024] The vehicle can be a passenger car or a commercial vehicle, etc., for example, the vehicle can be a heavy truck. The slope of the location where the vehicle is located can be obtained in real time, and when the slope of the location where the vehicle is located is greater than the slope threshold, it is determined that the vehicle is on an uphill slope. The input instruction of the user can also be obtained, and the condition that the vehicle is on an uphill slope is determined based on the input instruction.

[0025] Exemplarily, in this embodiment, the AMT vehicle uphill starting control method can be applied to the transmission control unit (TCU). The TCU is a computing service device with data processing, network communication and program running functions. The slope sensor can be electrically connected to the transmission control unit to transmit the slope of the uphill slope where the vehicle is located to the transmission control unit. The vehicle control unit can transmit the vehicle load and the vehicle throttle signal to the transmission control unit in the form of CAN message through the controller area network (CAN).

[0026] The vehicle throttle signal is a signal reflecting the intention of the driver to accelerate or decelerate the vehicle. Exemplarily, the accelerator pedal can be connected to the throttle sensor, and when the driver steps on the accelerator pedal, the throttle sensor detects the change in the position of the pedal and converts it into a throttle signal, which is an electrical signal. The vehicle load is the total mass of the vehicle including the vehicle and the load carried by the vehicle.

[0027] In step 104, the corresponding engine target torque and clutch target transmission torque are selected from the pre-set control library according to the slope, the vehicle load and the vehicle throttle signal; the pre-set control library includes a plurality of engine torques and a plurality of clutch transmission torques, each engine torque corresponds to a set of slope, vehicle load and vehicle throttle signal, and each clutch transmission torque corresponds to a set of slope, vehicle load and vehicle throttle signal.

[0028] The engine target torque is the torque that the engine needs to provide to complete the vehicle uphill starting under the conditions of the slope, the vehicle load and the vehicle throttle signal. The clutch target transmission torque is the torque that the clutch needs to transmit to complete the vehicle uphill starting under the conditions of the slope, the vehicle load and the vehicle throttle signal.

[0029] The engine torque in the preset control library is the torque provided by the engine to complete the vehicle hill start under the condition of a slope, vehicle load and vehicle throttle signal. The clutch transmission torque is the torque transmitted by the clutch to complete the vehicle hill start under the condition of a slope, vehicle load and vehicle throttle signal.

[0030] Exemplarily, the engine target torque during hill start of each group of slope, vehicle load and vehicle throttle signal, and the clutch transmission torque during hill start of each group of slope, vehicle load and vehicle throttle signal can be obtained in advance, and the foregoing groups of slope, vehicle load and vehicle throttle signal and the corresponding engine target torque and clutch transmission torque form the preset control library and are arranged in the gearbox control unit. Each group of slope, vehicle load and vehicle throttle signal can be repeatedly tested for hill start to obtain the engine target torque and clutch transmission torque with the optimal hill start effect.

[0031] The engine target torque and clutch transmission torque during hill start of each slope, the engine target torque and clutch transmission torque during hill start of each vehicle load, and the engine target torque and clutch transmission torque during hill start of each vehicle throttle signal can also be obtained in advance, and the foregoing groups of slope and the corresponding engine target torque and clutch transmission torque, vehicle load and the corresponding engine target torque and clutch transmission torque, and vehicle throttle signal and the corresponding engine target torque and clutch transmission torque form the preset control library and are arranged in the gearbox control unit. Each slope, vehicle load and vehicle throttle signal can be repeatedly tested for hill start to obtain the engine target torque and clutch transmission torque with the optimal hill start effect. The test for hill start can be based on digital twin technology simulation. This process is completed before the vehicle is shipped.

[0032] The corresponding engine target torque can be selected from the preset control library according to the slope, vehicle load and vehicle throttle signal, or the corresponding sub-engine target torque can be selected from the preset control library based on the slope, the corresponding sub-engine target torque can be selected from the preset control library based on the vehicle load, and the corresponding sub-engine target torque can be selected from the preset control library based on the vehicle throttle signal. The three sub-engine target torques are processed by weighting, interpolation and the like to obtain the corresponding engine target torque. The method for selecting the clutch target transmission torque from the preset control library is basically the same as the method for selecting the engine target torque from the preset control library, which will not be described here.

[0033] Step 106, determining the clutch target position according to the engine target torque and the clutch target transmission torque, and transmitting the clutch target position to an execution unit to control the action of the clutch to complete the vehicle hill start control.

[0034] The clutch is usually installed between the engine and the gearbox, and the torque output by the engine is transmitted to the clutch through the flywheel, and then transmitted to the gearbox by the clutch. When the clutch is in the combined state, the clutch is pressed on the engine flywheel, and the torque output by the engine is completely transmitted to the gearbox, thereby driving the vehicle. When the clutch is separated, the clutch is separated from the flywheel, and the torque output by the engine cannot be transmitted to the gearbox, so that the vehicle can idle without driving.

[0035] The clutch position can reflect the degree of combination of the clutch, or it can be said that the clutch position can reflect the degree of separation of the clutch, and can determine the degree of torque transmission between the engine and the gearbox. The clutch target position can be a clutch position that can generate a clutch target transmission torque based on the engine target torque.

[0036] Exemplarily, the clutch target position can be selected and determined according to a preset corresponding relationship through the engine target torque and the clutch target transmission torque, or can be calculated and determined according to the clutch torque transmission efficiency through the engine target torque and the clutch target transmission torque, etc.

[0037] Exemplarily, the execution unit can be a mechanical actuator, an electric actuator, etc., and the gearbox control unit can be electrically connected with the execution unit to transmit the clutch target position to the execution unit to generate a control signal to make the clutch move from the current position to the clutch target position, thereby completing the vehicle hill start control.

[0038] The vehicle hill start control method based on AMT provided by the embodiment of the application can select corresponding engine target torque and clutch target transmission torque from a preset control library according to the slope, vehicle load and vehicle throttle signal, and can determine the engine target torque and the clutch target transmission torque according to the actual road and vehicle conditions. Therefore, the clutch target position can be determined according to the engine target torque and the clutch target transmission torque to control the vehicle hill start, and the problems such as vehicle jolt during vehicle hill start can be avoided.

[0039] Based on the above embodiment, after the clutch target position is transmitted to the execution unit to control the action of the clutch, the method further comprises: acquiring the engine actual torque transmitted by the engine control unit to determine the torque deviation between the engine target torque and the engine actual torque; acquiring the clutch feedback adjustment position based on the torque deviation, and transmitting the clutch feedback adjustment position to the execution unit to control the action of the clutch.

[0040] The running state of the engine, mechanical loss of the engine and other reasons can cause a deviation between the set output torque of the engine and the actual output torque. The actual torque of the engine is the torque actually provided when the set output torque of the engine is the target torque of the engine. The torque deviation can be the difference between the target torque of the engine and the actual torque of the engine, or the absolute value of the difference between the target torque of the engine and the actual torque of the engine, etc.

[0041] Exemplarily, the actual torque of the engine can be calculated based on the engine speed, the throttle position, the intake air amount and other parameters transmitted by the engine control unit. The clutch transmission torque can be simply calculated based on the target torque of the engine minus the inertia loss of the engine itself, or can be calculated based on the engine torque and the clutch transmission efficiency. When the clutch transmission torque is calculated based on the engine torque and the clutch transmission efficiency, the clutch transmission efficiency is constant, so the curve shape of the clutch transmission torque corresponding to the clutch position under different engine torques is constant, and only the clutch transmission torque corresponding to the same clutch position under different engine torques is different. Based on the torque deviation, the deviation between the actual transmission torque of the clutch and the target transmission torque of the clutch can be obtained, so that the feedback adjustment position of the clutch is obtained based on the target position of the clutch.

[0042] The feedback adjustment position of the clutch is the clutch position that makes the deviation between the actual torque of the engine and the target torque of the engine within a preset threshold range. For example, the feedback adjustment position of the clutch can make the difference between the actual torque of the engine and the target torque of the engine within a preset range. The preset threshold range is used to determine the closeness between the actual torque of the engine and the target torque of the engine, and can be set based on actual control requirements, which will not be limited herein.

[0043] The working principle and technical effect of the execution unit controlling the action of the clutch based on the feedback adjustment position of the clutch are basically the same as those of the execution unit controlling the action of the clutch based on the target position of the clutch, which will not be repeated here.

[0044] In this embodiment, the torque deviation between the target torque of the engine and the actual torque of the engine can be determined by obtaining the actual torque of the engine, and the feedback adjustment position of the clutch can be obtained according to the torque deviation. The actual torque of the engine is adjusted to fit the target torque of the engine through feedback adjustment, and the vehicle hill start control is completed.

[0045] In one embodiment, to more precisely control the clutch position, after the clutch target position is determined by open loop control according to the slope, the vehicle load and the vehicle throttle signal, the clutch target position can be kept unchanged until the torque deviation between the actual engine torque and the target engine torque is within a preset range, and then the open loop control continues to request the clutch target position.

[0046] In one embodiment, the engine speed and the engine torque are inversely proportional, so when adjusting the clutch position, the engine speed transmitted by the engine control unit can be obtained, and when the engine speed is lower than a speed threshold, the clutch position is immediately controlled to be shallow. Controlling the clutch position to be shallow can prevent the engine from stalling by open loop control of the clutch position no longer deepening and closed loop control of the clutch position quickly deepening. When the engine speed is higher than the speed threshold, the clutch target position is continued to be gradually adjusted to be deepened.

[0047] Based on any of the above embodiments, the clutch feedback adjustment position is obtained based on the torque deviation, including: calculating the proportional gain, integral gain and differential gain of the torque deviation to adjust the clutch target position to obtain the clutch feedback adjustment position.

[0048] Exemplarily, the clutch feedback adjustment position can be obtained by adjusting the clutch position based on the torque deviation using PID control. The proportional gain, integral gain and differential gain of the torque deviation can be combined linearly to form a control amount, and the clutch feedback adjustment position is obtained by adjusting the clutch position using the control amount.

[0049] The control amount can be obtained by the following formula:

[0050]

[0051] Wherein, is the control amount; is the proportional gain; is the integral gain; is the differential gain; is the torque deviation at the current time; is the torque deviation at the last time; is the time.

[0052] Based on any of the above embodiments, after the clutch target position is determined according to the target engine torque and the clutch target transmission torque, and the clutch target position is transmitted to the execution unit to control the clutch action, the method further comprises: determining that the vehicle load exceeds a load threshold, and applying a braking torque to the vehicle by a brake controller.

[0053] When the vehicle load is too heavy, the vehicle resistance will increase, and when the vehicle resistance is greater than the vehicle driving force, the vehicle may not be able to start smoothly. The load threshold is used to determine the load at which the vehicle cannot complete the vehicle hill start control smoothly. For example, the load threshold can be determined by testing multiple times to determine the load at which the vehicle cannot complete the vehicle hill start control and adding a certain safety margin. The load threshold can be a fixed load, for example, the load threshold is 20% of the rated load, or a dynamically determined load, for example, different loads are determined as the load threshold according to different slopes.

[0054] For example, the brake signal can be sent to the brake controller through the hand brake, and the brake controller can calculate and determine the brake torque based on the brake signal and activate the actuator in the brake system to apply the brake torque to the vehicle.

[0055] After the execution unit controls the clutch action, the method further comprises: when the vehicle driving force is greater than the vehicle resistance, controlling the brake controller to release the brake torque applied to the vehicle to complete the vehicle hill start control.

[0056] The vehicle driving force is the driving force generated by the engine target torque acting on the vehicle. When the vehicle driving force is greater than the vehicle resistance, it is determined that the vehicle can start smoothly, and the brake controller releases the brake torque applied to the vehicle, which can complete the vehicle hill start control. The working principle and technical effect of the brake controller releasing the brake torque are basically the same as those of the brake controller applying the brake torque, and will not be repeated here.

[0057] In this embodiment, by applying a brake torque to the vehicle when the vehicle load exceeds the load threshold, the driving wheel of the vehicle is prevented from rotating to reduce the load of the engine, and the engine is prevented from stalling due to excessive load. When the vehicle driving force is greater than the vehicle resistance, the brake torque applied to the vehicle is released, which can complete the vehicle hill start control when the vehicle load exceeds the load threshold.

[0058] Based on any of the above embodiments, before determining that the vehicle driving force is greater than the vehicle resistance, the method further comprises: acquiring at least the gravitational acceleration and the vehicle rolling resistance coefficient transmitted by the vehicle control unit to calculate the vehicle resistance; acquiring at least the gear ratio, the rear axle ratio and the tire radius of the vehicle to calculate the vehicle driving force; and determining whether the vehicle driving force is greater than the vehicle resistance.

[0059] If the vehicle travels a preset distance in a normal manner, it is determined that the vehicle has started successfully. The specific value of the preset distance can be determined according to the specific situation of the vehicle, and is not further limited herein. Illustratively, the global positioning system (GPS) coordinates of the vehicle can be obtained, and the corresponding gravitational acceleration can be selected in the acceleration library based on the GPS coordinates. The road surface image can be obtained by the image sensor, the road surface resistance coefficient can be obtained from the preset resistance coefficient library based on image recognition, and the vehicle rolling resistance coefficient can be obtained based on the tire resistance coefficient and the road surface resistance coefficient.

[0060] The resistance borne by the vehicle can be calculated according to the following formula:

[0061]

[0062] wherein, is the resistance borne by the vehicle; is the wind resistance; is the rolling resistance; is the component force of the gravitational slope.

[0063]

[0064] wherein, is the wind resistance; is the air resistance coefficient; is the vehicle speed.

[0065]

[0066] wherein, is the air resistance coefficient; is the trailer resistance coefficient (also referred to as the loaded trailer resistance coefficient); is the air density; is the vehicle front area; is the vehicle resistance coefficient.

[0067]

[0068] wherein, is the rolling resistance; is the slope; is the vehicle rolling resistance coefficient; is the vehicle load; is the gravitational acceleration.

[0069]

[0070] wherein, is the component force of the gravitational slope; is the slope; is the vehicle load; is the gravitational acceleration.

[0071] The vehicle driving force can be calculated according to the following formula:

[0072]

[0073] wherein, is the vehicle driving force; is the clutch target transmission torque; is the gear speed ratio; is the rear axle speed ratio; is the tire radius; is the transmission chain inertia; is the vehicle acceleration.

[0074] In the process of starting, the amplitude of the driver's operation of the accelerator pedal has fluctuations, which can cause the torque deviation between the actual engine torque and the target engine torque to be too large, causing the vehicle to shake and other problems. To solve this technical problem, based on any of the above embodiments, after determining the torque deviation between the engine target torque and the engine actual torque, the method further comprises: determining that the torque deviation is greater than a preset threshold, obtaining a current clutch torque transmission characteristic curve, determining a clutch feedback adjustment position in the current clutch torque transmission characteristic curve according to the clutch target transmission torque, and transmitting the clutch feedback adjustment position to the execution unit to control the action of the clutch to complete the vehicle hill start control; determining that the torque deviation is not greater than the preset threshold, obtaining a current clutch torque transmission characteristic curve, and completing the vehicle hill start control.

[0075] wherein, the preset threshold can be the torque deviation value between the actual engine torque and the target engine torque that will cause the vehicle to shake or stall. Exemplarily, the preset threshold when the actual engine torque is greater than the target engine torque can be the same as or different from the preset threshold when the actual engine torque is less than the target engine torque, which can be set according to the actual situation. In the same case, after determining the size relationship between the actual engine torque and the target engine torque, the absolute value of the difference between the actual engine torque and the target engine torque can be used as the torque deviation to judge the relationship between the torque deviation and the preset threshold.

[0076] In the embodiment, when the torque deviation is greater than the preset threshold, the clutch feedback adjustment position can be determined based on the current clutch torque transmission characteristic curve and the clutch target transmission torque by searching the chart, and the clutch feedback adjustment position is transmitted to the execution unit to fine-tune the clutch actual position to the clutch feedback adjustment position, so as to reduce the risk of vehicle shaking or vehicle stalling, and when the torque deviation is not greater than the preset threshold, the current clutch torque transmission characteristic curve can be obtained to directly perform smooth vehicle hill start.

[0077] As shown in Figure 2 , the horizontal axis and the vertical axis of the clutch torque transmission characteristic curve represent the clutch position and the clutch transmission torque, respectively, wherein the unit of the clutch position is millimeter (mm) and the unit of the clutch transmission torque is Newton-meter (Nm).

[0078] In order to specifically explain the function of the AMT-based vehicle hill start control method provided in the embodiment, a specific example is provided as follows.

[0079] When the vehicle is on an uphill slope, the slope sensor transmits the slope of the uphill slope where the vehicle is located, and the vehicle control unit transmits the vehicle load and the vehicle throttle signal; it is judged whether the vehicle load exceeds the load threshold, and if so, the electronic hand brake is activated to apply a braking torque to the vehicle; the corresponding engine target torque and clutch target transmission torque are selected from the preset control library according to the slope, the vehicle load and the vehicle throttle signal; the corresponding clutch torque transmission characteristic curve is obtained according to the engine target torque; the clutch target position is determined in the clutch torque transmission characteristic curve according to the clutch target transmission torque; the gravitational acceleration and the vehicle rolling resistance coefficient transmitted by the vehicle control unit are at least obtained to calculate the vehicle resistance; the gear ratio, the rear axle ratio and the tire radius of the vehicle are at least obtained to calculate the vehicle driving force; it is judged whether the vehicle driving force is greater than the vehicle resistance; when the vehicle driving force is greater than the vehicle resistance, the electronic hand brake is released to release the braking torque applied to the vehicle, and the vehicle hill start control is completed.

[0080] The AMT-based vehicle hill start control device provided in the present application is described as follows, and the AMT-based vehicle hill start control device described below can be referred to in correspondence with the AMT-based vehicle hill start control method described above.

[0081] Figure 3 The structure diagram of the AMT-based vehicle hill start control device provided in the present application is shown in Figure 3 , which comprises a parameter acquisition module 210, a torque acquisition module 220 and a control module 230.

[0082] The parameter acquisition module 210 is configured to determine that the vehicle is on an uphill slope, acquire a slope of the uphill slope where the vehicle is located transmitted by a slope sensor, and acquire a vehicle load and a vehicle throttle signal transmitted by a vehicle control unit.

[0083] The torque acquisition module 220 is configured to select a corresponding engine target torque and a clutch target transmission torque from a preset control library according to the slope, the vehicle load and the vehicle throttle signal; the preset control library includes a plurality of engine torques and a plurality of clutch transmission torques, each of the engine torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal, and each of the clutch transmission torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal.

[0084] The control module 230 is configured to determine a clutch target position according to the engine target torque and the clutch target transmission torque, and transmit the clutch target position to an execution unit to control the clutch action, so as to complete the vehicle uphill starting control.

[0085] According to any one of the above embodiments, the AMT-based vehicle uphill starting control device further includes a torque deviation acquisition module configured to acquire an actual engine torque transmitted by an engine control unit, so as to determine a torque deviation between the engine target torque and the actual engine torque.

[0086] The control module 230 is further configured to acquire a clutch feedback adjustment position based on the torque deviation, and transmit the clutch feedback adjustment position to the execution unit to control the clutch action.

[0087] According to any one of the above embodiments, the control module 230 is specifically configured to calculate a proportional gain, an integral gain and a differential gain of the torque deviation, so as to adjust the clutch target position to acquire the clutch feedback adjustment position.

[0088] According to any one of the above embodiments, the AMT-based vehicle uphill starting control device further includes an overload judgment module configured to, when the vehicle load exceeds a load threshold, control a brake controller to apply a brake torque to the vehicle.

[0089] The control module 230 is further configured to, when a vehicle driving force is greater than a vehicle resistance, control the brake controller to release the brake torque applied to the vehicle, so as to complete the vehicle uphill starting control.

[0090] Based on any of the above embodiments, the overload judgment module is specifically configured to, before determining that the vehicle driving force is greater than the vehicle resistance, acquire at least the vehicle front area, air density and vehicle rolling resistance coefficient transmitted by the vehicle control unit to calculate the vehicle resistance; acquire at least the gear ratio, rear axle ratio and tire radius of the vehicle to calculate the vehicle driving force; and determine whether the vehicle driving force is greater than the vehicle resistance.

[0091] Based on any of the above embodiments, the control module 230 is specifically configured to: acquire a corresponding clutch torque transmission characteristic curve according to the engine target torque; and determine the clutch target position in the clutch torque transmission characteristic curve according to the clutch target transmission torque.

[0092] Figure 4 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 4 The electronic device can include a processor 310, a communications interface 320, a memory 330 and a communications bus 340, wherein the processor 310, the communications interface 320 and the memory 330 complete mutual communication through the communications bus 340. The processor 310 can invoke a logical instruction in the memory 330 to execute an AMT-based vehicle hill start control method, which includes: determining that the vehicle is on an uphill slope, acquiring a slope of the uphill slope where the vehicle is located transmitted by a slope sensor, and vehicle load and vehicle throttle signals transmitted by a vehicle control unit; selecting corresponding engine target torque and clutch target transmission torque from a preset control library according to the slope, the vehicle load and the vehicle throttle signal; the preset control library includes a plurality of engine torques and a plurality of clutch transmission torques, each of the engine torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal, and each of the clutch transmission torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal; determining a clutch target position according to the engine target torque and the clutch target transmission torque, transmitting the clutch target position to an execution unit to control the clutch action, and completing vehicle hill start control.

[0093] In addition, the logic instructions in the memory 330 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0094] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the AMT-based vehicle hill start control method provided by the above-mentioned method, which comprises: determining that the vehicle is in a situation of being on an uphill slope, obtaining the slope of the uphill slope where the vehicle is located transmitted by a slope sensor, and the vehicle load and the vehicle throttle signal transmitted by a vehicle control unit; selecting corresponding engine target torque and clutch target transmission torque from a preset control library according to the slope, the vehicle load and the vehicle throttle signal; the preset control library comprises a plurality of engine torques and a plurality of clutch transmission torques, each engine torque corresponds to a group of the slope, the vehicle load and the vehicle throttle signal, and each clutch transmission torque corresponds to a group of the slope, the vehicle load and the vehicle throttle signal; determining the clutch target position according to the engine target torque and the clutch target transmission torque, and transmitting the clutch target position to an execution unit to control the clutch action, thereby completing the vehicle hill start control.

[0095] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the AMT-based vehicle hill start control method provided by any of the above methods, the method comprising: determining that the vehicle is on an uphill slope, obtaining a slope of the uphill slope where the vehicle is located and vehicle load and accelerator signals transmitted by a vehicle control unit from a slope sensor; selecting corresponding engine target torque and clutch target transmission torque from a preset control library according to the slope, the vehicle load and the vehicle accelerator signal; the preset control library comprising a plurality of engine torques and a plurality of clutch transmission torques, each of the engine torques corresponding to a set of the slope, the vehicle load and the vehicle accelerator signal, and each of the clutch transmission torques corresponding to a set of the slope, the vehicle load and the vehicle accelerator signal; determining a clutch target position according to the engine target torque and the clutch target transmission torque, and transmitting the clutch target position to an execution unit to control the clutch action, thereby completing the vehicle hill start control.

[0096] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0097] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software and the necessary general hardware platform, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0098] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An AMT-based vehicle hill start control method, characterized by, The method comprises: When it is determined that the vehicle is on an uphill slope, a slope sensor transmits a slope of the uphill slope on which the vehicle is located, and a vehicle control unit transmits a vehicle load and a vehicle throttle signal; According to the slope, the vehicle load and the vehicle throttle signal, an engine target torque and a clutch target transmission torque are selected from a preset control library respectively; The preset control library comprises a plurality of engine torques and a plurality of clutch transmission torques, each of the engine torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal, and each of the clutch transmission torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal; According to the engine target torque and the clutch target transmission torque, a clutch target position is determined, and the clutch target position is transmitted to an execution unit to control the action of the clutch, so as to complete the vehicle hill start control; wherein the clutch target position is a clutch position capable of generating the clutch target transmission torque based on the engine target torque; After the clutch target position is determined according to the engine target torque and the clutch target transmission torque and transmitted to the execution unit to control the action of the clutch, the method further comprises: An engine control unit transmits an actual engine torque, so as to determine a torque deviation between the engine target torque and the actual engine torque; Based on the torque deviation, a clutch feedback adjustment position is obtained, and the clutch feedback adjustment position is transmitted to the execution unit to control the action of the clutch; When it is determined that the torque deviation is not greater than a preset threshold, a current clutch transmission torque characteristic curve is obtained, and the vehicle hill start control is completed.

2. The AMT-based vehicle hill start control method of claim 1, wherein, Based on the torque deviation, the clutch feedback adjustment position is obtained, which comprises: The proportional gain, the integral gain and the differential gain of the torque deviation are calculated, so as to adjust the clutch target position to obtain the clutch feedback adjustment position.

3. The AMT-based vehicle hill start control method of claim 1, wherein, After the clutch target position is determined according to the engine target torque and the clutch target transmission torque and transmitted to the execution unit to control the action of the clutch, the method further comprises: When it is determined that the vehicle load exceeds a load threshold, a brake controller applies a brake torque to the vehicle; After the execution unit controls the action of the clutch, the method further comprises: When it is determined that the vehicle driving force is greater than the vehicle resistance, the brake controller is controlled to release the brake torque applied to the vehicle, and the vehicle hill start control is completed.

4. The AMT-based vehicle hill start control method of claim 3, wherein, Before it is determined that the vehicle driving force is greater than the vehicle resistance, the method further comprises: At least a gravity acceleration and a vehicle rolling resistance coefficient transmitted by the vehicle control unit are obtained, so as to calculate the vehicle resistance; at least a gear ratio, a rear axle ratio and a tire radius of the vehicle are obtained, so as to calculate the vehicle driving force; It is determined whether the vehicle driving force is greater than the vehicle resistance.

5. The AMT-based vehicle hill start control method of claim 1, wherein, After the torque deviation between the engine target torque and the actual engine torque is determined, the method further comprises: In a case where the torque deviation is determined to be greater than a preset threshold, a current clutch torque transmission characteristic curve is acquired, a clutch feedback adjustment position is determined in the current clutch torque transmission characteristic curve according to the clutch target transmission torque, the clutch feedback adjustment position is transmitted to the execution unit to control the clutch action, and the vehicle hill start control is completed.

6. An AMT-based vehicle hill start control device characterized by comprising: Comprise: The parameter acquisition module is used for determining that the vehicle is on an uphill slope, acquiring the slope of the uphill slope where the vehicle is located transmitted by a slope sensor, and acquiring the vehicle load and the vehicle throttle signal transmitted by a vehicle control unit; The torque acquisition module is used for selecting corresponding engine target torque and clutch target transmission torque from a preset control library according to the slope, the vehicle load and the vehicle throttle signal; The preset control library comprises a plurality of engine torques and a plurality of clutch transmission torques, each of the engine torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal, and each of the clutch transmission torques corresponds to a group of the slope, the vehicle load and the vehicle throttle signal; The execution module is used for determining a clutch target position according to the engine target torque and the clutch target transmission torque, transmitting the clutch target position to the execution unit to control the clutch action, and completing the vehicle hill start control; wherein the clutch target position is a clutch position capable of generating the clutch target transmission torque based on the engine target torque; Further comprising a torque deviation acquisition module, used for acquiring the engine actual torque transmitted by an engine control unit to determine the torque deviation between the engine target torque and the engine actual torque; The control module is used for acquiring the clutch feedback adjustment position based on the torque deviation, and transmitting the clutch feedback adjustment position to the execution unit to control the clutch action; The torque deviation acquisition module is specifically used for acquiring a current clutch torque transmission characteristic curve in a case where the torque deviation is determined to be not greater than a preset threshold, and completing the vehicle hill start control.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the AMT-based vehicle hill start control method according to any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the AMT-based vehicle hill start control method according to any one of claims 1 to 5.

9. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the AMT-based vehicle hill start control method according to any one of claims 1 to 5.

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