Slope sliding control method, device and equipment and computer readable storage medium

Abstract

The invention provides a slope sliding control method, device and equipment and a computer readable storage medium, and the method comprises the steps that vehicle information of a target vehicle is acquired, and the vehicle information comprises gear information, wheel speed information, slope information and operation information; performing first analysis processing on the gear information, the wheel speed information, the slope information and the operation information; and carrying out slope sliding control on the target vehicle according to the first whole vehicle state information, the first environment information and the first braking information which are obtained through analysis. The gear information, the wheel speed information, the gradient information and the operation information are analyzed, the slope sliding control opportunity is determined according to the analysis result, factors such as the whole vehicle state, the environment condition and the driver braking intention are considered in a combined mode, and compared with existing slope sliding control logic, the considered factors are more comprehensive, and the control accuracy is improved. Slope sliding control is more flexible and intelligent, and the slope sliding risk is effectively reduced.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of slope control, and in particular to a slope control method, device, equipment and computer-readable storage medium. Background Art

[0002] The Rollback Assist Control (RAC) function is a function that automatically controls the vehicle to stop when the vehicle rolls down an uphill road, preventing the driver from colliding with the vehicle behind due to the driver's untimely reaction. At present, in some uphill application scenarios, when the driver operates the brake and accelerator at the same time, the existing control method is affected by the "brake priority" logic. The motor will not output torque and will not control the vehicle to roll down the slope. When the uphill speed is zero, there is still a certain risk of rolling down the slope due to the light braking pedal. The control method is not intelligent enough. Summary of the invention

[0003] The present invention application provides a slope control method, device, equipment and computer-readable storage medium, which improves the intelligence level of slope control.

[0004] In order to solve the above technical problems, the first aspect of the present invention provides a slope control method, comprising:

[0005] Acquire vehicle information of the target vehicle, wherein the vehicle information includes gear information, wheel speed information, slope information and operation information;

[0006] Performing a first analysis and processing on the gear information, wheel speed information, slope information and operation information to obtain first vehicle state information, first environment information and first braking information;

[0007] The target vehicle is controlled to roll down a slope according to the first vehicle state information, the first environmental information and the first braking information.

[0008] The present invention application analyzes the gear information, wheel speed information, slope information and operation information, determines the timing of hill slide control according to the analysis results, and takes into account factors such as the vehicle state, environmental conditions and the driver's braking intention. Compared with the existing hill slide control logic, the considerations are more comprehensive, the hill slide control is more flexible and intelligent, and the risk of hill slide is effectively reduced.

[0009] In some implementations of the first aspect, the wheel speed information includes a current wheel speed value and a wheel speed direction, and the operation information includes a brake pedal stroke;

[0010] The step of controlling the target vehicle to roll down a slope according to the first vehicle state information, the first environment information and the first braking information includes:

[0011] When the first vehicle status information indicates that the indication direction of the gear information is opposite to the wheel speed direction, and the current wheel speed value is greater than the preset wheel speed threshold, and the first environmental information indicates that the slope information is greater than the preset slope threshold, and the first braking information indicates that the brake pedal stroke is greater than the preset stroke threshold, the target vehicle is controlled to roll down the slope.

[0012] In some implementations of the first aspect, the target vehicle is provided with a hill-slip assist control function, a chassis integrated controller, and an integrated brake control unit;

[0013] The control of the target vehicle sliding down the slope comprises:

[0014] Modifying the state information of the slope sliding assist control function so that the state information is switched from a standby state to an active state;

[0015] The chassis integrated controller is controlled to send a brake request signal to the integrated brake control unit, so that the integrated brake control unit applies a hydraulic braking force to the wheel cylinder of the target vehicle in response to the brake request signal.

[0016] In some implementations of the first aspect, the vehicle information further includes electronic caliper information and driving torque;

[0017] After obtaining the vehicle information of the target vehicle, the method further includes:

[0018] Performing a second analysis and processing on the electronic caliper information, wheel speed information, operation information and driving torque to obtain second vehicle state information and second braking information;

[0019] The slope sliding control of the target vehicle is released according to the second vehicle state information and the second braking information.

[0020] In some implementations of the first aspect, the wheel speed information includes a current wheel speed value, and the operation information includes a brake pedal travel;

[0021] The releasing the slope sliding control of the target vehicle according to the second vehicle state information and the second braking information comprises:

[0022] When the second braking information indicates that the brake pedal travel is zero and the second vehicle state information indicates that the driving torque is greater than a preset torque threshold, releasing the slope control of the target vehicle;

[0023] When the second vehicle status information indicates that the current wheel speed value is zero, or when the second vehicle status information indicates that the electronic caliper status information is in a clamped state, the slope control on the target vehicle is released.

[0024] In some implementations of the first aspect, the vehicle information further includes power supply information, and the target vehicle is provided with a hill-slip assist control function, an intelligent driving central controller, an electronic caliper, an integrated brake control unit, and a chassis integrated controller;

[0025] After obtaining the vehicle information of the target vehicle, the method further includes:

[0026] Obtaining the interaction information of the intelligent driving central controller, the interaction information of the chassis integrated controller, the interaction information of the integrated braking control unit, and the interaction information of the electronic caliper; obtaining and parsing the diagnostic instructions to obtain the parsing results;

[0027] Performing a third analysis process according to the analysis result, the interaction information of the intelligent driving central controller, the interaction information of the chassis integrated controller, the interaction information of the integrated brake control unit, the interaction information of the electronic caliper, and the power supply information to obtain a third analysis result;

[0028] When the third analysis result indicates that the parsing result is a shutdown instruction, an intelligent driving central controller failure, an integrated brake unit failure, an electronic caliper failure, or the power gear is off, the hill-climbing assist control function is turned off.

[0029] In some implementations of the first aspect, the target vehicle is provided with a hill-slip assist control function, an intelligent assisted driving mode, an intelligent driving central controller, and a chassis integrated controller;

[0030] The slope control method further comprises:

[0031] Acquire and identify interaction information between the intelligent driving central controller and the chassis integrated controller;

[0032] According to the interaction information between the intelligent driving central controller and the chassis integrated controller, when the chassis integrated controller receives a shutdown enable signal from the intelligent driving central controller, the target vehicle is controlled to switch from the hill-climbing assist control function to the intelligent assisted driving mode.

[0033] In some implementations of the first aspect, the wheel speed information includes a current wheel speed value, and the target vehicle is provided with a chassis integrated controller, an integrated brake control unit, and an electronic caliper;

[0034] The slope control method further comprises:

[0035] Acquiring interaction information of the chassis integrated controller and interaction information of the integrated braking control unit; performing a fourth analysis process on the second current wheel speed value, the interaction information of the chassis integrated controller and the interaction information of the integrated braking control unit to obtain a fourth analysis result;

[0036] According to the fourth analysis result, when the chassis integrated controller sends a brake request signal, the brake request response status signal sent by the integrated brake control unit is activated, and the second current wheel speed value increases, the electronic caliper is controlled to switch to a clamping state.

[0037] In some implementations of the first aspect, the target vehicle is provided with a chassis integrated controller, an electronic caliper, an integrated brake control unit, an intelligent driving central controller, a central control screen, and an instrument display screen;

[0038] The chassis integrated controller is respectively connected to the integrated brake control unit, the intelligent driving central controller, the central control screen and the instrument display screen in communication;

[0039] The slope control method further comprises:

[0040] Monitoring the communication between the chassis integrated controller and the integrated brake control unit, the intelligent driving central controller, the central control screen and the instrument display screen;

[0041] When the chassis integrated controller is disconnected from at least one of the integrated braking control unit, the intelligent driving central controller, the central control screen and the instrument display screen for a time greater than a preset message cycle, the electronic caliper is controlled to switch to a clamping state.

[0042] In some implementations of the first aspect, the target vehicle is provided with a hill-slip assist control function and an automatic parking function, and the hill-slip control method further includes:

[0043] When the main driving door and the main driving seat belt of the target vehicle meet the preset state, the target vehicle is controlled to be converted from the hill-rolling assist control function to the automatic parking function.

[0044] The second aspect of the present invention provides a slope control device, including a vehicle information acquisition module, a first analysis module and a first control module; wherein:

[0045] The vehicle information acquisition module is used to acquire vehicle information of the target vehicle, wherein the vehicle information includes gear information, wheel speed information, slope information and operation information;

[0046] The first analysis module is used to perform a first analysis and processing on the gear information, wheel speed information, slope information and operation information to obtain first vehicle state information, first environment information and first braking information;

[0047] The first control module is used to control the target vehicle to slide down the slope according to the first vehicle state information, the first environmental information and the first braking information.

[0048] A third aspect of the present invention provides a slope control device, comprising a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0049] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the slope control method.

[0050] The fourth aspect of the present application provides a computer-readable storage medium, wherein the storage medium stores at least one executable instruction, and when the executable instruction is executed on a landslide control device / apparatus, the landslide control device / apparatus performs the operation of the landslide control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 : A flow chart of the first embodiment of the slope control method provided in the present application.

[0052] Figure 2 : A schematic diagram of the architecture of an embodiment of the slope control method provided in the present application.

[0053] Figure 3 : A flow chart of a second embodiment of the slope control method provided in the present application.

[0054] Figure 4 : A flow chart of the third embodiment of the slope control method provided in the present application.

[0055] Figure 5 : A flow chart of the fourth embodiment of the slope control method provided in the present application.

[0056] Figure 6 : A schematic structural diagram of the first embodiment of the slope control device provided in the present application.

[0057] Figure 7 : A schematic structural diagram of a second embodiment of the slope control device provided in the present application.

[0058] Figure 8 : A schematic structural diagram of a third embodiment of the slope control device provided in the present application.

[0059] Fig. 9 : A schematic structural diagram of a fourth embodiment of the slope control device provided in the present application.

[0060] Fig.10 : A schematic structural diagram of the fifth embodiment of the slope control device provided in the present application.

[0061] Fig.11: A schematic structural diagram of the sixth embodiment of the slope control device provided in the present application.

[0062] Fig.12 : A schematic structural diagram of the seventh embodiment of the slope control device provided in the present application.

[0063] Fig.13 : A structural schematic diagram of an embodiment of a slope control device provided in the present invention application. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] According to relevant technical records, in some application scenarios of going uphill, in order to prevent the vehicle from rolling downhill or to successfully go uphill, the driver often operates the brake while operating the accelerator to try to increase the driving torque to avoid rolling downhill. However, most of the rolling downhill control schemes in the related technologies are affected by the "brake priority" control logic, that is, the drive motor will not output torque at this time. If the brake pedal is pressed lightly at the current moment, there is still a certain probability of rolling downhill. At this time, the vehicle will be at risk of rolling downhill. Therefore, the existing rolling downhill control method will have the problem of not being intelligent enough.

[0066] For one or more of the above technical issues, please refer to Figure 1 , Figure 1 The flowchart of the first embodiment of the slope control method provided by the present invention is shown in the figure. The slope control method of the present invention is applicable to a computer device, which may be a vehicle-mounted terminal.

[0067] This embodiment includes step S101 to step S103. The specific steps are as follows:

[0068] Step S101, obtaining vehicle information of a target vehicle.

[0069] In this step, the vehicle information includes gear information, wheel speed information, slope information and operation information.

[0070] The target vehicle may be provided with a vehicle control unit (VCU), through which the gear information of the target vehicle may be obtained.

[0071] In an example of an embodiment of the present application, the above-mentioned vehicle control unit can also be used to obtain wheel speed information, which includes the left front wheel speed, the left rear wheel speed, the right front wheel speed and the right rear wheel speed.

[0072] In another example of the embodiment of the present application, the target vehicle may also be provided with an integrated body control unit (IBCU), and the above wheel speed information may also be obtained through the integrated body control unit of the target vehicle.

[0073] Specifically, Figure 2 As shown, Figure 2 For example only, the integrated brake control unit can be hard-wired to one or more wheel speed sensors to obtain wheel speed signals based on data collected by the wheel speed sensors, and the wheel speed sensors are used to obtain wheel speed information of the four wheels of the target vehicle.

[0074] In some preferred embodiments, the slope information of the target vehicle can be obtained by obtaining driving process information through a vehicle-mounted data acquisition device, and by analyzing and processing the driving process data. The driving process data includes but is not limited to altitude data, GPS data, acceleration data, and vehicle speed data of the target vehicle during driving.

[0075] In some preferred embodiments, the operation information may be pedal operation data of the driver, including but not limited to brake pedal status and accelerator pedal status, wherein the pedal status may be the actual position of the pedal or the stroke of the pedal.

[0076] Exemplarily, the brake pedal state may be acquired by the integrated brake control unit, and the accelerator pedal state, such as the actual position of the accelerator pedal, may be acquired by the vehicle control unit.

[0077] Step S102, performing a first analysis and processing on the gear information, wheel speed information, slope information and operation information to obtain first vehicle state information, first environment information and first braking information.

[0078] In this step, by analyzing the gear information, wheel speed information, slope information and operation information, factors such as the target vehicle's overall vehicle status, environmental conditions (slope) and driver's braking intention (operation information) can be analyzed, thereby laying the foundation for the subsequent steps to determine whether the timing of slope control is met.

[0079] Among them, the gear information can reflect the actual status of the target vehicle to a certain extent. For example, 0x1 indicates that the target vehicle is in P gear, 0x2 indicates that the target vehicle is in R gear, 0x3 indicates that the target vehicle is in N gear, and 0x4 indicates that the target vehicle is in D gear.

[0080] For example, when the front of the target vehicle points in the uphill direction and the gear is in D gear (i.e., the gear direction is the forward direction), if the target vehicle moves backward, it can be determined that the target vehicle has rolled down the slope. At this time, if it is to be determined whether to start the slope control, it is necessary to further consider other information.

[0081] The wheel speed information may include the current wheel speed value and the wheel speed direction. The current wheel speed value may reflect the displacement of the target vehicle and the speed of the target vehicle in the target driving direction. As for the wheel speed direction, as described above, it may be combined with the gear information to identify whether the target vehicle is rolling down a slope.

[0082] The slope information can be compared with a preset slope value to determine whether the target vehicle is in an uphill condition, thereby reflecting the environment information of the target vehicle. When the current slope of the target vehicle is less than the preset slope value, the target vehicle can be regarded as being in a flat ground condition; when the current slope of the target vehicle is greater than or equal to the preset slope value, the target vehicle can be regarded as being in an uphill condition.

[0083] As described above, the operation information may be the driver's pedal operation data, including the travel of the brake pedal, which is used to reflect the driver's first braking information. For example, when the travel of the brake pedal is greater than a preset travel threshold, it can be determined that the driver has a braking intention; conversely, when the travel of the brake pedal is less than the preset travel threshold or the travel of the brake pedal is zero, it is determined that the driver has no braking intention.

[0084] Step S103: performing slope sliding control on the target vehicle according to the first vehicle state information, the first environment information and the first braking information.

[0085] In step S102, the gear information, wheel speed information, slope information and operation information are first analyzed and processed to obtain first vehicle state information, first environmental information and first braking information. In step S103, factors such as vehicle state, environmental conditions (slope) and driver's braking intention (operation information) are comprehensively considered to determine whether the target vehicle meets the timing of hill sliding control. Compared with the existing hill sliding control method that only considers operation information, it also combines vehicle state and external environmental factors, takes into account more comprehensively, and the intervention of hill sliding control is more flexible and intelligent, which can be applied to more application scenarios and effectively reduce the risk of hill sliding.

[0086] It can be understood that the embodiments of the present application have at least the following beneficial effects:

[0087] The present invention application analyzes the gear information, wheel speed information, slope information and operation information, determines the timing of hill slide control according to the analysis results, and takes into account factors such as the vehicle state, environmental conditions and the driver's braking intention. Compared with the existing hill slide control logic, the considerations are more comprehensive, the hill slide control is more flexible and intelligent, and the risk of hill slide is effectively reduced.

[0088] exist Figure 1 Based on the embodiment shown, Figure 3 The schematic diagram of the flow chart of step S103 provided in the second embodiment of the slope control method of the present application is shown. It should be noted that Figure 1 The same steps will not be repeated here. Figure 3 As shown, step S103 includes step S301, which is described in detail as follows:

[0089] Step S301, when the first vehicle status information indicates that the indication direction of the gear information is opposite to the wheel speed direction, and the current wheel speed value is greater than the preset wheel speed threshold, and the first environmental information indicates that the slope information is greater than the preset slope threshold, and the first braking information indicates that the brake pedal stroke is greater than the preset stroke threshold, the target vehicle is controlled to slide down the slope.

[0090] In this embodiment, when the first vehicle status information indicates that the direction of the gear information is opposite to the actual wheel speed direction, for example, the target vehicle is in the D gear and the wheel speed direction indicates that the target vehicle is moving backward, this indicates that the target vehicle is sliding down the slope, and when the first braking information indicates that the brake pedal stroke is greater than the preset stroke threshold, this indicates that the driver has a braking intention. At the same time, combined with the current wheel speed value in the first vehicle status information table and the slope information indicated by the first environmental information, the timing of the slope control can be determined, and then the target vehicle is controlled to slide down the slope. This embodiment further determines the information indicated by the first vehicle status information, the first environmental information, and the first braking information, such as the current wheel speed value, wheel speed direction, brake pedal stroke, and slope information, and further refines the factors considered compared to the first embodiment, making the timing of intervention in the slope control more accurate.

[0091] Figure 2 The vehicle host shown refers to the Head Unit, generally referred to as HU, which refers to the vehicle computer + central control screen, cockpit domain controller. In the V3.5 platform, it assumes the interactive entrance of the central control screen, instrument, HUD and air-conditioning control screen of the old generation of cockpit products, and removes most of the physical buttons. The vehicle host integrates audio and video entertainment, vehicle control and settings, online media, vehicle data and personalized services and other functions).

[0092] In this embodiment, considering that some target vehicles are equipped with a hill-slip assist control function and a chassis integrated controller (Vehicle Motion Control, abbreviated as VMC), the vehicle-mounted host can interact with the chassis integrated controller to receive a request from the chassis integrated controller to turn on or off the hill-slip assist control function. Figure 2 In the example shown, the vehicle-mounted host and the chassis integrated controller can be connected via a controller area network (CAN) line, the chassis integrated controller and the vehicle control unit, and the chassis integrated controller and the integrated (type) brake control unit can also be connected via a controller area network line.

[0093] The Controller Area Network bus is a serial communication protocol bus for real-time applications. It can use twisted pair cables to transmit signals and is one of the most widely used field buses. The CAN protocol is used for communication between components in the car, replacing expensive and bulky distribution harnesses, which can improve the communication efficiency between components inside the car and reduce the space occupied by the harness.

[0094] In some preferred embodiments, the specific method of step S103 and / or step S301 includes: modifying the status information of the hill-rolling assist control function so that the status information is switched from a standby state to an active state (for example, the signal RAC_status of the "hill-rolling assist function status" can be changed from a standby state to an active state); controlling the chassis integrated controller to send a brake stop request signal (for example, the DecToStop signal is a brake stop request) to the integrated brake control unit, so that the integrated control unit responds to the brake stop request signal (DecToStop signal) and applies hydraulic braking force to the wheel cylinder of the target vehicle, thereby controlling the target vehicle to decelerate and stop. At this time, the integrated brake control unit can feedback the brake stop request response status RACdecToStopActive signal as active. When the target vehicle is stationary, the integrated brake control unit can maintain the above-mentioned hydraulic braking force to keep the target vehicle continuously in a stationary state.

[0095] For the DecToStop signal, when the integrated control unit receives the DecToStop request from the chassis controller and the hill-slip assist control function is activated, a text prompt of about 5 seconds can be given to the user through the instrument, such as "The vehicle is sliding down a slope and the brakes have been automatically applied for you". During the pressure-maintaining process of the hill-slip assist control function, if it is detected that the driver has left the position, a 5-second text prompt can be given to the driver on the instrument: "Please shift to P gear before leaving". If there is no operation after 5 seconds, the chassis integrated controller will automatically pull up the electronic caliper (Electronic Parking Brake, abbreviated as EPB).

[0096] exist Figure 1 Based on the embodiment shown, Figure 4 The schematic diagram of the flow chart of the third embodiment of the slope control method of the present application is shown. It should be noted that Figure 1 The same steps will not be repeated here.

[0097] like Figure 2 As shown, the target vehicle is also provided with an electronic caliper (Electrical Park Brake, generally referred to as EPB or electronic parking brake system). The vehicle information in this embodiment also includes electronic caliper status information and driving torque.

[0098] Figure 4 Steps S401 to S402 of the slope control method in the third embodiment are shown. Steps S401 to S402 can be performed in any step after step S101. The details are as follows:

[0099] Step S401, performing a second analysis and processing on the electronic caliper information, wheel speed information, operation information and driving torque to obtain second vehicle state information and second braking information.

[0100] Step S402: releasing the slope sliding control of the target vehicle according to the second vehicle state information and the second braking information.

[0101] As described above, step S103 can analyze the whole vehicle state, environmental conditions (slope) and driver's braking intention (operation information) of the target vehicle by performing a first analysis and processing on the gear information, wheel speed information, slope information and operation information, so as to determine whether it is the right time to perform the slope control. Similarly, in the third embodiment, by performing a second analysis and processing on the electronic caliper state information, wheel speed information, operation information and driving torque, it can also be determined based on the result of the second analysis and processing whether it is the right time to release the slope control of the target vehicle, thereby realizing flexible activation and release of the slope control.

[0102] In a preferred embodiment, the release of the hill-rolling control on the target vehicle based on the second vehicle status information and the second braking information includes: when the second braking information indicates that the brake pedal stroke is zero, and the second vehicle status information indicates that the driving torque is greater than a preset torque threshold, the hill-rolling control on the target vehicle is released; when the second vehicle status information indicates that the current wheel speed value is zero, or the second vehicle status information indicates that the electronic caliper status information is in a clamping state, the hill-rolling control on the target vehicle is released.

[0103] In this embodiment, when the second brake information indicates that the brake pedal stroke is zero, and the second vehicle status information indicates that the driving torque is greater than the preset torque threshold, it means that the driver releases the brake pedal and steps on the accelerator pedal at the same time and the corresponding driving torque is greater than the preset torque threshold. At this time, it can be determined that the conditions for releasing the slope control of the target vehicle are met. If the target vehicle is equipped with a slope-slipping assist function, the slope-slipping assist function can be switched from an activated state to a standby state. On the other hand, when the second vehicle status information indicates that the current wheel speed value is zero, or the second vehicle status information indicates that the electronic caliper state information is in a clamped state, it is determined that the target vehicle is stationary at this time, and it can also be determined that the conditions for releasing the slope control of the target vehicle are met.

[0104] In addition, when the target vehicle is equipped with a hill-climbing assist control function, it is necessary to turn off the hill-climbing assist control function under certain conditions to avoid conflicts with other applications of the vehicle. Figure 1 Based on the embodiment shown, Figure 5 A flow chart of the fourth embodiment of the slope rolling control method of the present application is shown. The vehicle information described in this embodiment also includes power supply information. The target vehicle is provided with a slope rolling assist control function, an intelligent driving central controller, an electronic caliper, an integrated braking control unit and a chassis integrated controller.

[0105] It should be noted that Figure 1 The same steps will not be repeated here. Figure 5 As shown, the slope control method of the fourth embodiment includes steps S501 to S503. Steps S501 to S503 can be executed in any steps after step S101, and are described in detail as follows:

[0106] Step S501, obtaining the interaction information of the intelligent driving central controller, the interaction information of the chassis integrated controller, the interaction information of the integrated braking control unit, and the interaction information of the electronic caliper; obtaining and parsing the diagnostic instructions to obtain the parsing results.

[0107] Step S502: Perform a third analysis and processing based on the analysis result, the interaction information of the intelligent driving central controller, the interaction information of the chassis integrated controller, the interaction information of the integrated braking control unit, the interaction information of the electronic caliper and the power supply information to obtain a third analysis result.

[0108] Step S503, when the third analysis result indicates that the parsing result is a shutdown instruction, a smart driving central controller failure, an integrated brake unit failure, an electronic caliper failure or the power gear is off, turn off the hill sliding assist control function.

[0109] For example, when the vehicle is started, based on the power information, when the power gear is switched from ON to OFF, it is determined that the hill-climbing assist control function should be turned off; or, when the power gear is ON and a diagnostic instruction indicating shutdown is received, the hill-climbing assist control function also needs to be turned off. The diagnostic instruction can be obtained through a diagnostic instrument, for example, when the diagnostic instruction is turned on, it is: 3101F301, and when it is turned off, it is: 3101F302; in addition, it can also be obtained by triggering the acquisition through a smart cockpit domain controller (CDC) button.

[0110] Alternatively, based on the interactive information of the electronic caliper, it can be determined whether the electronic caliper is faulty (an ERROR signal is sent); based on the interactive information of the integrated brake control unit, it can be determined whether the integrated brake control unit is faulty (an ERROR signal is sent); based on the interactive information of the intelligent driving central controller, it can be determined whether the braking torque enable BrkTarTqEna signal is valid (for example, whether it is enable (Active)); based on the interactive information of the chassis integrated controller, it can be determined whether a function shutdown command is received (RAC_status is in the off state, etc.).

[0111] When the electronic caliper fails, or the chassis integrated controller sends the RAC_status to the off state, or the braking torque enable BrkTarTqEna signal sent by the intelligent self-driving central controller is enable (Active), or the integrated brake control unit is faulty, the hill-climbing assist control function state is turned off, thereby achieving flexible shutdown of the hill-climbing assist control function state to avoid conflicts with other application functions of the vehicle.

[0112] Preferably, the target vehicle may also be provided with an intelligent assisted driving mode. By acquiring and identifying the interaction information between the intelligent driving central controller and the chassis integrated controller; when the chassis integrated controller receives a shutdown enable signal from the intelligent driving central controller, the target vehicle is controlled to switch from the hill-climbing assist control function to the intelligent assisted driving mode. In this way, the mutual coordination and smooth transition between the hill-climbing assist control function and the intelligent assisted driving function can be achieved.

[0113] Specifically, after the chassis integrated controller receives the braking torque enable BrkTarTqEna signal enabled (Active) sent by the intelligent driving central controller, it indicates that the vehicle enters the intelligent assisted driving function state, and the vehicle control is taken over by the intelligent driving central controller. The chassis integrated controller sends the hill assisted control function status RAC_status signal which is in the off state.

[0114] In some application scenarios, the hill rolling assist function may be activated but effective hill rolling control cannot be achieved. In this case, the interaction information of the chassis integrated controller and the interaction information of the integrated braking control unit are obtained; a fourth analysis is performed on the current wheel speed value, the interaction information of the chassis integrated controller and the interaction information of the integrated braking control unit to obtain a fourth analysis result; according to the fourth analysis result, when the chassis integrated controller sends a request brake stop signal, and the brake stop request response status signal sent by the integrated braking control unit is activated, and the second current wheel speed value increases, it is determined to be an abnormal event, and the electronic caliper is controlled to switch to a clamping state.

[0115] Specifically, at this time, the chassis integrated controller sends a "braking stop request signal" and the vehicle decToStop is a request to brake (request), and the integrated brake control unit feedbacks that the brake stop request response status is active, but the vehicle does not stop, and the rolling speed increases further, then the chassis integrated controller can pull up the electronic caliper and control the electronic caliper to switch to the clamping state, and at the same time can record the boost abnormality fault code of the "integrated brake control unit", so as to facilitate subsequent users to inspect or maintain the target vehicle. When the electronic caliper is in the clamping state, the vehicle decToStop sent by the chassis integrated controller becomes norequest (no request signal).

[0116] In some other application scenarios, communication failures may occur between vehicle-mounted modules or units. Therefore, it is possible to determine whether to enable the abnormal situation handling mechanism by monitoring the communication between the chassis integrated controller and the integrated braking control unit, the intelligent driving central controller, the central control screen and the instrument display screen; when the chassis integrated controller and at least one of the integrated braking control unit, the intelligent driving central controller, the central control screen and the instrument display screen are disconnected for a time greater than a preset message cycle, it is determined to be an abnormal event and the electronic caliper is controlled to switch to a clamping state.

[0117] Exemplarily, when the communication interruption between any of the above-mentioned controllers and the chassis integrated controller reaches or exceeds 5 cycles (the communication message cycles of each controller may be different), the RAC_Status status becomes OFF. If the hill gliding assist control function is already activated, it will be deactivated, and the electronic caliper will be controlled to switch to the clamping state. If the electronic caliper fails to clamp, the P gear lock can be requested.

[0118] In addition, the present invention application also provides an implementation method for coordinating the hill-rolling assist control function with the automatic parking function, specifically: when the main driver's door and main driver's seat belt of the target vehicle meet the preset state, the target vehicle is controlled to be converted from the hill-rolling assist control function to the automatic parking function.

[0119] For example, when it is monitored that the main driving door is closed and the main driving seat belt is fastened, it is judged that the activation condition of the automatic parking function is met (regardless of whether the driver turns on the automatic parking soft switch), and the pressure holding of the integrated brake control unit is switched to the automatic parking function. When the automatic parking function is activated, the DecToStop sent by the chassis integrated controller becomes no request; when the activation condition of the automatic parking function is not met, the integrated brake control unit can request the chassis integrated controller to pull up the electronic caliper. When the electronic caliper is clamped, the integrated brake control unit exits the pressure holding, and the DecToStop sent by the chassis integrated controller becomes no request; during the automatic parking pressure holding process, if the driver steps on the accelerator pedal to meet the automatic parking exit and departure conditions, the integrated brake control unit exits the automatic parking pressure holding.

[0120] In addition, please refer to Figure 6 The present invention application also provides a slope rolling control device 600, including a vehicle information acquisition module 601, a first analysis module 602 and a first control module 603; wherein the vehicle information acquisition module 601 is used to acquire vehicle information of a target vehicle, the vehicle information including gear information, wheel speed information, slope information and operation information; the first analysis module 602 is used to perform a first analysis and processing on the gear information, wheel speed information, slope information and operation information to obtain first vehicle state information, first environment information and first braking information; the first control module 603 is used to control the slope rolling of the target vehicle according to the first vehicle state information, first environment information and first braking information.

[0121] In some embodiments, the wheel speed information includes a current wheel speed value and a wheel speed direction, and the operation information includes a brake pedal stroke; the first control module 603 includes a first control unit, and the first control unit is used to: when the first vehicle status information indicates that the indication direction of the gear information is opposite to the wheel speed direction, and the current wheel speed value is greater than a preset wheel speed threshold, and the first environmental information indicates that the slope information is greater than a preset slope threshold, and the first braking information indicates that the brake pedal stroke is greater than a preset stroke threshold, perform slope control on the target vehicle.

[0122] In some embodiments, the target vehicle is provided with a hill-rolling assist control function, a chassis integrated controller and an integrated braking control unit; the first control unit includes a first control subunit, and the first control subunit is used to: modify the status information of the hill-rolling assist control function so that the status information switches from a standby state to an activated state; control the chassis integrated controller to send a brake request signal to the integrated braking control unit, so that the integrated braking control unit responds to the brake request signal and applies hydraulic braking force to the wheel cylinder of the target vehicle.

[0123] In some embodiments, see Figure 7 , the vehicle information also includes electronic caliper status information and driving torque; the slope roll control device also includes a first release control module 604, the first release control module 604 is used to: perform a second analysis and processing on the electronic caliper information, wheel speed information, operation information and driving torque to obtain second vehicle status information and second braking information; release the slope roll control of the target vehicle according to the second vehicle status information and the second braking information.

[0124] In some embodiments, the wheel speed information includes a current wheel speed value, and the operation information includes a brake pedal stroke; the first release control module 604 includes a first release control unit, and the first release control unit is used to: when the second braking information indicates that the brake pedal stroke is zero, and the second vehicle status information indicates that the driving torque is greater than a preset torque threshold, release the hill rolling control of the target vehicle; when the second vehicle status information indicates that the current wheel speed value is zero, or the second vehicle status information indicates that the electronic caliper status information is in a clamping state, release the hill rolling control of the target vehicle.

[0125] In some embodiments, see Figure 8, the vehicle information also includes power supply information, the target vehicle is provided with a hill-slip assist control function, an intelligent driving central controller, an electronic caliper, an integrated braking control unit and a chassis integrated controller; the hill-slip control device also includes a first closing module 605, the first closing module 605 is used to: obtain the interaction information of the intelligent driving central controller, the interaction information of the chassis integrated controller, the interaction information of the integrated braking control unit, and the interaction information of the electronic caliper; obtain and parse the diagnostic instruction to obtain a parsing result; perform a third analysis and processing according to the parsing result, the interaction information of the intelligent driving central controller, the interaction information of the chassis integrated controller, the interaction information of the integrated braking control unit, the interaction information of the electronic caliper and the power supply information to obtain a third analysis result; when the third analysis result indicates that the parsing result is a closing instruction, a fault of the intelligent driving central controller, a fault of the integrated braking unit, a fault of the electronic caliper or a power gear is off, the hill-slip assist control function is turned off.

[0126] In some embodiments, see Fig. 9 , the target vehicle is provided with a hill-slip assist control function, an intelligent assisted driving mode, an intelligent driving central controller and a chassis integrated controller; the hill-slip control device further includes a first conversion module 606, which is used to: obtain and identify interaction information between the intelligent driving central controller and the chassis integrated controller; according to the interaction information between the intelligent driving central controller and the chassis integrated controller, when the chassis integrated controller receives a shutdown enable signal from the intelligent driving central controller, control the target vehicle to switch from the hill-slip assist control function to the intelligent assisted driving mode.

[0127] In some embodiments, see Fig.10 , the wheel speed information includes the current wheel speed value, the target vehicle is provided with a chassis integrated controller, an integrated braking control unit and an electronic caliper; the slope control device also includes a second control module 607, the second control module 607 is used to: obtain the interaction information of the chassis integrated controller and the interaction information of the integrated braking control unit; perform a fourth analysis and processing on the second current wheel speed value, the interaction information of the chassis integrated controller and the interaction information of the integrated braking control unit to obtain a fourth analysis result; according to the fourth analysis result, when the chassis integrated controller sends a request brake stop signal, and the brake stop request response state signal sent by the integrated braking control unit is activated, and the second current wheel speed value increases, control the electronic caliper to switch to a clamping state.

[0128] In some embodiments, see Fig.11The target vehicle is provided with a chassis integrated controller, an electronic caliper, an integrated braking control unit, an intelligent driving central controller, a central control screen and an instrument display screen, and the chassis integrated controller is communicatively connected with the integrated braking control unit, the intelligent driving central controller, the central control screen and the instrument display screen respectively; the slope control device also includes a third control module 608, and the third control module 608 is used to: monitor the communication between the chassis integrated controller and the integrated braking control unit, the intelligent driving central controller, the central control screen and the instrument display screen; when the chassis integrated controller is disconnected from the communication with at least one of the integrated braking control unit, the intelligent driving central controller, the central control screen and the instrument display screen for a time greater than a preset message period, control the electronic caliper to switch to a clamping state.

[0129] In some embodiments, see Fig.12 The target vehicle is provided with a hill-rolling assist control function and an automatic parking function. The hill-rolling control device further includes a second conversion module 609. The second conversion module 609 is used to control the target vehicle to be converted from the hill-rolling assist control function to the automatic parking function when the main driving door and the main driving seat belt of the target vehicle meet the preset state.

[0130] Please refer to Fig.13 , Fig.13 A schematic diagram of a structure of an embodiment of a slope control device provided by the present invention. The slope control device comprises: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0131] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the torque control method.

[0132] Fig.13 The schematic diagram of the structure of an embodiment of the slope control device of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the slope control device.

[0133] like Fig.13 As shown, the slope control device may include: a processor (processor) 1302 , a communication interface (Communications Interface) 1304 , a memory (memory) 1306 , and a communication bus 1308 .

[0134] The processor 1302, the communication interface 1304, and the memory 1306 communicate with each other via the communication bus 1308. The communication interface 1304 is used to communicate with other devices such as a client or other server network elements. The processor 1302 is used to execute the program 1130, and specifically can execute the relevant steps in the above-mentioned embodiment of the method for controlling the slope.

[0135] Specifically, the program 1310 may include program code including computer executable instructions.

[0136] The processor 1302 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the slope control device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0137] The memory 1306 is used to store the program 1130. The memory 1306 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0138] The present application also provides a computer-readable storage medium, in which at least one executable instruction is stored. When the executable instruction is executed on a slope control device / apparatus, the slope control device / apparatus performs the operation of the slope control method described in any of the above-mentioned embodiments.

[0139] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0140] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0141] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0142] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

[0143] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A slope control method, characterized in that: include: Acquire vehicle information of the target vehicle, wherein the vehicle information includes gear information, wheel speed information, slope information and operation information; Performing a first analysis and processing on the gear information, wheel speed information, slope information and operation information to obtain first vehicle state information, first environment information and first braking information; The target vehicle is controlled to roll down a slope according to the first vehicle state information, the first environmental information and the first braking information.

2. A slope control method according to claim 1, characterized in that: The wheel speed information includes the current wheel speed value and wheel speed direction, and the operation information includes the brake pedal travel; The step of controlling the target vehicle to roll down a slope according to the first vehicle state information, the first environment information and the first braking information includes: When the first vehicle status information indicates that the indication direction of the gear information is opposite to the wheel speed direction, and the current wheel speed value is greater than the preset wheel speed threshold, and the first environmental information indicates that the slope information is greater than the preset slope threshold, and the first braking information indicates that the brake pedal stroke is greater than the preset stroke threshold, the target vehicle is controlled to roll down the slope.

3. A slope control method according to claim 1 or 2, characterized in that: The target vehicle is provided with a hill-slip assist control function, a chassis integrated controller and an integrated brake control unit; The control of the target vehicle sliding down the slope comprises: Modifying the state information of the slope sliding assist control function so that the state information is switched from a standby state to an active state; The chassis integrated controller is controlled to send a brake request signal to the integrated brake control unit, so that the integrated brake control unit applies a hydraulic braking force to the wheel cylinder of the target vehicle in response to the brake request signal.

4. A slope control method according to claim 1, characterized in that: The vehicle information also includes electronic caliper information and driving torque; After obtaining the vehicle information of the target vehicle, the method further includes: Performing a second analysis and processing on the electronic caliper information, wheel speed information, operation information and driving torque to obtain second vehicle state information and second braking information; The slope sliding control of the target vehicle is released according to the second vehicle state information and the second braking information.

5. A slope control method as claimed in claim 4, characterized in that: The wheel speed information includes the current wheel speed value, and the operation information includes the brake pedal travel; The releasing the slope sliding control of the target vehicle according to the second vehicle state information and the second braking information comprises: When the second braking information indicates that the brake pedal travel is zero and the second vehicle state information indicates that the driving torque is greater than a preset torque threshold, releasing the slope control of the target vehicle; When the second vehicle status information indicates that the current wheel speed value is zero, or when the second vehicle status information indicates that the electronic caliper status information is in a clamped state, the slope control on the target vehicle is released.

6. A slope control method according to claim 1, characterized in that: The vehicle information also includes power supply information, and the target vehicle is provided with a hill-slip assist control function, an intelligent driving central controller, an electronic caliper, an integrated brake control unit, and a chassis integrated controller; After obtaining the vehicle information of the target vehicle, the method further includes: Obtaining the interaction information of the intelligent driving central controller, the interaction information of the chassis integrated controller, the interaction information of the integrated braking control unit, and the interaction information of the electronic caliper; obtaining and parsing the diagnostic instructions to obtain the parsing results; Performing a third analysis process according to the parsing result, the interaction information of the intelligent driving central controller, the interaction information of the chassis integrated controller, the interaction information of the integrated brake control unit, the interaction information of the electronic caliper, and the power supply information to obtain a third analysis result; When the third analysis result indicates that the parsing result is a shutdown instruction, an intelligent driving central controller failure, an integrated brake unit failure, an electronic caliper failure, or the power gear is off, the hill-climbing assist control function is turned off.

7. A method for controlling a slope as claimed in claim 1, characterized in that: The target vehicle is equipped with a hill-slip assist control function, an intelligent assisted driving mode, an intelligent driving central controller and a chassis integrated controller; The slope control method further comprises: Acquire and identify interaction information between the intelligent driving central controller and the chassis integrated controller; According to the interaction information between the intelligent driving central controller and the chassis integrated controller, when the chassis integrated controller receives a shutdown enable signal from the intelligent driving central controller, the target vehicle is controlled to switch from the hill-climbing assist control function to the intelligent assisted driving mode.

8. A slope control method according to claim 1, characterized in that: The wheel speed information includes a current wheel speed value, and the target vehicle is provided with a chassis integrated controller, an integrated brake control unit and an electronic caliper; The slope control method further comprises: Acquiring interaction information of the chassis integrated controller and interaction information of the integrated braking control unit; performing a fourth analysis process on the second current wheel speed value, the interaction information of the chassis integrated controller and the interaction information of the integrated braking control unit to obtain a fourth analysis result; According to the fourth analysis result, when the chassis integrated controller sends a brake request signal, the brake request response status signal sent by the integrated brake control unit is activated, and the second current wheel speed value increases, the electronic caliper is controlled to switch to a clamping state.

9. A slope control method according to claim 1, characterized in that: The target vehicle is equipped with a chassis integrated controller, an electronic caliper, an integrated brake control unit, an intelligent driving central controller, a central control screen and an instrument display screen; The chassis integrated controller is respectively connected to the integrated brake control unit, the intelligent driving central controller, the central control screen and the instrument display screen in communication; The slope control method further comprises: Monitoring the communication between the chassis integrated controller and the integrated brake control unit, the intelligent driving central controller, the central control screen and the instrument display screen; When the chassis integrated controller is disconnected from at least one of the integrated braking control unit, the intelligent driving central controller, the central control screen and the instrument display screen for a time greater than a preset message cycle, the electronic caliper is controlled to switch to a clamping state.

10. A slope control device, characterized in that: It includes a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the slope control method as described in any one of claims 1 to 9.

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