Steep slope descending control method, system and device for new energy commercial vehicle

Abstract

The invention provides an abrupt slope descending control method, system and device for a new energy commercial vehicle, and relates to the technical field of vehicle driving control, and the method comprises the steps: receiving vehicle state information sent by a peripheral sensor set; performing weighted average calculation on the first downlink gradient information and the second downlink gradient information to determine a target downlink gradient; through a preset function switching model, gear analysis processing is conducted on the accelerator pedal signal, the brake pedal signal and the target descending gradient so that the working state of the abrupt slope descending auxiliary control function can be switched; and when the abrupt slope descending auxiliary control function is started, according to the vehicle speed, the vehicle weight information, the target descending gradient and the wind resistance and rolling friction force received by the new energy commercial vehicle in the descending running process, motor feedback force needed by vehicle descending deceleration is determined, so that a driving motor conducts vehicle descending auxiliary control according to the motor feedback force. The stability and comfort of the new energy commercial vehicle in the downhill process can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving control, and in particular to a steep slope descent control method, system and device for a new energy commercial vehicle. Background Art

[0002] At present, when a vehicle is controlling its descent on a steep slope, the brakes and ABS anti-lock braking system can be combined to prevent the vehicle from losing tire grip while slowing down. However, this solution has high requirements for vehicle speed control operations. The prior art proposes that a speed limit can be set to automatically fix the vehicle speed to a specific value when descending a steep slope. However, this solution will result in the vehicle being unable to adjust its speed according to the slope and road conditions of the downhill slope, thereby lacking flexibility. In addition, when the vehicle is traveling in mountainous areas or other situations where the vehicle needs to travel on a long steep slope, the traditional braking control strategy may cause the brakes to overheat during a long descent, resulting in problems such as unstable vehicle driving, affecting the vehicle's braking safety and the comfort of passengers in the vehicle. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a steep slope descent control method, system and device for a new energy commercial vehicle, which can significantly improve the stability and comfort of the new energy commercial vehicle during the descent process.

[0004] In a first aspect, an embodiment of the present invention provides a steep slope descent control method for a new energy commercial vehicle, the method comprising: receiving vehicle state information sent by a peripheral sensor set, wherein the vehicle state information comprises: vehicle speed, accelerator pedal signal, brake pedal signal, vehicle weight information, first downward slope information and second downward slope information; determining a target downward slope by weighted average calculation of the first downward slope information and the second downward slope information, wherein the first downward slope information is slope information fed back by a capacitive slope sensor, and the second downward slope information is slope information fed back by a digital slope sensor; performing gear position analysis and processing on the accelerator pedal signal, the brake pedal signal and the target downward slope through a preset function switching model, and determining a working state of a steep slope descent auxiliary control function, wherein the working state comprises: turning on the steep slope descent auxiliary control function and turning off the steep slope descent auxiliary control function; when the steep slope descent auxiliary control function is turned on, determining the motor feedback force required for the vehicle to decelerate downhill according to the vehicle speed, vehicle weight information, target downward slope and wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving, so that the drive motor performs vehicle downhill auxiliary control according to the motor feedback force.

[0005] In one embodiment, the digital slope sensor includes: a dual-axis acceleration detection unit and a digital signal processing unit. Before the step of determining the target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information, the step includes: obtaining the liquid level deviation in the liquid reservoir of the new energy commercial vehicle through a capacitive slope sensor, and determining the first downward slope information according to the liquid level deviation, wherein the capacitive slope sensor is arranged at a preset height of the inner wall of the liquid reservoir; obtaining the slope signal and the roll angle signal of the vehicle's downward position through the dual-axis acceleration detection unit in the digital slope sensor, and performing signal correction processing on the slope signal and the roll angle signal using the digital signal processing unit to determine the second downward slope information.

[0006] In one embodiment, the step of determining the target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information includes: respectively adding the product of the first preset weight and the first downward slope information, and the product of the second preset weight and the second downward slope information to determine the target downward slope.

[0007] In one embodiment, after the step of determining the target downward slope, the method includes: comparing the first downward slope information, the second downward slope information and the target downward slope; if the slope difference between any two slope information items is greater than a preset threshold, reacquiring the slope information for weighted average calculation.

[0008] In one embodiment, a gear position analysis and processing is performed on the accelerator pedal signal, the brake pedal signal and the target downward slope through a preset function switching model to determine the working state of the steep slope descent auxiliary control function, including: when the vehicle status information simultaneously satisfies that the whole vehicle has no faults, the vehicle is in the starting gear or the forward gear, and the slope condition verification is passed, if the brake pedal is pressed or the auxiliary control switch is manually turned on, it is determined that the new energy commercial vehicle has an auxiliary deceleration demand, and the steep slope descent auxiliary control function is turned on.

[0009] In one embodiment, the method includes: when the vehicle status information satisfies any one of the following conditions: the vehicle is faulty, the slope condition verification fails, the accelerator pedal is depressed, and the auxiliary control switch is manually closed, it is determined that the new energy commercial vehicle does not need auxiliary deceleration, and the steep slope descent auxiliary control function is turned off.

[0010] In one embodiment, the method includes: when the target downward slope is greater than a preset slope threshold, the slope condition verification is passed; when the target downward slope is not greater than the preset slope threshold, the slope condition verification is failed.

[0011] In one embodiment, when the steep slope descent assist control function is turned on, the step of determining the motor feedback force required for the vehicle to decelerate downhill is based on the vehicle speed, vehicle weight information, target downward slope, and the wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving, including: performing data analysis and processing on the vehicle speed, vehicle weight information, target downward slope wind resistance and rolling friction through a deceleration calculation model preset in the vehicle controller or electronic braking system, and removing the top motor feedback force.

[0012] In a second aspect, an embodiment of the present invention further provides a steep slope descent control device for a new energy commercial vehicle, the device comprising: a data acquisition module, receiving vehicle status information sent by a peripheral sensor set, wherein the vehicle status information comprises: vehicle speed, accelerator pedal signal, brake pedal signal, vehicle weight information, first downward slope information and second downward slope information; a data processing module, determining a target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information, wherein the first downward slope information is slope information fed back by a capacitive slope sensor, and the second downward slope information is slope information fed back by a digital slope sensor. ; The data analysis module performs gear analysis and processing on the accelerator pedal signal, the brake pedal signal and the target downward slope through a preset function switching model to determine the working state of the steep slope descent auxiliary control function, wherein the working state includes: turning on the steep slope descent auxiliary control function and turning off the steep slope descent auxiliary control function; The vehicle descent control module determines the motor feedback force required for the vehicle to decelerate downhill according to the vehicle speed, vehicle weight information, the target downward slope and the wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving when the steep slope descent auxiliary control function is turned on, so that the drive motor performs vehicle downhill auxiliary control according to the motor feedback force.

[0013] In a third aspect, an embodiment of the present invention further provides a steep slope descent control system for a new energy commercial vehicle, the system being used to implement the steep slope descent control method for a new energy commercial vehicle as claimed in claim 1, the steep slope descent control system for the new energy commercial vehicle comprising: a vehicle controller VCU, a motor controller MCU and a drive motor, the motor controller MCU being communicatively connected to the vehicle controller VCU and the drive motor respectively; wherein the vehicle controller VCU is used to receive an accelerator pedal signal, a brake pedal signal, a downward slope information sent by a slope sensor and a vehicle weight information sent by a load sensing sensor, and switches the working state of a steep slope descent auxiliary control function according to the accelerator pedal signal, the brake pedal signal, the downward slope information and the vehicle weight information, and when the steep slope descent auxiliary control function is turned on, calculates the motor feedback force required to assist the new energy commercial vehicle in descending; the motor controller MCU is used to control the operation of the drive motor according to the motor feedback force when receiving a function start instruction sent by the vehicle controller VCU.

[0014] In a fourth aspect, an embodiment of the present invention further provides an electronic device, comprising a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement any one of the methods provided in the first aspect.

[0015] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement any one of the methods provided in the first aspect.

[0016] The embodiments of the present invention bring the following beneficial effects: The embodiment of the present invention provides a steep slope descent control method, system and device for a new energy commercial vehicle. After receiving vehicle status information sent by a peripheral sensor set, the method determines a target downward slope by performing weighted average calculation on first downward slope information and second downward slope information. After determining the target downward slope, the method performs gear position analysis and processing on an accelerator pedal signal, a brake pedal signal and the target downward slope through a preset function switching model to determine the working state of a steep slope descent auxiliary control function. Finally, when the steep slope descent auxiliary control function is turned on, the motor feedback force required for the vehicle to decelerate downhill is determined according to the vehicle speed, vehicle weight information, the target downward slope and the wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving, so that the drive motor performs vehicle downhill auxiliary control according to the motor feedback force. The embodiment of the present invention can significantly improve the stability and comfort of the new energy commercial vehicle during the downhill process.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1A schematic diagram of the structure of a steep slope descent control system for a new energy commercial vehicle provided by an embodiment of the present invention; Figure 2 A schematic flow chart of a steep slope descent control method for a new energy commercial vehicle provided by an embodiment of the present invention; Figure 3 A schematic diagram of a force analysis of a new energy commercial vehicle going down a steep slope provided by an embodiment of the present invention; Figure 4 A schematic diagram of a specific process of a steep slope descent control method for a new energy commercial vehicle provided by an embodiment of the present invention; Figure 5 A schematic diagram of the structure of a steep slope descent control device for a new energy commercial vehicle provided by an embodiment of the present invention; Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are 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.

[0022] At present, when a vehicle is performing steep slope descent control, the brake and ABS anti-lock braking system can be combined to prevent the vehicle from losing tire grip while decelerating. However, this solution has high requirements for vehicle speed control operation. The prior art proposes that the vehicle speed can be automatically fixed to a specific value when descending a steep slope by setting a speed limit. However, this solution will cause the vehicle to be unable to adjust the speed according to the slope and road conditions of the downhill slope, thereby lacking flexibility. In addition, when the vehicle is traveling in mountainous areas and other situations where the vehicle needs to travel on a long steep slope, the traditional braking control strategy may cause the brake to overheat during a long downhill period, thereby causing problems such as unstable vehicle driving, affecting the braking safety of the vehicle and the comfort of passengers in the vehicle. Based on this, the steep slope descent control method for a new energy commercial vehicle provided by the present invention can adjust the deceleration of the vehicle according to demand under the working conditions of a large slope and a long downhill slope, so that the vehicle is not affected by the load condition, and the intelligent feedback torque size is adjusted, so that the vehicle speed is stably controlled as required when descending the slope. This function is suitable for situations where the stability of the acceleration and deceleration control of the vehicle is high, which can effectively reduce the labor intensity of the driver and ensure the stability and comfort of the passengers.

[0023] To facilitate understanding of this embodiment, a steep slope descent control method for a new energy commercial vehicle disclosed in an embodiment of the present invention is first described in detail. The method is applied to a steep slope descent control system for a new energy commercial vehicle. To facilitate understanding of the steep slope descent control system for a new energy commercial vehicle, an embodiment of the present invention provides a structural schematic diagram of a steep slope descent control system for a new energy commercial vehicle, as shown in FIG. Figure 1 As shown, the steep slope descent control system of the new energy commercial vehicle includes: a vehicle controller VCU, a motor controller MCU and a drive motor, and the motor controller MCU is respectively connected to the vehicle controller VCU and the drive motor in communication; wherein, the vehicle controller VCU is used to receive the accelerator pedal signal, the brake pedal signal, the downward slope information sent by the slope sensor and the vehicle weight information sent by the load sensor, and according to the accelerator pedal signal, the brake pedal signal, the downward slope information and the vehicle weight information, switch the working state of the steep slope descent auxiliary control function, and when the steep slope descent auxiliary control function is turned on, calculate the motor feedback force required to assist the new energy commercial vehicle to go down; the motor controller MCU is used to control the operation of the drive motor according to the motor feedback force when receiving the function start instruction sent by the vehicle controller VCU.

[0024] In one embodiment, the steep slope descent control system of the new energy commercial vehicle may also include an electronic braking system (EBS, Electronic Brake Systems), which can meet the function of accurately controlling the deceleration. For new energy commercial vehicle models without EBS configuration, the vehicle controller calculates the required motor feedback force according to the deceleration and realizes the downhill acceleration control of the vehicle. For new energy commercial vehicle models with EBS configuration, the vehicle controller sends the required deceleration demand to the EBS, and then the EBS responds and controls.

[0025] based on Figure 1 The structure diagram of the steep slope descent control system of the new energy commercial vehicle shown in FIG. 1 is a schematic diagram of the structure of the steep slope descent control system of the new energy commercial vehicle shown in FIG. 1 , and the steep slope descent control method of the new energy commercial vehicle is described in detail in the embodiment of the present invention. Figure 2 The flowchart of a steep slope descent control method for a new energy commercial vehicle is shown in FIG. 1 , and the method mainly includes the following steps S202 to S208: Step S202, receiving vehicle status information sent by the peripheral sensor set, wherein the vehicle status information includes: vehicle speed, accelerator pedal signal, brake pedal signal, vehicle weight information, first downward slope information and second downward slope information. In one embodiment, the liquid level offset in the liquid reservoir of the new energy commercial vehicle can be obtained by a capacitive slope sensor, and the first downward slope information is determined according to the liquid level offset, wherein the capacitive slope sensor is arranged at a preset height of the inner wall of the liquid reservoir. In one embodiment, the slope signal and roll angle signal of the downward position of the vehicle can be obtained by a dual-axis acceleration detection unit in the digital slope sensor, and the slope signal and roll angle signal are corrected by a digital signal processing unit to determine the second downward slope information, wherein the number of the capacitive slope sensors is multiple and evenly distributed on the inner wall of the liquid reservoir, so that the liquid level changes in different directions can be sensed, and then the vehicle inclination can be determined.

[0026] Step S204, determining a target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information, wherein the first downward slope information is slope information fed back by a capacitive slope sensor, and the second downward slope information is slope information fed back by a digital slope sensor, and the digital slope sensor includes: a dual-axis acceleration detection unit and a digital signal processing unit. In one embodiment, since the capacitive slope sensor is not affected by signal interference but has poor accuracy, the digital slope sensor has high accuracy but is easily affected by signal interference and affects the detection accuracy, and the slope is particularly important for determining whether to turn on the steep slope descending auxiliary control function and the calculation of the motor feedback force, and requires higher accuracy, therefore, the product of the first preset weight and the first downward slope information, and the product of the second preset weight and the second downward slope information can be added respectively to determine the target downward slope, and after determining the target downward slope, the first downward slope information, the second downward slope information and the target downward slope are compared, and if the slope difference between any two items of slope information is greater than the preset threshold, the slope information is re-acquired for weighted average calculation.

[0027] Step S206, through the preset function switching model, the gear position analysis and processing of the accelerator pedal signal, the brake pedal signal and the target downward slope are performed to determine the working state of the steep slope descent auxiliary control function, where the working state includes: turning on the steep slope descent auxiliary control function and turning off the steep slope descent auxiliary control function. In one embodiment, after entering the steep slope descent auxiliary control function, it will continue to judge whether the whole vehicle is faulty, and whether the gear position, SOC, and slope meet the requirements. If any one of them is not met, the steep slope descent auxiliary control function is immediately turned off.

[0028] Step S208, when the steep slope descent auxiliary control function is turned on, the motor feedback force required for the vehicle to decelerate downhill is determined according to the vehicle speed, vehicle weight information, target downhill slope, and the wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving, so that the drive motor performs vehicle downhill auxiliary control according to the motor feedback force. That is to say, when the vehicle goes up and down a slope greater than a certain slope (which can be set), when the accelerator and brake are released or the switch is manually operated, the vehicle can achieve a deceleration feeling similar to that of flat ground or a small slope (constant deceleration, which can be set), and at the same time consider the smooth switching of the motor torque when the function is exited. In one embodiment, see Figure 3 The schematic diagram of the force analysis of a new energy commercial vehicle on a steep downhill slope is shown. According to the vehicle speed and weight, the gravity component, rolling friction and wind resistance can be known. When the motor feedback force is taken into account, the component of the vehicle weight extending downhill minus the difference between rolling friction, wind resistance and motor feedback force multiplied by 9.8 is equal to the product of acceleration and vehicle weight. Based on this calculation logic, the motor feedback force required for deceleration can be determined. By changing the size of the motor feedback force, the downhill deceleration of the vehicle can be controlled.

[0029] The steep slope descent control method for the new energy commercial vehicle provided by the embodiment of the present invention can significantly improve the stability and comfort of the new energy commercial vehicle during the descent.

[0030] See also Figure 4 The specific flow chart of a steep slope descent control method for a new energy commercial vehicle is shown in FIG. 1 . The embodiment of the present invention also provides an implementation method of steep slope descent auxiliary control, and the details are as follows (1) to (3): (1) When the vehicle status information satisfies the conditions that the vehicle is fault-free, the vehicle is in the starting gear or the forward gear, and the slope condition verification is passed, if the brake pedal is pressed or the auxiliary control switch is manually turned on, it is determined that the new energy commercial vehicle has an auxiliary deceleration demand, and the steep slope descent auxiliary control function is turned on. In one embodiment, when the target downward slope is greater than the preset slope threshold, the slope condition verification is passed. In another embodiment, since the feedback current generated by the motor reverse drag needs to enter the battery, it is a necessary condition that the battery allows feedback. When judging whether to turn on the steep slope descent auxiliary control function, it is also necessary to set the threshold judgment condition of the battery SOC, that is, the battery SOC needs to be in the preset allowable feedback range. In addition, when entering the function, the instrument needs to give a text or icon reminder, and can also provide a sound auxiliary prompt.

[0031] (2) When the vehicle status information satisfies any one of the following conditions: the vehicle is faulty, the slope condition verification fails, the accelerator pedal is depressed, and the auxiliary control switch is manually turned off, it is determined that there is no auxiliary deceleration demand for the new energy commercial vehicle, and the steep slope descent auxiliary control function is turned off. In one embodiment, when the target downward slope is not greater than the preset slope threshold, the slope condition verification fails. In other words, this step is used to determine whether there is a need to decelerate or reduce acceleration. If there is no deceleration demand, the steep slope descent auxiliary control function needs to be turned off.

[0032] (3) Through the deceleration calculation model preset in the vehicle controller or electronic brake system, the vehicle speed, vehicle weight information, target downward slope wind resistance and rolling friction are analyzed and processed, and the top motor feedback force is removed. In one embodiment, when the function is limited or there is a fault, the instrument needs to provide text or icon reminders, and voice assistance prompts can also be used. In addition, fault diagnosis will be performed and the fault content will be displayed.

[0033] In summary, the present invention utilizes the motor feedback characteristics of new energy vehicles, combined with the slope sensor and the vehicle load sensor to sense the vehicle state, and can realize the acceleration control of the vehicle when going downhill, so that the vehicle speed changes or maintains smoothly. At the same time, different methods can be used to trigger the smooth descent function, which has a better control experience and maximizes energy recovery and utilization.

[0034] For the steep slope descent control method for a new energy commercial vehicle provided in the above embodiment, the present invention provides a steep slope descent control device for a new energy commercial vehicle, see Figure 5 The structure diagram of a steep slope descent control device for a new energy commercial vehicle shown in FIG. 1 includes the following parts: The data acquisition module 502 receives vehicle status information sent by the peripheral sensor set, wherein the vehicle status information includes: vehicle speed, accelerator pedal signal, brake pedal signal, vehicle weight information, first downward slope information, and second downward slope information; The data processing module 504 determines the target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information, wherein the first downward slope information is the slope information fed back by the capacitive slope sensor, and the second downward slope information is the slope information fed back by the digital slope sensor; The data analysis module 506 performs gear position analysis and processing on the accelerator pedal signal, the brake pedal signal and the target downhill slope through a preset function switching model, and determines the working state of the steep slope downhill auxiliary control function, wherein the working state includes: turning on the steep slope downhill auxiliary control function and turning off the steep slope downhill auxiliary control function; The vehicle downhill control module 508, when the steep slope downhill auxiliary control function is turned on, determines the motor feedback force required for the vehicle to decelerate downhill according to the vehicle speed, vehicle weight information, target downhill slope, and the wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving, so that the drive motor performs vehicle downhill auxiliary control according to the motor feedback force.

[0035] The steep slope descent control device for the new energy commercial vehicle provided in the embodiment of the present application can significantly improve the stability and comfort of the new energy commercial vehicle during the downhill process.

[0036] In one embodiment, the digital slope sensor includes: a dual-axis acceleration detection unit and a digital signal processing unit. Before performing the step of determining the target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information, the above-mentioned data processing module 504 is also used to: obtain the liquid level deviation in the liquid reservoir of the new energy commercial vehicle through a capacitive slope sensor, and determine the first downward slope information according to the liquid level deviation, wherein the capacitive slope sensor is arranged at a preset height of the inner wall of the liquid reservoir; obtain the slope signal and the roll angle signal of the vehicle's downward position through the dual-axis acceleration detection unit in the digital slope sensor, and use the digital signal processing unit to perform signal correction processing on the slope signal and the roll angle signal to determine the second downward slope information.

[0037] In one embodiment, when performing the step of determining the target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information, the above-mentioned data processing module 504 is also used to: respectively add the product of the first preset weight and the first downward slope information, and the product of the second preset weight and the second downward slope information to determine the target downward slope.

[0038] In one embodiment, after the step of determining the target downward slope, the data processing module 504 is further used to compare the first downward slope information, the second downward slope information and the target downward slope; if the slope difference between any two slope information items is greater than a preset threshold, the slope information is re-acquired for weighted average calculation.

[0039] In one embodiment, when performing a gear position analysis and processing of the accelerator pedal signal, the brake pedal signal and the target downward slope through a preset function switching model to determine the working state of the steep slope descent auxiliary control function, the above-mentioned data analysis module 506 is also used for: when the vehicle status information simultaneously satisfies that the whole vehicle has no faults, the vehicle is in the starting gear or the forward gear, and the slope condition verification is passed, if the brake pedal is pressed or the auxiliary control switch is manually turned on, it is determined that the new energy commercial vehicle has an auxiliary deceleration demand, and the steep slope descent auxiliary control function is turned on.

[0040] In one embodiment, the data analysis module 506 is also used to determine that there is no auxiliary deceleration demand for the new energy commercial vehicle and turn off the steep slope descent auxiliary control function when the vehicle status information meets any one of the following conditions: the vehicle is faulty, the slope condition verification fails, the accelerator pedal is depressed, and the auxiliary control switch is manually turned off.

[0041] In one embodiment, the data analysis module 506 is further used to: when the target downward slope is greater than a preset slope threshold, the slope condition verification is passed; when the target downward slope is not greater than the preset slope threshold, the slope condition verification is failed.

[0042] In one embodiment, when the steep slope descent auxiliary control function is turned on, when the step of determining the motor feedback force required for vehicle downhill deceleration is performed based on the vehicle speed, vehicle weight information, target downhill slope, and the wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving, the above-mentioned vehicle downhill control module 508 is also used to: perform data analysis and processing on the vehicle speed, vehicle weight information, target downhill slope wind resistance and rolling friction through the deceleration calculation model preset in the vehicle controller or electronic braking system, and remove the top motor feedback force.

[0043] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0044] An embodiment of the present invention provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned implementation methods.

[0045] Figure 6 A structural diagram of an electronic device provided in an embodiment of the present invention, the electronic device 100 includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, wherein the processor 60, the communication interface 63 and the memory 61 are connected via the bus 62; the processor 60 is used to execute an executable module stored in the memory 61, such as a computer program.

[0046] The memory 61 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0047] The bus 62 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0048] Among them, the memory 61 is used to store programs, and the processor 60 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0049] The processor 60 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 60. The above processor 60 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to execute, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0050] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be referred to the previous method embodiments, which will not be repeated here.

[0051] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., various media that can store program codes.

[0052] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes 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 invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A steep slope descent control method for a new energy commercial vehicle, characterized in that: The method comprises: Receiving vehicle status information sent by the peripheral sensor set, wherein the vehicle status information includes: vehicle speed, accelerator pedal signal, brake pedal signal, vehicle weight information, first downward slope information, and second downward slope information; Determine a target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information, wherein the first downward slope information is slope information fed back by a capacitive slope sensor, and the second downward slope information is slope information fed back by a digital slope sensor; By means of a preset function switching model, the accelerator pedal signal, the brake pedal signal and the target downward slope are subjected to gear position analysis and processing to determine the working state of the steep slope downward auxiliary control function, wherein the working state includes: turning on the steep slope downward auxiliary control function and turning off the steep slope downward auxiliary control function; When the steep slope descent assist control function is turned on, the motor feedback force required for the vehicle to decelerate downhill is determined based on the vehicle speed, the vehicle weight information, the target downhill slope, and the wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving, so that the drive motor performs vehicle downhill assist control based on the motor feedback force.

2. The steep slope descent control method for a new energy commercial vehicle according to claim 1, characterized in that: The digital slope sensor comprises: a dual-axis acceleration detection unit and a digital signal processing unit. Before the step of determining the target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information, the step comprises: The capacitive slope sensor is used to obtain the liquid level deviation in the liquid reservoir of the new energy commercial vehicle, and the first downward slope information is determined according to the liquid level deviation, wherein the capacitive slope sensor is arranged at a preset height of the inner wall of the liquid reservoir; The dual-axis acceleration detection unit in the digital slope sensor is used to obtain a slope signal and a roll angle signal of a vehicle's downward position, and the digital signal processing unit is used to perform signal correction processing on the slope signal and the roll angle signal to determine the second downward slope information.

3. The steep slope descent control method for a new energy commercial vehicle according to claim 1, characterized in that: The step of determining the target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information comprises: The target downward slope is determined by adding the product of the first preset weight and the first downward slope information and the product of the second preset weight and the second downward slope information.

4. The steep slope descent control method for a new energy commercial vehicle according to claim 3, characterized in that: After the step of determining the target downward slope, the method further comprises: The first downward slope information, the second downward slope information and the target downward slope are compared, and if the slope difference between any two pieces of slope information is greater than a preset threshold, the slope information is re-acquired for weighted average calculation.

5. The steep slope descent control method for a new energy commercial vehicle according to claim 1, characterized in that: The step of performing gear position analysis and processing on the accelerator pedal signal, the brake pedal signal and the target downward slope by using a preset function switching model to determine the working state of the steep slope downward auxiliary control function comprises: When the vehicle status information simultaneously satisfies the conditions that the vehicle has no faults, the vehicle is in the starting gear or the forward gear, and the slope condition verification is passed, if the brake pedal is pressed or the auxiliary control switch is manually turned on, it is determined that the new energy commercial vehicle has an auxiliary deceleration demand, and the steep slope descent auxiliary control function is turned on.

6. The steep slope descent control method for a new energy commercial vehicle according to claim 5, characterized in that: The method comprises: When the vehicle status information satisfies any one of the following conditions: the vehicle is faulty, the slope condition verification fails, the accelerator pedal is depressed, and the auxiliary control switch is manually closed, it is determined that the new energy commercial vehicle does not need auxiliary deceleration, and the steep slope descent auxiliary control function is closed.

7. The steep slope descent control method for a new energy commercial vehicle according to any one of claims 5-6, characterized in that: The method comprises: When the target downward slope is greater than a preset slope threshold, the slope condition verification is passed; When the target downward slope is not greater than the preset slope threshold, the slope condition verification fails.

8. The steep slope descent control method for a new energy commercial vehicle according to claim 1, characterized in that: The step of determining the motor feedback force required for vehicle downhill deceleration according to the vehicle speed, the vehicle weight information, the target downhill slope, and the wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving when the steep slope downhill auxiliary control function is turned on includes: The vehicle speed, the vehicle weight information, the target downward slope, the wind resistance and the rolling friction are analyzed and processed by a deceleration calculation model preset in the vehicle controller or the electronic brake system to remove the motor feedback force.

9. A steep slope descent control device for a new energy commercial vehicle, characterized in that: The device comprises: A data acquisition module receives vehicle status information sent by a peripheral sensor set, wherein the vehicle status information includes: vehicle speed, accelerator pedal signal, brake pedal signal, vehicle weight information, first downward slope information, and second downward slope information; a data processing module, determining a target downward slope by performing weighted average calculation on the first downward slope information and the second downward slope information, wherein the first downward slope information is slope information fed back by a capacitive slope sensor, and the second downward slope information is slope information fed back by a digital slope sensor; The data analysis module performs gear position analysis on the accelerator pedal signal, the brake pedal signal and the target downward slope through a preset function switching model, and determines the working state of the steep slope downward auxiliary control function, wherein the working state includes: turning on the steep slope downward auxiliary control function and turning off the steep slope downward auxiliary control function; The vehicle downhill control module determines the motor feedback force required for the vehicle to decelerate downhill when the steep slope downhill auxiliary control function is turned on, based on the vehicle speed, the vehicle weight information, the target downhill slope, and the wind resistance and rolling friction received by the new energy commercial vehicle during downhill driving, so that the drive motor performs vehicle downhill auxiliary control according to the motor feedback force.

10. A steep slope descent control system for a new energy commercial vehicle, characterized in that: The system is used to implement the steep slope descent control method of the new energy commercial vehicle as claimed in claim 1, characterized in that the steep slope descent control system of the new energy commercial vehicle comprises: a vehicle controller VCU, a motor controller MCU and a drive motor, and the motor controller MCU is respectively connected to the vehicle controller VCU and the drive motor in communication; wherein, The vehicle controller VCU is used to receive an accelerator pedal signal, a brake pedal signal, downward slope information sent by a slope sensor, and vehicle weight information sent by a load sensing sensor, and switches the working state of the steep slope downhill auxiliary control function according to the accelerator pedal signal, the brake pedal signal, the downward slope information, and the vehicle weight information, and calculates the motor feedback force required to assist the new energy commercial vehicle in descending when the steep slope downhill auxiliary control function is turned on; The motor controller MCU is used to control the operation of the drive motor according to the motor feedback force when receiving a function start instruction sent by the vehicle controller VCU.

11. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 1 to 8.

Images