Vehicle control method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle control method and device, a vehicle and a storage medium, and relates to the technical field of computers. The method comprises the following steps: increasing the driving torque of the vehicle according to a preset gradient under the condition that the vehicle performs hill crawling starting; and under the condition that the driving force corresponding to the increased driving torque is larger than the ramp resistance of the vehicle, the braking torque of the vehicle is unloaded. Therefore, the situation that in the ramp crawling starting process of the vehicle, the driving torque and the braking torque exist at the same time, and wriggling noise is generated can be avoided, and the wriggling noise existing in the vehicle is reduced.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to the field of vehicle ramp creep start technology, and specifically to a vehicle control method, device, vehicle and storage medium. Background Art

[0002] With the popularization of new energy vehicles and the gradual improvement of market requirements for vehicle comfort, most vehicles have added a hill creep torque compensation function, which improves the driving experience of the vehicle creep function. However, when the vehicle starts creeping, the vehicle's power system needs to output enough torque to overcome the component of gravity along the slope direction and push the vehicle forward. In order to prevent the vehicle from slipping on the slope, a hill start assist function is usually configured. When the vehicle starts, the traditional hill start assist function will temporarily maintain the braking force. The maintained braking force will be inconsistent with the power system creep torque loading, which may cause friction and impact and cause noise.

[0003] In the related art, CN115648961B uses different target creep torque control strategies to control the target creep torque of the vehicle creeping based on the size of the brake pedal opening, for example: when the brake pedal opening is less than the first preset threshold, the brake pedal opening is greater than or equal to the first preset threshold and less than the second preset threshold, the brake pedal opening is greater than or equal to the second preset threshold, and the preset auxiliary system of the vehicle is not activated, and the current driving mode of the vehicle is not in the energy-saving mode, the motor starts to increase the creep torque from a torque greater than 0. CN117842028A obtains the activation state of the hill start assist function of the vehicle during the hill start process, and obtains the corresponding operation data of the vehicle according to the activation state to obtain data that can reflect the user's experience of the hill start assist function, and adjusts the current activation slope threshold of the hill start assist function to achieve adaptive adjustment of the activation condition of the hill start assist function. The above two methods adjust the creep torque by the brake pedal opening, or achieve adaptive adjustment of the hill start assist function, but cannot avoid the noise caused by the incoordination between the braking torque and the power system during the vehicle start process. Therefore, how to reduce the noise of the vehicle during the starting and creeping process is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a vehicle control method, device, vehicle and storage medium to at least solve the technical problem of high noise during the starting creeping process of the vehicle in the related art. The technical solution of the present application is as follows:

[0005] According to a first aspect of the present application, a vehicle control method is provided, the method comprising: when the vehicle is creeping on a slope, increasing the driving torque of the vehicle according to a preset gradient; when the driving force corresponding to the increased driving torque is greater than the slope resistance of the vehicle, unloading the braking torque of the vehicle.

[0006] According to the above technical means, by increasing the driving torque of the vehicle, the driving force corresponding to the driving torque of the vehicle is greater than the slope resistance, so as to unload the braking torque of the vehicle, and avoid the creeping noise caused by the coexistence of the driving torque and the braking torque during the creeping start of the vehicle on the slope, thereby reducing the creeping noise of the vehicle, and by reasonably controlling the driving torque and unloading the braking torque, the kinetic energy of the vehicle is effectively utilized to improve the energy utilization efficiency. In addition, by increasing the driving torque of the vehicle according to the preset gradient, the driving torque can be accurately controlled, so that the vehicle can start on the slope more smoothly and efficiently.

[0007] In a possible implementation, the method further includes: when the vehicle is on a slope, the vehicle has braking torque and driving torque, and the brake pedal and accelerator pedal of the vehicle are both in a released state, driving the vehicle to perform a slope creep start.

[0008] According to the above-mentioned technical means, when the vehicle is on a slope, the vehicle's hill assist function can increase the vehicle's braking torque to prevent the vehicle from slipping, and the vehicle's hill creep torque compensation function can adjust the vehicle's driving torque to drive the vehicle to start on a slope. By intelligently controlling the vehicle's braking torque and driving torque, the vehicle can start smoothly on the slope, thereby improving the driving experience.

[0009] In another possible implementation, the method further includes: when the inclination angle of the ramp meets the preset angle, if the vehicle speed is greater than zero and less than the preset speed, controlling the vehicle to generate driving torque; if the vehicle is stationary and the vehicle changes from the acceleration state to the unpowered state, controlling the vehicle to generate braking torque. According to the above technical means, the inclination angle of the ramp is used to determine whether the vehicle's ramp assist function and the ramp creep torque compensation function are activated. When the vehicle's ramp assist function and the ramp creep torque compensation function are activated, the vehicle generates braking torque and driving torque, and controls the driving torque and braking torque to coordinate, so that the vehicle starts smoothly on the ramp.

[0010] In yet another possible implementation, the method includes: determining the friction of the vehicle on the ramp; and determining the inclination angle of the ramp based on the friction, the acceleration of the vehicle, and the weight of the vehicle.

[0011] According to the above technical means, the inclination angle of the ramp can be accurately determined through friction, acceleration and the weight of the vehicle, so that when the vehicle starts to creep on the slope, the driving torque and braking torque of the vehicle can be more accurately controlled to avoid the vehicle from slipping or losing control, thereby increasing the safety of the vehicle.

[0012] In yet another possible implementation, the method further includes: determining the driving force based on the increased driving torque, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle.

[0013] According to the above technical means, the driving force is accurately determined so that when the driving force is greater than the slope resistance, the braking torque of the vehicle can be unloaded, the kinetic energy of the vehicle can be effectively utilized, the energy utilization efficiency can be improved, the creeping noise caused by the braking torque and the driving torque can be avoided, and the vehicle can be ensured to start smoothly on the slope.

[0014] In another possible implementation, after unloading the braking torque of the vehicle, the method further includes: during the process of creeping start of the vehicle on a slope, when the vehicle slips for the first time, increasing the braking torque of the vehicle; the braking force corresponding to the increased braking torque is greater than the difference between the sum of the driving force and friction force of the vehicle and the gravity component of the vehicle in the slope direction; when the vehicle slips again, controlling the electronic parking brake of the vehicle to park.

[0015] According to the above technical means, when the vehicle slips for the first time, the braking torque of the vehicle is increased to stop the vehicle from slipping, and when the vehicle slips again, the vehicle is parked to prevent accidental sliding during the creep start of the vehicle on a slope, thereby improving the safety of the vehicle.

[0016] In yet another possible implementation, the method further includes: determining that the vehicle is slipping when the wheel speed exceeds a preset speed and the wheel speed direction is opposite to a preset driving direction.

[0017] According to the above technical means, the vehicle slipping can be accurately determined and detected in time so that countermeasures can be taken quickly to prevent the vehicle from sliding back uncontrollably and avoid potential safety accidents.

[0018] According to the second aspect provided by the present application, a vehicle control device is provided, which includes: an increasing module and an unloading module; the increasing module is used to increase the driving torque of the vehicle according to a preset gradient when the vehicle is creeping on a slope; the unloading module is used to unload the braking torque of the vehicle when the driving force corresponding to the increased driving torque is greater than the slope resistance of the vehicle.

[0019] In a possible implementation, the device further includes: a driving module; a driving module for driving the vehicle to perform a hill creep start when the vehicle is on a slope, the vehicle has braking torque and driving torque, and the brake pedal and accelerator pedal of the vehicle are both in a released state.

[0020] In another possible implementation, the device further includes: a control module; a control module for controlling the vehicle to generate a driving torque if the vehicle speed is greater than zero and less than a preset speed when the inclination angle of the ramp meets a preset angle; and controlling the vehicle to generate a braking torque if the vehicle is stationary and the vehicle changes from an accelerated state to a powerless state.

[0021] In yet another possible implementation, the device further includes: a determination module; a determination module configured to determine the friction of the vehicle on the ramp; and determine the inclination angle of the ramp based on the friction, the acceleration of the vehicle, and the weight of the vehicle.

[0022] In yet another possible implementation manner, the determination module is further configured to determine the driving force based on the increased driving torque, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle.

[0023] In another possible implementation, the adding module is also used to increase the braking torque of the vehicle when the vehicle slips for the first time during the process of creeping start on a slope; the braking force corresponding to the increased braking torque is greater than the difference between the sum of the driving force and friction force of the vehicle and the gravity component of the vehicle in the slope direction; the control module is also used to control the electronic parking brake of the vehicle to park the vehicle when the vehicle slips again.

[0024] In yet another possible implementation, the determination module is further configured to determine that the vehicle is slipping when the wheel speed exceeds a preset speed and the wheel speed direction is opposite to a preset driving direction.

[0025] According to the third aspect provided by the present application, a vehicle is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0026] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of the vehicle, the vehicle is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0027] According to the fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on a vehicle, the vehicle executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0028] Therefore, the above technical features of the present application have the following beneficial effects:

[0029] (1) By increasing the vehicle's driving torque, the driving force corresponding to the vehicle's driving torque is greater than the slope resistance, so as to unload the vehicle's braking torque, thereby avoiding the creeping noise caused by the coexistence of the driving torque and the braking torque during the vehicle's slope creep start, thereby reducing the vehicle's creeping noise. By reasonably controlling the driving torque and unloading the braking torque, the vehicle's kinetic energy is effectively utilized to improve energy efficiency. In addition, by increasing the vehicle's driving torque according to a preset gradient, the driving torque can be precisely controlled, allowing the vehicle to start on a slope more smoothly and efficiently.

[0030] (2) When the vehicle is on a slope, the vehicle's hill assist function can increase the vehicle's braking torque to prevent the vehicle from rolling. The vehicle's hill creep torque compensation function can adjust the vehicle's driving torque to drive the vehicle to start on a slope. By intelligently controlling the vehicle's braking torque and driving torque, the vehicle can start smoothly on a slope, improving the driving experience.

[0031] (3) By determining the inclination angle of the ramp, it is determined whether the vehicle's hill assist function and hill creep torque compensation function are activated. When the vehicle's hill assist function and hill creep torque compensation function are activated, the vehicle generates braking torque and driving torque, and controls the driving torque and braking torque to coordinate, so that the vehicle starts smoothly on the ramp.

[0032] (4) The inclination angle of the ramp can be accurately determined by friction, acceleration, and the weight of the vehicle, so that the driving torque and braking torque of the vehicle can be more accurately controlled when the vehicle starts to creep on the ramp, thereby preventing the vehicle from slipping or losing control and increasing the safety of the vehicle.

[0033] (5) By accurately determining the driving force, when the driving force is greater than the slope resistance, the braking torque of the vehicle can be unloaded, the kinetic energy of the vehicle can be effectively utilized, the energy utilization efficiency can be improved, the creeping noise caused by the braking torque and the driving torque can be avoided, and the vehicle can be ensured to start smoothly on the slope.

[0034] (6) When the vehicle slips for the first time, the braking torque of the vehicle is increased to stop the vehicle from slipping. If the vehicle slips again, the vehicle is parked to prevent accidental sliding during the creep start on a slope, thereby improving the safety of the vehicle.

[0035] (7) By accurately determining the vehicle's rolling, the vehicle's rolling phenomenon can be detected in a timely manner so that countermeasures can be taken quickly to prevent the vehicle from rolling back uncontrollably and avoid potential safety accidents.

[0036] It should be noted that the technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0037] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0039] Figure 1 is a structural schematic diagram of a vehicle control system according to an exemplary embodiment;

[0040] Figure 2 is a flow chart of a vehicle control method according to an exemplary embodiment;

[0041] Figure 3 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0042] Figure 4 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0043] Figure 5 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0044] Figure 6 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0045] Figure 7 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0046] Figure 8 is a block diagram of a vehicle control device according to an exemplary embodiment;

[0047] Fig. 9 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0048] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0050] With the popularity of new energy vehicles and the gradual improvement of the market's requirements for vehicle comfort, many vehicles have added a hill creep torque compensation function, which improves the driving experience of the vehicle's creep function. However, when the vehicle starts creeping, the vehicle's power system needs to output enough torque to overcome the component of gravity along the ramp direction and push the vehicle forward. In order to prevent the vehicle from slipping on the ramp, a hill start assist function is usually configured. When the vehicle starts, the traditional hill start assist function will temporarily maintain the braking force. The maintained braking force will not be coordinated with the creep torque loading of the power system, which may cause friction and impact and cause noise. Most current technologies solve the creep noise problem by optimizing the friction plate material and structure, optimizing the brake disc material, etc., but this often increases costs and cycles.

[0051] In the related art, by detecting the temperature of the friction plate of the vehicle, it is determined whether the friction plate needs to be heated, and the friction plate is heated. The temperature sensor and the heating unit are both set on the friction plate, the temperature sensor is connected to the input end of the control unit, and the heating unit is connected to the output end of the control unit. The control unit obtains the temperature of the friction plate according to the detection signal sent by the temperature sensor, and controls the heating unit to work when the temperature of the friction plate is less than the heating threshold preset by the control unit. This method actively heats the friction plate to avoid the problem of large braking noise easily caused by low temperature of the vehicle, but it cannot solve the noise problem of the vehicle during the starting creeping process.

[0052] In another related technology, a brake pad includes a steel back and a friction block used in combination with the steel back, the friction block is made of a friction material, and the components of the brake pad are set to 4-10% phenolic resin, 1-2% terminal hydroxyl hyperbranched polyester, 1-2% terpene resin, 1-3% aramid pulp, 12-25% steel fiber, 8-15% mineral fiber, 3-8% magnesium oxide, 4-8% zirconium silicate, 3-7% antimony sulfide, 2-4% tungsten sulfide, 4-8% flake graphite, 1-2% ultrafine conductive graphite powder, 4-8% coke particles, 2-5% fluororubber, and 25-35% barite. The components of the friction material are weighed and stirred uniformly according to their proportions to obtain a mixture, the mixture is added into a mold cavity and flattened, and then a cushion material is added and flattened, and compression molding and demolding are performed to obtain a semi-finished product, and the semi-finished product is ground and sprayed to obtain a brake pad. This method can reduce the creeping noise in the vehicle by optimizing the friction plate material, but it cannot fundamentally solve the noise problem of the vehicle during the creeping process of starting. Therefore, how to reduce the noise of the vehicle during the creeping process of starting is a technical problem that needs to be solved urgently.

[0053] In view of the above problems, the present application proposes a vehicle control method, in which the driving torque of the vehicle is increased so that the driving force corresponding to the driving torque of the vehicle is greater than the slope resistance, so as to unload the braking torque of the vehicle, thereby avoiding the creeping noise generated by the coexistence of the driving torque and the braking torque during the creeping start of the vehicle on the slope, thereby reducing the creeping noise of the vehicle, and by reasonably controlling the driving torque and unloading the braking torque, the kinetic energy of the vehicle is effectively utilized to improve the energy utilization efficiency. In addition, by increasing the driving torque of the vehicle according to the preset gradient, the driving torque can be accurately controlled, so that the vehicle can start on the slope more smoothly and efficiently.

[0054] For ease of understanding, the vehicle control method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0055] Figure 1 is a schematic diagram showing a vehicle control system composition according to an exemplary embodiment. Figure 1 As shown, the vehicle control system 100 includes: a vehicle control unit (VCU) 101, an inertial measurement unit (IMU) 102, an electronic stability control module (ESC) 103 and an electronic parking brake module (FPB) 104.

[0056] In some embodiments, the vehicle control module 101 is used to perform hill creep torque compensation according to the sensor signal of the inertial sensor 102. After receiving the hill-start assistControl (HHC) function activation flag sent by the vehicle stability control module 103 and when the brake pedal is released, a creep start request signal is sent.

[0057] The inertial sensor 102 is used to output vehicle longitudinal acceleration, lateral acceleration and yaw rate signals to the vehicle stability control module 103 and the vehicle control module 101 .

[0058] The vehicle body stability control module 103 is used to temporarily maintain the hydraulic brake to prevent the vehicle from sliding down the slope when the driver releases the brake pedal according to the vehicle longitudinal acceleration signal, the brake pedal signal collected by itself, the wheel speed signal, etc., that is, to activate the slope assist function. And when the vehicle control module 101 sends a creep start request signal, it calculates and controls the hydraulic brake to unload in time according to the driving force, the slope sliding force, and the hydraulic braking force, to prevent the driving torque and the hydraulic braking torque from being present at the same time, generating creep noise.

[0059] The electronic parking module 104 is used to perform parking brake when the vehicle rolls for the second time.

[0060] It should be noted that the system architecture and application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0061] In some embodiments, the executor of the vehicle control method provided in the embodiments of the present application may be the vehicle itself, the vehicle's control module, or the vehicle control device, or other equipment or devices for controlling the vehicle, and this application does not impose any restrictions on this.

[0062] Figure 2 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 2 As shown, the vehicle control method includes the following steps:

[0063] S201. When the vehicle is creeping-starting on a slope, increase the driving torque of the vehicle according to a preset gradient.

[0064] Among them, the hill creep start indicates that the vehicle is in an uphill state on the slope, and the driver of the vehicle does not operate the brake pedal and the drive pedal of the vehicle. The preset gradient means that the driving torque of the vehicle gradually increases at a certain slope over time. The driving torque is the torque output from the vehicle's engine or motor to the wheels, which is used for vehicle acceleration, climbing and traction, etc.

[0065] For example, when the vehicle is creeping on a slope, the brake pedal and the drive pedal of the vehicle are not operated, and the vehicle's slope creep torque compensation is activated. The vehicle can be subjected to slope creep torque compensation in real time according to the target creep speed, that is, the vehicle's drive torque is increased according to a preset gradient, so that the vehicle can travel at a constant speed on the slope.

[0066] S202: When the driving force corresponding to the increased driving torque is greater than the slope resistance of the vehicle, unloading the braking torque of the vehicle.

[0067] The ramp resistance refers to the force that hinders the vehicle's forward movement due to the existence of the slope when the vehicle is driving on the ramp. It is generated by the component of the vehicle's gravity along the slope direction. The magnitude of the ramp resistance is positively correlated with the slope angle of the ramp and the mass of the vehicle. The greater the slope angle of the ramp and the greater the mass of the vehicle, the greater the ramp resistance.

[0068] Driving force is the force generated by the vehicle engine or electric motor, and the force corresponding to the driving torque, which can enable the vehicle to overcome various resistances (such as rolling resistance, air resistance, slope resistance, etc.) and achieve acceleration, maintain speed or climb. Braking torque is the torque generated by the braking system acting on the rotating shaft during the vehicle braking process, which is used to slow down or stop the rotating wheels.

[0069] For example, when the vehicle starts creeping on a slope, the vehicle's hill assist function is also activated. The hill assist function generates a braking torque to prevent the vehicle from sliding backward on the slope. After the vehicle's driving torque is increased according to a preset gradient, the driving force corresponding to the increased driving torque can be compared with the vehicle's slope resistance. When the driving force corresponding to the increased driving torque is greater than the vehicle's slope resistance, it means that the driving force corresponding to the vehicle's driving torque can resist the vehicle's slope resistance. In order to avoid creeping noise caused by the incoordination between the vehicle's driving torque and braking torque, the vehicle's braking torque can be unloaded.

[0070] It should be understood that by increasing the driving torque of the vehicle, the driving force corresponding to the driving torque of the vehicle is greater than the slope resistance, so as to unload the braking torque of the vehicle, and avoid the creeping noise caused by the coexistence of the driving torque and the braking torque during the creeping start of the vehicle on the slope, thereby reducing the creeping noise of the vehicle. By reasonably controlling the driving torque and unloading the braking torque, the kinetic energy of the vehicle is effectively utilized and the energy utilization efficiency is improved. In addition, by increasing the driving torque of the vehicle according to the preset gradient, the driving torque can be accurately controlled, so that the vehicle can start on the slope more smoothly and efficiently.

[0071] In some embodiments, when the vehicle is on a slope and the driver of the vehicle does not operate the brake pedal and the driving pedal of the vehicle, the slope blocking function and the slope creep torque compensation function of the vehicle are activated, and the vehicle is driven to creep start. Figure 3 As shown, the vehicle control method provided in the embodiment of the present application further includes the following steps S200:

[0072] S200: When the vehicle is on a slope, the vehicle has braking torque and driving torque, and the brake pedal and accelerator pedal of the vehicle are both in a released state, the vehicle is driven to perform a slope creep start.

[0073] Exemplarily, when the vehicle is on a slope, the brake pedal and the accelerator pedal of the vehicle are both in a released state. The vehicle's ESC module can determine whether the slope on which the vehicle is passing has reached the activation threshold of the hill assist function based on the acceleration signal of the IMU module and the wheel speed signal of the vehicle. When the activation threshold of the hill assist function is reached, a braking torque is generated to prevent the vehicle from sliding backward, and the ESC module can send an HHC activation flag to the VCU module. Among them, the activation threshold of the hill assist function can be a 4% ramp, or other levels of ramps, which is not limited in the embodiments of the present application.

[0074] When the vehicle is on a slope, the VCU module can perform slope creep torque compensation based on the target creep speed to generate driving torque so that the vehicle can travel at a constant speed on the slope. The VCU module can receive the HHC activation flag sent by the ESC module, and when the slope creep torque compensation function is activated and the vehicle's brake pedal and accelerator pedal are both in the released state, it sends a creep start request signal (drive off) to drive the vehicle to perform a slope creep start.

[0075] It should be understood that when the vehicle is on a slope, the vehicle's hill assist function can increase the vehicle's braking torque to prevent the vehicle from slipping, and the vehicle's hill creep torque compensation function can adjust the vehicle's driving torque to drive the vehicle to start on a slope. By intelligently controlling the vehicle's braking torque and driving torque, the vehicle can start smoothly on the slope, thereby improving the driving experience.

[0076] In other embodiments, the inclination angle of the ramp on which the vehicle is located can be determined based on the acceleration of the vehicle. Thus, when the inclination angle of the ramp meets the preset angle, the brake pedal is in the released state, and the wheel speed is zero, the vehicle is controlled to generate braking torque and driving torque. Figure 4 As shown, the vehicle control method provided in the embodiment of the present application also includes the following steps S401-S402:

[0077] S401. When the inclination angle of the ramp satisfies a preset angle and the vehicle speed is greater than zero and less than a preset speed, control the vehicle to generate a driving torque.

[0078] Exemplarily, it is possible to determine whether the inclination angle of the ramp on which the vehicle is located meets a preset angle. When the inclination angle of the ramp meets the preset angle, the speed of the vehicle can also be monitored. Thus, when the speed of the vehicle is greater than zero and less than a preset speed, that is, when the speed of the vehicle is close to zero, the ramp creep torque compensation function of the vehicle is activated. The ramp creep torque compensation function of the vehicle controls the vehicle to generate driving torque and performs ramp creep torque compensation so that the vehicle travels at a constant speed on the ramp. Among them, the preset angle and the preset speed are set by relevant technical personnel according to actual conditions and needs, and the embodiments of the present application do not limit this.

[0079] S402: If the vehicle is stationary and changes from an accelerated state to a powerless state, control the vehicle to generate a braking torque.

[0080] Exemplarily, when the inclination angle of the ramp meets the preset angle, the state of the vehicle can also be monitored. Thus, when the vehicle is stationary and the vehicle changes from an accelerated state to a non-powered state, the vehicle's hill assist function is activated. The vehicle's hill assist function controls the vehicle to generate braking torque to prevent the vehicle from slipping. The state of the vehicle can also be monitored by monitoring the state of the vehicle's accelerator pedal. When the vehicle's accelerator pedal changes from a depressed state to a released state, the vehicle's state changes from an accelerated state to a non-powered state.

[0081] The state of the vehicle can be monitored by the vehicle speed or the vehicle acceleration sensor. When the vehicle speed is zero, or the vehicle acceleration sensor shows that the vehicle has no acceleration change, the vehicle is in a stationary state. The state of the vehicle's accelerator pedal can also be monitored by a pedal position sensor, a throttle position sensor, or the vehicle's electronic control unit.

[0082] It should be understood that the inclination angle of the ramp is used to determine whether the vehicle's hill assist function and hill creep torque compensation function are activated. When the vehicle's hill assist function and hill creep torque compensation function are activated, the vehicle generates braking torque and driving torque, and controls the driving torque and braking torque to coordinate, so that the vehicle starts smoothly on the ramp.

[0083] In some other embodiments, the inclination angle of the ramp can also be determined by determining the friction of the vehicle on the ramp. Figure 5 As shown, the vehicle control method provided in the embodiment of the present application also includes the following steps S501-S502:

[0084] S501. Determine the friction force of the vehicle on the ramp.

[0085] The friction force of a vehicle on a ramp refers to the friction force generated when the tires of the vehicle come into contact with the ramp surface. The magnitude of the friction force is related to the component of the vehicle's weight perpendicular to the ramp surface and the friction coefficient of the ramp road surface.

[0086] For example, the friction of the vehicle on the ramp can be calculated by the component of the vehicle's gravity perpendicular to the slope and the friction coefficient. Alternatively, the acceleration and speed of the vehicle can be monitored in real time by sensors on the vehicle, and the friction can be estimated in combination with the vehicle's dynamic model. Among them, the friction of the vehicle on the ramp is a parameter that describes the friction characteristics between the road surface material and the tire material, which can be determined by experimental measurement or by looking up standard values. The friction coefficient is affected by factors such as road surface material, tire material, road surface humidity and temperature.

[0087] S502: Determine the inclination angle of the ramp based on the friction force, the acceleration of the vehicle, and the weight of the vehicle.

[0088] The acceleration of the vehicle is acquired by the IMU module of the vehicle or the sensor of the vehicle.

[0089] Exemplarily, when the vehicle is on a ramp, the acceleration of the vehicle is the acceleration component of the gravitational acceleration along the ramp inclination direction. The inclination angle of the ramp can be determined by calculating the ratio of the acceleration component of the vehicle to the gravitational acceleration and using an inverse trigonometric function. Therefore, the product of the acceleration of the vehicle and the weight of the vehicle is equal to the difference between the component of the gravitational force of the vehicle along the ramp inclination angle and the friction force. Based on the relationship between the friction force, the acceleration of the vehicle and the weight of the vehicle, an equation can be established to determine the inclination angle of the ramp.

[0090] It should be understood that the inclination angle of the ramp can be accurately determined by friction, acceleration and vehicle weight, so that when the vehicle creeps on the ramp, the driving torque and braking torque of the vehicle can be more accurately controlled to prevent the vehicle from slipping or losing control, thereby increasing the safety of the vehicle.

[0091] In some other embodiments, the driving force corresponding to the driving torque can also be determined by the increased driving torque, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle. Therefore, the vehicle control method provided in the embodiment of the present application also includes the following steps: determining the driving force based on the increased driving torque, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle.

[0092] Among them, the vehicle's transmission system efficiency refers to the vehicle's transmission system's ability to effectively transmit the power generated by the engine to the drive wheels. The transmission efficiency directly affects the vehicle's power performance, fuel economy and overall performance.

[0093] Exemplarily, the driving force is equal to the ratio of the product of the increased driving torque and the transmission system efficiency of the vehicle to the wheel radius of the vehicle. Based on the relationship between the increased driving torque, the wheel radius of the vehicle and the transmission system efficiency of the vehicle, an equation can be established to determine the driving force corresponding to the increased torque.

[0094] It should be understood that by accurately determining the driving force, when the driving force is greater than the slope resistance, the vehicle's braking torque can be unloaded, the vehicle's kinetic energy can be effectively utilized, energy efficiency can be improved, creep noise caused by braking torque and driving torque can be avoided, and the vehicle can be ensured to start smoothly on the slope.

[0095] In some other embodiments, after the braking torque of the vehicle is unloaded, it is also possible to detect whether the vehicle is slipping, so that in the event of the vehicle slipping, corresponding measures can be taken to avoid accidents. Figure 6 As shown, the vehicle control method provided in the embodiment of the present application also includes the following steps S203-S204:

[0096] S203: When the vehicle starts to creep on a slope and the vehicle rolls for the first time, increase the braking torque of the vehicle.

[0097] The braking force corresponding to the increased braking torque is greater than the difference between the sum of the driving force and the friction force of the vehicle and the gravity component of the vehicle in the ramp direction. The increased braking torque is greater than the braking torque of the vehicle unloading.

[0098] For example, after the braking torque of the vehicle is unloaded, due to the influence of environmental factors, the driving torque of the vehicle may not be able to support the vehicle to climb the slope, and the vehicle may slip. Therefore, during the process of the vehicle creeping start on the slope, it is possible to detect whether the vehicle is slipping. In the case of the first slip of the vehicle, the ESC module can increase the pressure to stop the vehicle, that is, increase the braking torque of the vehicle.

[0099] It should be understood that after the vehicle rolls for the first time and stops rolling by increasing the braking torque of the vehicle, the vehicle can be driven to try a hill creep start again according to a vehicle creep start request.

[0100] S204: When the vehicle slips again, control the electronic parking brake of the vehicle to park the vehicle.

[0101] For example, when the vehicle is driven to attempt a creep start on a hill again according to the creep start request, it can be detected whether the vehicle slips again. If the vehicle slips again, it indicates that there is a risk of the vehicle slipping again. To avoid an accident, the electronic parking brake of the vehicle can be controlled to park the vehicle, and when the driver of the vehicle actively steps on the accelerator pedal, the parking brake is released and the vehicle starts.

[0102] It should be understood that when the vehicle slips for the first time, the braking torque of the vehicle is increased to stop the vehicle from slipping, and when the vehicle slips again, it is parked to prevent accidental sliding during the vehicle's slope creep start, thereby improving the safety of the vehicle.

[0103] In some other embodiments, it is also possible to determine whether the vehicle is slipping by the wheel speed and wheel speed direction. Therefore, the vehicle control method provided in the embodiment of the present application also includes the following steps: when the wheel speed exceeds the preset speed and the wheel speed direction is opposite to the preset driving direction, it is determined that the vehicle is slipping.

[0104] Exemplarily, to prevent the vehicle from rolling during creep-start, the vehicle's ESC module can detect wheel speed pulse signals and wheel speed direction signals to determine that the vehicle is rolling when the wheel speed exceeds a preset speed and the wheel speed direction is opposite to a preset driving direction.

[0105] It should be understood that by accurately determining the vehicle's slipping, the vehicle's slipping phenomenon can be detected in time so that countermeasures can be taken quickly to prevent the vehicle from rolling back uncontrollably and avoid potential safety accidents.

[0106] Figure 7 is a flow chart of another vehicle control method according to an exemplary embodiment. Figure 7 As shown, the process includes the following steps: ESC determines whether the HHC activation condition is met. If the HHC activation condition is not met, continue to determine whether the HHC activation condition is met until the HHC activation condition is met. If the HHC activation condition is met, generate HHCactive.

[0107] The VCU determines whether to activate the hill creep compensation. If the hill creep compensation is not activated, the VCU continues to determine whether to activate the hill creep compensation until the hill creep compensation is activated. If the hill creep compensation is activated, the VCU determines whether to send a creep start drive off request according to HHCactive.

[0108] If a creep start drive off request is not sent, the ESC continues to determine whether to send a creep start drive off request until a creep start drive off request is sent. If a creep start drive off request is sent, the ESC monitors the drive torque and determines whether the hydraulic unloading timing has been reached according to HHC active.

[0109] If the hydraulic unloading timing has not been reached, the system continues to determine whether the hydraulic unloading timing has been reached until the hydraulic unloading timing has been reached. If the hydraulic unloading timing has been reached, the ESC controls the hydraulic pressure to unload in time to avoid creeping noise.

[0110] ESC monitors whether the vehicle is slipping. If it is not slipping, the control ends. If it is slipping, ESC secondary boost is triggered. VCU determines whether to send a creep start drive off request. ESC monitors whether the vehicle continues to slip. If it is not slipping, ESC continues to monitor whether the vehicle continues to slip. If the vehicle continues to slip, ESC requests EPB parking and the control ends.

[0111] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the vehicle control device or the vehicle includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0112] The embodiments of the present application can exemplarily divide the functional modules of the vehicle control device or the vehicle according to the above method. For example, the vehicle control device or the vehicle may include various functional modules corresponding to the various functional divisions, or two or more functions may be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0113] Figure 8 is a block diagram of a vehicle control device according to an exemplary embodiment. Figure 8 The vehicle control device 800 includes: an increasing module 801 and an unloading module 802. The increasing module 801 is used to increase the driving torque of the vehicle according to a preset gradient when the vehicle is creeping on a slope; the unloading module 802 is used to unload the braking torque of the vehicle when the driving force corresponding to the increased driving torque is greater than the slope resistance of the vehicle.

[0114] In one possible implementation, the device also includes: a driving module 803; the driving module 803 is used to drive the vehicle to perform a slope creep start when the vehicle is on a slope, the vehicle has braking torque and driving torque, and the brake pedal and accelerator pedal of the vehicle are both in a released state.

[0115] In another possible implementation, the device also includes: a control module 804; a control module 804, which is used to control the vehicle to generate a driving torque if the vehicle speed is greater than zero and less than a preset speed when the inclination angle of the ramp meets the preset angle; if the vehicle is in a stationary state and the vehicle changes from an accelerated state to a powerless state, control the vehicle to generate a braking torque.

[0116] In yet another possible implementation, the device further includes: a determination module 805; the determination module 805 is configured to determine the friction of the vehicle on the ramp; and determine the inclination angle of the ramp based on the friction, the acceleration of the vehicle, and the weight of the vehicle.

[0117] In yet another possible implementation, the determination module 805 is further configured to determine the driving force based on the increased driving torque, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle.

[0118] In another possible implementation, module 801 is added to increase the braking torque of the vehicle when the vehicle slips for the first time during the process of creeping start on a slope; the braking force corresponding to the increased braking torque is greater than the difference between the sum of the driving force and friction force of the vehicle and the gravity component of the vehicle in the slope direction; and control module 804 is further used to control the electronic parking brake of the vehicle to park the vehicle when the vehicle slips again.

[0119] In yet another possible implementation, the determination module 805 is further configured to determine that the vehicle is slipping when the wheel speed exceeds a preset speed and the wheel speed direction is opposite to a preset driving direction.

[0120] According to the above technical means, by increasing the driving torque of the vehicle, the driving force corresponding to the driving torque of the vehicle is greater than the slope resistance, so as to unload the braking torque of the vehicle, and avoid the creeping noise caused by the coexistence of the driving torque and the braking torque during the creeping start of the vehicle on the slope, thereby reducing the creeping noise of the vehicle, and by reasonably controlling the driving torque and unloading the braking torque, the kinetic energy of the vehicle is effectively utilized to improve the energy utilization efficiency. In addition, by increasing the driving torque of the vehicle according to the preset gradient, the driving torque can be accurately controlled, so that the vehicle can start on the slope more smoothly and efficiently.

[0121] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0122] Fig. 9 FIG. 1 is a block diagram of a vehicle according to an exemplary embodiment. Fig. 9 As shown, vehicle 900 includes, but is not limited to, a processor 901 and a memory 902 .

[0123] The memory 902 is used to store executable instructions of the processor 901. It can be understood that the processor 901 is configured to execute instructions to implement the vehicle control method in the above embodiment.

[0124] It should be noted that those skilled in the art can understand that Fig. 9 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and the vehicle may include Fig. 9 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0125] The processor 901 is the control center of the vehicle, which uses various interfaces and lines to connect various parts of the entire vehicle, and executes various functions of the vehicle and processes data by running or executing software programs and / or modules stored in the memory 902, and calling data stored in the memory 902, so as to monitor the vehicle as a whole. The processor 901 may include one or more processing units. Optionally, the processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 901.

[0126] The memory 902 may be used to store software programs and various data. The memory 902 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0127] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 902 including instructions, and the above instructions can be executed by the processor 901 of the vehicle 900 to implement the vehicle control method in the above embodiment.

[0128] In actual implementation, Figure 8 The functions of the adding module 801, the unloading module 802, the driving module 803, the determining module 804 and the control module 805 can all be implemented by Fig. 9 The processor 901 in the embodiment calls the computer program stored in the memory 902 to implement. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0129] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0130] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, which can be executed by the processor 901 of the vehicle to complete the vehicle control method in the above embodiment.

[0131] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the vehicle's processor, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0132] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0133] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0134] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0135] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0136] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0137] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle starts creeping on a slope, increasing the driving torque of the vehicle according to a preset gradient; When the driving force corresponding to the increased driving torque is greater than the slope resistance of the vehicle, the braking torque of the vehicle is unloaded.

2. The method according to claim 1, characterized in that The method further comprises: When the vehicle is on a slope, the vehicle has the braking torque and the driving torque, and the brake pedal and the accelerator pedal of the vehicle are both in a released state, the vehicle is driven to perform a slope creep start.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: When the inclination angle of the ramp meets a preset angle, if the speed of the vehicle is greater than zero and less than a preset speed, controlling the vehicle to generate the driving torque; If the vehicle is in a stationary state and the vehicle changes from an accelerated state to a powerless state, the vehicle is controlled to generate the braking torque.

4. The method according to claim 3, characterized in that: The method further comprises: determining the friction of the vehicle on the ramp; An inclination angle of the ramp is determined based on the friction force, the acceleration of the vehicle, and the weight of the vehicle.

5. The method according to claim 1 or 2, characterized in that: The method further comprises: The driving force is determined based on the increased driving torque, a wheel radius of the vehicle, and a driveline efficiency of the vehicle.

6. The method according to claim 1 or 2, characterized in that: After unloading the braking torque of the vehicle, the method further comprises: During the process of creep start of the vehicle on a slope, when the vehicle first slips, the braking torque of the vehicle is increased; the braking force corresponding to the increased braking torque is greater than the difference between the sum of the driving force and the friction force of the vehicle and the gravity component of the vehicle in the slope direction; When the vehicle slips again, the electronic parking brake of the vehicle is controlled to park the vehicle.

7. The method according to claim 6, characterized in that The method further comprises: When the wheel speed exceeds a preset speed and the wheel speed direction is opposite to a preset driving direction, it is determined that the vehicle is slipping.

8. A vehicle control device, characterized in that: The device comprises: an adding module and an unloading module; The increasing module is used to increase the driving torque of the vehicle according to a preset gradient when the vehicle creeps on a slope; The unloading module is used to unload the braking torque of the vehicle when the driving force corresponding to the increased driving torque is greater than the slope resistance of the vehicle.

9. The device according to claim 8, characterized in that The device further comprises: a driving module; The driving module is used to drive the vehicle to perform a hill creep start when the vehicle is on a slope, the vehicle has the braking torque and the driving torque, and the brake pedal and the accelerator pedal of the vehicle are both in a released state.

10. A vehicle, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of a vehicle, the vehicle is capable of performing the method of any one of claims 1 to 7.

12. A computer program product, characterized in that The computer program product comprises computer instructions which, when executed on a vehicle, cause the vehicle to perform the method according to any one of claims 1 to 7 .

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