Vehicle starting method and device, vehicle and program product

Abstract

The embodiment of the invention is suitable for the technical field of vehicles, and provides a vehicle starting method and device, a vehicle and a program product. The wheel pairs comprise a front wheel pair and a rear wheel pair; acquiring a target correction torque of the vehicle based on the height information; determining a target torque of the vehicle during starting according to the target correction torque; and controlling the vehicle to start at the target torque. By the adoption of the method, the target torque suitable for starting of the vehicle can be obtained, and the vehicle sliding phenomenon during starting of the vehicle is prevented.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a vehicle starting method, device, vehicle and program product. Background Art

[0002] Currently, when a vehicle starts on a sloped road, the vehicle is prone to slipping due to gravity, seriously affecting driving safety and the owner's experience.

[0003] In the prior art, in order to prevent the vehicle from rolling away when starting on a slope, the driving torque is usually adjusted by increasing a preset torque.

[0004] However, this method does not take into account the actual scenario of the vehicle being on a slope, so that the adjusted driving torque may still not be able to prevent the vehicle from rolling. Summary of the invention

[0005] The embodiments of the present application provide a vehicle starting method, device, vehicle and program product, which can solve the problem of unreasonable driving torque when the vehicle starts on a slope.

[0006] In a first aspect, an embodiment of the present application provides a vehicle starting method, the method comprising: Obtain height information of the wheelset in the vehicle; the wheelset includes the front wheelset and the rear wheelset; Obtaining a target correction torque of the vehicle based on the height information; Determining a target torque of the vehicle when starting according to the target correction torque; The vehicle is controlled to start at the target torque.

[0007] In one embodiment, obtaining height information of a wheelset in a vehicle includes: Get the panoramic image of the vehicle at the current position; Altitude information is determined based on the panoramic image.

[0008] In the above technical solution, the height information is determined based on the panoramic image of the vehicle, which can improve the accuracy of the height information determination. In addition, the height information of the front wheel height and the rear wheel height collected can be used to directly describe the posture of the vehicle when starting on the road. Based on this, compared with determining the slope of the road ramp to indirectly describe the posture of the vehicle when starting, the height information can make the vehicle more clearly perceive its own starting characteristics, so as to accurately describe the scene of the vehicle starting later.

[0009] In one embodiment, obtaining a panoramic image of a vehicle at a current position includes: Predicting the future driving trajectory of the vehicle based on the vehicle's driving information; Collecting multiple frames of first environment images during the vehicle driving process; the first environment images include road surface images corresponding to each track position in the driving track; According to the driving trajectory, determining a second environment image corresponding to the current position from multiple frames of the first environment image; A panoramic image is generated based on the second environment image and a third environment image captured at the current position.

[0010] In the above technical solution, the vehicle's driving trajectory is predicted to determine the second environmental image of the road surface corresponding to the current position from the first environmental image, and a panoramic image is generated in combination with the third environmental image at the current position. Based on this, the generated panoramic image can include the road surface image at the current position of the vehicle, so that the panoramic image presents the effect of a dynamic transparent chassis, thereby improving the accuracy of the subsequent determination of height information based on the panoramic image.

[0011] In one embodiment, obtaining height information of a wheelset in a vehicle includes: Height information is obtained based on the height sensors of the front wheel pair and the rear wheel pair.

[0012] In the above technical solution, the height information is determined based on the height sensors located at the front and rear wheels, which can also improve the accuracy of the height information. In addition, compared with determining the slope of the road ramp to indirectly describe the posture of the vehicle when starting, the height information obtained based on the height sensor can also enable the vehicle to clearly perceive its own starting characteristics, so as to accurately describe the vehicle starting scene later.

[0013] In one embodiment, the height information includes at least one of two parameters; the two parameters are front wheel height and rear wheel height, and front axle height and rear axle height; Obtaining the target correction torque of the vehicle based on the height information, including: calculating a height difference between a front wheel height and a rear wheel height, and determining a first correction torque based on the height difference; and / or, Determining a second correction torque corresponding to the front axle height and the rear axle height based on a preset correlation between the front and rear axle heights and the correction torque; The target correction torque is determined according to the first correction torque and / or the second correction torque.

[0014] In the above technical solution, the height difference between the collected front wheel height and the rear wheel height can be used to directly describe the posture of the vehicle when starting on the road. Based on this, compared with indirectly describing the posture of the vehicle when starting by determining the slope of the road ramp, the vehicle can more clearly perceive its own starting characteristics. Furthermore, in the subsequent steps, the accuracy of the target correction torque determined based on directly feeling the posture of the vehicle when starting is usually higher than the accuracy of the target correction torque determined based on indirectly describing the posture of the vehicle when starting.

[0015] Furthermore, the collected front axle height and rear axle height can be used to directly describe the difference between the front axle load and the rear axle load of the vehicle, which can also enable the vehicle to clearly perceive its own characteristics when starting. Moreover, the difference between the front axle load and the rear axle load when the vehicle starts cannot be determined by the slope of the road ramp. Based on this, in the subsequent steps, the accuracy of the target correction torque determined based on the direct perception of the load distribution when the vehicle starts is also higher than the accuracy of the target correction torque determined by the slope that cannot describe the vehicle's load distribution.

[0016] In one embodiment, determining the target correction torque according to the first correction torque and / or the second correction torque includes: If the height information includes a parameter, a correction torque corresponding to the parameter is determined as the target correction torque; the correction torque includes one of a first correction torque and a second correction torque; If the altitude information includes two parameters, the maximum value of the first correction torque and the second correction torque is determined as the target correction torque.

[0017] In the above technical solution, the corresponding correction torque is determined based on any parameter that can directly describe the posture of the vehicle when starting, so that the determined target correction torque can be more suitable for correcting the torque when the vehicle starts. And, the maximum value of the correction torque corresponding to the two parameters is determined as the target correction torque, which can determine the factor that has the greatest impact on the vehicle when starting (one of the height of the front and rear wheels, and the weight distribution of the front and rear axles). Therefore, the initial driving torque of the vehicle is corrected based on the target correction torque corresponding to the maximum value, so that the final target torque can be more suitable for the scene when the vehicle is driving.

[0018] In one embodiment, determining the target torque of the vehicle when starting according to the target correction torque includes: determining an initial drive torque of the vehicle based on an accelerator pedal opening on the vehicle; The initial driving torque is corrected according to the target correction torque to obtain the target torque.

[0019] In the above technical solution, the initial driving torque actually provided by the vehicle is corrected based on the target correction torque, so that a target torque suitable for the vehicle when starting can be obtained, thereby preventing the vehicle from slipping when starting.

[0020] In a second aspect, an embodiment of the present application provides a vehicle starting device, the device comprising: The first acquisition module is used to acquire height information of a wheelset in the vehicle; the wheelset includes a front wheelset and a rear wheelset; A second acquisition module, used for acquiring a target correction torque of the vehicle based on the height information; A determination module, used for determining a target torque of the vehicle when starting according to the target correction torque; The control module is used to control the vehicle to start with a target torque.

[0021] In a third aspect, an embodiment of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect described above when executing the computer program.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method of the first aspect described above is implemented.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle, enables the vehicle to execute the method of the first aspect.

[0024] Compared with the prior art, the embodiments of the present application have the following beneficial effects: during the starting process, the vehicle can obtain the height information of the wheelset to obtain the target correction torque based on the height information. The wheelset includes a front wheelset and a rear wheelset. The height information of the front wheelset and the rear wheelset can directly describe the posture of the vehicle body when starting on the road to a certain extent, so that the actual scene of the vehicle starting can be simulated based on the posture of the vehicle body when starting. Furthermore, based on the actual scene of the vehicle starting, a suitable target correction torque is determined to correct the torque when the vehicle starts, and a target torque suitable for the vehicle when starting can be obtained. Based on this, controlling the vehicle start based on a reasonable target torque can prevent the vehicle from slipping when starting, thereby improving the driving experience of the vehicle owner. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a flow chart of a vehicle starting method according to an embodiment of the present application; Figure 2 This is a schematic diagram of an application scenario of a panoramic image in a vehicle starting method provided by an embodiment of the present application; Figure 3 This is a schematic diagram of an implementation method for generating a panoramic image in a vehicle starting method provided in an embodiment of the present application; Figure 4 is a flow chart of a vehicle starting method according to another embodiment of the present application; Figure 5 It is a structural schematic diagram of a vehicle starting device provided by an embodiment of the present application; Figure 6 It is a structural schematic diagram of a vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION

[0027] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0028] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0029] It should be noted that the information collection process (such as facial image collection process, fingerprint information collection process, etc.) / feature extraction process involved in this application is carried out with the knowledge and permission of the car owner, that is, the information collection process / feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.

[0030] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0031] Currently, when a vehicle starts on a sloped road, the vehicle is prone to slipping due to gravity, seriously affecting driving safety and the owner's experience.

[0032] Specifically, when a vehicle starts on a slope, the driving torque output at the beginning is usually small and insufficient to overcome the slope resistance. At this time, the vehicle is likely to move in a downhill direction.

[0033] Currently, in order to prevent the vehicle from rolling when starting on a slope, the driving torque is usually adjusted by increasing the preset torque.

[0034] However, this method does not take into account the actual scenario of the vehicle, so the adjusted driving torque may still not be able to prevent the vehicle from slipping, which will also reduce the owner's driving experience and cause the power unit to overheat when the vehicle starts, easily causing mechanical failure.

[0035] Based on this, in order to provide appropriate driving torque so that the vehicle does not slip when starting on a slope and to ensure the driving experience of the owner, the embodiment of the present application provides a vehicle starting method, which can be applied to the vehicle. Exemplarily, it can be applied to electronic devices such as a vehicle controller and a power controller in the vehicle. In this embodiment, there is no restriction on the specific type of electronic equipment.

[0036] See also Figure 1 , Figure 1 A flowchart of a vehicle starting method provided in an embodiment of the present application is shown, and the method includes the following steps: S101, obtaining height information of a wheelset in a vehicle; the wheelset includes a front wheelset and a rear wheelset.

[0037] In one embodiment, since the phenomenon of vehicle rolling when starting the vehicle usually occurs when the vehicle starts on a slope, the vehicle may first determine whether it is on a slope when executing the above vehicle starting method. As an example, the vehicle may determine whether it is on a slope based on a preset horizontal instrument panel, or determine whether it is on a slope based on whether the ramp driving mode is entered in response to the operation of the vehicle owner. In this embodiment, the method for determining whether the vehicle is in a ramp start is not limited.

[0038] Among them, the vehicle can be a pure electric vehicle, a hybrid vehicle, a fuel vehicle, etc., without limitation.

[0039] In another embodiment, as vehicle technology develops, some vehicles may have a Hill-start Assist Control (HAC) system, which is used to improve the safety of the vehicle driving on a slope. Specifically, when the owner is ready to start after parking on a slope, the HAC system will automatically maintain the brake pressure to prevent the vehicle from rolling when the owner moves his foot from the brake pedal to the accelerator pedal.

[0040] However, the HAC system is suitable for ramps with larger slopes (for example, the slope is greater than 4°), and the HAC system cannot work on ramps with smaller slopes (less than or equal to 4°). In addition, when the HAC system determines whether the vehicle is on a ramp, it determines based on the longitudinal acceleration signal and lateral acceleration signal of the airbag controller on the vehicle. When the front wheels of the vehicle are on a horizontal road surface and the rear wheels are on a ramp (for example, the rear wheels are at the top of the ramp at the entrance of a multi-story parking lot), it cannot be well identified and has certain limitations.

[0041] Based on this, it can be considered that the vehicle starting method in this embodiment is also applicable to the scenario where there is no HAC system, or there is an HAC system but the slope is less than or equal to the preset slope, or the HAC system cannot recognize that the vehicle is on a slope. Among them, the preset slope can be set according to actual needs and is not limited to this.

[0042] In another embodiment, when the vehicle has a HAC system, the vehicle may also choose to execute the steps in this embodiment to complete the vehicle slope start, which is not limited to this.

[0043] In one embodiment, the above-mentioned wheel pair in the field of vehicles refers to: the axle of the vehicle and the two left and right wheels connected thereto, which are divided into a front wheel pair and a rear wheel pair. Specifically, the front wheel pair is composed of two front wheels and a front axle; the rear wheel pair is composed of two rear wheels and a rear axle.

[0044] The height information of the wheelset may include at least one of the following two parameters: the two parameters are the front wheel height and the rear wheel height, and the front axle height and the rear axle height, which are not limited thereto.

[0045] As an example, the vehicle may obtain height information based on a height sensor of a front wheel pair and a height sensor of a rear wheel pair.

[0046] For example, when it is necessary to collect the height of the wheels (front wheels and rear wheels), the wheel height (front wheel height and rear wheel height) can be collected according to the height sensors located on the wheels; and when it is necessary to collect the height of the axles (front axle and rear axle), the axle height (front axle height and rear axle height) can be collected according to the height sensors located on the axles. This is not explained in detail.

[0047] Among them, the height sensor can be an existing body height sensor on the vehicle, which is used to check the height between itself and the ground in real time and feed back the height information to the vehicle.

[0048] It should be noted that when collecting the front wheel height and the rear wheel height, the corresponding horizontal planes should be the same horizontal plane. Therefore, the height difference between the collected front wheel height and the rear wheel height can be used to directly describe the posture of the vehicle when starting on the road. Based on this, compared with determining the slope of the road ramp to indirectly describe the posture of the vehicle when starting, the height determined by the height sensor can make the vehicle more clearly perceive its own starting characteristics. Furthermore, in the subsequent steps, the accuracy of the target correction torque determined based on the direct perception of the posture when starting is usually higher than the accuracy of the target correction torque determined based on the indirect description of the posture when starting.

[0049] Furthermore, the levels corresponding to the front axle height and the rear axle height should be the same horizontal plane. Furthermore, the collected front axle height and rear axle height can be used to directly describe the difference between the front axle load and the rear axle load of the vehicle, which can also enable the vehicle to clearly perceive its own characteristics when starting. Moreover, the difference between the front axle load and the rear axle load when the vehicle starts cannot be determined by the slope of the road ramp. Based on this, in the subsequent steps, the accuracy of the target correction torque determined based on the direct perception of the load distribution at the start of the vehicle is also higher than the accuracy of the target correction torque determined by the slope that cannot describe the vehicle's load distribution.

[0050] In another embodiment, the vehicle may also acquire a panoramic image of the vehicle at its current position to determine height information based on the panoramic image.

[0051] The panoramic image is an image of the vehicle's surroundings obtained by synthesizing the images captured by the camera equipment in front of the vehicle, behind the vehicle, and on both sides. The panoramic image can be a 360° image (an image corresponding to the surroundings of the vehicle) or a 540° image (including not only images corresponding to the surroundings of the vehicle, but also images corresponding to the road surface under the vehicle chassis), without limitation.

[0052] In this embodiment, the panoramic image can be considered as an image including the surroundings of the vehicle and the road surface under the vehicle chassis. Furthermore, when the panoramic image is displayed, the panoramic image also includes the vehicle.

[0053] For example, refer to Figure 2 , Figure 2 : is a schematic diagram of an application scenario of a panoramic image in a vehicle starting method provided by an embodiment of the present application. Figure 2The left figure in the figure is a bird's-eye view, and the right image is a front view. Among them, the display screen of the vehicle-mounted terminal on the vehicle can display images of the vehicle and the surrounding environment under various visual conditions. Figure 2 These are just some of the visual examples.

[0054] as well as, Figure 2 The 540° transparent chassis in the video can display the road surface under the vehicle chassis (180°) in addition to displaying the surrounding environment of the vehicle (360°). Thus, a 540° panoramic image display is achieved. At this time, the effect achieved by the panoramic image is equivalent to the effect when the vehicle chassis is a transparent chassis. That is, the panoramic image includes the road surface image under the current position of the vehicle, thus presenting the effect of a dynamic transparent chassis.

[0055] In one embodiment, since the panoramic image includes the wheels and the road surface, the vehicle can identify the heights of the wheels and the road surface in the image coordinate system based on the panoramic image, and then obtain the wheel heights of the wheels and the road surface based on the conversion relationship between the preset image coordinate system and the vehicle coordinate system.

[0056] Furthermore, since the axle is connected between two wheels, the relative height between the axle and the wheel is usually fixed. Therefore, when determining the wheel height of the wheel relative to the road surface, the vehicle can also determine the axle height based on the preset relative height, which will not be described in detail.

[0057] It is understandable that, since the panoramic image corresponding to 540° can present the height between the vehicle and the road in a more detailed and intuitive manner, it can be considered that the accuracy of the height information determined based on the panoramic image corresponding to 540° is higher than the accuracy of the height information determined based on the panoramic image corresponding to 360°.

[0058] In one embodiment, the vehicle can be equipped with cameras in the front, rear, left, right, and under the chassis to generate a 540° panoramic image. However, cameras are usually not installed under the chassis of the vehicle. Therefore, in order to achieve the effect of a transparent chassis based only on the cameras in the front, rear, left, and right directions, the vehicle can be equipped with cameras in the following manner: Figure 3 The steps S301-S304 shown generate a panoramic image. The details are as follows: S301. Predicting a future driving trajectory of the vehicle based on the vehicle's driving information.

[0059] In one embodiment, the driving information includes but is not limited to vehicle speed, gear position, steering angle and other information, which are not limited thereto. The steering angle may be a wheel angle or a steering wheel angle, which can accurately reflect the steering intention of the vehicle and improve the accuracy of predicting the vehicle's driving trajectory.

[0060] The vehicle can predict the driving trajectory in the future time period in real time or at preset intervals. Both the preset time and the future time period can be set according to actual needs.

[0061] As an example, the vehicle can predict the driving information based on a preset trajectory prediction neural network model to obtain the above-mentioned driving trajectory.

[0062] S302, collecting multiple frames of first environment images during the driving process of the vehicle; the first environment images include images corresponding to each track position in the driving track.

[0063] In one embodiment, it has been described above that the vehicle is provided with a camera device in the forward direction. Based on this, it can be considered that when the vehicle has not yet reached each trajectory position in the predicted driving trajectory, the road surface image corresponding to each trajectory position can be captured based on the forward camera device.

[0064] S303: Determine a second environment image corresponding to the current position from multiple frames of first environment images according to the driving trajectory.

[0065] In one embodiment, the vehicle may also first determine the road surface position of the road surface contained in each first environment image in the image coordinate system. Then, based on the preset conversion relationship between the vehicle coordinate system and the image coordinate system, the road surface position corresponding to each first environment image is represented by the vehicle coordinate system to obtain the converted road surface position. At this time, since each track position in the driving track is also represented by the vehicle coordinate system, the vehicle can determine the first environment image corresponding to the converted road surface position that is the same as the current position as the second environment image.

[0066] Among them, in autonomous driving and computer vision, the vehicle coordinate system and the image coordinate system are used to describe and process information about the vehicle and its surroundings. Specifically, the origin of the vehicle coordinate system is usually located on the ground directly below the midpoint of the rear axle of the vehicle. The origin of the image coordinate system is usually located in the upper left corner of the image. In order to convert the information in the image into the vehicle coordinate system, it is usually necessary to use the camera's intrinsic parameters (such as focal length, principal point coordinates) and camera extrinsic parameters (such as rotation matrix and translation vector), as well as the position and orientation of the camera on the vehicle, to map the points in the image to the vehicle's three-dimensional space for description.

[0067] Based on the above description, when the vehicle is driving normally, the forward camera device can capture the road surface image of the road surface S1 that the vehicle has not passed. Afterwards, the vehicle can determine the position (X1, Y1, H, W) of the area containing the road surface S1 in the road surface image, and then use the above conversion relationship to determine the position of the road surface in the vehicle coordinate system. Among them, X1 and Y1 can represent the pixel coordinates of the upper left corner of the area of ​​the road surface S1 in the image, and H and W represent the height and width of the area of ​​the road surface S1, respectively. Among them, since the positions of each trajectory in the driving trajectory can be represented by the vehicle coordinate system, and the driving trajectory is the predicted future driving trajectory of the vehicle. That is, the vehicle can also predict the driving trajectory before reaching the position of the road surface S1, and the predicted driving trajectory will include the position of the road surface S1.

[0068] Based on this, when the vehicle travels to the current position (when the road surface is at position S1), the image corresponding to the road surface position S1 can be determined from the captured images as the second environment image. That is, during the driving process of the vehicle, the road surface image at the current position can be obtained based only on the camera devices in the front, rear, left and right directions.

[0069] In another embodiment, since the shooting range of the camera device is limited, the distance relationship between the photographed road surface and the position of the vehicle when shooting can be pre-set on the vehicle to determine the above-mentioned second environment image based on the distance relationship.

[0070] For example, when the vehicle is shooting at the current location, it can capture a road image at a preset distance (e.g., 5 meters) in front of the vehicle's location. Based on this, when the vehicle determines the second environment image corresponding to the current location, it can first determine the historical location at a preset distance behind the current location based on the above distance relationship. Then, the first environment image shot at the historical location can be determined as the above second environment image.

[0071] In another embodiment, since the vehicle can predict the driving trajectory in advance, the vehicle can also process the captured first environment image and the driving trajectory based on a preset matching neural network model to obtain the second environment image corresponding to each trajectory position in the driving trajectory. In this case, when arriving at the current position, the vehicle can directly determine the second environment image corresponding to the current position.

[0072] In this embodiment, the method for determining the second environment image corresponding to the current position is not limited.

[0073] S304: Generate a panoramic image based on the second environment image and a third environment image captured at the current position.

[0074] In one embodiment, it has been described above that the second environment image is an image of the road surface at the current position. Therefore, when the vehicle arrives at the current position, the second environment image is an image under the vehicle chassis. In addition, the camera equipment is located around the vehicle, so the third image taken at the current position can be considered as an image of the front, rear, left, and right directions of the vehicle.

[0075] Based on this, after obtaining the third environment image of the surroundings and the second environment image under the chassis, the vehicle can splice the third environment image and the second environment image to obtain the above-mentioned panoramic image.

[0076] Exemplarily, the vehicle may process the third environment image and the second environment image by superimposing and stitching them to obtain the above-mentioned panoramic image, which will not be described in detail.

[0077] It is understandable that, based on the above-mentioned method, a panoramic image when the vehicle stops can be obtained. At this time, the vehicle can store the panoramic image, and then when the vehicle starts, the height information is determined based on the panoramic image.

[0078] In addition, based on the example description in S101 above, it can be considered that the vehicle is able to obtain the front wheel height and the rear wheel height, as well as the front axle height and the rear axle height, only based on the height sensor of the front wheel pair and the height sensor of the rear wheel pair. Alternatively, the front wheel height and the rear wheel height, as well as the front axle height and the rear axle height are obtained only based on the panoramic image. Alternatively, the front wheel height and the rear wheel height are obtained based on the height sensor of the front wheel pair and the height sensor of the rear wheel pair, and the front axle height and the rear axle height are obtained based on the panoramic image. Alternatively, the front axle height and the rear axle height are obtained based on the height sensor of the front wheel pair and the height sensor of the rear wheel pair, and the front wheel height and the rear wheel height are obtained based on the panoramic image.

[0079] In this embodiment, the method for obtaining the height information is not limited.

[0080] S102: Obtain a target correction torque of the vehicle based on the altitude information.

[0081] In one embodiment, it is described in the above S101 that the height information includes at least one of two parameters, and the two parameters are the front wheel height and the rear wheel height, and the front axle height and the rear axle height.

[0082] Based on this, when the height information only includes the front wheel height and the rear wheel height, the vehicle can determine the target correction torque based only on the front wheel height and the rear wheel height; and, when the height information only includes the front axle height and the rear axle height, the vehicle can determine the target correction torque based only on the front axle height and the rear axle height; and, when the height information includes the above two parameters at the same time, the vehicle can determine the target correction torque based on the two parameters.

[0083] As an example, the vehicle may calculate the height difference between the front wheel height and the rear wheel height, and determine the first correction torque based on the height difference. And / or, based on a preset correlation between the front and rear axle heights and the correction torque, determine the second correction torque corresponding to the front axle height and the rear axle height. Then, the target correction torque is determined based on the first correction torque and / or the second correction torque.

[0084] Exemplarily, the vehicle may also determine the first correction torque based on a preset correlation between the height difference and the first correction torque. The correlation between the height difference and the first correction torque may be as shown in Table 1 below: Table 1:

[0085] Wherein, H represents the height difference, in mm, and Z1 represents the first correction torque, in Nm. Based on the above table, it can be seen that the relationship between the height difference and the first correction torque is a linear relationship. Based on this, the vehicle can determine the first correction torque corresponding to the height difference based on the linear relationship.

[0086] And, the correlation between the front and rear axle heights and the correction torque can be shown in Table 2 below:

[0087] Wherein, X is the front axle height, in mm; Y is the rear axle height, in mm; Z2 is the second correction torque, in Nm.

[0088] It should be noted that the above-mentioned method of determining the first correction torque and the second correction torque based on the association relationship is only one example. In another embodiment, multiple height difference ranges can be pre-set, and a corresponding correction torque can be set for each height difference range, so that the correction torque of the height difference range pair where the height difference is located is determined as the first correction torque. In addition, multiple front axle height ranges and rear axle height ranges are pre-set, and the correction torques corresponding to the front axle height ranges and the rear axle height ranges are set in a manner similar to the above Table 2, so as to determine the second correction torque based on the front axle height and the rear axle height. In this embodiment, the method for determining the first correction torque and the second correction torque is not limited.

[0089] It is understandable that when the height information only includes the front wheel height and the rear wheel height, only the first correction torque corresponding to the height difference can be obtained. At this time, the vehicle can directly determine the first correction torque as the target correction torque. And, when the height information only includes the front axle height and the rear axle height, only the corresponding second correction torque can be obtained based on the front axle height and the rear axle height. At this time, the vehicle can directly determine the second correction torque as the target correction torque. That is, if the height information includes a parameter, the correction torque corresponding to the parameter is determined as the target correction torque. Among them, the correction torque includes one of the first correction torque and the second correction torque described above.

[0090] However, when the height information includes both of the above parameters, the vehicle can obtain the first correction torque and the second correction torque. At this time, the vehicle needs to determine the target correction torque based on the first correction torque and the second correction torque.

[0091] For example, the vehicle may add the first correction torque and the second correction torque to obtain the target correction torque, or may determine the maximum or minimum value of the first correction torque and the second correction torque as the target correction torque. In this embodiment, the method for determining the correction torque is not limited.

[0092] It should be noted that, as described in the above S101, when collecting the front wheel height and the rear wheel height, the corresponding horizontal planes should be the same horizontal plane, and then the height difference between the collected front wheel height and the rear wheel height can be used to directly describe the posture of the vehicle when starting, so that the vehicle can clearly perceive its own characteristics when starting. In addition, the horizontal planes corresponding to the front axle height and the rear axle height should also be the same horizontal plane, and then the collected front axle height and the rear axle height can be used to directly reflect the difference between the front axle load and the rear axle load of the vehicle, which can also make the vehicle clearly perceive its own characteristics when starting. In addition, the difference between the front axle load and the rear axle load when the vehicle starts cannot be determined by the slope of the road ramp.

[0093] Based on this, it can be considered that the reason for determining the target correction torque based on the height difference is that when the vehicle is located on a slope with different slopes, the relative heights of the front wheels and the rear wheels to the same horizontal plane are different. Based on this, it can be considered that the height difference can directly describe the posture of the vehicle when it starts to a certain extent. Furthermore, by determining the target correction torque based on the height difference to correct the initial driving torque provided when the vehicle starts, the vehicle can be more adapted to the driving on the slope when driving based on the adjusted target torque, thereby preventing the vehicle from slipping.

[0094] And the reason for determining the target correction torque based on the front axle height and the rear axle height is that when the front seats and rear seats of the vehicle carry objects of different weights, the front axle load weight will be different from the rear axle load weight, causing the front axle height and the rear axle height to change. Based on this, it can be considered that the front axle height and the rear axle height can characterize the distribution scenario of the vehicle's load weight to a certain extent. Furthermore, determining the target correction torque based on the front axle height and the rear axle height to correct the initial driving torque provided when the vehicle is started can make the vehicle more adaptable to the distribution scenario of its actual load-bearing when driving based on the adjusted target torque, so that the vehicle can take into account both comfort and stability when driving on a slope.

[0095] In this embodiment, the height information includes two parameters, and the target correction torque is the maximum value of the first correction torque and the second correction torque. When the maximum value of the first correction torque and the second correction torque is used as the target correction torque, it can be considered that the scenario corresponding to the maximum value (the height of the front and rear wheels, and the load distribution of the front and rear axles) has the greatest impact on the vehicle starting. Therefore, the initial driving torque of the vehicle is corrected based on the target correction torque corresponding to the maximum value, so that the final target torque can be more suitable for the scenario when the vehicle is driving.

[0096] Among them, adjusting the initial torque by the sum of the first correction torque and the second correction torque may cause the adjusted target torque to be too large or too small, which is not conducive to the vehicle's driving in the current scenario.

[0097] It should be noted that the above steps S101-S102 are for determining the target correction torque based on the height information of the wheelset. In another embodiment, the target correction torque may also be determined based on the height information of the suspension in the vehicle. In this embodiment, the parameters required for determining the target correction torque are not limited.

[0098] S103: Determine a target torque for the vehicle when starting according to the target correction torque.

[0099] S104: Control the vehicle to start with the target torque.

[0100] In one embodiment, the above-mentioned method of determining the target torque based on the target correction torque includes but is not limited to: determining the target correction torque as the target torque, determining the sum or difference between the initial driving torque of the vehicle and the target correction torque as the target torque, and determining the maximum or minimum value of the initial driving torque and the target correction torque as the target torque, and there is no limitation on this.

[0101] In one embodiment, the initial driving torque can be determined based on the opening of the accelerator pedal on the vehicle. It is understandable that when the vehicle needs to travel, the owner needs to step on the accelerator pedal to control the power device (e.g., the drive motor) to output torque. At this time, the output torque is the initial driving torque.

[0102] The method of determining the initial driving torque based on the accelerator pedal opening is an existing method and will not be described in detail.

[0103] It is understandable that after the target torque is obtained, a target torque request including the target torque may be sent to a controller of the power device (eg, a motor controller) to request the controller to control the power device to output the corresponding target torque to the wheels to control the vehicle to start on a slope.

[0104] In this embodiment, during the starting process, the vehicle can obtain the height information of the wheelset to obtain the target correction torque based on the height information. The wheelset includes a front wheelset and a rear wheelset. The height information of the front wheelset and the rear wheelset can directly describe the posture of the vehicle body when starting on the road to a certain extent, so that the actual scene of the vehicle starting can be simulated based on the posture of the vehicle body when starting. Furthermore, based on the actual scene of the vehicle starting, a suitable target correction torque is determined to correct the torque when the vehicle starts, and a target torque suitable for the vehicle when starting can be obtained. Based on this, controlling the vehicle start based on a reasonable target torque can prevent the vehicle from slipping when starting, thereby improving the driving experience of the owner.

[0105] In another embodiment, referring to Figure 4 , Figure 4 This is a flow chart for implementing a vehicle starting method provided by another embodiment of the present application. As an example, the execution subject is a vehicle controller in a vehicle. The electronic stability program (ESP) on the vehicle can upload the wheel speed of the four wheels of the vehicle and the state of the brake switch to the vehicle controller. When the vehicle controller detects that the wheel speed of the four wheels changes (increases from 0) and the state of the brake switch is off, it can be considered that the vehicle will no longer be in a parking state. That is, it is determined that the vehicle may be in the process of starting on a slope.

[0106] Afterwards, the vehicle controller can determine the height difference between the front wheel height and the rear wheel height based on the panoramic image at the current position, and determine the first correction torque based on the height difference. At the same time, the front axle height and the rear axle height are obtained based on the height sensor of the front wheel pair and the height sensor of the rear wheel pair, and the second correction torque is determined based on the front axle height and the rear axle height. In addition, the maximum value of the first correction torque and the second correction torque can be used as the target correction torque.

[0107] Then, the initial driving torque of the vehicle is determined based on the accelerator pedal opening of the vehicle. Furthermore, when the initial driving torque is corrected based on the target correction torque, the maximum value between the target correction torque and the initial driving torque can be directly used as the target torque.

[0108] Finally, a target torque request including the target torque is output to the motor controller to request the motor controller to control the drive motor to output the corresponding target torque to the wheels to control the vehicle to start on a slope.

[0109] See also Figure 5 , Figure 5 1 is a structural block diagram of a vehicle starting device provided in an embodiment of the present application. The vehicle starting device in this embodiment includes modules for executing Figures 1 to 4 For details, please refer to the steps in the corresponding embodiment. Figures 1 to 4 as well as Figures 1 to 4 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 5 The vehicle starting device 500 may include: a first acquisition module 510, a second acquisition module 520, a determination module 530 and a control module 540, wherein: The first acquisition module 510 is used to acquire height information of a wheelset in the vehicle; the wheelset includes a front wheelset and a rear wheelset.

[0110] The second acquisition module 520 is used to acquire the target correction torque of the vehicle based on the height information.

[0111] The determination module 530 is used to determine the target torque of the vehicle when starting according to the target correction torque.

[0112] The control module 540 is used to control the vehicle to start with a target torque.

[0113] In one embodiment, the first acquisition module 510 is further configured to: Obtain a panoramic image of the vehicle at the current position; and determine height information based on the panoramic image.

[0114] In one embodiment, the first acquisition module 510 is further configured to: Predict the future driving trajectory of the vehicle based on the vehicle's driving information; collect multiple frames of first environmental images during the vehicle's driving process; the first environmental image includes road surface images corresponding to each trajectory position in the driving trajectory; according to the driving trajectory, determine the second environmental image corresponding to the current position from the multiple frames of the first environmental image; generate a panoramic image based on the second environmental image and a third environmental image taken at the current position.

[0115] In one embodiment, the first acquisition module 510 is further configured to: Height information is obtained based on the height sensors of the front wheel pair and the rear wheel pair.

[0116] In one embodiment, the height information includes at least one of two parameters; the two parameters are the front wheel height and the rear wheel height, and the front axle height and the rear axle height; the second acquisition module 520 is further used to: Calculate the height difference between the front wheel height and the rear wheel height, and determine the first correction torque based on the height difference; and / or, based on a preset correlation between the front and rear axle heights and the correction torque, determine the second correction torque corresponding to the front axle height and the rear axle height; determine the target correction torque based on the first correction torque and / or the second correction torque.

[0117] In one embodiment, the second acquisition module 520 is further used for: If the height information includes a parameter, the correction torque corresponding to the parameter is determined as the target correction torque; the correction torque includes one of a first correction torque and a second correction torque; if the height information includes two parameters, the maximum value of the first correction torque and the second correction torque is determined as the target correction torque.

[0118] In one embodiment, the determination module 530 is further configured to: Based on the accelerator pedal opening of the vehicle, the initial driving torque of the vehicle is determined; and the initial driving torque is corrected according to the target correction torque to obtain the target torque.

[0119] When it is understood that Figure 5 In the structural block diagram of the vehicle starting device shown, each module is used to execute Figures 1 to 4 The steps in the corresponding embodiments, and for Figures 1 to 4 Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figures 1 to 4 as well as Figures 1 to 4 The relevant descriptions in the corresponding embodiments are not repeated here.

[0120] Figure 6 is a structural block diagram of a vehicle provided by an embodiment of the present application. Figure 6 As shown, the vehicle 600 of this embodiment includes: a processor 610, a memory 620, and a computer program 630 stored in the memory 620 and executable on the processor 610, such as a program of a vehicle starting method. When the processor 610 executes the computer program 630, the steps in each embodiment of the above-mentioned vehicle starting method are implemented, such as Figure 1 Alternatively, the processor 610 implements the above when executing the computer program 630 Figure 5 The functions of each module in the corresponding embodiment are, for example, Figure 5For details on the functions of each module shown, please refer to Figure 5 Related description in the corresponding embodiment.

[0121] Exemplarily, the computer program 630 may be divided into one or more modules, one or more modules are stored in the memory 620, and are executed by the processor 610 to implement the vehicle starting method provided in the embodiment of the present application. One or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 630 in the vehicle 600. For example, the computer program 630 may implement the vehicle starting method provided in the embodiment of the present application.

[0122] The vehicle 600 may include, but is not limited to, a processor 610 and a memory 620. Those skilled in the art will appreciate that Figure 6 This is only an example of vehicle 600 and does not constitute a limitation of vehicle 600 , which may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle may also include input and output devices, network access devices, buses, etc.

[0123] The processor 610 may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0124] The memory 620 may be an internal storage unit of the vehicle 600, such as a hard disk or memory of the vehicle 600. The memory 620 may also be an external storage device of the vehicle 600, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the vehicle 600. Furthermore, the memory 620 may also include both an internal storage unit of the vehicle 600 and an external storage device.

[0125] An embodiment of the present application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle starting method in the above-mentioned embodiments is implemented.

[0126] An embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle, the vehicle executes the vehicle starting method in each of the above embodiments.

[0127] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A vehicle starting method, characterized in that: The method comprises: Acquire height information of a wheelset in a vehicle; the wheelset includes a front wheelset and a rear wheelset; acquiring a target correction torque of the vehicle based on the height information; determining a target torque of the vehicle when starting according to the target correction torque; The vehicle is controlled to start at the target torque.

2. The method according to claim 1, characterized in that The step of obtaining height information of a wheelset in a vehicle includes: Get the panoramic image of the vehicle at the current position; The height information is determined based on the panoramic image.

3. The method according to claim 2, characterized in that The step of obtaining a panoramic image of the vehicle at the current position includes: Predicting a future driving trajectory of the vehicle based on the driving information of the vehicle; Collecting multiple frames of first environment images during the driving process of the vehicle; the first environment images include road surface images corresponding to each track position in the driving track; According to the driving trajectory, determining a second environment image corresponding to the current position from multiple frames of the first environment image; The panoramic image is generated based on the second environment image and a third environment image captured at the current position.

4. The method according to claim 1, characterized in that: The step of obtaining height information of a wheelset in a vehicle includes: The height information is acquired according to the height sensor of the front wheel pair and the height sensor of the rear wheel pair.

5. The method according to any one of claims 1 to 4, characterized in that: The height information includes at least one of two parameters; the two parameters are respectively the front wheel height and the rear wheel height, and the front axle height and the rear axle height; The obtaining the target correction torque of the vehicle based on the height information includes: calculating a height difference between the front wheel height and the rear wheel height, and determining a first correction torque based on the height difference; and / or, Determining a second correction torque corresponding to the front axle height and the rear axle height based on a preset correlation between the front and rear axle heights and the correction torque; The target correction torque is determined according to the first correction torque and / or the second correction torque.

6. The method according to claim 5, characterized in that The step of determining the target correction torque according to the first correction torque and / or the second correction torque includes: If the height information includes one of the parameters, a correction torque corresponding to the parameter is determined as the target correction torque; the correction torque includes one of the first correction torque and the second correction torque; If the altitude information includes two of the parameters, the maximum value of the first correction torque and the second correction torque is determined as the target correction torque.

7. The method according to claim 1, characterized in that The step of determining the target torque of the vehicle when starting according to the target correction torque includes: determining an initial driving torque of the vehicle based on an accelerator pedal opening on the vehicle; The initial driving torque is corrected according to the target correction torque to obtain the target torque.

8. A vehicle starting device, characterized in that: The device comprises: A first acquisition module is used to acquire height information of a wheelset in a vehicle; the wheelset includes a front wheelset and a rear wheelset; A second acquisition module, configured to acquire a target correction torque of the vehicle based on the height information; a determination module, configured to determine a target torque of the vehicle when starting according to the target correction torque; A control module is used to control the vehicle to start with the target torque.

9. A vehicle, characterized in that: The vehicle comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle implements the method according to any one of claims 1 to 7.

10. A computer program product, characterized in that The invention comprises a computer program, which, when being executed, enables the method according to any one of claims 1 to 7 to be performed.

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