Steep slope slow descent control method, system and device, storage medium and vehicle control unit

Abstract

The invention relates to an abrupt slope slow descent control method, system and device, a storage medium and a vehicle control unit. The method comprises the steps that the safe slow descent speed of a vehicle is determined according to the vertical load of each wheel of the vehicle; determining a target braking torque according to the safe slow descent vehicle speed; distributing a front axle braking torque and a rear axle braking torque of the vehicle according to the target braking torque; and distributing the brake torque of each wheel of the vehicle according to the front axle brake torque and the rear axle brake torque. According to the embodiment of the invention, the safe slow descent speed of the vehicle can be determined according to the vertical load of each wheel of the vehicle, and the brake torque of each wheel can be distributed and adjusted according to the safe slow descent speed, so that the method can adapt to complex road conditions with large vertical load changes of the wheels; and the stability and the safety of the vehicle slowly descending on the abrupt slope under the complex road condition are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a steep slope descent control method, system, device, storage medium and vehicle controller. Background Art

[0002] The purpose of the hill descent control function is to free the driver's feet so that the driver can focus on controlling the steering wheel and improve driving safety.

[0003] The steep slope descent system solutions for pure electric and hybrid vehicles are mostly suitable for paved roads with relatively uniform wheel vertical load and good road conditions. However, for complex road conditions such as off-road roads, unpaved roads, and bumpy roads where the wheel vertical load varies greatly, the current steep slope descent solutions are not adaptable enough, the stability is not high enough, and the driving safety is not good enough. Summary of the invention

[0004] The purpose of the present invention is to provide a steep slope descent control method, system, device, storage medium and vehicle controller, which can adapt to complex road conditions with large changes in wheel vertical load, and improve the stability and safety of the vehicle in steep slope descent under such complex road conditions.

[0005] According to a first aspect of an embodiment of the present disclosure, a steep slope descent control method is provided, which is applied to a vehicle, and the method comprises:

[0006] Determining a safe deceleration speed of the vehicle according to the vertical load of each wheel of the vehicle;

[0007] determining a target braking torque according to the safe deceleration of the vehicle speed;

[0008] Distributing a front axle braking torque and a rear axle braking torque of the vehicle according to the target braking torque;

[0009] The braking torque of each wheel of the vehicle is distributed according to the front axle braking torque and the rear axle braking torque.

[0010] Optionally, determining the safe deceleration speed of the vehicle according to the vertical load of each wheel of the vehicle includes:

[0011] Determining a mean load of the vehicle based on the vertical loads of the wheels of the vehicle;

[0012] The safe descent speed corresponding to the mean load is determined according to the mapping relationship between the mean load and the safe descent speed.

[0013] Optionally, determining the target braking torque according to the safe deceleration speed includes:

[0014] According to the mapping relationship between the safe deceleration speed and the braking torque, a target braking torque corresponding to the safe deceleration speed is determined.

[0015] Optionally, allocating the front axle braking torque and the rear axle braking torque of the vehicle according to the target braking torque comprises:

[0016] obtaining a target braking force according to the target braking torque;

[0017] Calculating the front axle braking force and the rear axle braking force according to the target braking force;

[0018] The front axle braking torque and the rear axle braking torque are calculated based on the front axle braking force and the rear axle braking force.

[0019] Optionally, allocating the front axle braking torque and the rear axle braking torque of the vehicle according to the target braking torque further includes:

[0020] Distribute front axle braking force and rear axle braking force according to a preset front and rear axle braking force distribution curve;

[0021] The front axle braking torque and the rear axle braking torque are obtained according to the front axle braking force and the rear axle braking force.

[0022] Optionally, distributing the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque comprises:

[0023] The braking torque of each wheel of the vehicle is controlled to be less than or equal to a boundary torque of each wheel, wherein the boundary torque of each wheel is: the product of a vertical load of each wheel and an adhesion coefficient of the wheel.

[0024] Optionally, the method further comprises:

[0025] When the target braking torque is less than or equal to the peak power generation torque of the motor assembly, the target braking torque is fully distributed to the motor assembly;

[0026] When the target braking torque is greater than the peak power generation torque of the motor assembly, the difference between the target braking torque and the peak power generation torque of the motor assembly is compensated by a hydraulic braking torque, wherein the hydraulic braking torque is provided by a brake of the vehicle.

[0027] According to a second aspect of an embodiment of the present disclosure, there is provided a steep slope descent control system, which is applied to a vehicle, and the steep slope descent control system comprises:

[0028] A signal acquisition module, a vertical load calculation module, a vehicle controller and a motor assembly, wherein the signal acquisition module, the vertical load calculation module and the motor assembly are all connected to the vehicle controller;

[0029] The signal acquisition module is used to collect the driving data of the vehicle and send the driving data to the vehicle controller;

[0030] The vertical load calculation module is used to calculate the real-time vertical load data of all wheels of the vehicle, and send the real-time vertical load data to the vehicle controller;

[0031] The vehicle controller is used to determine the target braking torque of the vehicle according to the received data, and send a control signal of the target braking torque to the motor assembly;

[0032] The motor assembly is used to distribute the target braking torque to each wheel of the vehicle.

[0033] Optionally, the steep slope descent control system further includes an adhesion coefficient calculation module;

[0034] The adhesion coefficient calculation module is connected to the vehicle controller, and is used to calculate the adhesion coefficient of the contact area between all wheels of the vehicle and the ground, and send the adhesion coefficient to the vehicle controller.

[0035] Optionally, the steep slope descent control system further includes an electronic stability system, and the electronic stability system is connected to the vehicle controller;

[0036] The vehicle controller is also used to output a control signal for compensating the braking torque;

[0037] The electronic stability system is used for converting the control signal for compensating the braking torque into a hydraulic control signal to control hydraulic braking of the brake.

[0038] Optionally, the steep slope descent control system also includes a steep slope descent function switch, which is connected to the vehicle controller. The vehicle controller is used to send a steep slope descent enable signal to the vehicle controller when it is turned on, and is used to turn off the steep slope descent function of the vehicle when it is turned off.

[0039] According to a third aspect of an embodiment of the present disclosure, there is provided a steep slope descent control device, which is applied to a vehicle, and the device comprises:

[0040] A first determination module, configured to determine a safe deceleration speed of the vehicle according to a vertical load of each wheel of the vehicle;

[0041] A second determination module is used to determine a target braking torque according to the safe deceleration speed;

[0042] A first allocation module, configured to allocate a front axle braking torque and a rear axle braking torque of the vehicle according to the target braking torque;

[0043] The second distribution module is used to distribute the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque.

[0044] According to a fourth aspect of an embodiment of the present disclosure, there is provided a non-temporary computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0045] According to a fifth aspect of an embodiment of the present disclosure, a vehicle controller is provided, comprising:

[0046] a memory having a computer program stored thereon;

[0047] A processor is used to execute the computer program in the memory to implement the steps of any one of the methods in the first aspect.

[0048] According to a sixth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising the vehicle controller described in the fifth aspect.

[0049] In summary, the disclosed embodiment provides a steep slope descent control method, the method comprising: determining the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle; determining the target braking torque according to the safe descent speed; allocating the front axle braking torque and the rear axle braking torque of the vehicle according to the target braking torque; allocating the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque. The disclosed embodiment can determine the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle, and adjust the braking torque of each wheel according to the safe descent speed distribution, so as to adapt to complex road conditions with large changes in wheel vertical load, and improve the stability and safety of the vehicle in steep slope descent under such complex road conditions.

[0050] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0052] Figure 1 The figure is a flow chart of a steep slope descent control method according to an exemplary embodiment.

[0053] Figure 2 The figure is a flow chart of a steep slope descent control method according to an exemplary embodiment.

[0054] Figure 3 The figure is a flow chart of a steep slope descent control method according to an exemplary embodiment.

[0055] Figure 4 The figure is a flow chart of a steep slope descent control method according to an exemplary embodiment.

[0056] Figure 5 The figure is a flow chart of a steep slope descent control method according to an exemplary embodiment.

[0057] Figure 5a It is a schematic diagram of a preset braking force distribution curve for front and rear axles according to an exemplary embodiment.

[0058] Figure 6 The figure is a flow chart of a steep slope descent control method according to an exemplary embodiment.

[0059] Figure 6a is a schematic diagram showing a braking torque distribution method according to an exemplary embodiment.

[0060] Figure 6b is a schematic diagram showing a braking torque distribution method according to an exemplary embodiment.

[0061] Figure 6c is a schematic diagram showing a braking torque distribution method according to an exemplary embodiment.

[0062] Figure 7 The figure is a flow chart of a steep slope descent control method according to an exemplary embodiment.

[0063] Figure 8 The figure is a schematic diagram of a steep slope descent control system according to an exemplary embodiment.

[0064] Fig. 9 is a block diagram of a steep slope descent control device 900 according to an exemplary embodiment.

[0065] Fig.10 is a block diagram of a vehicle controller 1000 according to an exemplary embodiment.

[0066] Fig.11 is a block diagram of a vehicle 1100 according to an exemplary embodiment. DETAILED DESCRIPTION

[0067] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0068] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0069] It should be understood that the term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0070] It should be noted that the concepts of "first", "second", etc. mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units. The modifications of "one" and "multiple" mentioned in the present disclosure are illustrative and not restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more". In the description of the present disclosure, unless otherwise specified, "multiple" refers to two or more than two, and other quantifiers are similar; "at least one item", "one item or multiple items" or similar expressions refer to any combination of these items, including any combination of single items or plural items.

[0071] Although operations or steps are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood that it is required to perform these operations or steps in the specific order shown or in a serial order, or to perform all the operations or steps shown to obtain the desired results. In the embodiments of the present disclosure, these operations or steps can be performed in series; these operations or steps can also be performed in parallel; or some of these operations or steps can be performed.

[0072] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information. It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user in an appropriate manner in accordance with relevant laws and regulations and the user's authorization should be obtained. The present disclosure is described below in conjunction with specific embodiments.

[0073] First, the application scenario of the present invention is explained. The purpose of developing the steep slope descent function of the vehicle is to liberate the driver's feet, allowing the driver to focus only on operating the steering wheel, reducing the driver's operating procedures and fatigue, and improving driving safety and comfort. At present, the steep slope descent control schemes of vehicles are mostly aimed at paved roads with good road conditions and relatively uniform vehicle vertical loads. However, for complex roads with complex road conditions, large changes in vehicle vertical loads, and large differences in adhesion coefficients between tires and the ground contact area, such as off-road roads, potholes, and unpaved roads, the applicability is insufficient. The braking control involved in the existing steep slope descent control method does not fully consider the impact of changes in vehicle vertical loads and changes in road adhesion, and cannot provide the vehicle with stability and safety when descending steep slopes on such roads.

[0074] Figure 1 FIG. 1 is a flow chart of a steep slope descent control method according to an exemplary embodiment. Figure 1 As shown, the embodiment of the present disclosure provides a steep slope descent control method, which is applied to a vehicle. The method may include the following steps:

[0075] In step S10, the safe deceleration speed of the vehicle is determined according to the vertical load of each wheel of the vehicle.

[0076] In this step, the vehicle controller of the vehicle first calculates the dynamic vertical load of each wheel of the vehicle, and then determines the safe descent speed of the vehicle according to the mapping relationship between the dynamic vertical load data and the safe descent speed.

[0077] For example, taking a four-wheel vehicle as an example, the vertical load of each wheel of the vehicle can be calculated according to the following formulas:

[0078]

[0079]

[0080]

[0081]

[0082] Among them, F Z11,D 、F Z12,D 、F Z21,D 、F Z22,D are the dynamic vertical loads of the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle, m is the total mass of the vehicle, a and b are the distances from the front axle and rear axle of the vehicle to the center of mass of the vehicle, h is the distance from the front axle to the center of mass of the vehicle, and g is the height of the vehicle's center of mass, L is the vehicle's wheelbase, L f is the wheelbase between the left and right wheels of the vehicle’s front axle, L r is the wheelbase between the left and right wheels of the vehicle's rear axle, g is the acceleration due to gravity, ax is the longitudinal acceleration of the vehicle, a y is the lateral acceleration of the vehicle, and α is the ramp angle. Among them, the longitudinal direction x is the vehicle's forward direction, and the lateral direction y is the direction parallel to the ramp surface and perpendicular to the longitudinal direction x. It is worth mentioning that the ramp surface may also have an inclination angle in the y direction.

[0083] In step S20, a target braking torque is determined according to the safe vehicle speed reduction.

[0084] In this step, the vehicle controller of the vehicle determines the target braking torque of the vehicle according to the mapping relationship between the safe deceleration speed and the braking torque, for example, by looking up a table.

[0085] In step S30 , the front axle braking torque and the rear axle braking torque of the vehicle are distributed according to the target braking torque.

[0086] In this step, the vehicle controller of the vehicle distributes the front axle braking torque and the rear axle braking torque of the vehicle according to the target braking torque, wherein the sum of the front axle braking torque and the rear axle braking torque is equal to the target braking torque.

[0087] In step S40 , the braking torque of each wheel of the vehicle is distributed according to the front axle braking torque and the rear axle braking torque.

[0088] In this step, the vehicle controller of the vehicle distributes the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque. The sum of the braking torques of each wheel of the front axle of the vehicle is equal to the front axle braking torque, and the sum of the braking torques of each wheel of the rear axle of the vehicle is equal to the rear axle braking torque.

[0089] In summary, the disclosed embodiment provides a steep slope descent control method, the method comprising: determining the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle; determining the target braking torque according to the safe descent speed; allocating the front axle braking torque and the rear axle braking torque of the vehicle according to the target braking torque; allocating the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque. The disclosed embodiment can determine the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle, and adjust the braking torque of each wheel according to the safe descent speed distribution, so as to adapt to complex road conditions with large changes in wheel vertical load, and improve the stability and safety of the vehicle in steep slope descent under such complex road conditions.

[0090] Figure 2 FIG. 1 is a flow chart of a steep slope descent control method according to an exemplary embodiment. Figure 2As shown, an embodiment of the present disclosure provides a steep slope descent control method, which is applied to a vehicle. Determining the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle may include the following steps:

[0091] In step S101 , the mean load of the vehicle is determined according to the vertical loads of the wheels of the vehicle.

[0092] In this step, illustratively, the vehicle controller of the vehicle calculates the dynamic vertical load of each wheel of the vehicle according to the above formulas 1-4, and then takes the arithmetic average of the vertical loads of each wheel to obtain the mean load of the vehicle.

[0093] In step S102, the safe descent speed corresponding to the mean load is determined according to the mapping relationship between the mean load and the safe descent speed.

[0094] In this step, the vehicle controller of the vehicle determines the safe descent speed corresponding to the mean load according to the mapping relationship between the mean load and the safe descent speed. For example, the safe descent speed can be determined according to Table 1.

[0095] Table 1

[0096]

[0097] Figure 3 FIG. 1 is a flow chart of a steep slope descent control method according to an exemplary embodiment. Figure 3 As shown, the embodiment of the present disclosure provides a steep slope descent control method, which is applied to a vehicle, wherein determining the target braking torque according to the safe descent speed may include the following steps:

[0098] In step S201, a target braking torque corresponding to the safe deceleration speed is determined according to a mapping relationship between the safe deceleration speed and the braking torque.

[0099] In this step, the vehicle controller of the vehicle determines the target braking torque corresponding to the safe slow-down speed according to the mapping relationship between the safe slow-down speed and the target braking torque. For example, the target braking torque can be determined according to Table 2.

[0100] Table 2

[0101]

[0102] Figure 4 FIG. 1 is a flow chart of a steep slope descent control method according to an exemplary embodiment. Figure 4As shown, an embodiment of the present disclosure provides a steep slope descent control method, which is applied to a vehicle. The method of allocating the front axle braking torque and the rear axle braking torque of the vehicle according to the target braking torque may include the following steps:

[0103] In step S301 , a target braking force is obtained according to the target braking torque.

[0104] In this step, the vehicle controller of the vehicle obtains the target braking force according to the target braking torque. For example, the target braking force can be obtained by dividing the target braking torque by the wheel radius of the vehicle.

[0105] In step S302, the front axle braking force and the rear axle braking force are calculated according to the target braking force.

[0106] In this step, the vehicle controller can calculate the front axle braking force and the rear axle braking force according to the following formulas:

[0107] F f1 +F r1 =F U Formula 5

[0108]

[0109] Among them, F f1 is the front axle braking force, F r1 is the rear axle braking force, F U is the target braking force, G is the vehicle gravity, h g is the height of the vehicle's center of mass, L is the distance between the front and rear axles of the vehicle, and b is the distance from the vehicle's center of mass to the rear axle.

[0110] In step S303, the front axle braking torque and the rear axle braking torque are calculated according to the front axle braking force and the rear axle braking force.

[0111] In this step, the vehicle controller of the vehicle calculates the front axle braking torque and the rear axle braking torque according to the front axle braking force and the rear axle braking force. For example, the front axle braking torque can be obtained by multiplying the front axle braking force by the wheel radius of the vehicle, and the rear axle braking torque can be obtained by multiplying the rear axle braking force by the wheel radius of the vehicle.

[0112] Figure 5 FIG. 1 is a flow chart of a steep slope descent control method according to an exemplary embodiment. Figure 5 As shown, the embodiment of the present disclosure provides a steep slope descent control method, which is applied to a vehicle, wherein the front axle braking torque and the rear axle braking torque of the vehicle are distributed according to the target braking torque, and the following steps may also be included:

[0113] In step S304, the front axle braking force and the rear axle braking force are distributed according to a preset braking force distribution curve between the front and rear axles.

[0114] Figure 5a is a schematic diagram showing a preset braking force distribution curve for the front and rear axles according to an exemplary embodiment. Figure 5 The front and rear axle preset braking force distribution curves shown are used to distribute the front axle braking force and the rear axle braking force.

[0115] In step S305, the front axle braking torque and the rear axle braking torque are obtained according to the front axle braking force and the rear axle braking force.

[0116] In this step, the vehicle controller of the vehicle obtains the front axle braking torque and the rear axle braking torque according to the front axle braking force and the rear axle braking force. Exemplarily, the front axle braking torque and the rear axle braking torque can be obtained by multiplying the front axle braking force and the rear axle braking force by the wheel radius of the vehicle.

[0117] Figure 6 FIG. 1 is a flow chart of a steep slope descent control method according to an exemplary embodiment. Figure 6 As shown, an embodiment of the present disclosure provides a steep slope descent control method, which is applied to a vehicle. The method of distributing the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque may include the following steps:

[0118] In step S401, the braking torque of each wheel of the vehicle is controlled to be less than or equal to the boundary torque of each wheel, wherein the boundary torque of each wheel is: the product of the vertical load of each wheel and the adhesion coefficient of the wheel.

[0119] In this step, the vehicle controller of the vehicle controls the braking torque of each wheel of the vehicle to be less than or equal to the boundary torque of each wheel, wherein the boundary torque of each wheel is the product of the vertical load of each wheel and the adhesion coefficient of the wheel. This can prevent the vehicle from skidding and tail swinging. Exemplarily, the vertical load calculation method of each wheel of the vehicle is as shown in the above formula 1-4, which will not be repeated here. Among them, the adhesion coefficient of the wheel can be obtained from the adhesion coefficient calculation module of the vehicle.

[0120] Figure 6a-6c Schematic diagrams of three different braking torque distribution methods according to three exemplary embodiments. Figure 6a-6c The method shown distributes the braking torque to the various wheels of the vehicle.

[0121] Figure 7 FIG. 1 is a flow chart of a steep slope descent control method according to an exemplary embodiment. Figure 7 As shown, the embodiment of the present disclosure provides a steep slope descent control method, which is applied to a vehicle. The method may also include the following steps:

[0122] In step S50 , when the target braking torque is less than or equal to the peak power generation torque of the motor assembly, the target braking torque is fully distributed to the motor assembly.

[0123] In this step, when the target braking torque is less than or equal to the peak power generation torque of the motor assembly, the vehicle controller will fully distribute the target braking torque to the motor assembly, and then the motor assembly will distribute it to each wheel of the vehicle. In this way, the motor braking can be fully utilized, and the braking force can be used to generate electricity to the maximum extent to recover braking energy.

[0124] In step S60, when the target braking torque is greater than the peak power generation torque of the motor assembly, the difference between the target braking torque and the peak power generation torque of the motor assembly is compensated by a hydraulic braking torque, wherein the hydraulic braking torque is provided by the brake of the vehicle.

[0125] In this step, when the target braking torque of the vehicle controller is greater than the peak power generation torque of the motor assembly, the difference between the target braking torque and the peak power generation torque of the motor assembly is compensated by the hydraulic braking torque, wherein the hydraulic braking torque is provided by the vehicle brake. In this way, the effective braking of the vehicle can be ensured on the basis of making full use of the motor braking, meeting the requirement of safe deceleration of the vehicle speed.

[0126] Figure 8 FIG. 1 is a schematic diagram of a steep slope descent control system according to an exemplary embodiment. Figure 8 As shown, an embodiment of the present disclosure provides a steep slope descent control system, which is applied to a vehicle. The steep slope descent control system may include:

[0127] The signal acquisition module 10, the vertical load calculation module 20, the vehicle controller 1000 and the motor assembly 40, the signal acquisition module 10, the vertical load calculation module 20 and the motor assembly 40 are all connected to the vehicle controller 1000;

[0128] The signal acquisition module 10 is used to collect the driving data of the vehicle and send the driving data to the vehicle controller 1000;

[0129] A vertical load calculation module 20 is used to calculate the real-time vertical load data of all wheels of the vehicle and send the real-time vertical load data to the vehicle controller 1000;

[0130] The vehicle controller 1000 is used to determine the target braking torque of the vehicle according to the received data, and send a control signal of the target braking torque to the motor assembly 40;

[0131] The motor assembly 40 is used to distribute the target braking torque to each wheel of the vehicle.

[0132] In summary, the embodiment of the present disclosure provides a steep slope descent control system, which is applied to a vehicle. The steep slope descent control system includes: a signal acquisition module, a vertical load calculation module, a vehicle controller and a motor assembly, wherein the signal acquisition module, the vertical load calculation module and the motor assembly are all connected to the vehicle controller; the signal acquisition module is used to collect the driving data of the vehicle and send the driving data to the vehicle controller; the vertical load calculation module is used to calculate the real-time vertical load data of all wheels of the vehicle and send the real-time vertical load data to the vehicle controller; the vehicle controller is used to determine the target braking torque of the vehicle according to the received data and send the control signal of the target braking torque to the motor assembly; the motor assembly is used to distribute the target braking torque to each wheel of the vehicle. The embodiment of the present disclosure can determine the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle, and distribute and adjust the braking torque of each wheel according to the safe descent speed, so as to adapt to complex road conditions with large changes in the vertical load of the wheel, and improve the stability and safety of the vehicle in steep slope descent under such complex road conditions.

[0133] In some embodiments, the steep slope descent control system may further include an adhesion coefficient calculation module 50; the adhesion coefficient calculation module 50 is connected to the vehicle controller 1000, and is used to calculate the adhesion coefficients of the contact areas between all wheels of the vehicle and the ground, and send the adhesion coefficients to the vehicle controller 1000. In this way, by calculating the adhesion coefficients of the wheels in real time, and then calculating the boundary torque of the wheels according to the adhesion coefficients of the wheels, the braking torque of the wheels is controlled not to be greater than the boundary torque of the wheels, which can effectively prevent the wheels from slipping.

[0134] In some embodiments, the steep slope descent control system may further include an electronic stability system 60, which is connected to the vehicle controller 1000; the vehicle controller 1000 is also used to output a control signal for compensating the braking torque; the electronic stability system 60 is used to convert the control signal for compensating the braking torque into a hydraulic control signal to control the hydraulic braking of the brake 70. In this way, the vehicle can be effectively braked on the basis of making full use of the motor braking, and the requirements for safe vehicle speed reduction can be met.

[0135] In some embodiments, the steep slope descent control system may further include a steep slope descent function switch 80, which is connected to the vehicle controller 1000, and is used to send a steep slope descent enable signal to the vehicle controller 1000 when the vehicle controller 1000 is turned on, and is used to turn off the steep slope descent function of the vehicle when the vehicle controller 1000 is turned off. This can improve the driving experience of the driver.

[0136] In summary, the embodiment of the present disclosure provides a steep slope descent control system, which is applied to a vehicle. The steep slope descent control system includes: a signal acquisition module, a vertical load calculation module, a vehicle controller and a motor assembly, wherein the signal acquisition module, the vertical load calculation module and the motor assembly are all connected to the vehicle controller; the signal acquisition module is used to collect the driving data of the vehicle and send the driving data to the vehicle controller; the vertical load calculation module is used to calculate the real-time vertical load data of all wheels of the vehicle and send the real-time vertical load data to the vehicle controller; the vehicle controller is used to determine the target braking torque of the vehicle according to the received data and send the control signal of the target braking torque to the motor assembly; the motor assembly is used to distribute the target braking torque to each wheel of the vehicle. The embodiment of the present disclosure can determine the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle, and distribute and adjust the braking torque of each wheel according to the safe descent speed, so as to adapt to complex road conditions with large changes in the vertical load of the wheel, and improve the stability and safety of the vehicle in steep slope descent under such complex road conditions.

[0137] Fig. 9 FIG. 9 is a block diagram of a steep slope descent control device 900 according to an exemplary embodiment. Fig. 9 As shown, the embodiment of the present disclosure provides a steep slope descent control device, which is applied to a vehicle. The device may include the following modules:

[0138] A first determination module 910, configured to determine a safe deceleration speed of the vehicle according to a vertical load of each wheel of the vehicle;

[0139] A second determination module 920 is used to determine a target braking torque according to the safe vehicle speed reduction;

[0140] A first allocation module 930, configured to allocate a front axle braking torque and a rear axle braking torque of the vehicle according to the target braking torque;

[0141] The second distribution module 940 is used to distribute the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque.

[0142] Optionally, the first determination module 910 includes a first calculation module, and the first calculation module is used to calculate the vertical load of each wheel of the vehicle, and determine the average load of the vehicle according to the vertical load of each wheel of the vehicle.

[0143] The first determination module 910 is further configured to determine the safe descent speed corresponding to the mean load according to a mapping relationship between the mean load and the safe descent speed.

[0144] Optionally, the second determination module 920 is further configured to determine a target braking torque corresponding to the safe deceleration speed according to a mapping relationship between the safe deceleration speed and the braking torque.

[0145] Optionally, the first allocation module 930 further includes an acquisition module, and the acquisition module is used to acquire a target braking force according to the target braking torque.

[0146] The first allocation module 930 also includes a second calculation module, and the second calculation submodule is used to calculate the front axle braking force and the rear axle braking force according to the target braking force; and calculate the front axle braking torque and the rear axle braking torque according to the front axle braking force and the rear axle braking force.

[0147] Optionally, the first distribution module 930 further includes a first distribution submodule, which is used to distribute the front axle braking force and the rear axle braking force according to a preset braking force distribution curve of the front and rear axles.

[0148] The first allocation module 930 further includes an acquisition submodule, which is used to obtain the front axle braking torque and the rear axle braking torque according to the front axle braking force and the rear axle braking force.

[0149] Optionally, the second distribution module 940 also includes a control module, which is used to control the braking torque of each wheel of the vehicle to be less than or equal to the boundary torque of each wheel, wherein the boundary torque of each wheel is: the product of the vertical load of each wheel and the adhesion coefficient of the wheel.

[0150] Optionally, the second allocation module 940 further includes a second allocation submodule, and the second allocation submodule is used to fully allocate the target braking torque to the motor assembly when the target braking torque is less than or equal to the peak power generation torque of the motor assembly.

[0151] The second distribution module 940 also includes a compensation module, which is used to compensate the difference between the target braking torque and the peak power generation torque of the motor assembly through hydraulic braking torque when the target braking torque is greater than the peak power generation torque of the motor assembly, wherein the hydraulic braking torque is provided by the brake of the vehicle.

[0152] 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.

[0153] In summary, the disclosed embodiment provides a steep slope descent control device, which is applied to a vehicle, and the device includes: a first determination module, which is used to determine the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle; a second determination module, which is used to determine the target braking torque according to the safe descent speed; a first allocation module, which is used to allocate the front axle braking torque and the rear axle braking torque of the vehicle according to the target braking torque; a second allocation module, which is used to allocate the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque. The disclosed embodiment can determine the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle, and adjust the braking torque of each wheel according to the safe descent speed distribution, so as to adapt to complex road conditions with large changes in wheel vertical load, and improve the stability and safety of the vehicle in steep slope descent under such complex road conditions.

[0154] Fig.10 FIG. 1 is a block diagram of a vehicle controller 1000 according to an exemplary embodiment. Fig.10 As shown, the vehicle controller 1000 may include: a processor 1001 and a memory 1002. The vehicle controller 1000 may also include one or more of a multimedia component 1003, an input / output (I / O) interface 1004, and a communication component 1005.

[0155] The processor 1001 is used to control the overall operation of the vehicle controller 1000 to complete all or part of the steps in the above-mentioned steep slope descent control method. The memory 1002 is used to store various types of data to support the operation of the vehicle controller 1000, and these data may include, for example, instructions for any application or method operating on the vehicle controller 1000, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 1002 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 1003 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 1002 or sent via the communication component 1005. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 1004 provides an interface between the processor 1001 and other interface modules, and the above-mentioned other interface modules can be a keyboard, a mouse, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 1005 is used for wired or wireless communication between the vehicle controller 1000 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 1005 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0156] In an exemplary embodiment, the vehicle controller 1000 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned steep slope descent control method.

[0157] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the steep slope descent control method described above are implemented. For example, the computer-readable storage medium may be the memory 1002 including the program instructions, and the program instructions may be executed by the processor 1001 of the vehicle controller 1000 to complete the steep slope descent control method described above.

[0158] Fig.11 1 is a block diagram of a vehicle 1100 according to an exemplary embodiment. Fig.11 As shown, the embodiment of the present disclosure also provides a vehicle, including the vehicle controller 1000 described in the above embodiment, and the vehicle controller 1000 can determine the safe descent speed of the vehicle according to the vertical load of each wheel of the vehicle, and adjust the braking torque of each wheel according to the safe descent speed distribution, so as to adapt to complex road conditions with large changes in wheel vertical load, and improve the stability and safety of the vehicle in steep descent on such complex road conditions.

[0159] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0160] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0161] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A steep slope descent control method, applied to a vehicle, characterized in that: The method comprises: Determining a safe deceleration speed of the vehicle according to the vertical load of each wheel of the vehicle; determining a target braking torque according to the safe deceleration of the vehicle speed; Distributing a front axle braking torque and a rear axle braking torque of the vehicle according to the target braking torque; The braking torque of each wheel of the vehicle is distributed according to the front axle braking torque and the rear axle braking torque.

2. The steep slope descent control method according to claim 1, characterized in that: Determining the safe deceleration speed of the vehicle according to the vertical load of each wheel of the vehicle includes: Determining a mean load of the vehicle based on the vertical loads of the wheels of the vehicle; The safe descent speed corresponding to the mean load is determined according to the mapping relationship between the mean load and the safe descent speed.

3. The steep slope descent control method according to claim 1, characterized in that: The determining the target braking torque according to the safe vehicle speed reduction comprises: According to the mapping relationship between the safe deceleration speed and the braking torque, a target braking torque corresponding to the safe deceleration speed is determined.

4. The steep slope descent control method according to claim 1, characterized in that: The distributing the front axle braking torque and the rear axle braking torque of the vehicle according to the target braking torque comprises: obtaining a target braking force according to the target braking torque; Calculating the front axle braking force and the rear axle braking force according to the target braking force; The front axle braking torque and the rear axle braking torque are calculated based on the front axle braking force and the rear axle braking force.

5. The steep slope descent control method according to claim 1, characterized in that: The distributing the front axle braking torque and the rear axle braking torque of the vehicle according to the target braking torque further comprises: Distribute front axle braking force and rear axle braking force according to a preset front and rear axle braking force distribution curve; The front axle braking torque and the rear axle braking torque are obtained according to the front axle braking force and the rear axle braking force.

6. The steep slope descent control method according to claim 1, characterized in that: The distributing the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque comprises: The braking torque of each wheel of the vehicle is controlled to be less than or equal to a boundary torque of each wheel, wherein the boundary torque of each wheel is: the product of a vertical load of each wheel and an adhesion coefficient of the wheel.

7. The steep slope descent control method according to any one of claims 1 to 6, characterized in that: The method further comprises: When the target braking torque is less than or equal to the peak power generation torque of the motor assembly, the target braking torque is fully distributed to the motor assembly; When the target braking torque is greater than the peak power generation torque of the motor assembly, the difference between the target braking torque and the peak power generation torque of the motor assembly is compensated by a hydraulic braking torque, wherein the hydraulic braking torque is provided by a brake of the vehicle.

8. A steep slope descent control system, applied to a vehicle, characterized in that: The steep slope descent control system comprises: A signal acquisition module, a vertical load calculation module, a vehicle controller and a motor assembly, wherein the signal acquisition module, the vertical load calculation module and the motor assembly are all connected to the vehicle controller; The signal acquisition module is used to collect the driving data of the vehicle and send the driving data to the vehicle controller; The vertical load calculation module is used to calculate the real-time vertical load data of all wheels of the vehicle, and send the real-time vertical load data to the vehicle controller; The vehicle controller is used to determine the target braking torque of the vehicle according to the received data, and send a control signal of the target braking torque to the motor assembly; The motor assembly is used to distribute the target braking torque to each wheel of the vehicle.

9. The steep slope descent control system according to claim 8, characterized in that: The steep slope descent control system also includes an adhesion coefficient calculation module; The adhesion coefficient calculation module is connected to the vehicle controller, and is used to calculate the adhesion coefficient of the contact area between all wheels of the vehicle and the ground, and send the adhesion coefficient to the vehicle controller.

10. The steep slope descent control system according to claim 8, characterized in that: The steep slope descent control system also includes an electronic stability system, and the electronic stability system is connected to the vehicle controller; The vehicle controller is also used to output a control signal for compensating the braking torque; The electronic stability system is used for converting the control signal for compensating the braking torque into a hydraulic control signal to control hydraulic braking of the brake.

11. The steep slope descent control system according to any one of claims 8 to 10, characterized in that: The steep slope descent control system also includes a steep slope descent function switch, which is connected to the vehicle controller. When the vehicle controller is turned on, it is used to send a steep slope descent enable signal to the vehicle controller, and when it is turned off, it is used to turn off the steep slope descent function of the vehicle.

12. A steep slope descent control device, applied to a vehicle, characterized in that: The device comprises: A first determination module, configured to determine a safe deceleration speed of the vehicle according to a vertical load of each wheel of the vehicle; A second determination module is used to determine a target braking torque according to the safe vehicle speed reduction; A first allocation module, configured to allocate a front axle braking torque and a rear axle braking torque of the vehicle according to the target braking torque; The second distribution module is used to distribute the braking torque of each wheel of the vehicle according to the front axle braking torque and the rear axle braking torque.

13. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

14. A vehicle controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

15. A vehicle, characterized in that: Including the vehicle controller as described in claim 14.

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