Vehicle starting control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle starting control method and device, a vehicle and a storage medium, and relates to the technical field of vehicle control. The method comprises the steps that when a vehicle is in a static state, state information of the vehicle is obtained in real time; according to the state information, whether a preset starting triggering condition is met or not is determined; if yes, starting information sent by an intelligent driving assistance system in the vehicle is obtained in real time; determining a resistance value of the road surface where the vehicle is; dynamically determining target brake pressure according to the starting information and the resistance value; and controlling the vehicle to execute starting operation according to the target brake pressure. According to the scheme, the target brake pressure is dynamically determined according to the target acceleration at different stages in the starting process and the resistance value of the road surface where the target brake pressure is located, so that the target brake pressure can be adjusted in time along with the change of the target acceleration, the whole starting process is free of vehicle sliding and impact, the situation that the vehicle slides backwards is avoided, and the starting efficiency is improved. And the stability of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle starting control method, device, vehicle and storage medium. Background Art

[0002] With the rapid development of the automobile industry, the requirements for the electronic stability control (ESC) system of the automobile body are becoming higher and higher. The road scenes faced by the advanced driver assistance system (ADAS) are becoming more and more complex. In order to better cope with different usage scenarios, the ESC system can control the starting conditions of different slopes to improve the safety and comfort of customers.

[0003] In the prior art, the ADAS system sends a start command and the target acceleration is a positive value with the intention of starting. When the ESC system detects that the driving force is balanced with the slope resistance, it exits the hydraulic braking control at a certain gradient. At this time, if the ADAS system sends a stop request and the target acceleration is a negative value before the vehicle completes the start, the driving force will drop rapidly. At the same time, due to the delay in the response of the ESC system, the vehicle will slide backwards. Summary of the invention

[0004] The object of the present invention is to provide a vehicle starting control method, device, vehicle and storage medium to solve the technical problems existing in the prior art in view of the above-mentioned deficiencies in the prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a vehicle starting control method, the method comprising:

[0007] When the vehicle is in a stationary state, obtaining status information of the vehicle in real time;

[0008] Determining whether a preset start triggering condition is met according to the status information;

[0009] If yes, then obtaining the starting information sent by the intelligent driving assistance system in the vehicle in real time, the starting information including: target acceleration;

[0010] Determining a resistance value of a road surface on which the vehicle is located;

[0011] dynamically determining a target braking pressure according to the starting information and the resistance value;

[0012] The vehicle is controlled to perform a starting operation according to the target brake pressure.

[0013] Optionally, determining the resistance value of the road surface on which the vehicle is located includes:

[0014] Obtaining a slope value of a road surface on which the vehicle is located;

[0015] The resistance value of the road surface on which the vehicle is located is obtained according to the slope value and the mass of the vehicle.

[0016] Optionally, dynamically determining the target braking pressure according to the starting information and the resistance value includes:

[0017] According to the mapping relationship between the resistance value and the preset resistance value and the braking pressure, determining the target braking pressure of the first stage as the first braking pressure;

[0018] If it is detected that the change trend of the target acceleration is gradually increasing, and the driving force output by the power system in the vehicle is greater than the resistance value, then in the second stage, the target braking pressure is reduced according to a first preset gradient until the target braking pressure is reduced to a second braking pressure, wherein the first braking pressure is greater than the second braking pressure;

[0019] dynamically determining a target braking pressure in the third stage according to the target acceleration;

[0020] The target braking pressure in the fourth stage is determined according to the target acceleration.

[0021] Optionally, dynamically determining the target braking pressure of the third stage according to the target acceleration includes:

[0022] If the target acceleration is zero and the change trend of the target acceleration is unchanged, the target braking pressure is increased according to a second preset gradient in the third stage until the target braking pressure increases to the first braking pressure.

[0023] Optionally, determining the target braking pressure of the fourth stage according to the target acceleration includes:

[0024] If it is detected that the change trend of the target acceleration is gradually decreasing and is less than zero, the target braking pressure of the fourth stage is determined to be the first braking pressure.

[0025] Optionally, after determining whether a preset start triggering condition is met according to the state information, the method further includes:

[0026] If the preset starting trigger condition is met, the target braking pressure of the first stage is determined as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure;

[0027] If it is detected that the change trend of the target acceleration is gradually increasing, and the received driver intervention instruction is 1, the target braking pressure is reduced according to a third preset gradient in the second stage until the target braking pressure is reduced to zero.

[0028] Optionally, after determining whether a preset start triggering condition is met according to the state information, the method further includes:

[0029] If the preset starting trigger condition is met, the target braking pressure of the first stage is determined as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure;

[0030] If it is detected that the target acceleration has a gradually increasing trend and the driving force output by the power system in the vehicle is greater than the resistance value, the target braking pressure is reduced according to a fourth preset gradient in the second stage until the target braking pressure is reduced to zero.

[0031] In a second aspect, an embodiment of the present application further provides a vehicle starting control device, the device comprising:

[0032] An acquisition module, used for acquiring the status information of the vehicle in real time when the vehicle is in a stationary state;

[0033] A determination module, used to determine whether a preset start triggering condition is met according to the state information;

[0034] The acquisition module is further configured to acquire, in real time, the start information sent by the intelligent driving assistance system in the vehicle, wherein the start information includes: target acceleration;

[0035] The determination module is further used to determine the resistance value of the road surface on which the vehicle is located;

[0036] dynamically determining a target braking pressure according to the starting information and the resistance value;

[0037] The control module is used to control the vehicle to perform a starting operation according to the target braking pressure.

[0038] Optionally, the determining module is specifically configured to:

[0039] Obtaining a slope value of a road surface on which the vehicle is located;

[0040] The resistance value of the road surface on which the vehicle is located is obtained according to the slope value and the mass of the vehicle.

[0041] Optionally, the determining module is specifically configured to:

[0042] According to the mapping relationship between the resistance value and the preset resistance value and the braking pressure, determining the target braking pressure of the first stage as the first braking pressure;

[0043] If it is detected that the change trend of the target acceleration is gradually increasing, and the driving force output by the power system in the vehicle is greater than the resistance value, then in the second stage, the target braking pressure is reduced according to a first preset gradient until the target braking pressure is reduced to a second braking pressure, wherein the first braking pressure is greater than the second braking pressure;

[0044] dynamically determining a target braking pressure in the third stage according to the target acceleration;

[0045] The target braking pressure in the fourth stage is determined according to the target acceleration.

[0046] Optionally, the determining module is specifically configured to:

[0047] If the target acceleration is zero and the change trend of the target acceleration is unchanged, the target braking pressure is increased according to a second preset gradient in the third stage until the target braking pressure increases to the first braking pressure.

[0048] Optionally, the determining module is specifically configured to:

[0049] If it is detected that the change trend of the target acceleration is gradually decreasing and is less than zero, the target braking pressure of the fourth stage is determined to be the first braking pressure.

[0050] Optionally, the determining module is specifically configured to:

[0051] If the preset starting trigger condition is met, the target braking pressure of the first stage is determined as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure;

[0052] If it is detected that the change trend of the target acceleration is gradually increasing, and the received driver intervention instruction is 1, the target braking pressure is reduced according to a third preset gradient in the second stage until the target braking pressure is reduced to zero.

[0053] Optionally, the determining module is specifically configured to:

[0054] If the preset starting trigger condition is met, the target braking pressure of the first stage is determined as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure;

[0055] If it is detected that the target acceleration has a gradually increasing trend and the driving force output by the power system in the vehicle is greater than the resistance value, the target braking pressure is reduced according to a fourth preset gradient in the second stage until the target braking pressure is reduced to zero.

[0056] In a third aspect, an embodiment of the present application further provides a vehicle, comprising: an intelligent driving assistance system and a vehicle body electronic stability system, wherein the intelligent driving assistance system and the vehicle body electronic stability system are communicatively connected;

[0057] The intelligent driving assistance system is used to issue starting information, wherein the starting information includes: target acceleration;

[0058] The vehicle body electronic stability system is used to execute the steps of the method provided in the first aspect based on the starting information sent by the intelligent driving assistance system.

[0059] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method provided in the first aspect is executed.

[0060] The beneficial effects of this application are:

[0061] The embodiment of the present application provides a vehicle start control method, device, vehicle and storage medium, the method comprising: when the vehicle is in a stationary state, obtaining the state information of the vehicle in real time; determining whether the preset start trigger condition is met according to the state information; if so, obtaining the start information sent by the intelligent driving assistance system in the vehicle in real time, the start information including: target acceleration; determining the resistance value of the road where the vehicle is located; dynamically determining the target braking pressure according to the start information and the resistance value; and controlling the vehicle to perform the start operation according to the target braking pressure. In this scheme, considering that the target acceleration sent by the ADAS system changes, it is proposed that the start intention can be judged according to the target acceleration in the start information, and the start intention includes: starting or stopping the start, and dynamically determining the target braking pressure according to the target acceleration at different stages of the start process and the resistance value of the road where the vehicle is located, so that the target braking pressure can be adjusted in time with the change of the target acceleration, and the target braking pressure is sent to the actuator in the vehicle to drive the actuator to control the vehicle to perform the start operation, ensuring that there is no slipping and impact in the entire start process, solving the problem of the vehicle slipping backwards, and improving the stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 A schematic flow chart of a vehicle starting control method provided in an embodiment of the present application;

[0064] Figure 2 A schematic flow chart of another vehicle starting control method provided in an embodiment of the present application;

[0065] Figure 3 A flowchart of another vehicle starting control method provided in an embodiment of the present application;

[0066] Figure 4 A schematic diagram of determining a target braking force when a target acceleration changes during a vehicle starting process provided by an embodiment of the present application;

[0067] Figure 5 A flowchart of another vehicle starting control method provided in an embodiment of the present application;

[0068] Figure 6 A schematic diagram of determining the target braking force when the driver intervenes during the vehicle starting process provided by an embodiment of the present application;

[0069] Figure 7 A schematic diagram of determining a target braking force when the driver does not intervene provided in an embodiment of the present application;

[0070] Figure 8 A schematic diagram of determining the target braking force when the driver does not intervene in the vehicle starting process provided by an embodiment of the present application;

[0071] Fig. 9 A schematic diagram of the structure of a vehicle starting control device provided in an embodiment of the present application;

[0072] Fig.10 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0073] Icon: 100-Vehicle; 1-ADAS system; 2-ESC system. DETAILED DESCRIPTION

[0074] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0075] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0076] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0077] The implementation principle and corresponding beneficial effects of the excavation point recommendation method steps for an excavator provided in the present application will be described below through a number of specific embodiments.

[0078] In one embodiment, reference Figure 1 As shown, a vehicle starting control method is provided. Optionally, the method may be performed by an ESC system or other system capable of providing braking pressure on the vehicle.

[0079] It should be understood that in other embodiments, the order of some steps in the vehicle starting control method can be interchanged according to actual needs, or some steps can be omitted or deleted. Figure 1 As shown, the method includes:

[0080] S101. When a vehicle is stationary, obtain status information of the vehicle in real time.

[0081] The vehicle status information includes: whether the ADAS system is available, whether the ADAS system is activated, whether the ESC system is available, whether the vehicle is powered on / started, and whether there is a communication fault. That is, when the vehicle is stationary, the ESC system obtains the above status information of the vehicle in real time to determine whether to enter the start control stage.

[0082] S102: Determine whether a preset starting trigger condition is met according to the status information.

[0083] In one feasible manner, for example, if the vehicle's status information shows that the ADAS system is available, the ADAS system is activated, the ESC system is available, the vehicle is powered on / started, and the communication is fault-free, then it can be determined that the current vehicle status information meets the preset start trigger condition and enters the start control phase in the ESC system.

[0084] In another achievable manner, for example, if the vehicle's status information indicates that the ADAS system is unavailable, the ADAS system is off, the ESC system is unavailable, the vehicle is powered off / off, and the communication is interrupted / faulty, it can be determined that the current vehicle status information does not meet the preset starting trigger conditions, and the starting control phase in the ESC system is exited, and the hydraulic pressure is released.

[0085] S103: If yes, obtain the starting information sent by the intelligent driving assistance system in the vehicle in real time.

[0086] The starting information includes: target acceleration AxTar. The starting information also includes: starting instruction. For example, if the starting instruction DriveoffRequest==1 is received, it indicates that the ADAS system issues a starting instruction; if the starting instruction is not received, that is, the starting instruction DriveoffRequest==0, it indicates that the ADAS system does not issue a starting instruction.

[0087] During the vehicle starting process, the target acceleration issued by the ADAS system changes. For example, in the first stage, the target acceleration AxTar>0, and in the second stage, the target acceleration AxTar=0.

[0088] S104: Determine the resistance value of the road surface on which the vehicle is located.

[0089] The road surface on which the vehicle is located may be a flat road or a ramp, and the resistance value is different depending on the road surface on which the vehicle is located. Therefore, the resistance value can be calculated based on the slope information of the road surface on which the vehicle is located.

[0090] S105: Dynamically determine the target braking pressure according to the starting information and the resistance value.

[0091] S106: Control the vehicle to perform a starting operation according to the target braking pressure.

[0092] In this embodiment, considering that the target acceleration issued by the ADAS system may change, it is proposed that the starting intention can be judged according to the target acceleration in the starting information. The starting intention includes: starting or stopping the starting, and dynamically determining the target braking pressure according to the target acceleration at different stages of the starting process and the resistance value of the road surface, so that the target braking pressure can be adjusted in time with the change of the target acceleration, and the target braking pressure is sent to the actuator in the vehicle to drive the actuator to control the vehicle to perform the starting operation, ensuring that there is no slipping and impact in the entire starting process, solving the problem of the vehicle slipping backwards and improving the stability of the vehicle.

[0093] In summary, the embodiment of the present application provides a vehicle start control method, the method comprising: when the vehicle is in a stationary state, obtaining the state information of the vehicle in real time; determining whether the preset start trigger condition is met according to the state information; if so, obtaining the start information sent by the intelligent driving assistance system in the vehicle in real time, the start information including: target acceleration; determining the resistance value of the road where the vehicle is located; dynamically determining the target braking pressure according to the start information and the resistance value; and controlling the vehicle to perform the start operation according to the target braking pressure. In this scheme, considering that the target acceleration sent by the ADAS system changes, it is proposed that the start intention can be judged according to the target acceleration in the start information, and the start intention includes: starting or stopping the start, and dynamically determining the target braking pressure according to the target acceleration at different stages of the start process and the resistance value of the road where the vehicle is located, so that the target braking pressure can be adjusted in time with the change of the target acceleration, and the target braking pressure is sent to the actuator in the vehicle to drive the actuator to control the vehicle to perform the start operation, ensuring that there is no slipping and impact in the entire start process, solving the problem of the vehicle slipping backwards, and improving the stability of the vehicle.

[0094] Optionally, refer to Figure 2 As shown, the above step S104 includes:

[0095] S201. Obtain slope information of the road where the vehicle is located.

[0096] S202: Obtain the resistance value of the road surface on which the vehicle is located according to the slope information and the mass of the vehicle.

[0097] The slope information may be the degree of inclination of the slope road surface, that is, the slope value. If the road surface on which the vehicle is located is a flat road, the slope value is 0; if the road surface on which the vehicle is located is a ramp, the slope value is the inclination angle of the slope road surface. For example, the slope value of the road surface on which the vehicle is located is 5°.

[0098] In this embodiment, the slope value α of the road surface on which the vehicle is located can be collected by the inertial sensor on the vehicle, and the sine value of the slope value α, i.e. sinα, can be calculated. Then, the product result between the mass M of the vehicle and the sine value of the slope value, i.e. sinα×M, can be determined, and the product result is used as the resistance value of the road surface on which the vehicle is located.

[0099] It can be understood that the calculated resistance value will be different depending on the road surface the vehicle is on.

[0100] How to determine the brake pressure will be explained in detail through the following embodiments.

[0101] Optionally, refer to Figure 3 As shown, the above step S105 includes:

[0102] S301 . Determine, according to a mapping relationship between a resistance value and a preset resistance value and a braking pressure, a target braking pressure of a first stage as a first braking pressure.

[0103] The mapping relationship between the resistance value and the brake pressure is pre-calibrated based on different resistance values. For example, when the resistance value is Z1, by querying the mapping relationship between the resistance value and the brake pressure, the brake pressure corresponding to the resistance value Z1 can be obtained as Y1.

[0104] In this embodiment, for example, referring to Figure 4 As shown, when the vehicle is in the first stage of the starting process, the resistance value can be directly used as a query condition, and the braking pressure corresponding to the resistance value can be queried from the mapping relationship between the resistance value and the braking pressure. For example, the target braking pressure of the first stage is 15 bar.

[0105] S302: If it is detected that the target acceleration has a gradually increasing trend and the driving force output by the power system in the vehicle is greater than the resistance value, the target braking pressure is reduced according to a first preset gradient in the second stage until the target braking pressure is reduced to a second braking pressure.

[0106] The first braking pressure is greater than the second braking pressure.

[0107] It can be understood that when it is detected that the driving force output by the power system in the vehicle is greater than the resistance value, it can be determined that there is no risk of slipping at present, and the ESC system releases the braking pressure to 0 at a certain gradient.

[0108] In this embodiment, for example, continue to refer to Figure 4As shown, when the vehicle is in the first stage of the starting process, if it is detected that the change trend of the target acceleration issued by the ADAS system is gradually increasing until it increases to 0, and it is detected that the driving force output by the power system in the vehicle is greater than the resistance value, the ESC system performs hydraulic release, that is, when the vehicle is in the second stage of the starting process, the ESC system reduces the target brake pressure according to the first preset gradient until the target brake pressure is reduced to the second brake pressure, such as reduced to 10bar. The first preset gradient can be determined according to an empirical value.

[0109] S303: Dynamically determine the target braking pressure of the third stage according to the target acceleration.

[0110] S304: Determine the target braking pressure of the fourth stage according to the target acceleration.

[0111] Optionally, this solution takes into account that the target acceleration issued by the ADAS system changes during other stages of the vehicle's starting process, such as AxTar <= 0. Therefore, it is proposed that the target brake pressure in other stages can be further determined according to the change of the target acceleration issued by the ADAS system to achieve flexible hydraulic release or hydraulic retention to ensure that the vehicle will not slip on different slopes.

[0112] Optionally, the above step S303 includes:

[0113] If the target acceleration is zero and the change trend of the target acceleration is unchanged, the target braking pressure is increased according to the second preset gradient in the third stage until the target braking pressure increases to the first braking pressure.

[0114] In this embodiment, for example, continue to refer to Figure 4 As shown, if the target acceleration issued by the ADAS system is detected to be zero when the vehicle is in the third stage of the starting process, and the change trend of the target acceleration is unchanged, that is, it remains zero, it can be determined that the current intention is to keep the current vehicle stationary. At this time, the ESC system increases the target braking pressure according to the second preset gradient until the target braking pressure increases to the first braking pressure, such as 15 bar, wherein the second preset gradient can also be determined based on empirical values.

[0115] Optionally, the above step S304 includes:

[0116] If it is detected that the change trend of the target acceleration is gradually decreasing and is less than zero, the target braking pressure of the fourth stage is determined to be the first braking pressure.

[0117] In this embodiment, for example, continue to refer to Figure 4As shown, if the target acceleration issued by the ADAS system is detected to be gradually decreasing and less than zero when the vehicle is in the fourth stage of the starting process, that is, AxTar<=0, it can be determined that the current intention is to stop starting. At this time, the ESC system stops hydraulic release, that is, the target brake pressure of the fourth stage is determined to be the first brake pressure, such as 15bar, wherein the second preset gradient can also be determined based on empirical values.

[0118] Therefore, when the ESC system detects that the ADAS system issues a start command DriveoffRequest=1, the target acceleration AxTar issued by the ADAS system is less than 0, and the vehicle is in a stationary state VehicleStandstill=1, the ESC system stops the hydraulic release, that is, according to Figure 4 The control method shown dynamically determines the target braking pressure in the third and fourth stages during the starting process.

[0119] Optionally, refer to Figure 5 As shown, after the above step S102, the method further includes:

[0120] S501: If a preset starting trigger condition is met, determine the target braking pressure of the first stage as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure.

[0121] S502: If it is detected that the change trend of the target acceleration is gradually increasing, and the received driver intervention instruction is 1, then in the second stage, the target braking pressure is reduced according to a third preset gradient until the target braking pressure is reduced to zero.

[0122] In this embodiment, for example, referring to Figure 6 As shown, after the vehicle's state information meets the preset starting trigger condition, the target braking pressure of the first stage can be determined as the first braking pressure, such as 15 bar, according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure; if the ESC system detects that the change trend of the target acceleration issued by the ADAS system is gradually increasing, and the driver intervention instruction received is 1, that is, the driver intervenes in the start by accelerator DriverOverRide=1, then the ESC system performs hydraulic release, that is, in the second stage of the vehicle starting process, the target braking pressure is reduced according to the third preset gradient until the target braking pressure is reduced to zero. Among them, when the driving force gradient is large, the gradient of hydraulic release will also be large. At the same time, the gradient of hydraulic release needs to be calibrated according to the slope. The gradient of hydraulic release when going uphill is calibrated based on different slopes and driving force gradients, and the gradient of hydraulic release when not going uphill is calibrated based on the driving force gradient, so as to ensure that there is no slipping and impact during the starting process.

[0123] It should be noted that, during the vehicle starting process, the starting instruction DriveoffRequest issued by the ADAS system is 1.

[0124] Therefore, the ESC system detects that the ADAS system issues a start command DriveoffRequest = 1, and the driver intervenes in the start by accelerator DriverOverRide = 1. When the above conditions are met, the ESC system can Figure 6 The control method shown determines the target brake pressure during starting.

[0125] Optionally, refer to Figure 7 As shown, after the above step S102, the method further includes:

[0126] S701: If a preset starting trigger condition is met, determine the target braking pressure of the first stage as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure.

[0127] S702: If it is detected that the target acceleration has a gradually increasing trend and the driving force output by the power system in the vehicle is greater than the resistance value, the target braking pressure is reduced according to a fourth preset gradient in the second stage until the target braking pressure is reduced to zero.

[0128] In this embodiment, for example, referring to Figure 8 As shown, after the vehicle's status information meets the preset starting trigger conditions, that is, after the ADAS system is activated and follows the front vehicle to brake to a stop, the ESC enters a pressure-maintaining state, and determines the target braking pressure of the first stage as the first braking pressure, such as 15 bar, based on the mapping relationship between the resistance value and the preset resistance value and the braking pressure; if the ESC system detects that the change trend of the target acceleration issued by the ADAS system is gradually increasing, and the driving force output by the power system in the vehicle is greater than the resistance value, that is, it is determined that there is no risk of slipping at present, the ESC system performs hydraulic release at a certain gradient, that is, in the second stage, the target braking pressure is reduced according to the fourth preset gradient until the target braking pressure is reduced to zero.

[0129] It should be noted that, in the present embodiment, during the vehicle starting process, the ADAS system does not issue a starting instruction, ie, DriveoffRequest=0, which means that the driver does not intervene in the entire starting process of the vehicle.

[0130] Therefore, when the ESC system detects that the ADAS system issues a start command DriveoffRequest = 1, the target acceleration AxTar issued by the ADAS system is greater than 0, and the driver does not intervene in the start by accelerator DriverOverRide = 0, the ESC system can follow the above conditions Figure 8 The control method shown determines the target brake pressure during starting.

[0131] Based on the same inventive concept, a vehicle starting control device corresponding to the vehicle starting control method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned vehicle starting control method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0132] Optionally, refer to Fig. 9 As shown, the embodiment of the present application also provides a vehicle starting control device, the device comprising:

[0133] The acquisition module 901 is used to acquire the status information of the vehicle in real time when the vehicle is in a stationary state;

[0134] A determination module 902 is used to determine whether a preset start triggering condition is met according to the state information;

[0135] The acquisition module 901 is further configured to acquire, in real time, the start information sent by the intelligent driving assistance system in the vehicle, wherein the start information includes: target acceleration;

[0136] The determination module 902 is further used to determine the resistance value of the road surface on which the vehicle is located;

[0137] dynamically determining a target braking pressure according to the starting information and the resistance value;

[0138] The control module 903 is used to control the vehicle to perform a starting operation according to the target braking pressure.

[0139] Optionally, the determining module 902 is specifically configured to:

[0140] Obtaining a slope value of a road surface on which the vehicle is located;

[0141] The resistance value of the road surface on which the vehicle is located is obtained according to the slope value and the mass of the vehicle.

[0142] Optionally, the determining module 902 is specifically configured to:

[0143] According to the mapping relationship between the resistance value and the preset resistance value and the braking pressure, determining the target braking pressure of the first stage as the first braking pressure;

[0144] If it is detected that the change trend of the target acceleration is gradually increasing, and the driving force output by the power system in the vehicle is greater than the resistance value, then in the second stage, the target braking pressure is reduced according to a first preset gradient until the target braking pressure is reduced to a second braking pressure, wherein the first braking pressure is greater than the second braking pressure;

[0145] dynamically determining a target braking pressure in the third stage according to the target acceleration;

[0146] The target braking pressure in the fourth stage is determined according to the target acceleration.

[0147] Optionally, the determining module 902 is specifically configured to:

[0148] If the target acceleration is zero and the change trend of the target acceleration is unchanged, the target braking pressure is increased according to a second preset gradient in the third stage until the target braking pressure increases to the first braking pressure.

[0149] Optionally, the determining module 902 is specifically configured to:

[0150] If it is detected that the change trend of the target acceleration is gradually decreasing and is less than zero, the target braking pressure of the fourth stage is determined to be the first braking pressure.

[0151] Optionally, the determining module 902 is specifically configured to:

[0152] If the preset starting trigger condition is met, the target braking pressure of the first stage is determined as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure;

[0153] If it is detected that the change trend of the target acceleration is gradually increasing, and the received driver intervention instruction is 1, the target braking pressure is reduced according to a third preset gradient in the second stage until the target braking pressure is reduced to zero.

[0154] Optionally, the determining module 902 is specifically configured to:

[0155] If the preset starting trigger condition is met, the target braking pressure of the first stage is determined as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure;

[0156] If it is detected that the target acceleration has a gradually increasing trend and the driving force output by the power system in the vehicle is greater than the resistance value, the target braking pressure is reduced according to a fourth preset gradient in the second stage until the target braking pressure is reduced to zero.

[0157] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0158] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more digital singnal processors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0159] Fig.10 A schematic diagram of a vehicle provided in an embodiment of the present application, the vehicle 100 includes: an ADAS system 1 and an ESC system 2, the ADAS system 1 and the ESC system 2 are communicatively connected, when the ADAS system 1 performs starting control after the vehicle is braked, the ESC system 2 can judge its starting intention according to the target acceleration and stop / start instructions issued by the ADAS system 1, and dynamically determine the target braking pressure at different stages of the starting process, and control the vehicle to perform the starting operation based on the target braking pressure, thereby improving the stability of the vehicle.

[0160] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, comprising a program, which is used to execute the above method embodiment when executed by a processor.

[0161] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0162] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0163] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0164] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

Claims

1. A vehicle starting control method, characterized in that: The method comprises: When the vehicle is in a stationary state, obtaining status information of the vehicle in real time; Determining whether a preset start triggering condition is met according to the status information; If yes, then obtaining the starting information sent by the intelligent driving assistance system in the vehicle in real time, the starting information including: target acceleration; Determining a resistance value of a road surface on which the vehicle is located; dynamically determining a target braking pressure according to the starting information and the resistance value; The vehicle is controlled to perform a starting operation according to the target brake pressure.

2. The method according to claim 1, characterized in that Determining the resistance value of the road surface on which the vehicle is located includes: Obtaining a slope value of a road surface on which the vehicle is located; The resistance value of the road surface on which the vehicle is located is obtained according to the slope value and the mass of the vehicle.

3. The method according to claim 1, characterized in that The dynamically determining the target braking pressure according to the starting information and the resistance value includes: According to the mapping relationship between the resistance value and the preset resistance value and the braking pressure, determining the target braking pressure of the first stage as the first braking pressure; If it is detected that the change trend of the target acceleration is gradually increasing, and the driving force output by the power system in the vehicle is greater than the resistance value, then in the second stage, the target braking pressure is reduced according to a first preset gradient until the target braking pressure is reduced to a second braking pressure, wherein the first braking pressure is greater than the second braking pressure; dynamically determining a target braking pressure in the third stage according to the target acceleration; The target braking pressure in the fourth stage is determined according to the target acceleration.

4. The method according to claim 3, characterized in that Dynamically determining the target braking pressure of the third stage according to the target acceleration includes: If the target acceleration is zero and the change trend of the target acceleration is unchanged, the target braking pressure is increased according to a second preset gradient in the third stage until the target braking pressure increases to the first braking pressure.

5. The method according to claim 4, characterized in that Determining the target braking pressure of the fourth stage according to the target acceleration includes: If it is detected that the change trend of the target acceleration is gradually decreasing and is less than zero, the target braking pressure of the fourth stage is determined to be the first braking pressure.

6. The method according to claim 1, characterized in that After determining whether a preset start trigger condition is met according to the state information, the method further includes: If the preset starting trigger condition is met, the target braking pressure of the first stage is determined as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure; If it is detected that the change trend of the target acceleration is gradually increasing, and the received driver intervention instruction is 1, the target braking pressure is reduced according to a third preset gradient in the second stage until the target braking pressure is reduced to zero.

7. The method according to claim 1, characterized in that After determining whether a preset start trigger condition is met according to the state information, the method further includes: If the preset starting trigger condition is met, the target braking pressure of the first stage is determined as the first braking pressure according to the mapping relationship between the resistance value and the preset resistance value and the braking pressure; If it is detected that the target acceleration has a gradually increasing trend and the driving force output by the power system in the vehicle is greater than the resistance value, the target braking pressure is reduced according to a fourth preset gradient in the second stage until the target braking pressure is reduced to zero.

8. A vehicle starting control device, characterized in that: The device comprises: An acquisition module, used for acquiring the status information of the vehicle in real time when the vehicle is in a stationary state; A determination module, used to determine whether a preset start triggering condition is met according to the state information; The acquisition module is further configured to acquire, in real time, the start information sent by the intelligent driving assistance system in the vehicle, wherein the start information includes: target acceleration; The determination module is further used to determine the resistance value of the road surface on which the vehicle is located; The target braking pressure is dynamically determined according to the starting information and the resistance value; and the vehicle is controlled to perform a starting operation according to the target braking pressure.

9. A vehicle, characterized in that: include: An intelligent driving assistance system and a vehicle body electronic stability system, wherein the intelligent driving assistance system and the vehicle body electronic stability system are communicatively connected; The intelligent driving assistance system is used to issue starting information, wherein the starting information includes: target acceleration; The vehicle body electronic stability system is used to execute the steps of any method as claimed in claims 1-7 based on the starting information sent by the intelligent driving assistance system.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is executed.

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