Constant speed control method and system for energy recovery ramp

Abstract

The invention discloses an energy recovery ramp constant speed control method and system, and relates to the technical field of automobile driving control. The energy recovery ramp constant speed control method comprises the following steps that the current working condition of a to-be-controlled vehicle is obtained; determining a ramp constant speed state of the to-be-controlled vehicle according to the current working condition; when the ramp constant speed is in an activated state, a control instruction is sent to call a predictive map interface, information of a road to be driven is recognized, a vehicle driving strategy is generated based on the road information, and the road trend is intelligently judged according to the vehicle driving strategy to conduct parameter adjustment so as to accurately control the target vehicle speed. According to the method, the problems that for the situation that the vehicle speed is higher and higher under the full-load downhill working condition, a current energy recovery control strategy cannot well solve the situation, overheat braking force declines due to frequent braking of a driver, and the risk of vehicle stall is caused under the emergency condition are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile driving control, and in particular to a method and system for controlling a speed on a slope with energy recovery. Background Art

[0002] At present, with the widespread use of pure electric trucks in mountainous areas, the current energy recovery control strategy cannot effectively solve the problem that the vehicle speed will increase when the vehicle is fully loaded and driving downhill. In addition, the driver's frequent braking will cause overheating and braking force to decline, which will lead to the risk of vehicle stalling in an emergency. No effective solution has been proposed for the above problems. Summary of the invention

[0003] Purpose of the invention: To provide a method and system for hill-climbing speed control with energy recovery to solve the above-mentioned problems existing in the prior art.

[0004] Technical solution: A method for controlling a speed on a slope with energy recovery, comprising the following steps:

[0005] Obtain the current working condition of the vehicle to be controlled;

[0006] Determining a ramp speed control state of the vehicle to be controlled according to the current working condition;

[0007] When the hill hold control is activated, a control command is issued to call the predictive map interface, identify the road information to be traveled, and generate a vehicle driving strategy based on the road information. In addition, the road trend is intelligently judged according to the vehicle driving strategy to adjust parameters so as to accurately control the target vehicle speed.

[0008] Preferably, the current operating condition of the vehicle to be controlled is obtained, including: energy recovery gear, accelerator pedal travel, brake pedal travel, current vehicle speed and current vehicle state.

[0009] Preferably, when the energy recovery gear is in a preset gear, a control instruction is issued to control the instrument to light up the hill hold function icon.

[0010] Preferably, when the accelerator pedal stroke and the brake pedal stroke are less than or equal to a preset first threshold, a corresponding confirmation control instruction is issued.

[0011] Preferably, when the current vehicle speed is within a preset second threshold interval, a hill hold function activation instruction is issued, otherwise, a hill hold function deactivation instruction is issued.

[0012] Preferably, when the hill hold control is in an activated state, a control instruction is issued to call a predictive map interface, identify information of the road to be driven, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed, including:

[0013] The vehicle control calls the predictive map interface to identify road slopes and road conditions in advance, calculate the road adhesion ability, intelligently judge the road trend, adjust parameters in advance, and accurately control the vehicle speed.

[0014] As a preferred method, the vehicle control calls the predictive map interface to identify road slopes and road conditions in advance, calculate road adhesion, intelligently judge road trends, adjust parameters in advance, and accurately control vehicle speed, and also includes:

[0015] When the driver actively increases the speed and exceeds the constant speed range on the slope, the system actively switches to gliding energy recovery and prompts the driver to actively control the speed.

[0016] As a preferred method, the vehicle control calls the predictive map interface to identify road slopes and road conditions in advance, calculate road adhesion, intelligently judge road trends, adjust parameters in advance, and accurately control vehicle speed, and also includes:

[0017] When the driver steps on the brake, the hill hold function request and the brake energy recovery request are actively arbitrated and intelligently switched to better respond to the driver's need for braking and deceleration.

[0018] Preferably, when the hill hold control is in an activated state, a control instruction is issued to call a predictive map interface, identify information of a road to be driven, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed, and further include:

[0019] When a preset intervention command is received, a control command is issued to exit the hill-cruise control function.

[0020] Preferably, when the hill hold control is in an activated state, a control instruction is issued to call a predictive map interface, identify information of a road to be driven, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed, and further include:

[0021] When the preset vehicle status command is detected, a control command is issued to exit the hill-cruise control function and prompt the driver to take over actively.

[0022] In order to achieve the above objective, according to another aspect of the present application, an energy recovery hill-cruise control system is provided.

[0023] The energy recovery hill-climbing speed control system according to the present application comprises:

[0024] An acquisition module, used to acquire the current working condition of the vehicle to be controlled;

[0025] A determination module, used to determine the ramp speed control state of the vehicle to be controlled according to the current working condition;

[0026] The command control module is used to issue a control command to call the predictive map interface when the hill hold is in an activated state, identify the road information to be traveled, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters so as to accurately control the target vehicle speed.

[0027] Beneficial effect: In the embodiment of the present application, the energy recovery function is switched intelligently, by obtaining the current working condition of the vehicle to be controlled; determining the hill speed control state of the vehicle to be controlled according to the current working condition; when the hill speed control is in the activated state, a control instruction is issued to call the predictive map interface, identify the road information to be driven, and generate a vehicle driving strategy based on the road information, and, according to the vehicle driving strategy, intelligently judge the road trend and adjust the parameters to accurately control the target vehicle speed, so as to achieve the purpose of energy recovery and hill speed control, thereby achieving the technical effect of reducing the operating difficulty of the driver and improving driving safety, and further solving the situation where the vehicle speed will become faster and faster under fully loaded downhill conditions, which the current energy recovery control strategy cannot solve well, and the technical problem that the driver's frequent braking will cause the overheating braking force to decline, and the risk of vehicle stalling in an emergency will be caused. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a flow chart of a method for controlling a speed on a hill with energy recovery according to an embodiment of the present application;

[0029] Figure 2 is a flow chart of a method for controlling a speed on a slope with energy recovery according to a preferred embodiment of the present application;

[0030] Figure 3 is a schematic diagram of the structure of an energy recovery hill-climbing control system according to an embodiment of the present application; and

[0031] Figure 4 It is a structural schematic diagram of an electronic device according to the energy recovery hill-climbing speed control method of an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] like Figure 1-2 As shown, according to an embodiment of the present invention, a method for controlling a speed on a hill with energy recovery is provided, and the method comprises the following steps S101 to S103:

[0037] Step S101, obtaining the current working condition of the vehicle to be controlled;

[0038] It can achieve good collection and acquisition of the real-time status of the vehicle, thus providing a basis for subsequent processing.

[0039] According to an embodiment of the present invention, preferably, the current operating condition of the vehicle to be controlled is obtained, including: energy recovery gear, accelerator pedal travel, brake pedal travel, current vehicle speed and current vehicle state.

[0040] Specifically, through the ECU (Electronic Control Unit) and the sensor network, the system can collect multiple status data of the vehicle in real time. Typical operating data include but are not limited to: Vehicle speed: obtain the current speed through the wheel speed sensor or GPS system. Engine speed: read the data of the speed sensor through the engine ECU. Acceleration: obtain the current vehicle acceleration or deceleration information through the acceleration sensor. Throttle and brake pedal position: read the data of the throttle and brake pedal sensors to understand the driver's current operation. Steering angle: obtain the current angle and state of the steering system through the steering angle sensor. Power output (engine or motor): includes engine torque, motor power and other data, reflecting the working condition of the power system. Fuel or power level: obtain the current remaining fuel or battery power through the fuel sensor or battery management system (BMS).

[0041] In addition to the internal status of the vehicle, the on-board system also needs to obtain environmental information to further judge the working conditions, including: Road condition information: Use road perception sensors (such as cameras, lidar, millimeter-wave radar) to judge the current road type, slope, curves, etc.

[0042] Weather and road adhesion conditions: Evaluate road friction conditions through weather information services (such as an Internet connection) or through tire pressure and tire slip detectors.

[0043] External temperature: Obtain ambient temperature information through external temperature sensors to determine the impact on power and vehicle condition.

[0044] The system also needs to obtain the specific operating status of the vehicle's power system, such as: power transmission system status: including transmission gear, clutch status, etc., reflecting the vehicle's current driving mode.

[0045] Energy recovery status: If the vehicle has energy recovery function, the system will detect the current working status of energy recovery, such as whether regenerative braking is enabled.

[0046] Braking status: The brake system's sensors are used to obtain information such as brake pressure and brake disc temperature to determine the working status of the brake system.

[0047] In-vehicle systems usually use communication protocols such as CAN bus to exchange data between control units. By parsing the data in the in-vehicle network, the control system can obtain all necessary operating condition information. Common in-vehicle network communications include: CAN bus data acquisition: reading CAN bus messages containing operating condition information. The content of each data packet needs to be parsed, such as speed, rotation speed, torque, etc.

[0048] OBD interface: Get key diagnostic information such as engine load, air flow, intake air temperature, etc. through the vehicle's OBD-II interface.

[0049] All collected data is integrated and analyzed by the vehicle's main control system to generate the current comprehensive working conditions of the vehicle. The system will adjust the vehicle's control strategy in real time based on factors such as driving environment, vehicle dynamic parameters, and driver operating status.

[0050] According to an embodiment of the present invention, preferably, when the energy recovery gear is in a preset gear, a control instruction is issued to control the instrument to light up the hill hold function icon.

[0051] It can achieve good reminder and display effects, thereby ensuring accurate knowledge of the current status information.

[0052] According to an embodiment of the present invention, preferably, when the accelerator pedal stroke and the brake pedal stroke are less than or equal to a preset first threshold, a corresponding confirmation control instruction is issued.

[0053] Specifically, the pedal sensor equipped in the vehicle can detect the real-time travel of the accelerator pedal and the brake pedal, and usually transmits it to the on-board control unit (ECU) in the form of voltage or position signal.

[0054] Accelerator pedal sensor: Detects the displacement of the accelerator pedal using a position sensor such as a potentiometer or Hall effect sensor.

[0055] Brake pedal sensor: Similarly, the brake pedal sensor detects the displacement or pressure signal of the brake pedal.

[0056] The first threshold is a threshold preset by the system, which means that when the pedal travel or pressure is lower than a certain percentage (such as the accelerator pedal is not fully depressed or the braking force is very small), the system will judge it as a slight driving operation.

[0057] For example, the system can be set as follows: accelerator pedal travel ≤ 2%; brake pedal travel ≤ 2%.

[0058] The brake pedal travel threshold is the pressure value when the brake is lightly depressed (eg, 10% travel of the brake system).

[0059] The ECU will compare the current travel of the accelerator pedal and the brake pedal with the preset first threshold in real time:

[0060] If the accelerator pedal travel is less than or equal to the preset first threshold, it means that the driver has not performed a significant acceleration operation and the accelerator pedal is in a released or slightly depressed state.

[0061] If the brake pedal travel is ≤ the preset first threshold, it indicates that the braking force is small or the brake pedal is not depressed.

[0062] When both conditions (accelerator pedal and brake pedal travel are less than or equal to the preset first threshold) are met at the same time, the system will determine that the driver's operation is slight or no operation, and trigger the corresponding confirmation control command. This command can perform different functions according to different vehicle system requirements:

[0063] Start the coasting energy recovery mode: If the vehicle is equipped with an energy recovery system, the system can issue a command to switch to the coasting state to recover kinetic energy and reduce unnecessary energy consumption.

[0064] Maintain current speed: If in cruise control mode, the system can maintain the vehicle's current speed when no significant acceleration or deceleration is detected.

[0065] Remind the driver to take active action: The system may also issue prompts to remind the driver to perform more significant acceleration or braking actions.

[0066] According to an embodiment of the present invention, preferably, when the current vehicle speed is within a preset second threshold interval, a hill hold function activation instruction is issued, otherwise, a hill hold function deactivation instruction is issued.

[0067] Specifically, through the vehicle speed sensor or the vehicle's electronic control unit (ECU), the system can obtain the current vehicle speed in real time. The vehicle speed sensor is usually installed on the wheel or the transmission output shaft, measuring the wheel speed and converting it into a vehicle speed signal.

[0068] The second threshold interval is the vehicle speed range set by the system for the hill hold function. This range is usually set based on the safety and power requirements of hill driving. For example:

[0069] Minimum vehicle speed threshold (V_min): The lowest permissible vehicle speed for the hill hold function (e.g., 3 kph).

[0070] Maximum vehicle speed threshold (V_max): The highest permissible vehicle speed for the hill hold function (e.g., 50 kph).

[0071] This range ensures that the hill hold function is activated within the appropriate vehicle speed range, thereby effectively controlling vehicle speed and energy recovery.

[0072] The ECU or vehicle speed control module will compare the current vehicle speed with the preset second threshold range:

[0073] If V_min≤current vehicle speed≤V_max, the system determines that the vehicle speed is within the threshold range.

[0074] If the current vehicle speed is lower than the minimum threshold or higher than the maximum threshold, the system will determine that the vehicle speed is not within the threshold range.

[0075] Vehicle speed is within the threshold range: The system issues a hill hold function activation command. This means that the system will activate the cruise control function according to the current road slope and road conditions, maintain a stable vehicle speed, and combine the hill energy recovery function to improve efficiency.

[0076] The vehicle speed is not within the threshold range: the system issues a hill hold function deactivation command and does not allow the hold function to be activated to prevent the function from being used within an inappropriate speed range and ensure safe vehicle operation.

[0077] The vehicle will enter automatic control mode to maintain an appropriate speed and avoid excessive speed fluctuations.

[0078] The system automatically adjusts the throttle or brake according to the gradient of the hill to maintain a steady speed.

[0079] Combined with the energy recovery system, the system can reduce throttle input or recover energy through coasting when going downhill to ensure maximum energy efficiency.

[0080] When the Hill Hold function is activated or deactivated, the system will provide visual and auditory prompts to the driver through the instrument panel or central control screen to remind the driver of the function status. If the driver actively exceeds the preset speed range, the system may also issue a prompt to ask the driver to control the speed, or automatically exit the Hill Hold function.

[0081] If the vehicle speed exits the second threshold range (i.e., the speed exceeds V_max or is lower than V_min), the system will automatically issue a deactivation command to exit the hill hold function. When the vehicle speed returns to the threshold range, the driver can choose to manually or automatically reactivate the function.

[0082] Step S102, determining the ramp speed control state of the vehicle to be controlled according to the current working condition;

[0083] It can achieve accurate status confirmation effect, thereby ensuring accurate control of the vehicle.

[0084] Specifically, the present application realizes the intelligent compatible switching between ordinary energy recovery and hill-climbing speed control functions, and defines the energy recovery level 5 as the hill-climbing speed control function switch by using existing hardware devices;

[0085] The driver actively enters the hill-climbing control function:

[0086] ①The energy recovery gear is adjusted to 5th gear;

[0087] ②Push the gear into the forward gear;

[0088] ③ Release the handbrake;

[0089] ④ Adjust the vehicle speed to ≥3kph and ≤50kph;

[0090] ⑤ Release the accelerator pedal;

[0091] ⑥ Release the brake pedal;

[0092] At the same time, the vehicle controller determines whether the current vehicle state has entered the ramp speed control function:

[0093] ⑦The vehicle is in the high-voltage Ready state;

[0094] ⑧The vehicle has no serious faults;

[0095] ⑨Battery SOC≤98%;

[0096] ⑩ The anti-lock braking system is not faulty and is not activated.

[0097] Step S103: When the hill hold is in an activated state, a control instruction is issued to call a predictive map interface, identify the road information to be traveled, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed.

[0098] Specifically, when the vehicle is in the hill hold function activated state, the system enters the automatic control mode, starts to execute the vehicle's cruise speed control, and optimizes it in combination with road information.

[0099] Calling the predictive map interface: The system calls the predictive map interface through the vehicle navigation system or cloud data to obtain detailed information about the road ahead. The predictive map interface usually integrates the following data: Road slope: uphill and downhill information of the road section to be traveled. Road curvature: information such as the curvature and radius of the curve. Road surface conditions: including different road conditions such as wet, dry, and icy. Speed ​​limit information: the legal speed limit of the current road. The data can be obtained through high-precision maps (HD Map) or vehicle networking systems and updated in real time.

[0100] Identify road information: The road information obtained by the system from the predictive map interface will be processed in real time to identify the key features of the road section to be driven, mainly including: Slope: Determine whether the road ahead is uphill, downhill, or flat, and calculate the angle of the slope. Curve information: Identify the radius of curvature of the curve to ensure that the vehicle can pass safely. Road adhesion: Determine the road adhesion conditions (such as dry roads, slippery roads, or ice-covered roads) based on weather and road conditions. Traffic flow or other dynamic information: If traffic data is integrated, the system can also identify traffic conditions and adjust driving strategies based on this information.

[0101] Generate vehicle driving strategy: Based on the road information identified above, the system generates an optimized driving strategy to ensure that the vehicle can drive safely and efficiently under various road conditions. The strategy may include: Adjusting the target speed: Intelligently adjust the vehicle's cruising speed based on the road's slope and speed limit information. For example, accelerate appropriately when going uphill, and decelerate by sliding or braking when going downhill.

[0102] Optimize Energy Recovery: When going downhill, the system can reduce throttle input and increase power recovery by adjusting the energy recovery system.

[0103] Steering angle adjustment: In a curve, the system adjusts the vehicle's steering force according to the radius of curvature to ensure smooth passage through the curve.

[0104] Braking or acceleration management: When the road adhesion is poor (such as wet or icy), the system will appropriately reduce the acceleration or braking force to prevent skidding.

[0105] Intelligent judgment of road trends: The system can identify upcoming changes in road conditions in advance through a predictive map interface and make intelligent judgments on road trends, including: Uphill or downhill trends: determine the start and end of a slope in advance. Curve trends: determine when the vehicle needs to slow down or speed up based on the curvature of the road. Special sections: If there is a slippery section ahead or a speed limit change, the system will adjust the vehicle's driving parameters.

[0106] Parameter adjustment and vehicle speed control: According to the generated driving strategy and changes in road trends, the system will dynamically adjust various parameters of the vehicle to achieve precise vehicle speed control: Power output adjustment: According to the slope or curvature, the power output of the engine or motor is intelligently adjusted to ensure smooth passage of the vehicle.

[0107] Energy recovery control: When going downhill, the intensity of the energy recovery system is adjusted to reduce braking and throttle operations and improve energy efficiency.

[0108] Braking system adjustment: When driving on curves or slippery roads, the system makes subtle adjustments to the braking force through ABS (anti-lock braking system) or ESC (body stability control system) to ensure vehicle stability.

[0109] Vehicle speed control: Adjust the vehicle's acceleration or deceleration operation according to the target speed and road trends, so that it can accurately maintain the most suitable speed range to avoid being too fast or too slow.

[0110] Real-time feedback and adjustment: The system continuously optimizes driving strategies by continuously updating road information, and can quickly respond and make adjustments when encountering unexpected situations (such as traffic jams or sudden deterioration of road conditions).

[0111] According to an embodiment of the present invention, preferably, when the hill hold speed control is in an activated state, a control instruction is issued to call a predictive map interface, identify information of a road to be driven, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed, including:

[0112] The vehicle control calls the predictive map interface to identify road slopes and road conditions in advance, calculate the road adhesion ability, intelligently judge the road trend, adjust parameters in advance, and accurately control the vehicle speed.

[0113] According to an embodiment of the present invention, preferably, after the vehicle control calls the predictive map interface, identifies the road ramp and road conditions in advance, calculates the road adhesion capacity, intelligently determines the road trend, adjusts the parameters in advance, and accurately controls the vehicle speed, it also includes:

[0114] When the driver actively increases the speed and exceeds the constant speed range on the slope, the system actively switches to gliding energy recovery and prompts the driver to actively control the speed.

[0115] According to an embodiment of the present invention, preferably, after the vehicle control calls the predictive map interface, identifies the road ramp and road conditions in advance, calculates the road adhesion capacity, intelligently determines the road trend, adjusts the parameters in advance, and accurately controls the vehicle speed, it also includes:

[0116] When the driver steps on the brake, the hill hold function request and the brake energy recovery request are actively arbitrated and intelligently switched to better respond to the driver's need for braking and deceleration.

[0117] According to an embodiment of the present invention, preferably, when the hill hold speed control is in an activated state, a control instruction is issued to call a predictive map interface, identify information of a road to be driven, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed, and further include:

[0118] When a preset intervention command is received, a control command is issued to exit the hill-cruise control function.

[0119] Specifically, when the driver actively takes any of the following actions, the hill hold function will be exited:

[0120] ① The energy recovery adjustment gear is not 5th gear;

[0121] ② Braking more than 2%;

[0122] ③ Press the accelerator pedal more than 2%;

[0123] ④Pull the handbrake;

[0124] ⑤Turn the key to KeyOff;

[0125] ⑥The shift handle is switched to non-D gear.

[0126] According to an embodiment of the present invention, preferably, when the hill hold speed control is in an activated state, a control instruction is issued to call a predictive map interface, identify information of a road to be driven, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed, and further include:

[0127] When the preset vehicle status command is detected, a control command is issued to exit the hill-cruise control function and prompt the driver to take over actively.

[0128] Specifically, the vehicle controller detects the vehicle status and exits the hill-climbing speed control function and prompts the driver to take over actively: ① A serious fault occurs in the vehicle power system;

[0129] ②The battery recharging capacity cannot meet the speed requirement;

[0130] ③ABS is activated or a serious failure occurs.

[0131] According to an embodiment of the present invention, preferably, the vehicle controller automatically performs energy recovery in a high speed range and constant speed energy recovery in a medium and low speed range, and adapts to different road conditions to ensure smoothness of vehicle speed control.

[0132] The present application aims to solve the problems of high difficulty and poor control accuracy in speed control on slopes at the current stage, as well as the poor compatibility between the motor-specific gliding energy recovery and speed control. The application utilizes the existing energy recovery adjustment hardware switch without increasing the hardware cost, realizes the integration of hardware and software, and reduces the difficulty of the driver's speed control in slope scenarios, especially long downhill slopes, by intelligently controlling the road information in advance, thereby improving driving safety.

[0133] This application utilizes the energy recovery level button, does not increase the hardware cost, and realizes intelligent switching with the energy recovery function through software, calls the predictive map interface, judges the road trend in advance, intelligently adjusts the motor request, and improves the vehicle speed control effect.

[0134] The present application involves a vehicle controller, a motor controller, an energy recovery gear adjustment, a downhill speed control function switch, a ramp speed control setting, a predictive map function reference ramp and road surface information recognition, and intelligent parameter adjustment vehicle speed control. The present invention utilizes an energy recovery level button, does not increase hardware costs, and is compatible with the energy recovery function. The predictive map determines the road trend in advance, and intelligently controls the downhill vehicle speed, reduces the driver's operating difficulty, and improves driving safety.

[0135] From the above description, it can be seen that the present application achieves the following technical effects:

[0136] In the embodiment of the present application, the energy recovery function is switched intelligently, by obtaining the current working condition of the vehicle to be controlled; determining the hill speed control state of the vehicle to be controlled according to the current working condition; when the hill speed control is in the activated state, a control instruction is issued to call the predictive map interface, identify the road information to be driven, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust the parameters to accurately control the target vehicle speed, thereby achieving the purpose of energy recovery and hill speed control, thereby achieving the technical effect of reducing the operating difficulty of the driver and improving driving safety, and further solving the situation where the vehicle speed will become faster and faster under fully loaded downhill conditions, which the current energy recovery control strategy cannot solve well, and the technical problem that the driver's frequent braking will cause the overheating braking force to decline, and the risk of vehicle stalling in an emergency will be caused.

[0137] like Figure 3 As shown, the present application also relates to an energy recovery hill speed control system. The energy recovery hill speed control system comprises:

[0138] An acquisition module 301 is used to acquire the current working condition of the vehicle to be controlled;

[0139] It can achieve good collection and acquisition of the real-time status of the vehicle, thus providing a basis for subsequent processing.

[0140] A determination module 302 is used to determine the ramp speed control state of the vehicle to be controlled according to the current working condition;

[0141] It can achieve accurate status confirmation effect, thereby ensuring accurate control of the vehicle.

[0142] The command control module 303 is used to issue a control command to call the predictive map interface when the hill hold is in an activated state, identify the road information to be traveled, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters so as to accurately control the target vehicle speed.

[0143] Specifically, when the vehicle is in the hill hold function activated state, the system enters the automatic control mode, starts to execute the vehicle's cruise speed control, and optimizes it in combination with road information.

[0144] Calling the predictive map interface: The system calls the predictive map interface through the vehicle navigation system or cloud data to obtain detailed information about the road ahead. The predictive map interface usually integrates the following data: Road slope: uphill and downhill information of the road section to be traveled. Road curvature: information such as the curvature and radius of the curve. Road surface conditions: including different road conditions such as wet, dry, and icy. Speed ​​limit information: the legal speed limit of the current road. The data can be obtained through high-precision maps (HD Map) or vehicle networking systems and updated in real time.

[0145] Identify road information: The road information obtained by the system from the predictive map interface will be processed in real time to identify the key features of the road section to be driven, mainly including: Slope: Determine whether the road ahead is uphill, downhill, or flat, and calculate the angle of the slope. Curve information: Identify the radius of curvature of the curve to ensure that the vehicle can pass safely. Road adhesion: Determine the road adhesion conditions (such as dry roads, slippery roads, or ice-covered roads) based on weather and road conditions. Traffic flow or other dynamic information: If traffic data is integrated, the system can also identify traffic conditions and adjust driving strategies based on this information.

[0146] Generate vehicle driving strategy: Based on the road information identified above, the system generates an optimized driving strategy to ensure that the vehicle can drive safely and efficiently under various road conditions. The strategy may include: Adjusting the target speed: Intelligently adjust the vehicle's cruising speed based on the road's slope and speed limit information. For example, accelerate appropriately when going uphill, and decelerate by sliding or braking when going downhill.

[0147] Optimize Energy Recovery: When going downhill, the system can reduce throttle input and increase power recovery by adjusting the energy recovery system.

[0148] Steering angle adjustment: In a curve, the system adjusts the vehicle's steering force according to the radius of curvature to ensure smooth passage through the curve.

[0149] Braking or acceleration management: When the road adhesion is poor (such as wet or icy), the system will appropriately reduce the acceleration or braking force to prevent skidding.

[0150] Intelligent judgment of road trends: The system can identify upcoming changes in road conditions in advance through a predictive map interface and make intelligent judgments on road trends, including: Uphill or downhill trends: determine the start and end of a slope in advance. Curve trends: determine when the vehicle needs to slow down or speed up based on the curvature of the road. Special sections: If there is a slippery section ahead or a speed limit change, the system will adjust the vehicle's driving parameters.

[0151] Parameter adjustment and vehicle speed control: According to the generated driving strategy and changes in road trends, the system will dynamically adjust various parameters of the vehicle to achieve precise vehicle speed control: Power output adjustment: According to the slope or curvature, the power output of the engine or motor is intelligently adjusted to ensure smooth passage of the vehicle.

[0152] Energy recovery control: When going downhill, the intensity of the energy recovery system is adjusted to reduce braking and throttle operations and improve energy efficiency.

[0153] Braking system adjustment: When driving on curves or slippery roads, the system makes subtle adjustments to the braking force through ABS (anti-lock braking system) or ESC (body stability control system) to ensure vehicle stability.

[0154] Vehicle speed control: Adjust the vehicle's acceleration or deceleration operation according to the target speed and road trends, so that it can accurately maintain the most suitable speed range to avoid being too fast or too slow.

[0155] Real-time feedback and adjustment: The system continuously optimizes driving strategies by continuously updating road information, and can quickly respond and make adjustments when encountering unexpected situations (such as traffic jams or suddenly deteriorating road conditions).

[0156] From the above description, it can be seen that the present application achieves the following technical effects:

[0157] In the embodiment of the present application, the energy recovery function is switched intelligently, by obtaining the current working condition of the vehicle to be controlled; determining the hill speed control state of the vehicle to be controlled according to the current working condition; when the hill speed control is in the activated state, a control instruction is issued to call the predictive map interface, identify the road information to be driven, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust the parameters to accurately control the target vehicle speed, thereby achieving the purpose of energy recovery and hill speed control, thereby achieving the technical effect of reducing the operating difficulty of the driver and improving driving safety, and further solving the situation where the vehicle speed will become faster and faster under fully loaded downhill conditions, which the current energy recovery control strategy cannot solve well, and the technical problem that the driver's frequent braking will cause the overheating braking force to decline, and the risk of vehicle stalling in an emergency will be caused.

[0158] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0159] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0160] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as the energy recovery ramp speed control method.

[0161] In some embodiments, the energy recovery hill speed control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the energy recovery hill speed control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the energy recovery hill speed control method in any other appropriate manner (for example, by means of firmware).

[0162] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0163] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0164] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0165] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0166] The systems and techniques described herein may be implemented in a computing system that includes a backend component (e.g., as a data server), or a computing system that includes a middleware component (e.g., an application server), or a computing system that includes a frontend component (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LA), a wide area network (WA), a blockchain network, and the Internet.

[0167] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0168] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0169] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Energy recovery ramp speed control method, characterized in that: The following steps are involved: Obtain the current working condition of the vehicle to be controlled; Determining a ramp speed control state of the vehicle to be controlled according to the current working condition; When the hill hold control is activated, a control command is issued to call the predictive map interface, identify the road information to be traveled, and generate a vehicle driving strategy based on the road information. In addition, the road trend is intelligently judged according to the vehicle driving strategy to adjust parameters so as to accurately control the target vehicle speed.

2. The energy recovery ramp speed control method according to claim 1, characterized in that: Obtain the current working condition of the vehicle to be controlled, including: energy recovery gear, accelerator pedal travel, brake pedal travel, current vehicle speed and current vehicle status.

3. The energy recovery ramp speed control method according to claim 2, characterized in that: When the energy recovery gear is in a preset gear, a control command is issued to control the instrument to light up the hill hold function icon.

4. The energy recovery ramp speed control method according to claim 3, characterized in that: When the accelerator pedal stroke and the brake pedal stroke are less than or equal to a preset first threshold, a corresponding confirmation control instruction is issued.

5. The energy recovery ramp speed control method according to claim 4, characterized in that: When the current vehicle speed is within a preset second threshold interval, a hill hold function activation instruction is issued, otherwise, a hill hold function deactivation instruction is issued.

6. The energy recovery ramp speed control method according to claim 1, characterized in that: When the hill hold control is activated, a control command is issued to call a predictive map interface, identify the road information to be driven, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed, including: The vehicle control calls the predictive map interface to identify road slopes and road conditions in advance, calculate the road adhesion ability, intelligently judge the road trend, adjust parameters in advance, and accurately control the vehicle speed.

7. The energy recovery ramp speed control method according to claim 6, characterized in that: The vehicle control calls the predictive map interface to identify road slopes and road conditions in advance, calculate road adhesion, intelligently judge road trends, adjust parameters in advance, and accurately control vehicle speed. It also includes: When the driver actively increases the speed and exceeds the constant speed range on the slope, the system actively switches to gliding energy recovery and prompts the driver to actively control the speed.

8. The energy recovery ramp speed control method according to claim 7, characterized in that: The vehicle control calls the predictive map interface to identify road slopes and road conditions in advance, calculate road adhesion, intelligently judge road trends, adjust parameters in advance, and accurately control vehicle speed. It also includes: When the driver steps on the brake, the hill hold function request and the brake energy recovery request are actively arbitrated and intelligently switched to better respond to the driver's need for braking and deceleration.

9. The energy recovery ramp speed control method according to claim 1, characterized in that: When the hill hold control is in an activated state, a control command is issued to call a predictive map interface, identify information of a road to be driven, and generate a vehicle driving strategy based on the road information, and intelligently determine the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed, and further include: When a preset intervention command is received, a control command is issued to exit the hill-cruise control function.

10. The energy recovery ramp speed control method according to claim 1, characterized in that: When the hill hold control is in an activated state, a control command is issued to call a predictive map interface, identify information of a road to be driven, and generate a vehicle driving strategy based on the road information, and intelligently determine the road trend according to the vehicle driving strategy to adjust parameters to accurately control the target vehicle speed, and further include: When the preset vehicle status command is detected, a control command is issued to exit the hill-cruise control function and prompt the driver to take over actively.

11. Energy recovery hill speed control system, characterized in that: include: An acquisition module, used to acquire the current working condition of the vehicle to be controlled; A determination module, used to determine the ramp speed control state of the vehicle to be controlled according to the current working condition; The command control module is used to issue a control command to call the predictive map interface when the hill hold is in an activated state, identify the road information to be traveled, and generate a vehicle driving strategy based on the road information, and intelligently judge the road trend according to the vehicle driving strategy to adjust parameters so as to accurately control the target vehicle speed.

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