Slope starting function control method and device, electronic equipment and medium
By obtaining vehicle speed, slope start signal and clutch displacement information, determining the vehicle's starting operation status and calculating the virtual pedal opening, the problem of vehicle slope slipping in the ramp function test in the prior art is solved, and the accuracy and reliability of the test are improved.
Patent Information
- Application Number
- CN202411739032.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-29
- Publication Date
- 2025-03-14
AI Technical Summary
The lack of control methods for ramp starting function in the prior art leads to the vehicle being prone to slipping or even falling completely during simulated ramp starting tests, resulting in failure in starting.
By obtaining vehicle speed, slope start signal and clutch displacement information, the vehicle's starting operation status is determined, and the virtual pedal opening degree is determined based on the vehicle's starting operation status, slope start signal and vehicle speed, to replace the actual pedal opening signal and avoid the vehicle's slope slipping.
It improves the accuracy and reliability of HIL tests, and provides effective verification methods for the vehicle's ramp starting function, ensuring that the vehicle can start normally without slipping the slope when the ramp starts.
Smart Images
Figure CN119617104A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of vehicle automatic transmission controllers, and in particular to a hill start function control method, device, electronic equipment and medium. Background Art
[0002] With the continuous development of automotive electronic technology, the application of Electronic Control Unit (ECU) in modern automobiles is becoming more and more extensive. In particular, the Traction Control Unit (TCU) plays a vital role in the vehicle control system, especially in complex road conditions. The demand for hill start function is becoming more and more obvious. The hill start function can effectively prevent the vehicle from slipping or sliding backward on the slope, greatly improving the safety and comfort of driving.
[0003] At present, most TCUs on the domestic market have a hill start function, and the realization of this function usually depends on the sensor data analysis and control algorithm inside the TCU. However, with the increasing requirements for vehicle intelligence, how to verify the function of the TCU under high precision and high efficiency conditions has become an urgent problem to be solved. Hardware-In-the-Loop (HIL) bench testing, as an advanced simulation test technology, has become an important means of developing and verifying vehicle electronic control systems. Through HIL testing, the function of the TCU can be verified under conditions close to the real environment, thereby greatly shortening the development cycle and improving the reliability of the test. However, most of the existing HIL bench tests focus on conventional control function testing. For the hill start function that is highly dependent on sensor data and control strategies, there is relatively little research on its test methods and control strategies. There is a lack of control methods for the hill start function, which leads to the vehicle easily slipping or even completely sliding down during the simulated hill start test, resulting in a start failure. Summary of the invention
[0004] In view of this, it is necessary to provide a hill start function control method, device, electronic device and medium to solve the technical problem that the prior art lacks a control method for the hill start function, which leads to the vehicle easily sliding down the slope or even sliding down completely during the simulated hill start test, thereby causing the start to fail.
[0005] In order to solve the above problems, the present invention provides a hill start function control method, comprising: Obtain vehicle speed, hill-start start signal and clutch displacement information; Determine the vehicle's starting state based on the hill-start signal sent by the TCU and the clutch displacement information; The opening degree of the virtual pedal is determined according to the starting running state of the vehicle, the hill start start signal and the vehicle speed.
[0006] In a possible implementation, determining the starting running state of the vehicle according to the hill start signal sent by the TCU and the displacement information of the clutch includes: Determine the environmental position of the vehicle based on the hill start signal; Determine the power connection status of the vehicle according to the displacement information of the clutch; The starting running state of the vehicle is determined according to the environmental position of the vehicle and the power connection status of the vehicle.
[0007] In a possible implementation, the starting running state of the vehicle includes starting on an uphill slope, starting on a flat road, and starting on a downhill slope; the hill start start signal includes starting the hill start control and not starting the hill start control; and determining the opening degree of the virtual pedal according to the starting running state of the vehicle, the hill start start signal, and the vehicle speed includes: When the vehicle starts running as a flat road start or a downhill start, the hill start start signal corresponds to not starting the hill start control, and the opening degree of the virtual pedal is determined according to the vehicle speed; When the vehicle starts running on an uphill slope, the hill-start start signal corresponds to starting the hill-start start control, and the opening degree of the virtual pedal is determined according to the vehicle speed.
[0008] In a possible implementation, when the vehicle starts running on an uphill slope, the hill start signal corresponds to starting a hill start control, and the opening of the virtual pedal is determined according to the vehicle speed, including: The opening degree of the virtual pedal is determined according to the magnitude relationship between the vehicle speed and a preset speed threshold.
[0009] In a possible implementation, determining the opening degree of the virtual pedal according to the magnitude relationship between the vehicle speed and a preset speed threshold includes: When the vehicle speed is greater than a preset speed threshold, determining the opening degree of the virtual pedal to be 0; When the vehicle speed is less than a preset speed threshold, the opening degree of the virtual pedal is determined to be a set value.
[0010] In a possible implementation, when the vehicle speed is less than a preset speed threshold, determining the opening degree of the virtual pedal to be a set value includes: Determining a virtual pedal opening setting value according to the vehicle acceleration when the vehicle is stationary; The opening setting value of the virtual pedal is calculated by the following formula:
[0011] Where a is the vehicle acceleration, g is the acceleration of gravity, θ is the slope, μ is the slope resistance coefficient, F is the maximum resistance that the vehicle braking system can provide, m is the vehicle mass, and α is the virtual brake pedal opening signal.
[0012] In a possible implementation, the method further includes: When the vehicle starts normally, turn off the hill start signal and apply the brake.
[0013] In a second aspect, the present invention further provides a hill start function control device, comprising: An acquisition module, used to acquire vehicle speed, hill-start start signal and clutch displacement information; The vehicle state determination module is used to determine the starting running state of the vehicle according to the hill start signal sent by the TCU and the displacement information of the clutch; The virtual pedal opening degree determination module is used to determine the opening degree of the virtual pedal according to the starting running state of the vehicle, the hill start start signal and the vehicle speed.
[0014] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the hill-start function control method as described above are implemented.
[0015] In a fourth aspect, the present invention further provides a computer-readable storage medium storing one or more programs, wherein the one or more programs can be executed by one or more processors to implement the steps in the hill-start function control method as described above.
[0016] The beneficial effects of the present invention are: firstly, the vehicle speed, the hill start signal and the clutch displacement information are obtained; then, the vehicle's starting running state is determined according to the hill start signal sent by the TCU and the clutch displacement information; when the vehicle starts, when the brake pedal opening signal is 0 (the brake is released), the virtual pedal opening is determined according to the vehicle's starting running state, the hill start signal and the vehicle speed. The virtual brake pedal opening signal is used to replace the actual pedal opening signal to prevent the vehicle from sliding down the slope. When the TCU sends a hill start message and the clutch is engaged, the actual pedal opening signal is used to make the whole vehicle model run normally. The present invention improves the accuracy and reliability of the HIL test and provides an effective verification method for the vehicle's hill start function. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 A method flow chart of an embodiment of a hill start function control method provided by the present invention; Figure 2 is a schematic diagram of an embodiment of a hill start function control device provided by the present invention; Figure 3 It is a schematic diagram of the operating environment of an electronic device provided by the present invention. DETAILED DESCRIPTION
[0018] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.
[0019] The HIL (Hardware-In-the-Loop) test bench vehicle model refers to the vehicle model used in the hardware-in-the-loop test environment. It is a virtual model used to simulate the interaction between the electronic control unit (ECU) and sensor data of a real vehicle.
[0020] A specific embodiment of the present invention discloses a method for controlling a hill start function. Figure 1 ,include: S101, obtaining vehicle speed, hill-start start signal and clutch displacement information; S102, determining the starting running state of the vehicle according to the hill start signal sent by the TCU and the displacement information of the clutch; S103: Determine the opening degree of the virtual pedal according to the starting running state of the vehicle, the hill start start signal and the vehicle speed.
[0021] In this embodiment, the vehicle speed, the hill start signal and the clutch displacement information are first obtained; then the vehicle's starting running state is determined according to the hill start signal sent by the TCU and the clutch displacement information; when the vehicle starts, when the brake pedal opening signal is 0 (the brake is released), the virtual pedal opening is determined according to the vehicle's starting running state, the hill start signal and the vehicle speed. The virtual brake pedal opening signal is used to replace the actual pedal opening signal to prevent the vehicle from sliding down the slope. When the TCU sends a hill start message and the clutch is engaged, the actual pedal opening signal is used to make the whole vehicle model run normally. The present invention improves the accuracy and reliability of the HIL test and provides an effective verification method for the vehicle's hill start function.
[0022] It should be noted that the clutch displacement information indicates the current position of the clutch. By monitoring the clutch displacement, it can be determined whether the clutch is in the engaged state. The clutch engagement means that the power chain (engine to wheels) is connected, and the torque output by the engine can be transmitted to the transmission system through the clutch to drive the vehicle forward. Therefore, in step S102, combined with the clutch displacement information, when the clutch displacement is less than the preset threshold, it means that the vehicle has the starting conditions, and the brake is used for braking.
[0023] It should be noted that in this embodiment, a virtual pedal is used to replace the actual pedal for anti-slope control. The main function of the virtual pedal is to control the vehicle's braking system through software simulation when starting on a slope to ensure that the vehicle does not roll down the slope before the clutch is engaged. This control method can improve the accuracy and reliability of HIL testing because it can better simulate the operating logic of a real vehicle when starting on a slope.
[0024] In some embodiments, determining the starting running state of the vehicle according to the hill start signal sent by the TCU and the displacement information of the clutch includes: Determine the environmental position of the vehicle based on the hill start signal; Determine the power connection status of the vehicle according to the displacement information of the clutch; The starting running state of the vehicle is determined according to the environmental position of the vehicle and the power connection status of the vehicle.
[0025] In this embodiment, first, the environment in which the vehicle is located is an important basis for determining whether the hill start function needs to be enabled. On a flat road or downhill road, the vehicle theoretically does not slide down the slope, so in these cases, the hill start function control is unnecessary. Only when the vehicle is on an uphill road, the hill start function control becomes particularly important. Because when going uphill, the gravity of the vehicle will cause the vehicle to slide backward, and if there is no appropriate control means, the vehicle may slide down the slope. Therefore, in this solution, only the uphill road situation needs to be considered.
[0026] Furthermore, the clutch displacement information is another level of judgment criteria. The clutch state directly affects the vehicle's power transmission. When the clutch is fully engaged, it indicates that the vehicle's power chain (engine to wheels) is connected, and the torque output by the engine can be transmitted to the transmission system through the clutch to drive the vehicle forward. At this time, the vehicle needs to start smoothly without starting the hill start function control system for anti-slip assist control. Therefore, the clutch displacement information is a key parameter when judging whether the vehicle needs to enable the hill start function.
[0027] The hill start signal is an important trigger condition for the control system to activate the hill start function. The vehicle's starting state can be accurately determined by combining the vehicle's environmental position determined by the hill start signal and the clutch displacement information. Specifically, when the vehicle is on an uphill slope and the brake pedal opening signal is 0 (i.e. the brake is released), the system will calculate a virtual pedal opening based on the vehicle's starting operating state, the hill start start signal, and the vehicle speed. This virtual opening signal will replace the actual pedal opening signal, allowing the brake system to continue to maintain the braking force on the vehicle until the engine torque is transmitted to the transmission system through the clutch and the vehicle can start smoothly.
[0028] When the vehicle starts, the system will determine whether the vehicle will roll down a slope based on the above information. If the vehicle is on an uphill slope and the clutch displacement information indicates that the clutch has not been fully engaged, the system will determine that the vehicle is at risk of rolling down a slope. At this time, the system will enable the anti-rolling control function, replacing the actual pedal opening signal with the virtual pedal opening signal to ensure that the vehicle does not roll down a slope. If the system determines that the vehicle is at risk of rolling down a slope, the anti-rolling control system will be turned on. The system continues to maintain the braking force on the vehicle through the virtual pedal opening signal until the engine torque is transmitted to the transmission system through the clutch and the vehicle can start smoothly. When the TCU sends a slope start message and the clutch is engaged, the system will resume using the actual pedal opening signal to allow the vehicle to drive normally.
[0029] Further, determining the opening degree of the virtual pedal according to the starting running state of the vehicle, the hill start start signal and the vehicle speed includes: When the vehicle starts running as a flat road start or a downhill start, the hill start start signal corresponds to not starting the hill start control, and the opening degree of the virtual pedal is determined according to the vehicle speed; When the vehicle starts running on an uphill slope, the hill-start start signal corresponds to starting the hill-start start control, and the opening degree of the virtual pedal is determined according to the vehicle speed.
[0030] In this embodiment, when performing anti-slope control, the slope start switch needs to be turned on.
[0031] In some embodiments, when the vehicle starts running on an uphill slope, the hill start signal corresponds to starting a hill start control, and the opening of the virtual pedal is determined according to the vehicle speed, including: The opening degree of the virtual pedal is determined according to the magnitude relationship between the vehicle speed and a preset speed threshold.
[0032] In this embodiment, the vehicle is on an uphill slope in both driving and stationary situations. When the vehicle is in driving state, the anti-slope control does not need to be performed. Only when the vehicle is stationary, the hill start function control system needs to be activated. Therefore, in this embodiment, the driving or stationary state of the vehicle is judged by the magnitude relationship between the vehicle's running speed and the speed threshold, thereby determining whether to activate the hill start function control system and the opening degree of the virtual pedal.
[0033] Furthermore, determining the opening degree of the virtual pedal according to the magnitude relationship between the vehicle speed and the preset speed threshold includes: When the vehicle speed is greater than a preset speed threshold, determining the opening degree of the virtual pedal to be 0; When the vehicle speed is less than a preset speed threshold, the opening degree of the virtual pedal is determined to be a set value.
[0034] It should be noted that the opening degree of the virtual pedal is 0, indicating that there is no braking signal of the vehicle at this time.
[0035] In some embodiments, the vehicle speed is less than 1km / h: the vehicle state is considered to be stationary at this time. This condition is to avoid the situation where the clutch is engaged and the hill start function is activated when the vehicle is driving, resulting in the use of a virtual brake pedal; the clutch displacement is less than 1mm and the TCU is in the hill start state: the clutch state is considered to be the clutch engaged state. When the clutch is in the engaged state and the TCU is in the hill start state, the vehicle power chain is completely connected, and the engine can drive the vehicle to drive normally; In a specific embodiment, the virtual brake pedal opening signal is set to 50%: calculated according to the vehicle acceleration calculation formula when the vehicle is stationary. When the virtual brake pedal opening signal is greater than or equal to 44% (rounded up), the vehicle braking force is greater than the vehicle gravity when the vehicle is fully loaded and at a 45-degree slope (suitable for normal driving conditions of all commercial vehicles), so that the vehicle does not slide down the slope. Considering redundancy, this solution is designed to be 50%; This solution uses the following formula to calculate the vehicle acceleration when the vehicle is stationary:
[0036] Where a is the vehicle acceleration, g is the acceleration of gravity, θ is the slope, μ is the slope resistance coefficient, F is the maximum resistance that the vehicle braking system can provide, m is the vehicle mass, and α is the virtual brake pedal opening signal.
[0037] Based on the above hill start function control method, the embodiment of the present invention also provides a hill start function control device, see Figure 2 ,include: An acquisition module 210 is used to acquire vehicle speed, a hill-start start signal and clutch displacement information; The vehicle state determination module 220 is used to determine the starting running state of the vehicle according to the hill start signal sent by the TCU and the displacement information of the clutch; The virtual pedal opening degree determination module 230 is used to determine the opening degree of the virtual pedal according to the starting running state of the vehicle, the hill start start signal and the vehicle speed.
[0038] like Figure 3 As shown, based on the above hill start function control method, the present invention also provides an electronic device, which can be a computing electronic device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device includes a processor 310, a memory 320, and a display 330. Figure 3 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.
[0039] In some embodiments, the memory 320 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 320 may also be an external storage electronic device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 320 may also include both an internal storage unit of the electronic device and an external storage electronic device. The memory 320 is used to store application software and various types of data installed in the electronic device, such as program codes installed in the electronic device. The memory 320 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a hill start function control program 340 is stored on the memory 320, and the hill start function control program 340 can be executed by the processor 310, thereby realizing the hill start function control method of each embodiment of the present application.
[0040] In some embodiments, the processor 310 may be a central processing unit (CPU), a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 320, such as executing a hill start function control method.
[0041] In some embodiments, the display 330 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 330 is used to display information on the hill-start function control electronic device and to display a visual user interface. The components 310-330 of the electronic device communicate with each other via a system bus.
[0042] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.
[0043] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.
Claims
1. A hill start function control method, characterized in that: include: Obtain vehicle speed, hill-start start signal and clutch displacement information; Determine the vehicle's starting state based on the hill-start signal sent by the TCU and the clutch displacement information; The opening degree of the virtual pedal is determined according to the starting running state of the vehicle, the hill start start signal and the vehicle speed.
2. The hill start function control method according to claim 1, characterized in that: The step of determining the starting running state of the vehicle according to the hill start signal sent by the TCU and the displacement information of the clutch comprises: Determine the environmental position of the vehicle based on the hill start signal; Determine the power connection status of the vehicle according to the displacement information of the clutch; The starting running state of the vehicle is determined according to the environmental position of the vehicle and the power connection status of the vehicle.
3. The hill start function control method according to claim 1, characterized in that: The starting running state of the vehicle includes starting on an uphill slope, starting on a flat road, and starting on a downhill slope; the starting signal includes starting the starting control on a hill and not starting the starting control on a hill; and determining the opening degree of the virtual pedal according to the starting running state of the vehicle, the starting signal on a hill, and the vehicle speed, includes: When the vehicle starts running as a flat road start or a downhill start, the hill start start signal corresponds to not starting the hill start control, and the opening degree of the virtual pedal is determined according to the vehicle speed; When the vehicle starts running on an uphill slope, the hill-start start signal corresponds to starting the hill-start start control, and the opening degree of the virtual pedal is determined according to the vehicle speed.
4. The hill start function control method according to claim 3, characterized in that: When the vehicle starts running on an uphill slope, the hill start signal corresponds to starting the hill start control, and the opening of the virtual pedal is determined according to the vehicle speed, including: The opening degree of the virtual pedal is determined according to the magnitude relationship between the vehicle speed and a preset speed threshold.
5. The hill start function control method according to claim 4, characterized in that: The step of determining the opening degree of the virtual pedal according to the magnitude relationship between the vehicle speed and the preset speed threshold comprises: When the vehicle speed is greater than a preset speed threshold, determining the opening degree of the virtual pedal to be 0; When the vehicle speed is less than a preset speed threshold, the opening degree of the virtual pedal is determined to be a set value.
6. The hill start function control method according to claim 5, characterized in that: When the vehicle speed is less than a preset speed threshold, determining the opening of the virtual pedal to be a set value comprises: Determining a virtual pedal opening setting value according to the vehicle acceleration when the vehicle is stationary; The opening setting value of the virtual pedal is calculated by the following formula: Where a is the vehicle acceleration, g is the acceleration of gravity, θ is the slope, μ is the slope resistance coefficient, F is the maximum resistance that the vehicle braking system can provide, m is the vehicle mass, and α is the virtual brake pedal opening signal.
7. The hill start function control method according to claim 1, characterized in that: Also includes: When the vehicle starts normally, turn off the hill start signal and apply the brake.
8. A hill start function control device, characterized in that: include: An acquisition module, used to acquire vehicle speed, hill-start start signal and clutch displacement information; The vehicle state determination module is used to determine the starting running state of the vehicle according to the hill start signal sent by the TCU and the displacement information of the clutch; The virtual pedal opening degree determination module is used to determine the opening degree of the virtual pedal according to the starting running state of the vehicle, the hill start start signal and the vehicle speed.
9. An electronic device, characterized in that: include: Processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the hill start function control method according to any one of claims 1 to 7 are implemented.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the hill start function control method according to any one of claims 1 to 7.