Hill starting control method and system and vehicle

Abstract

The invention discloses a hill starting control method and system and a vehicle, and relates to the technical field of vehicles. According to the method, when the vehicle is parked on the ramp, the automatic parking function of the vehicle is triggered to be activated, the basic torque is determined based on the obtained road gradient, the first torque request value is generated based on the basic torque and sent to the motor controller, and then after it is determined that the opening degree of an accelerator pedal of the vehicle is changed, the motor controller is started. Adjusting a driving mode of the vehicle to include determining a target torque including a base torque, a first adjustment torque determined based on a brake pedal opening and an accelerator pedal opening of the vehicle, and an assist torque determined by the creep control module, generating a second torque request value based on the target torque, and the second torque request value is sent to the motor controller in the hill starting auxiliary mode. Therefore, the problems of poor stability and poor driving comfort easily caused by the fact that the vehicle completes hill starting through the preset fixed torque or a simple accelerometer are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a hill start control method, system and vehicle. Background Art

[0002] At present, traditional internal combustion engine vehicles rely on hand brakes and foot brakes to complete hill starts and avoid rolling. This method requires certain skills from the driver and is not applicable to new energy vehicles.

[0003] With the rapid development of the new energy vehicle industry, intelligent driving assistance systems have become an important technology to enhance user experience and vehicle safety. Among them, auxiliary functions such as automatic parking (Auto Hold) are mainly used to reduce the difficulty of operation in complex driving scenarios such as hill starts and improve safety. At the same time, when completing a hill start, a fixed torque or a simple accelerometer is preset to avoid slipping. However, due to differences in road slopes, it is difficult to ensure the smoothness and stability of the vehicle's hill start using this control method, which in turn affects the user's driving comfort. Summary of the invention

[0004] In view of this, the embodiments of the present application are committed to providing a hill start control method, system and vehicle to solve the problem of poor stability and driving comfort that is easily caused by the vehicle completing hill start through a preset fixed torque or a simple accelerometer. By integrating the Auto Hold function with slope perception and torque control, the user's intelligent slope start needs are met.

[0005] In a first aspect, the present invention provides a hill start control method, which is applied to a vehicle including a creep control module in a vehicle controller, the method comprising:

[0006] When the vehicle is parked on a slope, triggering activation of an automatic parking function of the vehicle and obtaining a road slope;

[0007] determining a base torque based on the road gradient;

[0008] generating a first torque request value based on the basic torque and sending it to a motor controller of the vehicle;

[0009] determining whether an accelerator pedal opening of the vehicle changes;

[0010] After determining that the accelerator pedal opening has changed, adjusting the driving mode of the vehicle to a hill start assist mode;

[0011] Wherein, the hill start assist mode includes:

[0012] determining a target torque, the target torque comprising: the basic torque, a first adjustment torque determined based on a brake pedal opening and an accelerator pedal opening of the vehicle, and an assist torque determined by the creep control module;

[0013] generating a second torque request value based on the target torque;

[0014] The second torque request value is sent to a motor controller of the vehicle.

[0015] In a possible implementation manner, determining the basic torque based on the road gradient includes:

[0016] The basic torque is determined by a vehicle dynamics model based on the road gradient, as well as the weight of the vehicle, the tire radius and the road friction coefficient of the road.

[0017] In a possible implementation manner, determining the target torque includes:

[0018] The creep control module is triggered to determine the assist torque based on a difference between a preset creep vehicle speed and a current vehicle speed of the vehicle.

[0019] In a possible implementation manner, the target torque further includes:

[0020] The second adjustment torque is determined based on the grade change and the road surface condition of the road.

[0021] In a possible implementation manner, before the generating the first torque request value based on the basic torque and the generating the second torque request value based on the target torque, the method further includes:

[0022] determining a third adjustment torque based on a state parameter of the vehicle, the state parameter comprising the battery state and a motor temperature;

[0023] Based on the third adjustment torque, the base torque or the target torque is adjusted.

[0024] In a possible implementation manner, triggering activation of the automatic parking function of the vehicle when the vehicle is parked on a slope includes:

[0025] Acquire a first operating parameter of the vehicle, the first operating parameter including: vehicle speed, gear position, handbrake position, brake pedal opening, mode of the motor controller, door status, and double flash signal light status;

[0026] determining whether the vehicle satisfies a preset automatic parking execution condition based on the first operating parameter;

[0027] When it is determined that the automatic parking execution condition is met, activation of the automatic parking function of the vehicle is triggered.

[0028] In a possible implementation manner, after determining that the accelerator pedal opening changes, the method further includes:

[0029] Acquire a second operating parameter of the vehicle, the second operating parameter comprising: a door state, a double flash signal light state, a mode of the motor controller, an accelerator pedal opening, a gear position, a vehicle speed, a brake pedal opening, and a handbrake position;

[0030] determining, based on the second operating parameter, whether the vehicle satisfies a preset automatic parking release condition;

[0031] When it is determined that the automatic parking release condition is met, the release of the automatic parking function is triggered.

[0032] In a possible implementation manner, after adjusting the driving mode of the vehicle to the hill start assist mode, the method further includes:

[0033] Acquiring the vehicle speed and the accelerator pedal opening in real time;

[0034] As the vehicle speed increases, the torque request value sent to the motor controller is correspondingly reduced;

[0035] triggering the creep control module to gradually reduce the assist torque according to a preset standard when the vehicle speed reaches a preset vehicle speed threshold;

[0036] Determining whether the vehicle enters a normal driving state based on the vehicle speed and the accelerator pedal opening;

[0037] After determining that the vehicle has entered a normal driving state, the driving mode of the vehicle is switched from the hill start assist mode to a normal driving mode, and the assist torque is reduced to 0.

[0038] In a possible implementation manner, the hill start control method further includes:

[0039] Obtaining a user's adjustment instruction and / or collecting the user's operation behavior in the hill start assist mode;

[0040] Determining the driving habits of the user based on the adjustment instruction and / or the operation behavior;

[0041] Based on the driving habit, the target torque determined after the vehicle is switched to the hill start assist mode again is adjusted.

[0042] In a second aspect, the present invention provides a hill start control system, comprising: a slope detection module, a motor controller and a vehicle controller, wherein the vehicle controller comprises a creep control module;

[0043] The slope detection module is used to detect the road slope;

[0044] The motor controller is used to control the torque output of the vehicle motor;

[0045] The vehicle controller is used to trigger activation of the automatic parking function of the vehicle when the vehicle is parked on a slope, and obtain a road slope; determine a basic torque based on the road slope; generate a first torque request value based on the basic torque and send it to the motor controller of the vehicle; determine whether the accelerator pedal opening of the vehicle changes; and after determining that the accelerator pedal opening changes, adjust the driving mode of the vehicle to a hill start assist mode;

[0046] Wherein, the hill start assist mode includes:

[0047] determining a target torque, the target torque comprising: the basic torque, a first adjustment torque determined based on a brake pedal opening and an accelerator pedal opening of the vehicle, and an assist torque determined by the creep control module;

[0048] generating a second torque request value based on the target torque;

[0049] The second torque request value is sent to a motor controller of the vehicle.

[0050] In a possible implementation manner, the method further includes: a display module;

[0051] The display module is used to display information about the vehicle, including: the road slope, the state of the automatic parking system, the driving mode, and system fault information.

[0052] In a third aspect, the present invention provides a vehicle, comprising a vehicle body and the hill start control system provided in the second aspect of the present invention.

[0053] According to the hill start control method provided by the present invention, by triggering the activation of the vehicle's automatic parking function when the vehicle is parked on a slope, the vehicle can be kept stationary on the slope to avoid sliding backward; by obtaining the road slope, the basic torque is determined based on the road slope, and the first torque request value generated based on the basic torque is sent to the vehicle's motor controller (MCU), so that the vehicle's MCU can control the torque output of the vehicle's motor based on the first torque request value, thereby further avoiding the vehicle from sliding backward. By determining whether the vehicle's accelerator pedal opening has changed, and after determining that the accelerator pedal opening has changed, the vehicle's driving mode is adjusted to the hill start assist mode, that is, after determining the target torque, a second torque request value can be generated based on the target torque, and the second torque request value is sent to the MCU. Because the target torque corresponding to the second torque request value includes: a basic torque determined based on the road slope to further prevent the vehicle from sliding backward, a first adjustment torque determined based on the vehicle's accelerator pedal opening and brake pedal opening to meet the user's starting intention, and an auxiliary torque determined by the vehicle's creep control module to improve the vehicle's starting stability and further prevent the vehicle from sliding backward due to the road slope, the torque output of the vehicle's motor controlled based on the second torque request value can adapt to the starting requirements of various slopes on the basis of meeting the user's driving needs, thereby ensuring a smooth and seamless start of the vehicle on a slope and improving the user's driving safety and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0055] Figure 1 Shown is a flow chart of a hill start control method provided by an embodiment of the present invention.

[0056] Figure 2 The figure shows a framework structure diagram of a hill start control method provided by an embodiment of the present invention.

[0057] Figure 3 Shown is a flow chart of a hill start control method provided by an embodiment of the present invention.

[0058] Figure 4 Shown is a structural diagram of a hill start control system provided by an embodiment of the present invention.

[0059] Figure 5 Shown is a structural diagram of another hill start control system provided by an embodiment of the present invention.

[0060] Figure 6 Shown is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0061] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of this specification shall have the common meanings understood by persons with ordinary skills in the field to which this specification belongs. The words "first", "second" and similar words used in the embodiments of this specification do not indicate any order, quantity or importance, but are only used to avoid confusion of constituent elements.

[0062] Unless the context requires otherwise, throughout the specification, "plurality" means "at least two", and "including" is interpreted as an open, inclusive meaning, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" are intended to indicate that a particular feature, structure, material or characteristic associated with the embodiment or example is included in at least one embodiment or example of the specification. The schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0063] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0064] At present, the main method for controlling the vehicle's hill start is to control the vehicle's motor to output a preset fixed torque to prevent the vehicle from sliding backward when the vehicle is determined to be in the hill start state. However, this control method does not take into account the difference in torque required when the vehicle starts on roads with different slopes. Therefore, it is difficult to ensure the stability of the vehicle when starting on a slope, and it is even impossible to prevent the vehicle from sliding backward, which in turn affects the user's driving safety and comfort.

[0065] The present invention aims to solve the above-mentioned problem. When the vehicle is parked, the automatic parking function of the vehicle is triggered to be activated, and the basic torque determined based on the road slope is sent to the MCU, thereby effectively ensuring the safety of the vehicle when parking on a slope. At the same time, when the vehicle starts on a slope, the driving mode of the vehicle is adjusted to the hill start assist mode, so as to send to the MCU a torque request value generated based on the basic torque determined based on the road slope, the first adjustment torque determined based on the accelerator pedal opening and the brake pedal opening, and the target torque of the auxiliary torque determined by the creep control module, so that the output torque of the vehicle motor can not only prevent the vehicle from sliding backward, but also start smoothly on the basis of satisfying the user's starting intention.

[0066] Furthermore, the hill start control method provided by the present invention is executed on an electronic device, which may be a vehicle controller (VCU) of the vehicle, or a control terminal such as a smart phone, a laptop computer, a network-side server, etc. remotely connected to the vehicle.

[0067] Based on the above, see Figure 1 , Figure 1 is a flow chart of a hill start control method provided by an embodiment of the present invention. The hill start control method provided by this embodiment is applied to a vehicle including a creep control module in a VCU. The process of the method may include:

[0068] S100: When the vehicle is parked on a slope, an automatic parking function of the vehicle is triggered to be activated, and a road slope is obtained.

[0069] Specifically, the road slope may be detected by installing a slope sensor on the vehicle, or by using a forward or side radar sensor of the vehicle to detect changes in the road slope in front of the vehicle, without specific limitation here.

[0070] It is understandable that the data acquisition mechanism of the slope sensor is to continuously monitor the angle change of the vehicle relative to the horizontal plane. It can detect the tilt angle of the vehicle in the X-axis (pitch) and Z-axis (roll) directions. The collected data is an analog signal or raw data, which needs to be converted into a digital signal through an analog-to-digital converter (ADC). In addition, filtering algorithms (such as Kalman filters) can be used to reduce noise and interference to ensure the accuracy of the data. The processed signal is sent to the VCU main chip through an internal high-speed bus to meet the real-time requirements of slope data collection and processing, so as to ensure that the latest slope information can be obtained in time when the vehicle state changes.

[0071] Furthermore, when a slope sensor is used to detect the road slope, the slope sensor can be integrated into the VCU, and then the VCU can be installed at a suitable position in the vehicle, such as near the vehicle chassis or suspension system, to ensure the accuracy and stability of the measurement.

[0072] More specifically, Auto Hold is an assisted driving function, the main purpose of which is to increase the convenience of the driver and passengers and avoid accidents caused by the vehicle rolling while waiting at traffic lights. When the vehicle stops, the automatic parking system will automatically apply braking force to prevent the vehicle from rolling. This function can provide convenience when starting, and the driver only needs to step on the accelerator to continue driving.

[0073] In this embodiment, when the vehicle is parked on a slope, the vehicle's Auto Hold activation is triggered to prevent the vehicle from sliding backward on the slope.

[0074] In an optional embodiment, a specific method for determining that a vehicle is parked on a slope and triggering the activation of Auto Hold is described, namely:

[0075] A first operating parameter of the vehicle is obtained.

[0076] Among them, the first operating parameters include: vehicle speed, gear position, handbrake position, brake pedal opening, motor controller mode, door status and double flash signal light status.

[0077] It is determined whether the vehicle satisfies a preset automatic parking execution condition based on the first operating parameter.

[0078] When it is determined that the automatic parking execution conditions are met, activation of the vehicle's automatic parking function is triggered.

[0079] It can be understood that operating parameters are parameters that characterize the state of the vehicle during operation, such as the vehicle speed, gear information, accelerator pedal opening, brake pedal opening, etc., which can all be called vehicle operating parameters.

[0080] Specifically, the operating state of the vehicle can be determined through the operating parameters of the vehicle. For example, when the vehicle speed is greater than the corresponding preset threshold and the vehicle gear is in the forward gear, it can be determined that the operating state of the vehicle is forward driving.

[0081] Furthermore, by acquiring the state and changes of the vehicle's operating parameters, the user's driving intention can be determined. For example, when the vehicle's accelerator pedal opening increases, the user's driving intention can be determined to be acceleration; when the vehicle speed is greater than a corresponding preset threshold and the vehicle's brake pedal opening decreases, the user's driving intention can be determined to be deceleration.

[0082] More specifically, the first operating parameter of the vehicle can be detected by a sensor arranged on the vehicle. The VCU obtains the first operating parameter through the sensor and determines whether the first operating parameter meets the preset automatic parking execution condition to determine whether the vehicle is parked on a slope and trigger the activation of the Auto Hold function.

[0083] In some possible embodiments, the following conditions may be set based on the first operating parameter:

[0084] a. The vehicle speed is less than the preset lower speed limit, for example: 0.2km / h;

[0085] b. The gear position is not neutral;

[0086] c. Release the handbrake;

[0087] d. The brake pedal opening is greater than a preset opening threshold, for example: 10%;

[0088] e.MCU enters anti-slip mode;

[0089] f. The door is open;

[0090] g. The double flash signal is not activated;

[0091] h. Vehicle speed is equal to 0.

[0092] Then, based on the above conditions, the automatic parking execution condition is set to: (a&&b&&c&&d)||e or f&&g&&h&&c.

[0093] Finally, when the VCU determines that the above-mentioned automatic parking execution conditions are met based on the acquired first operating parameters, a high-level signal is sent through a hard line to activate the Auto Hold function to keep the vehicle stationary and improve the safety of slope parking.

[0094] S110 : Determine a basic torque based on the road slope.

[0095] In this embodiment, by determining the basic torque based on the road slope, the determined basic torque can be adapted to the actual slope of the road on which the vehicle is located.

[0096] Furthermore, in an optional embodiment, a specific method for determining the basic torque based on the road slope is described, namely:

[0097] The base torque is determined by the vehicle dynamics model based on the road gradient, as well as the vehicle's weight, tire radius and the road's surface friction coefficient.

[0098] In this embodiment, by combining the road slope with the vehicle weight, tire radius and road friction coefficient, the basic torque analyzed and calculated using the vehicle dynamics model is combined with the current vehicle and road conditions, thereby further ensuring that the basic torque is adapted to the actual road slope.

[0099] S120 . Generate a first torque request value based on the basic torque and send it to a motor controller of the vehicle.

[0100] Specifically, by sending the first torque request value generated based on the basic torque to the MCU, the MCU can control the torque output of the vehicle motor based on the first torque request value, thereby further ensuring the parking stability of the vehicle on the slope.

[0101] S130: Determine whether the accelerator pedal opening of the vehicle changes.

[0102] It is understandable that changes in the accelerator pedal opening, brake pedal opening, gear position, etc. all represent the user's driving intention.

[0103] Specifically, for the vehicle parking scenario on a slope, by monitoring whether the accelerator pedal opening changes, it can be determined whether the user intends to start on the slope.

[0104] S140: After determining that the accelerator pedal opening has changed, adjusting the vehicle's driving mode to a hill start assist mode.

[0105] Among them, hill start assist modes include:

[0106] A target torque is determined, the target torque including: a base torque, a first adjustment torque determined based on a brake pedal opening and an accelerator pedal opening of the vehicle, and an assist torque determined by a creep control module.

[0107] generating a second torque request value based on the target torque;

[0108] A second torque request value is sent to a motor controller of the vehicle.

[0109] Specifically, when the accelerator pedal opening changes, it means that the user intends to start on a hill. At this time, the vehicle's driving mode is adjusted to include first determining the target torque including the basic torque, the first adjustment torque determined based on the vehicle's brake pedal opening and the accelerator pedal opening, and the auxiliary torque determined by the creep control module, and then generating a second torque request value based on the target torque, and then sending the second torque request value to the vehicle's MCU to form a hill start assist mode. The auxiliary torque and the basic torque work together to avoid the vehicle from slipping due to the slope and ensure that the vehicle starts smoothly. The first adjustment torque can make the vehicle start process meet the vehicle state and driving conditions, thereby ensuring that the vehicle starts safely and smoothly under various slope conditions and improving driving safety and comfort.

[0110] In this embodiment, the target torque is automatically adjusted through real-time slope sensing, which can adapt to different slope conditions more accurately compared to a preset fixed torque or a simple accelerometer.

[0111] In some possible embodiments, after dynamically adjusting the target torque based on the real-time slope of the road and the accelerator pedal opening, brake pedal opening, etc., the torque output can be further dynamically adjusted through a PID algorithm, thereby achieving rapid recognition and response to the user's starting intention, thereby providing the user with smoother and more precise starting control.

[0112] In an optional embodiment, a specific method for determining the target torque is described, namely:

[0113] The creep control module is triggered to determine the assist torque based on a difference between a preset creep speed and a current speed of the vehicle.

[0114] In this embodiment, the creep control module calculates the auxiliary torque through PID regulation according to the difference between the set vehicle speed value and the current vehicle speed, and adopts closed-loop control to improve the stability of the vehicle starting on a hill.

[0115] It is understandable that the torque required for a vehicle to start on a hill will change as the road slope changes. At the same time, the torque required will also be different for different road conditions. For example, the torque required for a hill start on a rugged mountain road is greater than the torque required for a hill start on a national highway.

[0116] Based on this, in an optional embodiment, the target torque further includes:

[0117] The second adjustment torque is determined based on the grade change of the road and the road surface condition.

[0118] Specifically, the road surface conditions involved in this embodiment may specifically refer to road types, such as mountain roads, national highways, and expressways.

[0119] More specifically, in this embodiment, the VCU calculates the second adjustment torque through PID regulation according to the real-time slope and road conditions of the road, and then adjusts the torque in real time through closed-loop control to achieve precise and coordinated control of the vehicle's hill start.

[0120] It is understandable that the battery status and motor temperature of new energy vehicles will affect the torque output.

[0121] Based on this, in order to improve the accuracy of the torque data, in an optional embodiment, before generating the first torque request value based on the basic torque and generating the second torque request value based on the target torque, the following is further included:

[0122] Based on the state parameter of the vehicle, a third adjustment torque is determined.

[0123] Among them, the status parameters include battery status and motor temperature.

[0124] Based on the third adjustment torque, the base torque or the target torque is adjusted.

[0125] In this embodiment, the basic torque or target torque is adjusted by determining a third adjustment torque based on state parameters including battery state and motor temperature, and the influence of additional factors such as battery state and motor temperature on the torque output is fully considered, thereby ensuring the accuracy of the torque output.

[0126] It should be noted that when the vehicle is parked on a slope and the vehicle's Auto Hold function is activated, the Auto Hold function must be released when the user intends to start.

[0127] Based on this, in an optional embodiment, a specific method for triggering the release of the automatic parking function after determining that the user has the intention to start the vehicle is described, namely:

[0128] A second operating parameter of the vehicle is obtained.

[0129] Among them, the second operating parameters include: door status, double flash signal light status, motor controller mode, accelerator pedal opening, gear position, vehicle speed, brake pedal opening and handbrake position.

[0130] Based on the second operating parameter, it is determined whether the vehicle satisfies a preset automatic parking release condition.

[0131] When it is determined that the automatic parking release condition is met, the release of the automatic parking function is triggered.

[0132] Specifically, based on the content of the above embodiment, the second operating parameter of the vehicle can also be detected by sensors arranged on the vehicle. The VCU obtains the second operating parameter through the sensor and determines whether the second operating parameter meets the preset automatic parking release condition to determine whether the vehicle has the intention to start on a hill or park with the handbrake, and triggers the release of the Auto Hold function.

[0133] In some possible embodiments, the following conditions may be set based on the second operating parameter:

[0134] A. The door is closed;

[0135] B. Double flash signal activated;

[0136] C. MCU has not entered the anti-slip mode;

[0137] D. The accelerator pedal opening is greater than the preset lower limit, for example: 5%;

[0138] E. The gear is in neutral;

[0139] F. The vehicle speed is greater than or equal to the preset speed threshold, for example: 0.3km / h;

[0140] G. The brake pedal opening is less than the preset lower limit, for example: 5%;

[0141] H. Pull up the handbrake.

[0142] Then, based on the above conditions, the automatic parking release condition is set to: (A||B)&&(C&&(D||E||F)&&G) or H.

[0143] Finally, when the VCU determines that the above-mentioned automatic parking release condition is met based on the acquired second operating parameter, a low-level signal is sent through a hard line to release the Auto Hold function.

[0144] It is understandable that after completing the hill start, it is also necessary to ensure that the vehicle can smoothly transition to normal driving state.

[0145] Based on this, in an optional embodiment, after the driving mode of the vehicle is adjusted to the hill start assist mode, the method further includes:

[0146] Get vehicle speed and accelerator pedal opening in real time;

[0147] As the vehicle speed increases, the torque request value sent to the motor controller is reduced accordingly;

[0148] The creep control module is triggered to gradually reduce the auxiliary torque according to a preset standard when the vehicle speed reaches a preset vehicle speed threshold;

[0149] Determine whether the vehicle has entered a normal driving state based on the vehicle speed and the accelerator pedal opening;

[0150] After determining that the vehicle has entered a normal driving state, the vehicle's driving mode is switched from the hill start assist mode to the normal driving mode, and the assist torque is reduced to 0.

[0151] Specifically, when determining whether the vehicle has entered the normal driving state based on the vehicle speed and the accelerator pedal opening, it can be determined by judging whether the vehicle speed and the accelerator pedal opening reach a preset threshold. For example, when the vehicle speed is greater than a preset creeping speed and the accelerator pedal opening is greater than 10%, it is determined that the vehicle has entered the normal driving state.

[0152] In this embodiment, during the transition to the normal driving stage, as the vehicle speed increases, the VCU can smoothly adjust the vehicle power output by gradually reducing the torque request value sent to the MCU accordingly, so as to adapt to the needs of normal driving. When the vehicle speed reaches the preset vehicle speed threshold, the creep control module is triggered to gradually reduce the auxiliary torque, and completely exit at the appropriate time, so as to avoid unnecessary torque assistance affecting normal driving. At the same time, the VCU intelligently determines that the vehicle has smoothly transitioned to the normal driving state based on the vehicle speed and the position signal of the accelerator pedal, and automatically switches the driving mode from the hill start assist mode to the normal driving mode.

[0153] Furthermore, the vehicle status can be provided to the user in real time through the instrument IC, for example, providing clear start assist status information, including start completion and system exit prompts, thereby enhancing driving predictability and confidence.

[0154] In this embodiment, with the gradual reduction of torque control and the smooth exit of the creep control module, the vehicle can achieve a seamless transition from start assist to normal driving, allowing the driver to continue driving the vehicle in a conventional manner without noticing any sudden changes, ensuring the continuity, smoothness and safety of the entire starting process.

[0155] Based on the contents of the above embodiments, the hill start control method provided by the embodiments of the present invention can be based on the following Figure 2 The system framework shown is implemented, and its implementation process is as follows Figure 3 As shown. Figure 2 It can be seen that the system consists of instrument IC, motor controller MCU, Auto Hold system, slope sensor, creep control module and vehicle controller VCU.

[0156] Among them, Figure 3 As shown in the figure, the vehicle controller is the brain of the whole system, responsible for integrating and processing sensor data, receiving user input, executing control algorithms, and communicating with each control unit, so as to realize the whole process of hill start control from parking and Auto Hold activation to slope data collection, torque demand calculation, torque output command, start execution and system system, and transition to normal driving. The slope sensor can measure the slope of the vehicle with high precision, and is integrated inside the vehicle controller to provide slope information for the vehicle controller. The MCU receives the instructions of the VCU through the CAN bus and accurately controls the torque output of the motor to meet the needs of hill start. The Auto Hold system receives the instructions of the vehicle controller through hard wire to release or activate the service brake, and keeps the vehicle stationary when activated to prevent slipping. The creep control module is an internal control function of the vehicle controller VCU, which provides appropriate torque at low speed or parking state to assist the vehicle to start smoothly. The instrument IC is responsible for providing clear feedback to the driver, including slope information, start assist activation status, system fault warning, etc., to enhance the driver's understanding and trust in the vehicle status.

[0157] Based on the contents of the above embodiments, in order to improve the personalization and intelligence level of hill start control, in an optional embodiment, it further includes:

[0158] Obtaining user adjustment instructions and / or collecting user operation behaviors in hill start assist mode;

[0159] Determine the user's driving habits based on the adjustment instructions and / or operating behaviors;

[0160] Based on driving habits, the target torque determined after the vehicle switches to hill start assist mode again is adjusted.

[0161] In this embodiment, by obtaining the user's adjustment instruction and / or collecting the user's operating behavior in the hill start assist mode, then determining the user's driving habits based on the adjustment instruction and / or the operating behavior, and finally adjusting the target torque determined after the vehicle switches to the hill start assist mode again based on the driving habits, the hill start control method provided by this embodiment can provide the user with customized settings or an autonomous learning function, that is, allowing the user to adjust the target torque determined after the vehicle switches to the hill start assist mode again according to personal driving habits or the user's driving habits learned based on the user's operating behavior, thereby achieving optimization of the control mechanism and improving the personalization and intelligence level of hill start control.

[0162] A hill start control system provided in an embodiment of the present invention is introduced below. The hill start control system described below can be considered as a module architecture for implementing a hill start control method provided in an embodiment of the present invention; the content described below can be cross-referenced with the above.

[0163] See also Figure 4 , Figure 4 1 is a structural block diagram of a hill start control system provided by an embodiment of the present invention, the system may include: a slope detection module 10, a motor controller 20 and a vehicle controller 30, and the vehicle controller 30 includes a creep control module 31;

[0164] A slope detection module 10 is used to detect the road slope;

[0165] A motor controller 20 for controlling the torque output of a vehicle motor 40;

[0166] The vehicle controller 30 is used to trigger the activation of the automatic parking function of the vehicle when the vehicle is parked on a slope, and obtain the road slope; determine the basic torque based on the road slope; generate a first torque request value based on the basic torque and send it to the motor controller 20 of the vehicle; determine whether the accelerator pedal opening of the vehicle changes; and after determining that the accelerator pedal opening changes, adjust the driving mode of the vehicle to the hill start assist mode;

[0167] Among them, hill start assist modes include:

[0168] Determine a target torque, the target torque comprising: a base torque, a first adjustment torque determined based on a brake pedal opening and an accelerator pedal opening of the vehicle, and an auxiliary torque determined by a creep control module 31;

[0169] generating a second torque request value based on the target torque;

[0170] The second torque request value is sent to the motor controller 20 of the vehicle.

[0171] In an optional embodiment, if Figure 5 As shown, the hill start control system may further include: a display module 50;

[0172] The display module 50 is used to display vehicle information, including: road slope, status of the automatic parking system, driving mode and system fault information.

[0173] Optionally, the vehicle controller 30 is specifically used for:

[0174] The base torque is determined by the vehicle dynamics model based on the road gradient, as well as the vehicle's weight, tire radius and the road's surface friction coefficient.

[0175] Optionally, the vehicle controller 30 is specifically used for:

[0176] The creep control module is triggered to determine the assist torque based on a difference between a preset creep speed and a current speed of the vehicle.

[0177] Optionally, the target torque also includes:

[0178] The second adjustment torque is determined based on the grade change of the road and the road surface condition.

[0179] Optionally, the vehicle controller 30 is specifically used for:

[0180] determining a third adjustment torque based on state parameters of the vehicle, the state parameters including a battery state and a motor temperature;

[0181] Based on the third adjustment torque, the base torque or the target torque is adjusted.

[0182] Optionally, the vehicle controller 30 is specifically used for:

[0183] Acquire a first operating parameter of the vehicle, the first operating parameter including: vehicle speed, gear position, handbrake position, brake pedal opening, motor controller mode, door status, and double flash signal light status;

[0184] determining whether the vehicle satisfies a preset automatic parking execution condition based on the first operating parameter;

[0185] When it is determined that the automatic parking execution conditions are met, activation of the vehicle's automatic parking function is triggered.

[0186] Optionally, the vehicle controller 30 is also used for:

[0187] Acquire a second operating parameter of the vehicle, the second operating parameter including: a door state, a double flash signal light state, a mode of a motor controller, an accelerator pedal opening, a gear position, a vehicle speed, a brake pedal opening, and a handbrake position;

[0188] Based on the second operating parameter, determining whether the vehicle satisfies a preset automatic parking release condition;

[0189] When it is determined that the automatic parking release condition is met, the release of the automatic parking function is triggered.

[0190] Optionally, the vehicle controller 30 is further specifically used for:

[0191] Get vehicle speed and accelerator pedal opening in real time;

[0192] As the vehicle speed increases, the torque request value sent to the motor controller is reduced accordingly;

[0193] The creep control module is triggered to gradually reduce the auxiliary torque according to a preset standard when the vehicle speed reaches a preset vehicle speed threshold;

[0194] Determine whether the vehicle has entered a normal driving state based on the vehicle speed and the accelerator pedal opening;

[0195] After determining that the vehicle has entered a normal driving state, the vehicle's driving mode is switched from the hill start assist mode to the normal driving mode, and the assist torque is reduced to 0.

[0196] Optionally, the vehicle controller 30 is also used for:

[0197] Obtaining user adjustment instructions and / or collecting user operation behaviors in hill start assist mode;

[0198] Determine the user's driving habits based on the adjustment instructions and / or operating behaviors;

[0199] Based on driving habits, the target torque determined after the vehicle switches to hill start assist mode again is adjusted.

[0200] Optionally, an embodiment of the present invention further provides a vehicle, comprising a vehicle body and a hill start control system as provided in any of the above embodiments.

[0201] Specifically, the hill start control system of the vehicle can detect and analyze the slope conditions of the vehicle in real time by integrating a slope detection module, such as a high-precision slope sensor. Therefore, based on the real-time slope data, the VCU automatically calculates and adjusts the motor torque to adapt to the starting requirements under different slopes, ensuring a smooth start of the vehicle and avoiding slipping. By integrating the creep function and the Auto Hold function into the hill start control system, intelligent coordination among multiple systems is achieved. Therefore, when starting on a slope, the Auto Hold function can be used to keep the vehicle stable, while the creep function is involved, providing a smooth starting power for starting and simplifying the driver's operation. By providing user customized settings, the driver is allowed to adjust the parameters of the hill start control system according to his personal driving habits. At the same time, the system can also have an intelligent learning function, so as to self-optimize the control strategy according to the driver's usage habits, further improving the personalization and intelligence level of starting assistance.

[0202] Below, reference Figure 6 To describe the electronic device provided by the embodiment of the present application, the electronic device provided by the embodiment may include: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400;

[0203] In the embodiment of the present invention, the number of the processor 100, the communication interface 200, the memory 300, and the communication bus 400 is at least one, and the processor 100, the communication interface 200, and the memory 300 communicate with each other through the communication bus 400; obviously, Figure 6 The communication connections shown for the processor 100, the communication interface 200, the memory 300, and the communication bus 400 are merely optional;

[0204] Optionally, the communication interface 200 may be an interface of a communication module, such as an interface of a GSM module; the processor 100 may be a central processing unit CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0205] The memory 300 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0206] The processor 100 is specifically used to execute the application program in the memory to implement the steps of the above-mentioned hill start control method.

[0207] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0208] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0209] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0210] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0211] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly explain the technical solutions and cannot be used to limit the scope of protection of the present application.

[0212] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A hill start control method, applied to a vehicle including a creep control module in a vehicle controller, characterized in that: The method comprises: When the vehicle is parked on a slope, triggering activation of an automatic parking function of the vehicle and obtaining a road slope; determining a base torque based on the road gradient; generating a first torque request value based on the basic torque, and sending the first torque request value to a motor controller of the vehicle; determining whether an opening degree of an accelerator pedal of the vehicle changes; After determining that the accelerator pedal opening has changed, adjusting the driving mode of the vehicle to a hill start assist mode; Wherein, the hill start assist mode includes: determining a target torque, the target torque comprising: the basic torque, a first adjustment torque determined based on a brake pedal opening and an accelerator pedal opening of the vehicle, and an assist torque determined by the creep control module; generating a second torque request value based on the target torque; The second torque request value is sent to a motor controller of the vehicle.

2. The method according to claim 1, characterized in that The determining of the basic torque based on the road slope includes: The basic torque is determined by a vehicle dynamics model based on the road gradient, as well as the weight of the vehicle, the tire radius and the road friction coefficient of the road.

3. The method according to claim 1, characterized in that The determining of the target torque comprises: The creep control module is triggered to determine the assist torque based on a difference between a preset creep vehicle speed and a current vehicle speed of the vehicle.

4. The method according to claim 3, characterized in that The target torque further includes: The second adjustment torque is determined based on the grade change and the road surface condition of the road.

5. The method according to claim 4, characterized in that Before generating the first torque request value based on the basic torque and generating the second torque request value based on the target torque, the method further includes: determining a third adjustment torque based on a state parameter of the vehicle, the state parameter comprising the battery state and a motor temperature; Based on the third adjustment torque, the base torque or the target torque is adjusted.

6. The method according to claim 1, characterized in that The method of triggering activation of the automatic parking function of the vehicle when the vehicle is parked on a slope includes: Acquire a first operating parameter of the vehicle, the first operating parameter including: vehicle speed, gear position, handbrake position, brake pedal opening, mode of the motor controller, door status, and double flash signal light status; determining whether the vehicle satisfies a preset automatic parking execution condition based on the first operating parameter; When it is determined that the automatic parking execution condition is met, activation of the automatic parking function of the vehicle is triggered.

7. The method according to claim 1, characterized in that After determining that the accelerator pedal opening changes, the method further includes: Acquire a second operating parameter of the vehicle, the second operating parameter comprising: a door state, a double flash signal light state, a mode of the motor controller, an accelerator pedal opening, a gear position, a vehicle speed, a brake pedal opening, and a handbrake position; determining, based on the second operating parameter, whether the vehicle satisfies a preset automatic parking release condition; When it is determined that the automatic parking release condition is met, the release of the automatic parking function is triggered.

8. The method according to claim 1, characterized in that After the driving mode of the vehicle is adjusted to the hill start assist mode, the method further includes: Acquiring the vehicle speed and the accelerator pedal opening in real time; As the vehicle speed increases, the torque request value sent to the motor controller is correspondingly reduced; triggering the creep control module to gradually reduce the assist torque according to a preset standard when the vehicle speed reaches a preset vehicle speed threshold; Determining whether the vehicle enters a normal driving state based on the vehicle speed and the accelerator pedal opening; After determining that the vehicle has entered a normal driving state, the driving mode of the vehicle is switched from the hill start assist mode to a normal driving mode, and the assist torque is reduced to 0.

9. The method according to claim 1, characterized in that: Also includes: Obtaining a user's adjustment instruction and / or collecting the user's operation behavior in the hill start assist mode; Determining the driving habits of the user based on the adjustment instruction and / or the operation behavior; Based on the driving habit, the target torque determined after the vehicle is switched to the hill start assist mode again is adjusted.

10. A hill start control system, characterized in that: include: A slope detection module, a motor controller and a vehicle controller, wherein the vehicle controller includes a creep control module; The slope detection module is used to detect the road slope; The motor controller is used to control the torque output of the vehicle motor; The vehicle controller is used to trigger activation of the automatic parking function of the vehicle when the vehicle is parked on a slope, and obtain a road slope; determine a basic torque based on the road slope; generate a first torque request value based on the basic torque and send it to the motor controller of the vehicle; determining whether an opening degree of an accelerator pedal of the vehicle changes; and after determining that the accelerator pedal opening has changed, adjusting the driving mode of the vehicle to a hill start assist mode; Wherein, the hill start assist mode includes: determining a target torque, the target torque comprising: the basic torque, a first adjustment torque determined based on a brake pedal opening and an accelerator pedal opening of the vehicle, and an assist torque determined by the creep control module; generating a second torque request value based on the target torque; The second torque request value is sent to a motor controller of the vehicle.

11. The system according to claim 10, characterized in that Also includes: Display module; The display module is used to display information about the vehicle, including: the road slope, the state of the automatic parking system, the driving mode, and system fault information.

12. A vehicle, characterized in that: The vehicle comprises a vehicle body and a hill start control system as claimed in claim 10 or 11.

Images