A method, system and vehicle for hill start control

Abstract

The application discloses a ramp starting control method, system and vehicle, and relates to the technical field of vehicles. The method triggers the automatic parking function of the vehicle to be activated when the vehicle is parked on a ramp, determines a basic torque based on the obtained road slope, generates a first torque request value based on the basic torque, and sends the first torque request value to a motor controller. Then, after determining that the opening degree of the accelerator pedal of the vehicle changes, the driving mode of the vehicle is adjusted to a ramp starting assistance mode including a target torque determined by combining the basic torque, a first adjustment torque determined based on the opening degree of the brake pedal and the opening degree of the accelerator pedal of the vehicle, and an auxiliary torque determined by a crawling control module, a second torque request value is generated based on the target torque, and the second torque request value is sent to the motor controller. Thus, the problem that poor stability and poor driving comfort are easily caused when the vehicle completes ramp starting through a preset fixed torque or a simple accelerometer is 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] Currently, traditional internal combustion engine vehicles rely on the handbrake and footbrake to complete hill starts and prevent the vehicle from rolling away. This method requires certain driver skills and is not applicable to new energy vehicles.

[0003] With the rapid development of the new energy vehicle industry, intelligent driver assistance systems have become a crucial technology for enhancing user experience and vehicle safety. Assistance functions such as Auto Hold are primarily used to reduce the difficulty and improve safety in complex driving scenarios such as hill starts. Hill starts are also typically prevented from rolling by using a preset fixed torque or simple accelerometer. However, due to variations in road gradients and other factors, this control method struggles to ensure smooth and stable hill starts, compromising driving comfort. Summary of the Invention

[0004] In view of this, the embodiments of the present application are dedicated to providing a hill start control method, system and vehicle to solve the problems of poor stability and driving comfort that are easily caused when the vehicle completes hill starts by preset fixed torque or simple accelerometers. By integrating the Auto Hold function with slope sensing 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 having a creep control module in its 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 base 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] The hill start assist mode includes:

[0012] determining a target torque, the target torque comprising: the 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;

[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 speed and a current 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 gradient change and the road surface condition of the road.

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

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

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

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

[0025] Acquiring first operating parameters of the vehicle, the first operating parameters including: vehicle speed, gear position, parking brake position, brake pedal opening, mode of the motor controller, door status, and hazard light status;

[0026] determining whether the vehicle meets 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 has changed, the method further includes:

[0029] Acquiring second operating parameters of the vehicle, the second operating parameters including: door status, hazard light status, mode of the motor controller, accelerator pedal opening, gear position, vehicle speed, brake pedal opening, and parking brake 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] Real-time acquisition of vehicle speed and accelerator pedal opening;

[0034] reducing the torque request value sent to the motor controller accordingly as the vehicle speed increases;

[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 has entered 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, the hill start control method further includes:

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

[0040] determining the user's driving habits based on the adjustment instruction and / or the operating 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 includes 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 configured to trigger activation of an automatic parking function of the vehicle when the vehicle is parked on a slope and obtain a road slope; determine a base torque based on the road slope; generate a first torque request value based on the base torque and transmit it to a motor controller of the vehicle; determine whether an accelerator pedal opening of the vehicle has changed; and adjust a driving mode of the vehicle to a hill start assist mode upon determining that the accelerator pedal opening has changed;

[0046] The hill start assist mode includes:

[0047] determining a target torque, the target torque comprising: the 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;

[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, the method further includes: a display module;

[0051] The display module is used to display information about the vehicle, including: the road slope, the status 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] The hill start control method provided by the present invention maintains the vehicle stationary on the slope by triggering the activation of the vehicle's automatic parking function when the vehicle is parked on a slope, thereby preventing the vehicle from rolling backward. The method also determines a base torque based on the road slope, and transmits a first torque request value generated based on the base torque to the vehicle's motor controller (MCU), allowing the vehicle's MCU to control the torque output of the vehicle's motor based on the first torque request value, thereby further preventing the vehicle from rolling backward. The method also determines whether the vehicle's accelerator pedal opening has changed, and upon determining that the accelerator pedal opening has changed, adjusts the vehicle's driving mode to hill start assist mode. That is, after determining a target torque, a second torque request value can be generated based on the target torque and transmitted 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 smoothness 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, ensuring a smooth and smooth start of the vehicle on the 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0055] Figure 1 FIG2 is a flow chart of a hill start control method provided by an embodiment of the present invention.

[0056] Figure 2 FIG2 is a schematic diagram showing a framework structure of a hill start control method according to 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 FIG2 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 Fig. 1 shows a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0061] Unless otherwise defined, technical terms or scientific terms used in the embodiments of the present application shall have the ordinary meanings to be understood by one of ordinary skill in the art to which the embodiments of the present application belong. The terms “first”, “second”, and the like used in the embodiments of the present application do not represent any order, number, or importance, but are merely used to distinguish the components from each other.

[0062] Unless otherwise required by the context, throughout the specification, “plurality” means “at least two”, “comprising” is to be construed as open, inclusive, meaning “including, but not limited to”. In the description of the specification, the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “example”, “specific example” or “some examples” are intended to mean that the specific feature, structure, material or characteristic related to the embodiment or example is included in at least one embodiment or example of the specification. The illustrative representation of the above terms does not necessarily mean the same embodiment or example.

[0063] The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by one of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0064] At present, the main method for controlling the hill start of a vehicle is to control the vehicle motor to output a preset fixed torque to avoid the vehicle from sliding backward when the vehicle is determined to be in a hill start state. However, this control method does not consider the torque difference required when the vehicle starts on a road with different slopes. Therefore, it is difficult to ensure the stability of the vehicle when starting on a slope, and even the vehicle may slide backward, thereby affecting the driving safety and comfort of the user.

[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 assist torque determined by the creep control module. Therefore, 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 1 is a flowchart 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, trigger activation of the vehicle's automatic parking function and obtain the road slope.

[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's understood that the slope sensor's data acquisition mechanism continuously monitors changes in the vehicle's angle relative to the horizontal plane. It can detect the vehicle's tilt angles in the X-axis (pitch) and Z-axis (roll). The collected data is analog or raw data, which needs to be converted to digital signals via an analog-to-digital converter (ADC). Filtering algorithms (such as the Kalman filter) are also used to reduce noise and interference to ensure data accuracy. The processed signal is sent to the VCU main chip via an internal high-speed bus, meeting the real-time requirements for slope data collection and processing, ensuring timely access to the latest slope information as the vehicle's 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 in a suitable position of 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 a driver assistance feature designed to enhance driver and passenger convenience and prevent accidents caused by the vehicle rolling away while waiting at traffic lights. When the vehicle comes to a stop, the Auto Hold system automatically applies the brakes to prevent it from rolling away. This feature also facilitates starting, allowing the driver to simply step on the accelerator to continue driving.

[0073] In this embodiment, when the vehicle is parked on a slope, the vehicle's Auto Hold function 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, the 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's speed, gear information, accelerator pedal opening, brake pedal opening, etc., which can all be called vehicle operating parameters.

[0080] Specifically, the vehicle's operating state can be determined based on the vehicle's operating parameters. For example, when the vehicle speed is greater than a corresponding preset threshold and the vehicle gear is in the forward gear, the vehicle's operating state can be determined to be forward travel.

[0081] Furthermore, by acquiring the status and changes of the vehicle's operating parameters, the user's driving intention can be determined. For example, if the vehicle's accelerator pedal opening increases, the user's driving intention can be determined to be acceleration; if the vehicle speed exceeds a certain 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 disposed on the vehicle. The VCU determines whether the vehicle is parked on a hill and triggers activation of the Auto Hold function by obtaining the first operating parameter from the sensor and determining whether the first operating parameter satisfies a preset Auto Hold execution condition.

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

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

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

[0086] c. Release the parking brake;

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

[0088] e.MCU enters anti-slope 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 obtained first operating parameters, it sends a high-level signal through a hard line to activate the Auto Hold function to keep the vehicle stationary and improve hill parking safety.

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

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

[0096] Furthermore, in an optional embodiment, a specific method for determining the base 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 stability of the vehicle when parking on a slope.

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

[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 scenario of parking the vehicle 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, adjust the vehicle's driving mode to a hill start assist mode.

[0105] Among them, hill start assist mode includes:

[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, indicating the user's intention to start on a hill, the vehicle's driving mode is adjusted to a hill start assist mode that first determines a target torque consisting of a base torque, a first adjusted torque determined based on the vehicle's brake and accelerator pedal openings, and an assist torque determined by the creep control module. A second torque request value is then generated based on the target torque and sent to the vehicle's MCU. The coordinated operation of the assist torque and base torque prevents the vehicle from rolling due to slopes and ensures a smooth and steady start. The first adjusted torque ensures that the vehicle's start process is consistent with the vehicle's state and driving conditions, ensuring safe and smooth starts on various slopes and enhancing 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 assist 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's understandable that the torque required for a hill start varies with the road's gradient. Furthermore, the required torque varies for different road conditions. For example, the torque required for a hill start on a rough mountain road is greater than that 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 gradient change of the road and the road surface condition.

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

[0119] More specifically, in this embodiment, the VCU calculates the second adjustment torque through PID regulation based on the real-time slope of the road and the road conditions, 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 base torque and generating the second torque request value based on the target torque, the following steps are 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 base torque or the target torque is adjusted by the third adjustment torque determined based on the state parameters including the battery state and the motor temperature, so that the influence of additional factors such as the battery state and the 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 Auto Hold function of the vehicle is triggered to be activated, the Auto Hold function needs to be triggered to be released when the user has a starting intention.

[0127] Based on this, in an optional embodiment, a specific method for triggering the automatic parking function to be released after determining that the user has a starting intention is illustrated, that is:

[0128] Obtaining a second running parameter of the vehicle.

[0129] The second running parameter includes: a door state, a double flash signal state, a mode in which the motor controller is located, an accelerator pedal opening degree, a gear position, a vehicle speed, a brake pedal opening degree, and a hand brake position.

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

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

[0132] Specifically, based on the content of the above embodiment, the second running parameter of the vehicle can also be detected by the sensors arranged on the vehicle. The VCU determines whether the vehicle has a slope starting intention or a parking intention by the hand brake by obtaining the second running parameter by the sensor and determining whether the second running parameter meets the preset automatic parking release condition, and triggers the Auto Hold function to be released.

[0133] In some possible embodiments, the following conditions can be set based on the second running parameter respectively:

[0134] A. The door is in a closed state;

[0135] B. The double flash signal is activated;

[0136] C. The MCU does not enter the anti-slip mode on the slope;

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

[0138] E. The gear position is in neutral;

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

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

[0141] H. Pull up the parking brake.

[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 obtained 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 necessary to ensure that the vehicle can smoothly transition to normal driving state.

[0145] Based on this, in an optional embodiment, after adjusting the vehicle's driving mode to the hill start assist mode, the following steps are further included:

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

[0149] Determine whether the vehicle has entered a normal driving state based on vehicle speed and 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 vehicle speed and accelerator pedal opening, the determination can be made by determining whether the vehicle speed and accelerator pedal opening have reached preset thresholds. For example, if the vehicle speed is greater than a preset creeping speed and the accelerator pedal opening is greater than 10%, the vehicle is determined to have entered the normal driving state.

[0152] In this embodiment, during the transition to normal driving, as vehicle speed increases, the VCU gradually reduces the torque request sent to the MCU, smoothly adjusting vehicle power output to meet normal driving requirements. When vehicle speed reaches a preset threshold, the creep control module is triggered to gradually reduce assist torque, ultimately disabling it at the appropriate time. This prevents unnecessary torque assistance from impacting normal driving. Furthermore, based on vehicle speed and accelerator pedal position signals, the VCU intelligently determines that the vehicle has smoothly transitioned to normal driving and automatically switches the driving mode from hill start assist to normal.

[0153] Furthermore, the vehicle status can be provided to the user in real time via the instrument IC. For example, clear start assist status information can be provided, including prompts for completion of the start and system exit, 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 embodiment 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 an instrument IC, a motor controller MCU, an Auto Hold system, a slope sensor, a creep control module, and a vehicle controller VCU.

[0156] Among them, such as Figure 3 As shown, the vehicle controller (VCU) is the brain of the entire system, responsible for integrating and processing sensor data, receiving user input, executing control algorithms, and communicating with various control units. This enables the entire hill start control process, from parking and Auto Hold activation to slope data collection, torque demand calculation, torque output command, launch execution, and the transition to normal driving. The slope sensor, integrated within the VCU, accurately measures the vehicle's slope and provides slope information to the VCU. The MCU receives commands from the VCU via the CAN bus and precisely controls motor torque output to meet hill start requirements. The Auto Hold system receives commands from the VCU via a hardwired interface to release or activate the service brakes. When activated, it maintains the vehicle stationary and prevents rolling. The creep control module, a control function within the VCU, provides appropriate torque at low speeds or when parked to assist in smooth vehicle starts. The instrument cluster IC provides clear driver feedback, including slope information, launch assist activation status, and system fault warnings, enhancing driver understanding and confidence in vehicle status.

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

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

[0159] Determining the user's driving habits based on 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 user adjustment instructions and / or collecting user operating behaviors in the hill start assist mode, and then determining the user's driving habits based on the adjustment instructions and / or operating behaviors, and finally adjusting the target torque determined after the vehicle switches back to the hill start assist mode based on the driving habits, the hill start control method provided in this embodiment can provide users with customized settings or an autonomous learning function, that is, allowing the user to adjust the target torque determined after the vehicle switches back to the hill start assist mode based on personal driving habits or driving habits learned based on the user's operating behaviors, thereby achieving optimization of the control mechanism and improving the personalization and intelligence level of hill start control.

[0162] The following describes a hill start control system provided by an embodiment of the present invention. The hill start control system described below can be considered as a modular architecture for implementing a hill start control method provided by an embodiment of the present invention. The following description can be cross-referenced with the above description.

[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, wherein 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 the vehicle motor 40;

[0166] The vehicle controller 30 is configured to trigger activation of the vehicle's automatic parking function when the vehicle is parked on a slope and obtain a road slope; determine a base torque based on the road slope; generate a first torque request value based on the base torque and transmit it to the vehicle's motor controller 20; determine whether the vehicle's accelerator pedal opening has changed; and, upon determining that the accelerator pedal opening has changed, adjust the vehicle's driving mode to a hill start assist mode;

[0167] Among them, hill start assist mode includes:

[0168] Determine a target torque, 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 the 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 to:

[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 gradient change of the road and the road surface condition.

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

[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 to:

[0183] Acquiring first operating parameters of the vehicle, the first operating parameters including: vehicle speed, gear position, parking brake position, brake pedal opening, motor controller mode, door status, and hazard 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, the activation of the vehicle's automatic parking function is triggered.

[0186] Optionally, the vehicle controller 30 is further configured to:

[0187] Obtaining second operating parameters of the vehicle, the second operating parameters including: door status, hazard light status, motor controller mode, accelerator pedal opening, gear position, vehicle speed, brake pedal opening, and parking brake position;

[0188] determining, based on the second operating parameter, 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 configured to:

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

[0194] Determine whether the vehicle has entered a normal driving state based on vehicle speed and 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 further configured to:

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

[0198] Determining the user's driving habits based on 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 condition of the vehicle in real time by integrating a slope detection module, such as a high-precision slope sensor. According to the real-time slope data, the VCU can automatically calculate and adjust the motor torque to meet the starting requirements under different slopes, ensuring smooth starting of the vehicle and avoiding coasting. By integrating the inching function and Auto Hold function in the hill start control system, intelligent collaboration between multiple systems is achieved. Thus, during hill starting, the Auto Hold function can be used to keep the vehicle stable, while the inching function can provide smooth starting power for starting and simplify the driver's operation. By providing user customization settings, the driver can adjust the parameters of the hill start control system according to personal driving habits. At the same time, the system can also have an intelligent learning function, which can optimize the control strategy according to the driver's usage habits, further improving the individualization and intelligence level of the starting assistance.

[0202] The electronic device provided by the embodiment of the present application will be described below with reference to Figure 6 The electronic device provided by the embodiment of the present application can 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 application, the number of processors 100, communication interfaces 200, memories 300, and communication buses 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 connection shown by the processor 100, the communication interface 200, the memory 300, and the communication bus 400 shown in the figure is only optional;

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

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

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

[0207] The above describes the basic principles of the present application in combination with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present application. In addition, the above specific details disclosed are only for the purpose of illustration and understanding, and are not limiting, and the above details do not limit the present application to be necessarily implemented with the above specific details.

[0208] The block diagrams of the devices, apparatuses, equipment, systems involved in the present application are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration as shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, meaning "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0209] It should also be noted that in the devices, equipment and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application.

[0210] The above description of the disclosed aspects is provided so that any person skilled in the art can make or use the present application. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can 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 is intended to be accorded the widest scope consistent with the principles and novel features disclosed herein.

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

[0212] The above description has been given for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of 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 accelerator pedal opening 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; The hill start assist mode includes: determining a target torque, the target torque comprising: the 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; 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 gradient 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 includes: 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.

4. The method according to claim 3, characterized in that The target torque further includes: The second adjustment torque is determined based on the gradient 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 base torque and generating the second torque request value based on the target torque, the method further includes: determining a third adjustment torque based on state parameters of the vehicle, the state parameters including the battery state and 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: Acquiring first operating parameters of the vehicle, the first operating parameters including: vehicle speed, gear position, parking brake position, brake pedal opening, mode of the motor controller, door status, and hazard 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: Acquiring second operating parameters of the vehicle, the second operating parameters including: door status, hazard light status, mode of the motor controller, accelerator pedal opening, gear position, vehicle speed, brake pedal opening, and parking brake 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: Real-time acquisition of vehicle speed and accelerator pedal opening; reducing the torque request value sent to the motor controller accordingly as the vehicle speed increases; 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 has entered 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 operating behavior in the hill start assist mode; determining the user's driving habits based on the adjustment instruction and / or the operating 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 configured to trigger activation of an automatic parking function of the vehicle when the vehicle is parked on a slope and obtain a road slope; determine a base torque based on the road slope; and generate a first torque request value based on the base torque and send the first torque request value to a motor controller of the vehicle; determining whether an accelerator pedal opening of the vehicle changes; and adjusting the driving mode of the vehicle to a hill start assist mode after determining that the accelerator pedal opening has changed; The hill start assist mode includes: determining a target torque, the target torque comprising: the 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; The second torque request value is sent to a motor controller of the vehicle.

11. The system according to claim 10, wherein: Also includes: Display module; The display module is used to display information about the vehicle, including: the road slope, the status 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 the hill start control system according to claim 10 or 11.

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