Vehicle uphill control method and device, vehicle and computer readable storage medium

Abstract

The invention provides a vehicle uphill control method and device, a vehicle and a computer readable storage medium, and relates to the technical field of vehicle control. The method comprises the steps that when the vehicle is in an uphill working condition, the growth rate of vehicle driving torque is attenuated according to the descent rate of an accelerator pedal; according to the data sequence, whether the vehicle passes through the highest point of the obstacle ridge or not is judged, the data sequence comprises a plurality of first pulse values arranged according to the time sequence, and each first pulse value is the minimum value in the wheel speed pulse values of all the wheels in the same time period; if yes, the vehicle driving torque is adjusted according to the difference value between the target wheel speed pulse value and a second pulse value, and the second pulse value is the last first pulse value in the data sequence; and controlling the vehicle to stop when the vehicle passes through the barrier. According to the method and the device, the vehicle uphill can be automatically controlled when the vehicle is uphill, and the success rate and the safety of the vehicle uphill are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle ramp control method, device, vehicle and computer-readable storage medium in the field of vehicle control technology. Background Art

[0002] In real life, when a vehicle encounters a road cliff or a protruding object and needs to go up or climb, the vehicle needs to output high torque for a short time to go up or climb. In this driving scenario, when the user is driving up or climbing, because the change in vehicle load cannot be judged in time, the vehicle often suddenly gains acceleration due to the user's operation, causing the vehicle to rush violently, which is prone to the risk of collision or loss of control. Summary of the invention

[0003] The present application provides a vehicle climbing control method, device, vehicle and computer-readable storage medium. The present application can automatically control the vehicle climbing when the vehicle is climbing the hill, avoiding the risk of collision or loss of control caused by excessive acceleration of the vehicle when the user drives the vehicle to climb the hill, thereby improving the success rate and safety of the vehicle climbing or climbing.

[0004] In a first aspect, a vehicle bump-climbing control method is provided, the vehicle bump-climbing control method comprising: the vehicle bump-climbing control method comprising: when the vehicle is in a bump-climbing condition, attenuating the growth rate of the vehicle driving torque according to the descending rate of the accelerator pedal; judging whether the vehicle has passed the highest point of the bump according to a first data sequence; wherein the first data sequence comprises a plurality of first pulse values, the plurality of first pulse values ​​are arranged in chronological order, each first pulse value is the minimum value among the wheel speed pulse values ​​of all wheels in the same time period; if so, adjusting the vehicle driving torque according to a first difference; wherein the first difference is the difference between the target wheel speed pulse value and the second pulse value, the second pulse value being the last first pulse value in the first data sequence; and in the case where the vehicle has passed the bump, controlling the vehicle to stop.

[0005] Based on the above technical solution, the embodiment of the present application realizes automatic control of the vehicle going up the obstacle. When the vehicle is in the condition of going up the obstacle, the torque control strategy of attenuating the growth rate of the vehicle driving torque according to the descending rate of the accelerator pedal controls the vehicle to go up the obstacle. After attenuating the growth rate of the vehicle driving torque, the vehicle driving torque will increase slowly with the increase of the accelerator pedal opening, and will not increase according to the corresponding relationship between the accelerator pedal opening and the torque in the accelerator pedal MAP, so that the vehicle can be ensured to go up the obstacle stably, and the vehicle is prevented from accelerating too fast and rushing when going up the obstacle. In addition, during the process of the vehicle going up the obstacle, the vehicle driving torque will increase slowly, and the vehicle driving torque will not be too low, which will cause the vehicle to fail to go up the obstacle, which is conducive to improving the success rate of the vehicle passing the obstacle once. During the process of the vehicle going up the obstacle, the minimum value of the wheel speed pulse values ​​of all wheels collected in each time period is selected to determine whether the vehicle has passed the highest point of the obstacle, which can ensure that the object of the vehicle's attention is always the slowest wheel, and it is realized that by determining whether the slowest wheel has passed the highest point of the obstacle, it is further determined whether the vehicle has passed the highest point of the obstacle. When the vehicle passes the highest point of the obstacle, the vehicle driving torque is adjusted by the difference between the target wheel speed pulse value and the minimum value of the wheel speed pulse values ​​of all wheels collected in the latest time period until the vehicle completely passes the obstacle and stops the vehicle. By setting the target wheel speed pulse value as the target value for adjusting the wheel speed pulse value of the slowest wheel, it is ensured that the vehicle travels at a lower speed after passing the highest point of the obstacle, which can not only avoid further acceleration of the vehicle, but also ensure the subsequent forward movement of the vehicle to completely pass the obstacle smoothly.

[0006] A possible implementation method, wherein the growth rate of the vehicle driving torque is attenuated according to the descent rate of the accelerator pedal, comprises: obtaining a target attenuation coefficient corresponding to the descent rate and a driver-requested driving torque corresponding to the accelerator pedal opening; wherein the attenuation coefficient is positively correlated with the descent rate, and the value range of the attenuation coefficient is (0, 1]; determining the growth rate for increasing the vehicle driving torque to the driver-requested driving torque; and multiplying the growth rate by the target attenuation coefficient, wherein the growth rate is conducive to ensuring that the vehicle passes the obstacle smoothly and safely.

[0007] In a possible implementation, the number of the multiple first pulse values ​​is a first number, and judging whether the vehicle has passed the highest point of the obstacle according to the first data sequence includes: deleting a second number of first pulse values ​​from the first data sequence to obtain a second data sequence; wherein the second data sequence includes a third number of first pulse values, the time corresponding to the second number of first pulse values ​​is earlier than the time corresponding to the third number of first pulse values, and the sum of the second number and the third number is the first number; if the second data sequence meets a preset condition, it is judged that the vehicle has passed the highest point of the obstacle; if the second data sequence does not meet the preset condition, it is judged that the vehicle has passed the highest point of the obstacle. The vehicle has not passed the highest point of the obstacle; wherein the preset conditions include: a second difference between the third pulse value and the fourth pulse value in the second data sequence is greater than the first preset difference, and there are a fourth number of time-continuous pulse values ​​in the third data sequence and the fourth number of time-continuous pulse values ​​increase sequentially; the second data sequence includes a third data sequence, the third pulse value is any pulse value in the second data sequence except the first pulse value and the fourth number of pulse values, the fourth pulse value is the previous pulse value of the third pulse value, and the first pulse value of the fourth number of time-continuous pulse values ​​is the next pulse value of the third pulse value.

[0008] Based on the above description, the wheel speed pulse value of the slowest wheel collected in the latest time period is used to determine whether the vehicle has passed the highest point of the obstacle, which is conducive to improving the accuracy of determining whether the vehicle has passed the highest point of the obstacle.

[0009] In a possible implementation, adjusting the vehicle driving torque according to the first difference includes: inputting the first difference into a PID controller, and having the PID controller output the target driving torque; and adjusting the vehicle driving torque based on the target driving torque to ensure that the vehicle passes the obstacle smoothly and safely.

[0010] A possible implementation method is that when the vehicle passes through the obstacle, controlling the vehicle to stop includes: when the vehicle passes through the obstacle, increasing the braking force of all wheels according to the braking force gradient value to control the vehicle to stop, which is conducive to ensuring a smooth parking of the vehicle.

[0011] In a possible implementation, when the vehicle passes through the obstacle, increasing the braking force of all wheels according to the braking force gradient value to control the vehicle to stop includes: when the vehicle passes through the obstacle, starting to record the distance between the vehicle and the obstacle; when the distance reaches a preset distance, increasing the braking force of all wheels according to the braking force gradient value to control the vehicle to stop, which can prevent the vehicle from sliding off the obstacle due to improper user operation after the vehicle restarts. .

[0012] A possible implementation method is that when the vehicle is in a bump-climbing condition, before attenuating the growth rate of the vehicle driving torque according to the descent rate of the accelerator pedal, the vehicle bump-climbing control method includes: determining a third difference between the vehicle driving torque and a current slope resistance torque; determining a fourth difference between the third difference and a current vehicle acceleration torque; and determining that the vehicle is in a bump-climbing condition when the fourth difference is greater than the second preset difference.

[0013] A possible implementation method is that after adjusting the vehicle driving torque according to the first difference, the vehicle bump control method includes: integrating the second pulse value to obtain the wheel movement distance; wherein the integration start time point of the integration process is the time point when the vehicle is detected to be in the bump condition, and the integration end time point is the time point when the second pulse value is collected; and when the wheel movement distance is greater than a preset distance, it is determined that the vehicle has passed the obstacle bump.

[0014] In a second aspect, a vehicle curb control device is provided, the vehicle curb control device comprising:

[0015] The first adjustment module is used to attenuate the growth rate of the vehicle driving torque according to the descending rate of the accelerator pedal when the vehicle is in a hill-climbing condition;

[0016] a step-up detection module, configured to determine whether the vehicle has passed the highest point of the obstacle step according to a first data sequence; wherein the first data sequence includes a plurality of first pulse values, the plurality of first pulse values ​​are arranged in chronological order, and each first pulse value is the minimum value of the wheel speed pulse values ​​of all wheels in the same time period;

[0017] A second adjustment module is used to adjust the vehicle driving torque according to a first difference value; wherein the first difference value is a difference between a target wheel speed pulse value and a second pulse value, and the second pulse value is the last first pulse value in the first data sequence;

[0018] The wheel brake module is used to control the vehicle to stop when the vehicle passes through the obstacle.

[0019] In a possible implementation, the first adjustment module is specifically used to obtain a target attenuation coefficient corresponding to the descent rate and a driver-requested driving torque corresponding to the accelerator pedal opening; wherein the attenuation coefficient is positively correlated with the descent rate, and the value range of the attenuation coefficient is (0, 1]; determine the growth rate for increasing the vehicle driving torque to the driver-requested driving torque; and multiply the growth rate by the target attenuation coefficient to obtain the growth rate.

[0020] In a possible implementation, the number of the multiple first pulse values ​​is a first number, and the upper ridge detection module is specifically used to delete a second number of first pulse values ​​from the first data sequence to obtain a second data sequence; wherein the second data sequence includes a third number of first pulse values, the time corresponding to the second number of first pulse values ​​is earlier than the time corresponding to the third number of first pulse values, and the sum of the second number and the third number is the first number; if the second data sequence meets a preset condition, it is determined that the vehicle has passed the highest point of the obstacle ridge; if the second data sequence does not meet the preset condition, it is determined that the vehicle has not passed the highest point of the obstacle ridge; wherein the preset condition includes: a second difference between the third pulse value and the fourth pulse value in the second data sequence is greater than the first preset difference, and there are a fourth number of time-continuous pulse values ​​in the third data sequence and the fourth number of time-continuous pulse values ​​increase in sequence; the second data sequence includes a third data sequence, the third pulse value is any pulse value in the second data sequence except the first pulse value and the fourth number of pulse values, the fourth pulse value is a pulse value previous to the third pulse value, and the first pulse value of the fourth number of time-continuous pulse values ​​is a pulse value next to the third pulse value.

[0021] In a possible implementation, the second adjustment module specifically inputs the first difference into a PID controller, and the PID controller outputs the target driving torque; and adjusts the vehicle driving torque based on the target driving torque.

[0022] In a possible implementation, the wheel brake module is specifically configured to increase the braking force of all wheels according to a braking force gradient value to control the vehicle to stop when the vehicle passes through the obstacle.

[0023] In a possible implementation, the wheel braking module is further used to start recording the distance between the vehicle and the obstacle when the vehicle passes through the obstacle; when the distance reaches a preset distance, increase the braking force of all wheels according to the braking force gradient value to control the vehicle to stop.

[0024] In a possible implementation, the vehicle step-up control device includes:

[0025] The operating condition judgment unit is used to determine a third difference between the vehicle driving torque and the current slope resistance torque; determine a fourth difference between the third difference and the current vehicle acceleration torque; and determine that the vehicle is in a hill-climbing operating condition when the fourth difference is greater than the second preset difference.

[0026] In a possible implementation, the vehicle step-up control device includes:

[0027] An integration unit is used to integrate the second pulse value to obtain the wheel movement distance; wherein the integration start time point of the integration processing is the time point when the vehicle is detected to be in the step-up condition, and the integration end time point is the time point when the second pulse value is collected; when the wheel movement distance is greater than a preset distance, it is determined that the vehicle has passed the obstacle step.

[0028] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle ramp control method in the first aspect or any possible implementation of the first aspect.

[0029] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle ramp control method in the first aspect or any possible implementation of the first aspect.

[0030] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle climbing control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic flow chart of a vehicle ramp control method provided by an embodiment of the present application is shown;

[0032] Figure 2 A schematic diagram of an obstacle ridge is shown;

[0033] Figure 3 An exemplary schematic diagram of a vehicle passing an obstacle is shown;

[0034] Figure 4 A schematic structural diagram of a vehicle step-up control device provided in an embodiment of the present application is shown;

[0035] Figure 5A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0036] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0037] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0038] In real life, when a vehicle encounters a road cliff or a protruding object and needs to go up or climb, the vehicle needs to output high torque for a short time to go up or climb. In this driving scenario, when the user is driving up or climbing, because the change in vehicle load cannot be judged in time, the vehicle often suddenly gains acceleration due to the user's operation, causing the vehicle to rush violently, which is prone to the risk of collision or loss of control.

[0039] Based on the above problems, the present application provides a vehicle climbing control method, device, vehicle and computer-readable storage medium. The present application can automatically control the vehicle climbing the bump when the vehicle is climbing the bump, avoiding the risk of collision or loss of control caused by excessive acceleration of the vehicle when the user drives the vehicle up the bump or climbs, thereby improving the success rate and safety of the vehicle climbing or climbing.

[0040] The following is an embodiment of a vehicle hilltop control method provided in the present application specification.

[0041] Figure 1 A schematic flow chart of a vehicle ramp control method provided in an embodiment of the present application is shown, Figure 1 As shown, the vehicle climbing control method provided in the embodiment of the present application is applied to a vehicle, and the specific application driving scenario is the vehicle climbing a hill scene. The obstacle hill mentioned below refers to a hill on the terrain, and the hill on the terrain refers to an uneven place on the ground, usually a small earth slope or step. Figure 2 As shown, Figure 2 A schematic diagram of an obstacle ridge is shown, wherein obstacle ridge A represents a small earthen slope on the road, and obstacle ridge B represents a step or a road cliff.

[0042] The above-mentioned vehicle climbing control method includes the following schemes:

[0043] S110: When the vehicle is in a hill-climbing condition, attenuating a growth rate of the vehicle driving torque according to a decreasing rate of the accelerator pedal.

[0044] In an exemplary embodiment, on the one hand, in order to prevent the user from stepping too deeply on the accelerator pedal when manipulating the vehicle to go over an obstacle, resulting in excessive vehicle driving torque that drives the vehicle, so that the vehicle suddenly obtains a large acceleration, so that when the vehicle goes over an obstacle, the vehicle rushes violently, which easily causes the vehicle to rush over the obstacle at a very fast speed. If the user controls the vehicle improperly, the vehicle is likely to lose control after passing the obstacle. When the obstacle is very close to other obstacles, it is easy to have a collision risk; when the obstacle is close to a downhill section or a cliff section, it is easy to have a risk of the vehicle rushing downhill or rushing off the cliff. On the other hand, in order to prevent the user from being unable to pass through the obstacle at one time when manipulating the vehicle to go over an obstacle, it is necessary to try many times before passing the obstacle. Based on the above situation, the vehicle provided in the embodiment of the present application is configured with an automatic step-up control function. After the automatic step-up control function is turned on, the user does not need to control the vehicle to pass the obstacle, but the vehicle automatically controls to pass the obstacle. The purpose of configuring the vehicle with the automatic step-up control function is to improve the success rate and safety of the vehicle going over the obstacle.

[0045] The vehicle cabin is provided with a hardware switch and / or software switch for the automatic hill-climbing control function. In addition to turning on or off the vehicle's automatic hill-climbing control function through the hardware switch and / or software switch, the user can also turn on or off the vehicle's automatic hill-climbing control function through voice, gestures, etc. When the user actively turns on the automatic hill-climbing control function and the vehicle detects that it is in a hill-climbing condition, it will automatically control the vehicle to pass the obstacle. In addition, the vehicle can also automatically turn on or off the vehicle's automatic hill-climbing control function. For example, if the vehicle detects that the vehicle is in a hill-climbing condition, but the user has not turned on the automatic hill-climbing control function, the automatic hill-climbing control function will be automatically turned on to automatically control the vehicle to pass the obstacle.

[0046] The above-mentioned vehicle driving torque is the current vehicle driving torque. After the vehicle turns on the automatic hill-climbing control function, it is detected whether the vehicle is in a hill-climbing condition. The process of detecting whether the vehicle is in a hill-climbing condition includes: determining the third difference between the vehicle driving torque and the current slope resistance torque, determining the fourth difference between the third difference and the current vehicle acceleration torque, and if the fourth difference is greater than the second preset difference, it is determined that the vehicle is in a hill-climbing condition; if the fourth difference is less than or equal to the second preset difference, it is determined that the vehicle is not in a hill-climbing condition. Among them, the current vehicle acceleration torque = vehicle mass × reference speed change value × tire radius.

[0047] When it is detected that the vehicle is in a hill-climbing condition, the accelerator pedal opening is obtained after the user steps on the accelerator pedal, and the accelerator pedal MAP is queried through the accelerator pedal opening to obtain the driver's requested driving torque corresponding to the accelerator pedal opening. The queried driver's requested driving torque is the target value of the current vehicle driving torque.

[0048] Since the vehicle currently needs to go over an obstacle, after obtaining the driver's requested driving torque through the accelerator pedal opening, in order to avoid excessive acceleration when the vehicle goes over the obstacle, which may cause the vehicle to rush violently, the vehicle automatically controls the vehicle to go over the obstacle. Instead, the vehicle controls the vehicle to go over the obstacle according to the driver's requested driving torque corresponding to the accelerator pedal opening in the accelerator pedal MAP. Instead, the vehicle controls the vehicle to go over the obstacle according to a torque control strategy that attenuates the growth rate of the vehicle's driving torque according to the descent rate of the accelerator pedal. The greater the descent rate of the accelerator pedal decays, the more the growth rate of the vehicle's driving torque decays, and vice versa.

[0049] After attenuating the growth rate of the vehicle driving torque, the vehicle driving torque will still increase. Specifically, the vehicle driving torque will increase slowly as the accelerator pedal opening increases, that is, the vehicle driving torque will not increase according to the corresponding relationship between the accelerator pedal opening and the torque in the accelerator pedal MAP. This ensures that the vehicle can stably go up the obstacle and avoids the situation where the vehicle accelerates too fast and suddenly jumps when going up the obstacle. In addition, when the vehicle goes up the obstacle, the vehicle driving torque will increase slowly, and the vehicle driving torque will not be too low, which will cause the vehicle to fail to go up the obstacle, which is conducive to improving the success rate of the vehicle passing the obstacle in one go.

[0050] S120: Determine whether the vehicle has passed the highest point of the obstacle according to the first data sequence.

[0051] When the vehicle goes over an obstacle, the wheel speed pulse values ​​of all wheels are collected according to a preset period, and the minimum value of the wheel speed pulse values ​​of all wheels collected in each preset period is stored in the first data sequence. For the sake of distinction, the minimum value is called the first pulse value. For example, the first data sequence stores the first pulse value corresponding to the first preset period, the first pulse value corresponding to the second preset period, and so on, that is, the first data sequence includes multiple first pulse values, and the multiple first pulse values ​​are arranged in chronological order, and each first pulse value is the minimum value of the wheel speed pulse values ​​of all wheels in the same time period. For example, the first data sequence includes 20 first pulse values, the first first pulse value is collected from the 1st moment to the 5th moment, the second first pulse value is collected from the 6th moment to the 10th moment, the third first pulse value is collected from the 11th moment to the 15th moment, and so on.

[0052] Since the multiple first pulse values ​​stored in the first data sequence can reflect the state of the slowest wheel (referred to as the slowest wheel) among all wheels, the slower the wheel rotates in the same time period, the shorter the distance the wheel moves. In the process of the vehicle going over an obstacle, the forces and speeds of different wheels may be different. Selecting the first data sequence consisting of the minimum value of the wheel speed pulse values ​​of all wheels to determine whether the vehicle has passed the highest point of the obstacle can ensure that the vehicle always pays attention to the slowest wheel. This is because the slowest wheel is often the wheel most prone to problems (the slowest wheel moves the shortest distance) and is also the indicator that best reflects the overall state of the vehicle. If the slowest wheel passes the highest point of the obstacle, then the other wheels have passed the highest point of the obstacle before the slowest wheel.

[0053] S130: When the vehicle passes the highest point of the obstacle, adjust the vehicle driving torque according to the first difference.

[0054] S140: When the vehicle passes through an obstacle, control the vehicle to stop.

[0055] The first difference is the difference between the target wheel speed pulse value and the second pulse value. The target wheel speed pulse value can be understood as the target value to which the second pulse value needs to be adjusted. The target wheel speed pulse value corresponds to a relatively low vehicle speed, which can not only prevent the vehicle from further accelerating in the process of going over the obstacle, but also ensure the subsequent forward movement of the vehicle after it completely passes the obstacle, further ensuring that the vehicle passes the obstacle smoothly. The second pulse value is the last first pulse value in the first data sequence. For example, the first data sequence includes the 1st first pulse value to the 20th first pulse value, then the 20th first pulse value is the second pulse value.

[0056] The process of judging whether the vehicle has completely passed the obstacle includes: integrating the second pulse value to obtain the wheel movement distance of the slowest wheel, and determining that the vehicle has passed the obstacle when the wheel movement distance is greater than a preset distance.

[0057]

[0058] Among them, s represents the wheel movement distance, v represents the second pulse value, t0 represents the integration start time point of the integration processing, specifically the time point when the vehicle is detected to be in the uphill condition, and t1 represents the integration end time point, specifically the time point when the second pulse value is collected.

[0059] If the preset distance is set according to the circumference of the wheel, if the wheel movement distance of the slowest wheel is greater than the preset distance, it means that the slowest wheel has completely passed the obstacle, that is, it means that the vehicle has completely passed the obstacle.

[0060] like Figure 3As shown, Figure 3 An exemplary schematic diagram of a vehicle passing an obstacle is shown. Figure 3 It represents the process of the vehicle passing through the obstacle A, the arrow direction indicates the vehicle driving direction, M indicates the slowest wheel, scenario 1 is the scenario of the vehicle passing through the highest point of the obstacle, and scenario 2 is the scenario of the vehicle completely passing through the obstacle. In the case where the vehicle passes through the highest point of the obstacle by the first data sequence, the vehicle is still not controlled to travel according to the driving torque corresponding to the accelerator pedal opening in the accelerator pedal MAP, but the vehicle driving torque is adjusted based on the first difference to control the vehicle to continue to travel. For example, each time the vehicle driving torque is adjusted, it is determined whether the vehicle has completed passing through the obstacle. If not, the difference between the second pulse value and the target wheel speed pulse value in the latest time period is calculated to obtain the latest first difference, and then the vehicle driving torque is adjusted based on the latest first difference, and so on, until it is determined that the vehicle has completely passed through the obstacle. In the case of the vehicle completely passing through the obstacle, the vehicle is controlled to stop. Among them, if the automatic step-up control function is actively turned on by the user, a prompt message will be output to remind the user to actively turn off the automatic step-up control function. If the automatic step-up control function is automatically turned on by the vehicle, after the automatic step-up control function is automatically turned off, the user is reminded that the step-up is completed and the vehicle should continue to drive normally.

[0061] The embodiment of the present application realizes automatic control of the vehicle going up the obstacle. When the vehicle is in the condition of going up the obstacle, the torque control strategy of attenuating the growth rate of the vehicle driving torque according to the descending rate of the accelerator pedal controls the vehicle to go up the obstacle. After attenuating the growth rate of the vehicle driving torque, the vehicle driving torque will increase slowly with the increase of the accelerator pedal opening, and will not increase according to the corresponding relationship between the accelerator pedal opening and the torque in the accelerator pedal MAP, so that the vehicle can be ensured to go up the obstacle stably, and the situation that the vehicle accelerates too fast and the vehicle rushes when going up the obstacle is avoided. In addition, during the process of the vehicle going up the obstacle, the vehicle driving torque will increase slowly, and the vehicle driving torque will not be too low, which will cause the vehicle to fail to go up the obstacle, which is conducive to improving the success rate of the vehicle passing the obstacle once. During the process of the vehicle going up the obstacle, the minimum value of the wheel speed pulse values ​​of all wheels collected in each time period is selected to determine whether the vehicle has passed the highest point of the obstacle, which can ensure that the object of the vehicle's attention is always the slowest wheel, and it is realized that by determining whether the slowest wheel has passed the highest point of the obstacle, it is further determined whether the vehicle has passed the highest point of the obstacle. When the vehicle passes the highest point of the obstacle, the vehicle driving torque is adjusted by the difference between the target wheel speed pulse value and the minimum value of the wheel speed pulse values ​​of all wheels collected in the latest time period until the vehicle completely passes the obstacle and stops the vehicle. By setting the target wheel speed pulse value as the target value for adjusting the wheel speed pulse value of the slowest wheel, it is ensured that the vehicle travels at a lower speed after passing the highest point of the obstacle, which can not only avoid further acceleration of the vehicle, but also ensure the subsequent forward movement of the vehicle to completely pass the obstacle smoothly.

[0062] The following Figure 1 The specific implementation methods of each step in the illustrated embodiment are described as follows:

[0063] In a possible implementation, the attenuation of the growth rate of the vehicle driving torque according to the decreasing rate of the accelerator pedal comprises the following steps:

[0064] Obtaining a target attenuation coefficient corresponding to the descent rate and a driver-requested driving torque corresponding to the accelerator pedal opening;

[0065] determining an increase rate for increasing vehicle drive torque to the driver requested drive torque;

[0066] Multiply the growth rate by the target decay factor to get the growth rate.

[0067] The attenuation coefficient is positively correlated with the descent rate, and the value range of the attenuation coefficient is (0, 1]. After obtaining the descent rate of the accelerator pedal, the mapping relationship table is queried based on the descent rate of the accelerator pedal to obtain the preset attenuation coefficient corresponding to the descent rate of the accelerator pedal. The queried preset attenuation coefficient is the target attenuation coefficient. After obtaining the target attenuation coefficient, the growth rate of increasing the vehicle driving torque to the driver's requested driving torque is calculated, that is, the growth rate before attenuation. The growth rate before attenuation is multiplied by the target attenuation coefficient to achieve the attenuation of the growth rate of the vehicle driving torque, which is conducive to ensuring that the vehicle passes the obstacle smoothly and safely.

[0068] For example, the vehicle driving torque is 100Nm, the accelerator pedal's descending rate is A, the accelerator pedal opening corresponding to the accelerator pedal's descending rate A is K1, and the driver's requested driving torque corresponding to K1 is 150Nm, that is, 150Nm is the target value, the torque control takes 0.1s, and the target attenuation coefficient is 0.2. The growth rate before attenuation = (150-100) / 0.1 = 500Nm / s, the growth rate after attenuation = 500×0.2 = 100Nm / s, and the growth rate after attenuation is 400Nm / s less than the growth rate after attenuation.

[0069] In a possible implementation, the number of the plurality of first pulse values ​​is a first number, and the above-mentioned determining whether the vehicle passes through the highest point of the obstacle according to the first data sequence includes the following steps:

[0070] Deleting a second number of first pulse values ​​from the first data sequence to obtain a second data sequence; wherein the second data sequence includes a third number of first pulse values, the time corresponding to the second number of first pulse values ​​is earlier than the time corresponding to the third number of first pulse values, and the sum of the second number and the third number is the first number;

[0071] If the second data sequence meets the preset condition, it is determined that the vehicle has passed the highest point of the obstacle;

[0072] If the second data sequence does not meet the preset condition, it is determined that the vehicle has not passed the highest point of the obstacle;

[0073] Among them, the preset conditions include: the second difference between the third pulse value and the fourth pulse value in the second data sequence is greater than the first preset difference, and there are a fourth number of time-continuous pulse values ​​in the third data sequence and the fourth number of time-continuous pulse values ​​increase successively; the second data sequence includes the third data sequence, the third pulse value is any pulse value except the first pulse value and the fourth number of pulse values ​​in the second data sequence, the fourth pulse value is the previous pulse value of the third pulse value, and the first pulse value of the fourth number of time-continuous pulse values ​​is the next pulse value of the third pulse value.

[0074] Assume that the first number is 20, the second number is 10, the third number is 10, and the fourth number is 2. The first data sequence includes 20 first pulse values ​​arranged in chronological order, namely the 1st first pulse value, the 2nd first pulse value, ..., the 20th first pulse value. The first 10 first pulse values ​​in the first data sequence are deleted to obtain the second data sequence, and the time corresponding to the first pulse value in the second data sequence is the latest time, and the second data sequence includes the 11th first pulse value to the 20th first pulse value. The third pulse value is any one of the 12th first pulse value to the 17th first pulse value, for example, the third pulse value is the 13th first pulse value, and the fourth pulse value is the 12th first pulse value. If the second data sequence satisfies that the second difference between the 13th first pulse value and the 12th first pulse value is greater than the first preset difference, the 14th first pulse value, the 15th first pulse value and the 16th first pulse value increase successively, then it is determined that the vehicle has passed the highest point of the obstacle; if the second data sequence does not satisfy that the second difference between the 13th first pulse value and the 12th first pulse value is greater than the first preset difference, the 14th first pulse value, the 15th first pulse value and the 16th first pulse value increase successively, then it is determined that the vehicle has not passed the highest point of the obstacle.

[0075] The second number of first pulse values ​​are deleted from the first data sequence in chronological order to obtain a second data sequence, and the second data sequence is used to determine whether the vehicle has passed the highest point of the obstacle. This realizes the use of the wheel speed pulse value of the slowest wheel collected in the latest time period to determine whether the vehicle has passed the highest point of the obstacle, which is beneficial to improving the accuracy of determining whether the vehicle has passed the highest point of the obstacle.

[0076] In a possible implementation, adjusting the vehicle driving torque according to the first difference includes the following steps:

[0077] The first difference is input into a PID controller, and the PID controller outputs a target driving torque;

[0078] The vehicle drive torque is adjusted based on the target drive torque.

[0079] After obtaining the first difference, the vehicle driving torque is PID controlled through the PID controller, that is, the first difference is input into the PID controller, and the PID controller outputs the target driving torque, and the target driving torque is used as the torque control target value after the vehicle passes the highest point of the obstacle, that is, the vehicle driving torque is adjusted to the target driving torque, thereby ensuring that the vehicle passes the obstacle smoothly and safely.

[0080] In a possible implementation, when the vehicle passes through an obstacle, controlling the vehicle to stop includes the following steps:

[0081] When the vehicle passes an obstacle, the braking force of all wheels is increased according to the braking force gradient value to control the vehicle to stop.

[0082] When the vehicle passes through an obstacle, the braking force applied to each wheel is gradually increased according to the braking force gradient value until the wheel stops, which is conducive to ensuring a smooth parking of the vehicle. The braking force gradient value can be constant, gradually increased, or gradually decreased.

[0083] In a possible implementation, when the vehicle passes through an obstacle, increasing the braking force of all wheels according to the braking force gradient value to control the vehicle to stop includes the following steps:

[0084] When the vehicle passes through the barrier, the distance between the vehicle and the barrier begins to be recorded;

[0085] When the distance reaches the preset distance, the braking force of all wheels is increased according to the braking force gradient value to control the vehicle to stop.

[0086] Considering that obstacles are connected to sloped roads in some places in life (for example, steps are connected to sloped roads), after the vehicle passes the obstacle and stops on the sloped road, if the user operates improperly (for example, when restarting, the brake pedal is not stepped on firmly), the vehicle may slip and slide down the obstacle. In order to avoid this situation, after the vehicle completely passes the obstacle, the distance between the vehicle and the obstacle is recorded, and it is determined whether the distance reaches the preset distance. If not, the vehicle is continued to be controlled; if yes, the braking force of all wheels is increased according to the braking force gradient value to control the vehicle to stop. In this way, it can be avoided that the vehicle slides down the obstacle due to improper user operation after the vehicle restarts.

[0087] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0088] Figure 4 FIG. 1 shows a schematic diagram of the structure of a vehicle step-up control device provided in an embodiment of the present application. Figure 4 As shown, the vehicle step-up control device 400 includes:

[0089] A first adjustment module 410 is used to attenuate the growth rate of the vehicle driving torque according to the descending rate of the accelerator pedal when the vehicle is in a hill-climbing condition;

[0090] a step-up detection module 420, configured to determine whether the vehicle has passed the highest point of the obstacle step according to a first data sequence; wherein the first data sequence includes a plurality of first pulse values, the plurality of first pulse values ​​are arranged in chronological order, and each first pulse value is the minimum value of the wheel speed pulse values ​​of all wheels in the same time period;

[0091] A second adjustment module 430 is used to adjust the vehicle driving torque according to a first difference value; wherein the first difference value is a difference between a target wheel speed pulse value and a second pulse value, and the second pulse value is the last first pulse value in the first data sequence;

[0092] The wheel brake module 440 is used to control the vehicle to stop when the vehicle passes through the obstacle.

[0093] In a possible implementation, the first adjustment module 410 is specifically used to obtain a target attenuation coefficient corresponding to the descent rate and a driver-requested driving torque corresponding to the accelerator pedal opening; wherein the attenuation coefficient is positively correlated with the descent rate, and the value range of the attenuation coefficient is (0, 1]; determine the growth rate for increasing the vehicle driving torque to the driver-requested driving torque; and multiply the growth rate by the target attenuation coefficient to obtain the growth rate.

[0094] In a possible implementation, the number of the multiple first pulse values ​​is a first number, and the upper barrier detection module 420 is specifically used to delete a second number of first pulse values ​​from the first data sequence to obtain a second data sequence; wherein the second data sequence includes a third number of first pulse values, the time corresponding to the second number of first pulse values ​​is earlier than the time corresponding to the third number of first pulse values, and the sum of the second number and the third number is the first number; if the second data sequence meets a preset condition, it is determined that the vehicle has passed the highest point of the barrier; if the second data sequence does not meet the preset condition, it is determined that the vehicle has not passed the highest point of the barrier; wherein the preset condition includes: a second difference between the third pulse value and the fourth pulse value in the second data sequence is greater than a first preset difference, and there are a fourth number of time-continuous pulse values ​​in the third data sequence and the fourth number of time-continuous pulse values ​​increase in sequence; the second data sequence includes a third data sequence, the third pulse value is any pulse value in the second data sequence except the first pulse value and the fourth number of pulse values, the fourth pulse value is a pulse value previous to the third pulse value, and the first pulse value of the fourth number of time-continuous pulse values ​​is a pulse value next to the third pulse value.

[0095] In a possible implementation, the second adjustment module 430 is specifically configured to input the first difference into a PID controller, and the PID controller outputs the target driving torque; and adjust the vehicle driving torque based on the target driving torque.

[0096] In a possible implementation, the wheel braking module 440 is specifically configured to increase the braking force of all wheels according to a braking force gradient value to control the vehicle to stop when the vehicle passes through the obstacle.

[0097] In a possible implementation, the wheel brake module 440 is further used to start recording the distance between the vehicle and the obstacle when the vehicle passes through the obstacle; when the distance reaches a preset distance, increase the braking force of all wheels according to the braking force gradient value to control the vehicle to stop.

[0098] In a possible implementation, the vehicle step-up control device 400 includes:

[0099] The operating condition judgment unit is used to determine a third difference between the vehicle driving torque and the current slope resistance torque; determine a fourth difference between the third difference and the current vehicle acceleration torque; and determine that the vehicle is in a hill-climbing operating condition when the fourth difference is greater than the second preset difference.

[0100] In a possible implementation, the vehicle step-up control device 400 includes:

[0101] An integration unit is used to integrate the second pulse value to obtain the wheel movement distance; wherein the integration start time point of the integration processing is the time point when the vehicle is detected to be in the step-up condition, and the integration end time point is the time point when the second pulse value is collected; when the wheel movement distance is greater than a preset distance, it is determined that the vehicle has passed the obstacle step.

[0102] It should be noted that the vehicle curb control device provided in the above embodiment only uses the division of the above functional modules as an example when executing the vehicle curb control method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle curb control device provided in the above embodiment and the vehicle curb control method embodiment belong to the same concept. Therefore, for details not disclosed in the device embodiment of the present application, please refer to the above-mentioned vehicle curb control method embodiment of the present application, which will not be repeated here.

[0103] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0104] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is shown. Figure 5 As shown, the vehicle 500 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a vehicle climbing control method.

[0105] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0106] In the case of dividing each functional module according to each function, the vehicle may include: a first adjustment module, a step-up detection module, a second adjustment module, a wheel drive module, a wheel brake module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0107] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle hill-climbing control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0108] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes and data.

[0109] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0110] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle climbing control method in the above-mentioned embodiment.

[0111] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle ramp control method in the above-mentioned embodiment.

[0112] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle climbing control method in the above-mentioned embodiments.

[0113] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle curb control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle curb control method provided above, and will not be repeated here.

[0114] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0115] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0116] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle climbing control method, characterized in that: The vehicle climbing control method comprises: When the vehicle is in a hill-climbing condition, the growth rate of the vehicle driving torque is attenuated according to the descending rate of the accelerator pedal; Determine whether the vehicle has passed the highest point of the obstacle according to a first data sequence; wherein the first data sequence includes a plurality of first pulse values, the plurality of first pulse values ​​are arranged in chronological order, and each first pulse value is the minimum value of the wheel speed pulse values ​​of all wheels in the same time period; If yes, adjusting the vehicle driving torque according to the first difference; wherein the first difference is the difference between the target wheel speed pulse value and the second pulse value, and the second pulse value is the last first pulse value in the first data sequence; When the vehicle passes through the obstacle, the vehicle is controlled to stop.

2. The vehicle step-up control method according to claim 1, characterized in that: The step of attenuating the growth rate of the vehicle driving torque according to the decreasing rate of the accelerator pedal comprises: Obtaining a target attenuation coefficient corresponding to the descent rate and a driver-requested driving torque corresponding to the accelerator pedal opening; wherein the attenuation coefficient is positively correlated with the descent rate, and a value interval of the attenuation coefficient is (0, 1]; determining the increase rate for increasing the vehicle drive torque to the driver requested drive torque; The growth rate is multiplied by the target attenuation factor to obtain the growth rate.

3. The vehicle step-up control method according to claim 1, characterized in that: The number of the plurality of first pulse values ​​is a first number, and judging whether the vehicle has passed the highest point of the obstacle according to the first data sequence includes: Deleting a second number of first pulse values ​​from the first data sequence to obtain a second data sequence; wherein the second data sequence includes a third number of first pulse values, the time corresponding to the second number of first pulse values ​​is earlier than the time corresponding to the third number of first pulse values, and the sum of the second number and the third number is the first number; If the second data sequence meets a preset condition, determining that the vehicle passes the highest point of the obstacle; If the second data sequence does not meet the preset condition, it is determined that the vehicle has not passed the highest point of the obstacle; The preset conditions include: a second difference between the third pulse value and the fourth pulse value in the second data sequence is greater than a first preset difference, and there are a fourth number of time-continuous pulse values ​​in the third data sequence and the fourth number of time-continuous pulse values ​​increase in sequence; The second data sequence includes a third data sequence, the third pulse value being any pulse value in the second data sequence except the first pulse value and the fourth number of pulse values ​​thereafter, the fourth pulse value being the previous pulse value of the third pulse value, and the first pulse value among the fourth number of time-continuous pulse values ​​being the next pulse value of the third pulse value.

4. The vehicle ramp control method according to claim 1, characterized in that: The adjusting the vehicle driving torque according to the first difference comprises: inputting the first difference into a PID controller, and allowing the PID controller to output the target driving torque; The vehicle driving torque is adjusted based on the target driving torque.

5. The vehicle ramp control method according to claim 1, characterized in that: When the vehicle passes through the obstacle, controlling the vehicle to stop comprises: When the vehicle passes through the obstacle, the braking force of all wheels is increased according to the braking force gradient value to control the vehicle to stop.

6. The vehicle step-up control method according to claim 5, characterized in that: When the vehicle passes through the obstacle, increasing the braking force of all wheels according to the braking force gradient value to control the vehicle to stop includes: When the vehicle passes through the obstacle, start recording the distance between the vehicle and the obstacle; When the distance reaches a preset distance, the braking force of all wheels is increased according to the braking force gradient value to control the vehicle to stop.

7. The vehicle step-up control method according to any one of claims 1 to 6, characterized in that: When the vehicle is in a bump-climbing condition, before attenuating the growth rate of the vehicle driving torque according to the descending rate of the accelerator pedal, the vehicle bump-climbing control method includes: determining a third difference between the vehicle driving torque and the current slope resistance torque; determining a fourth difference between the third difference and a current vehicle acceleration torque; When the fourth difference is greater than the second preset difference, it is determined that the vehicle is in a ramp-climbing condition.

8. The vehicle step-up control method according to any one of claims 1 to 6, characterized in that: After adjusting the vehicle driving torque according to the first difference, the vehicle hill-climbing control method includes: Integrate the second pulse value to obtain the wheel movement distance; wherein the integration start time point of the integration process is the time point when the vehicle is detected to be in the step-up condition, and the integration end time point is the time point when the second pulse value is collected; When the wheel movement distance is greater than a preset distance, it is determined that the vehicle passes through the obstacle.

9. A vehicle step-up control device, characterized in that: The vehicle step-up control device comprises: The first adjustment module is used to attenuate the growth rate of the vehicle driving torque according to the descending rate of the accelerator pedal when the vehicle is in a hill-climbing condition; a step-up detection module, configured to determine whether the vehicle has passed the highest point of the obstacle step according to a first data sequence; wherein the first data sequence includes a plurality of first pulse values, the plurality of first pulse values ​​are arranged in chronological order, and each first pulse value is the minimum value of the wheel speed pulse values ​​of all wheels in the same time period; A second adjustment module is used to adjust the vehicle driving torque according to a first difference value; wherein the first difference value is a difference between a target wheel speed pulse value and a second pulse value, and the second pulse value is the last first pulse value in the first data sequence; The wheel brake module is used to control the vehicle to stop when the vehicle passes through the obstacle.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle ramp control method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle ramp control method according to any one of claims 1 to 8 is implemented.

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