A control method, system, controller and vehicle for hill start

Abstract

The embodiment of the application provides a control method, system, controller and vehicle for hill starting, relates to the technical field of vehicle control, can avoid the occurrence of vehicle sliding without relying on the driver to control the depth of the accelerator pedal, and reliably realizes hill starting under any slope. The control method for hill starting comprises the following steps: when an automatic parking function is activated, determining a basic torque required for maintaining the vehicle stationary on the current slope; receiving a driver requested torque curve from a vehicle control unit; in response to the driver requested torque at T1 being greater than a set torque and less than the basic torque, controlling the automatic parking function to be released, and sending a first ESC torque request to the vehicle control unit, the first ESC torque request being used for instructing the vehicle to be controlled to be stationary according to the basic torque; and in response to the driver requested torque at T2 exceeding the basic torque, sending a second ESC torque request to the vehicle control unit, the second ESC torque request being used for instructing the vehicle to be controlled to start according to the driver requested torque.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a control method and system for hill start, a controller and a vehicle BACKGROUND

[0002] Currently, when a vehicle needs to stop on a hill during driving, an automatic parking function can be started to achieve the purpose. When the vehicle needs to start on the hill, the driver can step on the accelerator pedal to achieve the purpose. However, since the slope of the hill where the vehicle stops each time can be different, the driver cannot accurately determine the current slope of the vehicle, so that the driver cannot accurately determine the depth of the accelerator pedal, and thus the driving torque provided is insufficient, which can cause the vehicle to slide. SUMMARY

[0003] The embodiments of the present application provide a control method and system for hill start, a controller and a vehicle, which can control the depth of the accelerator pedal without relying on the experience of the driver, avoid the problem of vehicle sliding during hill start, and improve the reliability of hill start on any slope.

[0004] In a first aspect, the embodiments of the present application provide a control method for hill start, applied to an electronic stability control system (ESC), and the method comprises the following steps.

[0005] When the automatic parking function is activated, a basic torque required to maintain the vehicle stationary on the current hill is determined;

[0006] A driver requested torque curve from a vehicle control unit is received;

[0007] In response to the driver requested torque at T1 in the driver requested torque curve being greater than a set torque and less than the basic torque, the automatic parking function is released, and a first ESC torque request is sent to the vehicle control unit, the first ESC torque request instructing the vehicle control unit to control the vehicle to be stationary according to the basic torque;

[0008] In response to the driver requested torque at T2 in the driver requested torque curve exceeding the basic torque, a second ESC torque request is sent to the vehicle control unit, the second ESC torque request instructing the vehicle control unit to control the vehicle to start according to the driver requested torque.

[0009] In the embodiments of the present application, when the automatic parking function is turned on, the vehicle will not roll back, and at this time, the base torque required to maintain the vehicle stationary on the current slope can be determined. When the user steps on the accelerator pedal, the ESC can obtain the real-time driver request torque from the vehicle controller. If the driver request torque at T1 is greater than the set torque, it can be considered that the opening of the accelerator pedal has reached the set opening, indicating that the user currently wants to control the vehicle to start. At the same time, if the driver request torque is less than the above-mentioned base torque, it means that relying on the driver request torque to control the vehicle will cause the vehicle to roll back. Therefore, the ESC can initiate a first ESC torque request to the vehicle controller, which carries the base torque. The vehicle controller controls the vehicle to be stationary on the current slope by responding to the base torque first. When the ESC determines that the driver request torque at T2 exceeds the base torque, a second ESC torque request can be sent to the vehicle controller. After receiving the second ESC torque request, the vehicle controller controls the vehicle to start from the stationary state on the current slope by responding to the driver request torque first. This method can control the depth of the accelerator pedal without relying on the driver's experience. In the case of small accelerator pedal depression by the driver, the problem of rolling back when starting on a slope can be avoided, and the reliability of starting on a slope at any slope is improved.

[0010] Optionally, before the second ESC torque request is sent to the vehicle controller in response to the driver request torque at T2 in the driver request torque curve exceeding the base torque, the method further comprises:

[0011] sending a third ESC torque request to the vehicle controller, the third ESC torque request being used to instruct the vehicle controller to control the vehicle to start according to an ESC request torque upper limit, the ESC request torque upper limit being greater than the base torque;

[0012] In response to the driver request torque at T2 in the driver request torque curve exceeding the base torque, sending a second ESC torque request to the vehicle controller, comprising:

[0013] In response to the driver request torque at T2 exceeding the ESC request torque upper limit, sending the second ESC torque request to the vehicle controller.

[0014] In the embodiments of the present application, after the vehicle controller controls the vehicle to be stationary on the current slope by preferentially responding to the basic torque control, the ESC can continue to send a third ESC torque request to the vehicle controller, and the third ESC torque request carries an ESC request torque upper limit. The vehicle controller can control the vehicle to start by preferentially responding to the ESC request torque upper limit. On this basis, when the driver request torque is greater than the ESC request torque upper limit, the ESC can send a second ESC torque request to the vehicle controller, and at this time the vehicle controller can continue to control the vehicle to start by preferentially responding to the driver request torque. This method can avoid the problem that the vehicle cannot start for a long time when the driver request torque increases slowly.

[0015] Optionally, the ESC request torque reaches the ESC request torque upper limit at T3, and in response to the driver request torque at T2 exceeding the ESC request torque upper limit, the second ESC torque request indicating to reduce the ESC request torque is sent to the vehicle controller.

[0016] In response to the driver request torque at T2 exceeding the ESC request torque upper limit, and T2 being after T3, the second ESC torque request indicating to reduce the ESC request torque is sent to the vehicle controller at T2.

[0017] In the embodiments of the present application, when the driver request torque at T2 exceeds the ESC request torque upper limit, and the ESC request torque reaches the ESC request torque upper limit at T3, and T2 is after T3, it indicates that before T3, the growth rate of the ESC request torque is faster than that of the driver request torque. Therefore, when the driver request torque at T2 exceeds the ESC request torque upper limit, the ESC can reduce the ESC request torque to the vehicle controller, so that the vehicle controller can preferentially respond to the driver request torque to control the vehicle to continue to start after T2, and at this time the transition from the ESC request torque upper limit to the driver request torque is relatively smooth, and there is no sudden acceleration feeling caused by torque jump.

[0018] Optionally, the ESC request torque reaches the ESC request torque upper limit at T3, and in response to the driver request torque at T2 exceeding the ESC request torque upper limit, the second ESC torque request is sent to the vehicle controller, including:

[0019] In response to the driver request torque at T2 exceeding the ESC request torque upper limit, and T2 being before T3, a torque difference between the driver request torque at T3 and the ESC request torque upper limit is calculated.

[0020] If the torque difference is greater than a set threshold, the second ESC torque request indicating an increased ESC requested torque is sent to the vehicle controller at T3, so that the vehicle controller controls the vehicle starting according to the increased ESC requested torque after T3; and when the difference between the driver requested torque and the increased ESC requested torque is not greater than the set threshold at T4, the vehicle is controlled according to the driver requested torque.

[0021] In the embodiment, the driver requested torque at T2 exceeds the upper limit of the ESC requested torque, the ESC requested torque reaches the upper limit of the ESC requested torque at T3, and T2 is before T3, which indicates that the growth rate of the ESC requested torque is slower than that of the driver requested torque before T2. Therefore, when the driver requested torque reaches the upper limit of the ESC requested torque at T3, the torque difference between the driver requested torque at T3 and the upper limit of the ESC requested torque can be calculated. If the torque difference is large, the ESC will continue to increase the ESC requested torque, and the vehicle controller will continue to respond to the increased ESC requested torque to control the vehicle starting. If the vehicle controller determines that the torque difference between the increased ESC requested torque and the driver requested torque is small at T4, the vehicle is switched from the increased ESC requested torque to the driver requested torque at T4. That is, when the ESC requested torque and the driver requested torque are greatly different at T3, the sudden acceleration caused by the torque jump when the ESC requested torque is directly switched from the upper limit of the ESC requested torque to the driver requested torque is avoided. When the ESC requested torque and the driver requested torque are within the allowable range at T4, the vehicle is switched from the increased ESC requested torque to the driver requested torque, so as to meet the requirement of controlling the vehicle by the driver requested torque.

[0022] Optionally, if the torque difference is greater than a set threshold, the second ESC torque request indicating an increased ESC requested torque is sent to the vehicle controller, including:

[0023] If the torque difference is greater than a set threshold, the increased ESC requested torque is determined according to the upper limit of the ESC requested torque, the torque difference, and a preset proportional coefficient.

[0024] The second ESC torque request containing the increased ESC requested torque is sent to the vehicle controller.

[0025] In the embodiments of the present application, if the torque difference between the driver request torque and the upper limit of the ESC request torque at T3 is large, the increased ESC request torque can be determined based on the upper limit of the ESC request torque, the torque difference, and a preset proportional coefficient. The increased ESC request torque can be considered to be greater than the upper limit of the ESC request torque, and the torque change between the increased ESC request torque and the upper limit of the ESC request torque is small. After the vehicle control unit receives the increased ESC request torque, the vehicle control unit responds to the increased ESC request torque preferentially. On the one hand, the sudden acceleration feeling caused by the torque jump between the upper limit of the ESC request torque at the previous moment and the upper limit of the ESC request torque at the current moment can be avoided. On the other hand, the torque difference between the ESC request torque and the driver request torque can be reduced, and preparation for subsequent smooth transition to the driver request torque is made.

[0026] Optionally, the first ESC torque request comprises a plurality of first sub-torque requests initiated in sequence, and the ESC request torques requested by adjacent first sub-torque requests increase based on a first slope until the base torque is reached, and the first slope is greater than a set slope.

[0027] In the embodiments of the present application, the first ESC torque request can be considered to comprise a plurality of first sub-torque requests, and the torques requested by adjacent first sub-torque requests increase based on a large slope, so that the requested torque can quickly reach the base torque, thereby ensuring that the vehicle control unit can control the vehicle to be stationary in time according to the base torque after the automatic active function is released, and vehicle sliding is avoided.

[0028] Optionally, the third ESC torque request comprises a plurality of second sub-torque requests initiated in sequence, and the ESC request torques requested by adjacent second sub-torque requests increase based on a second slope until the upper limit of the ESC request torque is reached, and the second slope is smaller than the first slope.

[0029] In the embodiments of the present application, the third ESC torque request can be considered to comprise a plurality of second sub-torque requests, and the torques requested by adjacent second sub-torque requests increase based on a medium slope, which ensures that the vehicle can start normally and avoids the problem of wheel slip caused by too fast torque increase during starting.

[0030] Optionally, the second slope is determined based on the slope of the current slope and the wheel slip rate of the vehicle.

[0031] In the embodiments of the present application, the second slope can be determined according to the current slope and the wheel slip rate, which ensures that the vehicle can start normally and avoids the problem of wheel slip caused by too fast torque increase during starting.

[0032] In a second aspect, the embodiments of the present application provide a control method for hill start, applied to a vehicle control unit, comprising:

[0033] acquiring a driver requested torque;

[0034] sending a driver requested torque curve formed by the driver requested torque to an ESC;

[0035] receiving a first ESC torque request from the ESC, the first ESC torque request being sent when the ESC determines that the driver requested torque at T1 in the driver requested torque curve is greater than a set torque and less than a base torque, and carrying the base torque, the base torque being a base torque required for the vehicle to be stationary on a current hill;

[0036] controlling the vehicle to be in a stationary state on the current hill according to the base torque;

[0037] receiving a second ESC torque request from the ESC, the second ESC torque request being sent when the ESC determines that the driver requested torque at T2 in the driver requested torque curve exceeds the base torque;

[0038] controlling the vehicle to start according to the driver requested torque in response to the second ESC torque request.

[0039] Optionally, before receiving the second ESC torque request from the ESC, the method further comprises:

[0040] receiving a third ESC torque request from the ESC, the third ESC torque request carrying an ESC requested torque upper limit;

[0041] controlling the vehicle to start according to the ESC requested torque upper limit, the second ESC torque request being sent when the ESC determines that the driver requested torque at T2 exceeds the ESC requested torque upper limit.

[0042] Optionally, the ESC requested torque reaches the ESC requested torque upper limit at T3, and T2 is located after T3, and controlling the vehicle to start according to the driver requested torque in response to the second ESC torque request comprises:

[0043] controlling the vehicle to start according to the driver requested torque after T2 in response to determining that the second ESC request is used to instruct to reduce the ESC requested torque based on the ESC requested torque upper limit.

[0044] Optionally, the ESC request torque reaches the ESC request torque upper limit at the T3 moment, and the T2 moment is located before the T3 moment, and the vehicle is controlled to start according to the driver request torque in response to the second ESC torque request, including:

[0045] In response to determining that the second ESC request is used to instruct to increase the ESC request torque based on the ESC request torque upper limit, the vehicle is controlled to start according to the increased ESC request torque after the T3 moment;

[0046] It is judged whether the difference between the driver request torque at the T4 moment and the increased ESC request torque is not greater than a set threshold value;

[0047] If yes, the vehicle is controlled to start according to the driver request torque after the T4 moment.

[0048] In a third aspect, an embodiment of the present application provides a control device for hill start, applied to an electronic stability control system (ESC), and the device comprises:

[0049] A determination unit is configured to determine a basic torque required to maintain the vehicle stationary on a current hill when an automatic parking function is activated;

[0050] A receiving unit is configured to receive a driver request torque curve from a vehicle control unit;

[0051] A release unit is configured to control the automatic parking function to be released in response to the driver request torque at the T1 moment in the driver request torque curve being greater than a set torque and less than the basic torque;

[0052] A sending unit is configured to send a first ESC torque request to the vehicle control unit, the first ESC torque request instructing the vehicle control unit to control the vehicle to be stationary according to the basic torque;

[0053] The sending unit is further configured to send a second ESC torque request to the vehicle control unit in response to the driver request torque at the T2 moment in the driver request torque curve exceeding the basic torque, the second ESC torque request being used to instruct the vehicle control unit to control the vehicle to start according to the driver request torque.

[0054] Optionally, the sending unit is further configured to:

[0055] Send a third ESC torque request to the vehicle control unit, the third ESC torque request being used to instruct the vehicle control unit to control the vehicle to start according to an ESC request torque upper limit, the ESC request torque upper limit being greater than the basic torque;

[0056] The sending unit is specifically configured to:

[0057] in response to the driver request torque at T2 exceeding the ESC request torque upper limit, sending the second ESC torque request to the vehicle controller.

[0058] Optionally, the ESC request torque reaches the ESC request torque upper limit at T3, and the sending unit is specifically configured to:

[0059] in response to the driver request torque at T2 exceeding the ESC request torque upper limit and T2 being after T3, sending the second ESC torque request indicating a decrease in the ESC request torque to the vehicle controller at T2.

[0060] Optionally, the ESC request torque reaches the ESC request torque upper limit at T3, and the sending unit is specifically configured to:

[0061] in response to the driver request torque at T2 exceeding the ESC request torque upper limit and T2 being before T3, calculating a torque difference between the driver request torque at T3 and the ESC request torque upper limit;

[0062] if the torque difference is greater than a set threshold, sending the second ESC torque request indicating an increase in the ESC request torque to the vehicle controller at T3, so that the vehicle controller controls the vehicle to start at T3 according to the increased ESC request torque; and when the difference between the driver request torque and the increased ESC request torque is not greater than the set threshold at T4, controlling the vehicle to start according to the driver request torque.

[0063] Optionally, the sending unit is specifically configured to:

[0064] if the torque difference is greater than a set threshold, determining the increased ESC request torque according to the ESC request torque upper limit, the torque difference, and a preset proportional coefficient;

[0065] sending the second ESC torque request containing the increased ESC request torque to the vehicle controller.

[0066] Optionally, the first ESC torque request comprises a plurality of first sub-torque requests initiated in sequence, and the ESC request torques requested by adjacent first sub-torque requests in the plurality of first sub-torque requests increase based on a first slope until the basic torque is reached, and the first slope is greater than a set slope.

[0067] Optionally, the third ESC torque request comprises a plurality of second sub-torque requests initiated in sequence, and adjacent second sub-torque requests in the plurality of second sub-torque requests have an ESC requested torque therebetween increasing based on a second slope, until the upper limit of the ESC requested torque is reached, the second slope being smaller than the first slope.

[0068] Optionally, the second slope is determined based on a slope of a current slope and a wheel slip rate of the vehicle.

[0069] In a fourth aspect, an embodiment of the present application provides a control device for hill start, applied to a vehicle control unit, the device comprising:

[0070] an acquisition unit configured to acquire a driver requested torque;

[0071] a sending unit configured to send a driver requested torque curve formed by the driver requested torque to an ESC;

[0072] a receiving unit configured to receive a first ESC torque request from the ESC, the first ESC torque request being sent by the ESC when determining that the driver requested torque at T1 moment in the driver requested torque curve is greater than a set torque and less than a basic torque, and carrying the basic torque, the basic torque being a basic torque required for the vehicle to be stationary on a current slope;

[0073] a control unit configured to control the vehicle to be in a stationary state on the current slope according to the basic torque;

[0074] the receiving unit is further configured to receive a second ESC torque request from the ESC, the second ESC torque request being sent by the ESC when determining that the driver requested torque at T2 moment in the driver requested torque curve exceeds the basic torque;

[0075] the control unit is further configured to control the vehicle to start according to the driver requested torque in response to the second ESC torque request.

[0076] Optionally, the receiving unit is further configured to:

[0077] receive a third ESC torque request from the ESC, the third ESC torque request carrying an upper limit of an ESC requested torque;

[0078] the control unit is further configured to:

[0079] control the vehicle to start according to the upper limit of the ESC requested torque, the second ESC torque request being sent by the ESC when determining that the driver requested torque at T2 moment exceeds the upper limit of the ESC requested torque.

[0080] Optionally, the ESC request torque reaches the ESC request torque upper limit at a T3 moment, and the T2 moment is located after the T3 moment, and the control unit is specifically configured to:

[0081] In response to determining that the second ESC request is used to instruct to reduce the ESC request torque based on the ESC request torque upper limit, the vehicle is controlled to start according to the driver request torque after the T2 moment.

[0082] Optionally, the ESC request torque reaches the ESC request torque upper limit at a T3 moment, and the T2 moment is located before the T3 moment, and the control unit is specifically configured to:

[0083] In response to determining that the second ESC request is used to instruct to increase the ESC request torque based on the ESC request torque upper limit, the vehicle is controlled to start according to the increased ESC request torque at the T3 moment.

[0084] It is determined whether the difference between the driver request torque at a T4 moment and the increased ESC request torque is not greater than a set threshold value.

[0085] If yes, the vehicle is controlled to start according to the driver request torque after the T4 moment.

[0086] In a fifth aspect, an embodiment of the present application provides an electronic stability control system, the electronic stability control system comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic stability control system is triggered to execute the steps of the method according to any embodiment of the first aspect.

[0087] In a sixth aspect, an embodiment of the present application provides a vehicle control unit, the vehicle control unit comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the vehicle control unit is triggered to execute the steps of the method according to any embodiment of the second aspect.

[0088] In a seventh aspect, an embodiment of the present application provides a vehicle, the vehicle comprising the electronic stability control system according to the fifth aspect and the vehicle control unit according to the sixth aspect.

[0089] In an eighth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium being used to store computer instructions, the computer instructions being used to make a computer execute the steps of the method according to any embodiment of the first aspect or the second aspect when the computer executes the computer instructions.

[0090] It should be understood that the second to eighth aspects of the embodiments of the present application are consistent with the technical solutions of the first aspect of the embodiments of the present application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation manners are similar, and will not be described again. BRIEF DESCRIPTION OF DRAWINGS

[0091] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present specification, and other drawings can be obtained by those skilled in the art without creative labor.

[0092] Figure 1 A flowchart of a control method for hill start provided by the embodiments of the present application is shown in the figure.

[0093] Figure 2 A flowchart of another control method for hill start provided by the embodiments of the present application is shown in the figure.

[0094] Figure 3 A flowchart of a method for switching from ESC requested torque upper limit to driver requested torque provided by the embodiments of the present application is shown in the figure.

[0095] Figure 4 A flowchart of another method for switching from ESC requested torque upper limit to driver requested torque provided by the embodiments of the present application is shown in the figure.

[0096] Figure 5 A structural diagram of a control device for hill start provided by the embodiments of the present application is shown in the figure.

[0097] Figure 6 A structural diagram of a control device for hill start provided by the embodiments of the present application is shown in the figure.

[0098] Figure 7 A structural diagram of an electronic stability control system provided by the embodiments of the present application is shown in the figure.

[0099] Figure 8 A structural diagram of a vehicle control unit provided by the embodiments of the present application is shown in the figure.

[0100] Figure 9 A structural diagram of a vehicle provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0101] In order to better understand the technical solutions of the present specification, the embodiments of the present application will be described in detail below with reference to the drawings.

[0102] It should be understood that the described embodiments are merely a part of the embodiments of the present specification, rather than all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present specification.

[0103] The terms used in the embodiments of the present application are merely for the purpose of describing specific embodiments, and are not intended to limit the present specification. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0104] At present, when the vehicle needs to be temporarily parked on the slope, the automatic parking function can be activated. When the vehicle needs to start on the slope, the driver only needs to step on the accelerator pedal to start by releasing the automatic parking function. However, since the slope of the vehicle at each stop on the slope may not be the same, the driver cannot accurately determine the current slope of the vehicle, so that the driver cannot accurately grasp the depth of the accelerator pedal, and thus it is easy to cause the driving torque to be insufficient due to the shallow accelerator pedal, and the vehicle may slip.

[0105] In view of this, the embodiments of the present application provide a control method for slope starting. In the method, the ESC controls the automatic parking function to exit when it is determined that the driver request torque generated by the accelerator pedal being stepped on exceeds a set torque threshold and is less than the basic torque required to maintain the vehicle stationary on the current slope, and initiates a torque request to the vehicle controller based on the basic torque. At this time, the vehicle controller will preferentially respond to the torque request from the ESC, so as to control the vehicle to be in a stationary state on the current slope according to the basic torque, and avoid the vehicle from slipping. On this basis, the ESC will send a torque request to the vehicle controller again when it is determined that the driver request torque is greater than the basic torque. At this time, the vehicle controller will preferentially respond to the driver request torque, so as to realize the slope starting of the vehicle.

[0106] The technical solutions protected by the embodiments of the present application will be described in detail below with reference to the drawings.

[0107] Please refer to Figure 1 A flowchart of a control method for slope starting provided by the embodiments of the present application is shown. The flowchart of the method is described as follows:

[0108] Step 101: When the automatic parking function is activated, the ESC determines the basic torque required to maintain the vehicle stationary on the current slope.

[0109] In the embodiment of the application, when the automatic parking function is activated, the vehicle can be temporarily parked on a slope. At this time, the ESC can analyze the force on the vehicle to determine the basic torque required to maintain the vehicle stationary on the current slope.

[0110] Step 102: The vehicle control unit obtains the driver requested torque.

[0111] In the embodiment of the application, when the driver wants to control the vehicle to start on the current slope again, the driver can step on the accelerator pedal, and the vehicle control unit (VCU) can detect the accelerator pedal opening, and then calculate the driver requested torque according to the accelerator pedal opening.

[0112] Step 103: The vehicle control unit sends the driver requested torque curve formed by the driver requested torque to the ESC.

[0113] In the embodiment of the application, since the driver stepping on the accelerator pedal is a continuous process, the vehicle control unit can calculate multiple driver requested torques during the process of the driver stepping on the accelerator pedal in real time, and send the driver requested torque curve formed by the multiple driver requested torques to the ESC. Of course, the vehicle control unit can also send the accelerator pedal opening corresponding to the driver requested torque at the same time to the ESC.

[0114] Step 104: In response to the driver requested torque at T1 in the driver requested torque curve being greater than the set torque, the ESC controls the automatic parking function to be released.

[0115] In the embodiment of the application, if the ESC determines that the driver requested torque at T1 is greater than the set torque, it can be considered that the accelerator pedal opening has reached the set opening, indicating that the user currently wants to control the vehicle to start, and the automatic parking function can be controlled to be released. Of course, the ESC can also determine whether to release the automatic parking function through the accelerator pedal opening at T1. For example, if the ESC determines that the accelerator pedal opening at T1 is greater than the set opening threshold, the automatic parking function is controlled to be released.

[0116] Step 105: In response to the driver requested torque at T1 in the driver requested torque curve being less than the basic torque, the ESC sends a first ESC torque request to the vehicle control unit.

[0117] In the embodiments of the present application, if the driver request torque at T1 is less than the basic torque, it means that directly relying on the driver request torque to control the vehicle to start will cause the vehicle to roll back, and therefore the ESC can send a first ESC torque request to the vehicle controller, and the first ESC torque request carries the basic torque. It should be understood that the first ESC torque request can be considered to include a plurality of first sub-torque requests, and the requested torque of adjacent first sub-torque requests increases based on a first slope until the requested torque reaches the basic torque. That is, the ESC quickly requests the torque from the vehicle controller by a larger first slope (the first slope exceeds the set slope), so that the requested torque can quickly reach the basic torque.

[0118] Step 106: In response to the first ESC torque request, the vehicle controller controls the vehicle to be in a stationary state on the current slope according to the basic torque.

[0119] In the embodiments of the present application, since the ESC can quickly request the basic torque from the vehicle controller, even if the automatic parking function is exited, the vehicle controller can control the vehicle to be in a stationary state on the current slope by preferentially responding to the basic torque, thereby avoiding the problem of rolling back.

[0120] Step 107: In response to the driver request torque at T2 in the driver request torque curve exceeding the basic torque, a second ESC torque request is sent to the vehicle controller.

[0121] In the embodiments of the present application, the ESC determines that the driver request torque at T2 exceeds the basic torque, and then sends a second ESC torque request to the vehicle controller, so as to instruct the vehicle controller to preferentially respond to the driver request torque to control the vehicle to start.

[0122] Step 108: In response to the second ESC torque request, the vehicle controller controls the vehicle to start according to the driver request torque.

[0123] In the embodiments of the present application, after receiving the second ESC torque request, the vehicle controller preferentially responds to the driver request torque to control the vehicle to start.

[0124] In some embodiments, considering that the growth rate of the driver request torque is related to the degree of pressing the accelerator pedal by the driver, if the driver always keeps pressing the accelerator pedal lightly, the driver request torque can grow slowly, so that it takes a long time for the driver request torque to exceed the basic torque, which means that the vehicle needs to be kept stationary on the slope for a long time and cannot start, thereby affecting the driver experience.

[0125] Please refer to Figure 2Another flowchart of the control method for hill start provided by the embodiments of the present application is shown in FIG. 11. Before step 107 is performed, steps 109 and 110 can also be performed.

[0126] Step 109: The ESC sends a third ESC torque request to the vehicle controller.

[0127] In the embodiments of the present application, after the vehicle controller controls the vehicle to be static at the current hill based on the base torque in the first ESC request sent by the ESC, the ESC can continue to send a third ESC torque request to the vehicle controller, and the third ESC torque request carries an ESC request torque upper limit. It should be understood that the ESC request torque upper limit is greater than the base torque.

[0128] Step 110: In response to the third ESC torque request, the vehicle controller controls the vehicle to start according to the ESC request torque upper limit.

[0129] In the embodiments of the present application, the vehicle controller directly controls the vehicle to start according to the ESC request torque upper limit carried in the third ESC torque request initiated by the ESC, so that the problem that the vehicle cannot start for a long time due to the slow increase of the driver torque can be avoided.

[0130] It should be noted that the third ESC torque request sent by the ESC to the vehicle controller can be considered to include a plurality of second sub-torque requests initiated in sequence, and the ESC request torque requested by adjacent second sub-torque requests in the plurality of second sub-torque requests increases based on a second slope until the ESC request torque upper limit is reached. The second slope here can be considered to be determined according to the current slope and the wheel slip rate, and is less than the first slope, that is, the request torque initiated by the ESC in the process of increasing the base torque to the ESC request torque upper limit is slowly increasing, so that the request torque is not increased too fast under the current hill and the current wheel slip rate, and the wheel slip during the start of the vehicle is avoided.

[0131] Step 107 can be implemented by performing sub-step 1071:

[0132] Step 1071: In response to the driver request torque at T2 exceeding the ESC request torque upper limit, a second ESC torque request is sent to the vehicle controller.

[0133] In the embodiments of the present application, the driver request torque in the driver request torque curve received by the ESC can be considered to be dynamically changing, so if the ESC determines that the driver request torque at T2 exceeds the ESC request torque upper limit, a second ESC torque request can be sent to the vehicle controller, so that the vehicle can be controlled to start according to the driver request torque.

[0134] In some embodiments, considering that the growth rate of the ESC request torque from the base torque to the ESC request torque upper limit can not be the same as the growth rate of the driver request torque, the growth rate of the ESC request torque can be faster than the growth rate of the driver request torque, or the growth rate of the ESC request torque can be slower than the growth rate of the driver request torque. The following describes the transition from the ESC torque upper limit to the driver request torque in different cases.

[0135] Case one: the driver request torque at T2 exceeds the ESC request torque upper limit, the ESC request torque reaches the ESC request torque upper limit at T3, and T2 is after T3.

[0136] Please refer to Figure 3 A flowchart of a method for switching from the ESC request torque upper limit to the driver request torque is provided in the embodiments of the present application. Step 1071 can be implemented by executing sub-step 201:

[0137] Step 201: in response to the driver request torque at T2 exceeding the ESC request torque upper limit, and T2 being after T3, the ESC sends a second ESC torque request indicating to reduce the ESC request torque to the vehicle controller at T2.

[0138] Step 108 can be implemented by executing sub-step 202:

[0139] Step 202: in response to the second ESC request, the vehicle is controlled to start according to the driver request torque after T2.

[0140] In the embodiments of the present application, the driver request torque at T2 exceeds the ESC request torque upper limit, the ESC request torque reaches the ESC request torque upper limit at T3, and T2 is after T3, which indicates that before T3, the growth rate of the ESC request torque is faster than the growth rate of the driver request torque, and the driver request torque first exceeds the ESC request torque upper limit after the ESC request torque reaches the ESC request torque upper limit and the interval T2-T3. Therefore, when the driver request torque at T2 exceeds the ESC request torque upper limit, the ESC can reduce the ESC request torque to the vehicle controller, for example, the second ESC request torque is 0. After receiving the second ESC request torque of 0, the vehicle controller can respond to the driver request torque to control the vehicle to continue to start after T2, and the transition from the ESC request torque upper limit to the driver request torque is relatively smooth, and there is no sudden acceleration feeling caused by torque jump.

[0141] Case two: the driver request torque at T2 exceeds the ESC request torque upper limit, the ESC request torque reaches the ESC request torque upper limit at T3, and T2 is before T3.

[0142] Please refer to Figure 4 Another flowchart of switching from the ESC request torque upper limit to the driver request torque provided by the embodiment of the present application is shown. Step 1071 can be implemented by executing sub-steps 203 to 204.

[0143] Step 203: in response to the driver request torque at T2 exceeding the ESC request torque upper limit and T2 being before T3, the ESC calculates the torque difference between the driver request torque at T3 and the ESC request torque upper limit.

[0144] Step 204: if the torque difference is greater than the set threshold, the ESC sends a second ESC torque request indicating to increase the ESC request torque to the vehicle controller at T3.

[0145] Step 108 can be implemented by executing sub-steps 205 to 207.

[0146] Step 205: in response to the second ESC request, the vehicle controller controls the vehicle to start at T3 according to the increased ESC request torque.

[0147] Step 206: the ESC judges whether the difference between the driver request torque at T4 and the increased ESC request torque is not greater than the set threshold.

[0148] Step 207: if yes, the vehicle controller controls the vehicle to start at T4 according to the driver request torque.

[0149] In the embodiments of the present application, if the driver requested torque at T2 exceeds the ESC requested torque upper limit, the ESC requested torque at T3 reaches the ESC requested torque upper limit, and T2 is before T3, it indicates that before T2, the growth rate of the ESC requested torque is slower than that of the driver requested torque, and the ESC requested torque first exceeds the ESC requested torque upper limit after the driver requested torque reaches the ESC requested torque upper limit for a time interval of T3-T2. Then, when the ESC requested torque at T3 reaches the ESC requested torque upper limit, on one hand, the vehicle controller can control the vehicle to start according to the ESC requested torque upper limit; on the other hand, the torque difference between the driver requested torque at T3 and the ESC requested torque upper limit can be calculated, and if the torque difference is large, the ESC will continue to increase the ESC requested torque based on the ESC requested torque upper limit to obtain an increased ESC requested torque. For example, the ESC can determine the increased ESC requested torque based on the ESC requested torque upper limit, the torque difference, and a preset proportion coefficient. The increased ESC requested torque can be considered to be greater than the ESC requested torque upper limit, and the torque change between the increased ESC requested torque and the ESC requested torque upper limit is small. The calculation of the increased ESC requested torque is shown in formula (1):

[0150] (1)

[0151] wherein, represents the increased ESC requested torque, represents the ESC requested torque upper limit, represents the torque difference between the driver requested torque at T3 and the ESC requested torque upper limit, and W represents a preset proportion coefficient.

[0152] The ESC determines the increased ESC request torque, and initiates a torque request to the vehicle controller based on the increased ESC request torque at T4, where T4 is later than T3. The vehicle controller continues to preferentially respond to the increased ESC request torque to control the vehicle to start at T4. If the vehicle controller determines that the torque difference between the increased ESC request torque and the driver request torque is small at T4, the vehicle controller can switch from the increased ESC request torque to the driver request torque after T4. That is, when the ESC request torque and the driver request torque are greatly different at T3, the ESC request torque upper limit is not switched to the driver request torque, so as to avoid the sudden acceleration caused by the torque jump when the ESC request torque upper limit is directly switched to the driver request torque. When the ESC determines that the ESC request torque and the driver request torque are within the allowable range at T4, for example, the ESC determines that the torque difference between the increased ESC request torque and the driver request torque is less than 5% of the driver request torque, the increased ESC request torque is directly switched to the driver request torque, so as to meet the requirement of controlling the vehicle by the driver request torque.

[0153] Referring to Figure 5 Based on the same inventive concept, the embodiment of the present application provides a control device for slope starting, which is applied to an electronic stability control system (ESC). The device comprises:

[0154] A determination unit 301 is configured to determine a basic torque required for maintaining the vehicle stationary on a current slope when an automatic parking function is activated.

[0155] A receiving unit 302 is configured to receive a driver request torque curve from a vehicle controller.

[0156] A release unit 303 is configured to control the automatic parking function to be released in response to the driver request torque at T1 in the driver request torque curve being greater than a set torque and less than the basic torque.

[0157] A sending unit 304 is configured to send a first ESC torque request to the vehicle controller, where the first ESC torque request instructs the vehicle controller to control the vehicle to be stationary according to the basic torque.

[0158] The sending unit 304 is further configured to send a second ESC torque request to the vehicle controller in response to the driver request torque at T2 in the driver request torque curve being greater than the basic torque, where the second ESC torque request instructs the vehicle controller to control the vehicle to start according to the driver request torque.

[0159] Optionally, the sending unit 304 is further configured to:

[0160] send a third ESC torque request to the vehicle controller, the third ESC torque request being used to instruct the vehicle controller to control the vehicle to start according to an ESC request torque upper limit, the ESC request torque upper limit being greater than the base torque;

[0161] The sending unit 304 is specifically configured to:

[0162] In response to the driver request torque at the T2 moment exceeding the ESC request torque upper limit, send a second ESC torque request to the vehicle controller.

[0163] Optionally, the ESC request torque reaches the ESC request torque upper limit at the T3 moment, and the sending unit 304 is specifically configured to:

[0164] In response to the driver request torque at the T2 moment exceeding the ESC request torque upper limit and the T2 moment being after the T3 moment, send a second ESC torque request to the vehicle controller at the T2 moment, the second ESC torque request being used to instruct the vehicle controller to reduce the ESC request torque.

[0165] Optionally, the ESC request torque reaches the ESC request torque upper limit at the T3 moment, and the sending unit 304 is specifically configured to:

[0166] In response to the driver request torque at the T2 moment exceeding the ESC request torque upper limit and the T2 moment being before the T3 moment, calculate a torque difference value between the driver request torque at the T3 moment and the ESC request torque upper limit.

[0167] If the torque difference value is greater than a set threshold, send a second ESC torque request to the vehicle controller at the T3 moment, the second ESC torque request being used to instruct the vehicle controller to increase the ESC request torque according to the increased ESC request torque after the T3 moment, and control the vehicle to start according to the driver request torque when the difference between the driver request torque and the increased ESC request torque is not greater than the set threshold at the T4 moment.

[0168] Optionally, the sending unit 304 is specifically configured to:

[0169] If the torque difference value is greater than the set threshold, determine the increased ESC request torque according to the ESC request torque upper limit, the torque difference value, and a preset proportional coefficient.

[0170] Send the second ESC torque request containing the increased ESC request torque to the vehicle controller.

[0171] Optionally, the first ESC torque request includes a plurality of first sub-torque requests initiated in sequence, and the ESC request torques requested by adjacent first sub-torque requests in the plurality of first sub-torque requests increase based on a first slope until reaching the base torque, the first slope being greater than a set slope.

[0172] Optionally, the third ESC torque request comprises a plurality of second sub-torque requests initiated in sequence, the requested ESC request torque between adjacent second sub-torque requests in the plurality of second sub-torque requests increases based on a second slope, until the upper limit of the ESC request torque is reached, and the second slope is smaller than the first slope.

[0173] Optionally, the second slope is determined based on a slope of the current slope and a wheel slip rate of the vehicle.

[0174] Please refer to Figure 6 Based on the same inventive concept, the embodiment of the application provides a control device for slope starting, which is applied to a vehicle controller, and the device comprises:

[0175] The acquisition unit 401 is configured to acquire a driver request torque.

[0176] The sending unit 402 is configured to send a driver request torque curve formed by the driver request torque to the ESC.

[0177] The receiving unit 403 is configured to receive a first ESC torque request from the ESC, the first ESC torque request is sent by the ESC when the driver request torque at T1 in the driver request torque curve is greater than a set torque and less than a basic torque, and the first ESC torque request carries the basic torque, and the basic torque is a basic torque required when the vehicle is stationary on the current slope.

[0178] The control unit 404 is configured to control the vehicle to be in a stationary state on the current slope according to the basic torque.

[0179] The receiving unit 403 is further configured to receive a second ESC torque request from the ESC, the second ESC torque request is sent by the ESC when the driver request torque at T2 in the driver request torque curve exceeds the basic torque.

[0180] The control unit 404 is further configured to control the vehicle to start according to the driver request torque in response to the second ESC torque request.

[0181] Optionally, the receiving unit 403 is further configured to:

[0182] receive a third ESC torque request from the ESC, the third ESC torque request carries an ESC request torque upper limit;

[0183] The control unit 404 is further configured to:

[0184] control the vehicle to start according to the ESC request torque upper limit, and the second ESC torque request is sent by the ESC when the driver request torque at T2 exceeds the ESC request torque upper limit.

[0185] Optionally, the ESC request torque reaches the ESC request torque upper limit at T3, and T2 is located after T3, and the control unit 404 is specifically configured to:

[0186] In response to determining that the second ESC request is used to instruct to reduce the ESC request torque based on the ESC request torque upper limit, the vehicle is controlled to start according to the driver request torque after T2.

[0187] Optionally, the ESC request torque reaches the ESC request torque upper limit at T3, and T2 is located before T3, and the control unit 404 is specifically configured to:

[0188] In response to determining that the second ESC request is used to instruct to increase the ESC request torque based on the ESC request torque upper limit, the vehicle is controlled to start according to the increased ESC request torque after T3.

[0189] Determine whether the difference between the driver request torque at T4 and the increased ESC request torque is not greater than a set threshold value;

[0190] If yes, the vehicle is controlled to start according to the driver request torque after T4.

[0191] Please refer to Figure 7 , based on the same inventive concept, the embodiment of the present application also provides an electronic stability control system, the electronic stability control system comprises at least one processor 501, and the processor 501 is used to execute the computer program stored in the memory, and the control method of the hill start of the embodiment of the present application provided as shown in Figures 1-5 The flowchart of the control method.

[0192] Optionally, the processor 501 can be a central processing unit, a specific ASIC, and can be one or more integrated circuits for controlling program execution.

[0193] Optionally, the electronic stability control system can also comprise a memory 502 connected with the at least one processor 501, and the memory 502 can comprise a ROM, a RAM and a disk memory. The memory 502 is used to store the data required when the processor 501 runs, that is, the instructions executable by the at least one processor 501 are stored, and the at least one processor 501 executes the method as shown in Figures 1-5 By executing the instructions stored in the memory 502. Wherein the number of memories 502 is one or more. Wherein the number of memories 502 is one or more.

[0194] Please refer to Figure 8, based on the same inventive concept, the embodiment of the present application further provides a vehicle controller, the vehicle controller comprises at least one processor 601, and the processor 601 is used to execute a computer program stored in a memory, so as to realize the flowchart of the control method of the ramp starting shown in Figures 1-5 .

[0195] Optionally, the processor 601 can be a central processor, a specific ASIC, and can be one or more integrated circuits for controlling program execution.

[0196] Optionally, the vehicle controller can further comprise a memory 602 connected with the at least one processor 601, and the memory 602 can comprise a ROM, a RAM and a disk memory. The memory 602 is used to store the data required by the processor 601 during operation, that is, the instructions executable by the at least one processor 601 are stored, and the at least one processor 601 executes the method shown in Figures 1-5 by executing the instructions stored in the memory 602. Wherein, the number of the memory 602 is one or more. Wherein, the number of the memory 602 is one or more.

[0197] Please refer to Figure 9 , based on the same inventive concept, the embodiment of the present application provides a vehicle, which comprises the electronic stability control system shown in Figure 7 and the vehicle controller shown in Figure 8 . The vehicle can be a pure electric vehicle, can be a plug-in hybrid vehicle, and can be a range extender vehicle, and the present application does not make special limitation to this.

[0198] The embodiment of the present application further provides a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions run on a computer, the computer executes the method shown in Figures 1-5 .

Claims

1. A control method for hill start, characterized by, For use in an electronic stability control system, ESC, the method comprises: determining a base torque required to maintain the vehicle stationary on a current incline when an automatic hill hold function is active; receiving a driver requested torque profile from a vehicle control unit; in response to a driver requested torque at T1 in the driver requested torque profile being greater than a set torque and less than the base torque, controlling the automatic hill hold function to release and sending a first ESC torque request to the vehicle control unit, the first ESC torque request instructing the vehicle control unit to control the vehicle to be stationary in accordance with the base torque; in response to a driver requested torque at T2 in the driver requested torque profile exceeding the base torque, sending a second ESC torque request to the vehicle control unit, the second ESC torque request instructing the vehicle control unit to control the vehicle to start in accordance with the driver requested torque; prior to sending the second ESC torque request to the vehicle control unit in response to the driver requested torque at T2 in the driver requested torque profile exceeding the base torque, the method further comprises: sending a third ESC torque request to the vehicle control unit, the third ESC torque request instructing the vehicle control unit to control the vehicle to start in accordance with an ESC requested torque cap, the ESC requested torque cap being greater than the base torque; sending the second ESC torque request to the vehicle control unit in response to the driver requested torque at T2 in the driver requested torque profile exceeding the base torque, comprises: sending the second ESC torque request to the vehicle control unit in response to the driver requested torque at T2 exceeding the ESC requested torque cap.

2. The method of claim 1, wherein, the ESC requested torque reaches the ESC requested torque cap at T3, sending the second ESC torque request to the vehicle control unit in response to the driver requested torque at T2 in the driver requested torque profile exceeding the ESC requested torque cap, comprises: sending the second ESC torque request to the vehicle control unit instructing a reduction in the ESC requested torque at T2 in response to the driver requested torque at T2 exceeding the ESC requested torque cap and T2 being after T3.

3. The method of claim 1, wherein, the ESC requested torque reaches the ESC requested torque cap at T3, sending the second ESC torque request to the vehicle control unit in response to the driver requested torque at T2 in the driver requested torque profile exceeding the ESC requested torque cap, comprises: in response to the driver requested torque at T2 exceeding the ESC requested torque cap and T2 being before T3, calculating a torque difference between the driver requested torque and the ESC requested torque cap at T3; If the torque difference is greater than a set threshold, the second ESC torque request indicating an increased ESC requested torque is sent to the vehicle controller at T3, so that the vehicle controller controls the vehicle to start according to the increased ESC requested torque after T3; and when the difference between the driver requested torque and the increased ESC requested torque is not greater than the set threshold at T4, the vehicle is controlled to start according to the driver requested torque.

4. The method of claim 3, wherein, If the torque difference is greater than a set threshold, the second ESC torque request indicating an increased ESC requested torque is sent to the vehicle controller, including: If the torque difference is greater than a set threshold, the increased ESC requested torque is determined according to the ESC requested torque upper limit, the torque difference, and a preset proportional coefficient. The second ESC torque request containing the increased ESC requested torque is sent to the vehicle controller.

5. The method according to any one of claims 1 to 4, characterized in that, The first ESC torque request includes a plurality of first sub-torque requests initiated in sequence, and the ESC requested torques requested by adjacent first sub-torque requests in the plurality of first sub-torque requests increase based on a first slope until the basic torque is reached, and the first slope is greater than a set slope.

6. The method of claim 5, wherein, The third ESC torque request includes a plurality of second sub-torque requests initiated in sequence, and the ESC requested torques requested by adjacent second sub-torque requests in the plurality of second sub-torque requests increase based on a second slope until the ESC requested torque upper limit is reached, and the second slope is less than the first slope.

7. The method of claim 6, wherein, The second slope is determined based on the slope of the current slope and the wheel slip rate of the vehicle.

8. A control method for hill start, characterized by, The method applied to a vehicle controller, the method comprising: Obtaining a driver requested torque; Sending a driver requested torque curve formed by the driver requested torque to an ESC; Receiving a first ESC torque request from the ESC, the first ESC torque request being sent by the ESC when determining that the driver requested torque at T1 in the driver requested torque curve is greater than a set torque and less than a basic torque, and carrying the basic torque, the basic torque being a basic torque required for the vehicle to be stationary on a current slope; Controlling the vehicle to be in a stationary state on the current slope according to the basic torque; Receiving a second ESC torque request from the ESC, the second ESC torque request being sent by the ESC when determining that the driver requested torque at T2 in the driver requested torque curve exceeds the basic torque; Controlling the vehicle to start according to the driver requested torque in response to the second ESC torque request; Before receiving the second ESC torque request from the ESC, the method further comprises: Receiving a third ESC torque request from the ESC, the third ESC torque request carrying an ESC requested torque upper limit; Controlling the vehicle to start according to the ESC requested torque upper limit, the second ESC torque request being sent by the ESC when determining that the driver requested torque at T2 exceeds the ESC requested torque upper limit.

9. The method of claim 8, wherein, The ESC request torque reaches the ESC request torque upper limit at T3, and T2 is located after T3, and the vehicle is controlled to start according to the driver request torque in response to the second ESC torque request, including: In response to determining that the second ESC request is used to indicate to reduce the ESC request torque based on the ESC request torque upper limit, the vehicle is controlled to start according to the driver request torque after T2.

10. The method of claim 8, wherein, The ESC request torque reaches the ESC request torque upper limit at T3, and T2 is located before T3, and the vehicle is controlled to start according to the driver request torque in response to the second ESC torque request, including: In response to determining that the second ESC request is used to indicate to increase the ESC request torque based on the ESC request torque upper limit, the vehicle is controlled to start according to the increased ESC request torque after T3; It is judged whether the difference between the driver request torque at T4 and the increased ESC request torque is not greater than a set threshold value; If yes, the vehicle is controlled to start according to the driver request torque after T4.

11. An electronic stability control system, characterized by The electronic stability control system comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic stability control system is triggered to execute the steps of the method according to any one of claims 1-7.

12. A vehicle control unit, characterized by, The vehicle controller comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the vehicle controller is triggered to execute the steps of the method according to any one of claims 8-10.

13. A vehicle characterized by comprising: The vehicle comprises an electronic stability control system according to claim 11 and a vehicle controller according to claim 12.

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