Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, and relates to the technical field of vehicles. The method comprises the steps that the current ramp position of the vehicle is obtained, the ramp coefficient and the ramp resistance of the current ramp position are determined, and the traction torque of the vehicle at the current ramp position is generated by adopting the ramp coefficient and the ramp resistance; and in response to receiving a braking request of the vehicle, maintaining the vehicle to the traction torque, and controlling the vehicle to be static on the ramp. The traction torque is calculated in real time, the vehicle is effectively prevented from sliding on the ramp by maintaining the traction torque and overcoming ramp resistance, it is ensured that the vehicle can be kept stable under various ramp working conditions, and through accurate ramp control, the safety of the vehicle on the ramp is improved, and the static stability and safety of the vehicle on the ramp are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, device, vehicle and storage medium. Background Art

[0002] With the rapid development of vehicle intelligence, the investment in technology research and development of vehicle intelligent driving is also increasing. Among them, the vehicle's intelligent driving system (Intelligent Driving System) is an advanced driving assistance system that integrates multiple sensors, computing units and control algorithms. It aims to improve driving safety, comfort and efficiency, and realize the vehicle's automatic driving function through perception, decision-making and execution.

[0003] At present, the vehicle's intelligent driving system detects the target and lane line information ahead through integrated sensors, and sends acceleration and deceleration values, start or brake commands. The vehicle's chassis system receives the commands sent by the intelligent driving system to control the acceleration and deceleration of the vehicle. The chassis system sends acceleration torque when the intelligent driving system sends an acceleration command, and builds up braking pressure through the braking system to decelerate when the intelligent driving system sends a deceleration command. The vehicle controller receives the acceleration torque and drives the motor to accelerate. However, in a ramp scenario, since the vehicle cannot accurately detect the ramp, if the intelligent driving system sends a stationary or brake signal to the chassis controller, the chassis controller directly controls the vehicle's acceleration torque to zero, causing the vehicle to slide down the slope due to slope resistance, affecting the vehicle's driving safety. Summary of the invention

[0004] In view of this, the present invention aims to propose a vehicle control method, device, vehicle and storage medium to solve the problem that the acceleration torque of the vehicle is controlled by the chassis system in a slope scenario, causing the vehicle to slide down the slope due to slope resistance, thereby affecting the driving safety of the vehicle.

[0005] According to a first aspect of the present invention, a vehicle control method is provided, which is applied to an intelligent driving system, and the method includes:

[0006] Obtaining a current ramp position of the vehicle, and determining a ramp coefficient and a ramp resistance of the current ramp position;

[0007] Generate a traction torque of the vehicle at the current slope position by using the slope coefficient and the slope resistance;

[0008] In response to receiving a braking request for the vehicle, the vehicle is maintained at the traction torque and the vehicle is controlled to be stationary on the hill.

[0009] Optionally, the intelligent driving system includes an inertial measurement unit, and the acquiring the current ramp position of the vehicle and determining the ramp coefficient and ramp resistance of the current ramp position include:

[0010] Detecting that the vehicle is on a slope, obtaining the acceleration and pitch angle of the vehicle detected by the inertial measurement unit;

[0011] Calculating a slope coefficient of a current slope position using the vehicle acceleration and the pitch angle;

[0012] The ramp resistance of the vehicle at the current ramp position is calculated based on the vehicle weight and the rolling resistance coefficient at the current ramp position.

[0013] Optionally, the step of using the slope coefficient and the slope resistance to generate the traction torque of the vehicle at the current slope position includes:

[0014] The slope coefficient is used to calculate the gravity component of the vehicle at the current slope position;

[0015] The traction force of the vehicle at the current ramp position is calculated according to the gravity component and the ramp resistance; the traction force is balanced with the sum of the gravity component and the ramp resistance;

[0016] The traction torque of the vehicle at the current slope position is generated according to the traction force, a predetermined reduction ratio coefficient, and a wheel radius.

[0017] Optionally, in response to receiving a braking request of the vehicle, maintaining the vehicle at the traction torque and controlling the vehicle to be stationary on a slope comprises:

[0018] detecting a pedal driving torque of the vehicle, issuing an acceleration torque corresponding to the pedal driving torque, and controlling the vehicle to run according to the acceleration torque;

[0019] In response to receiving a braking request of the vehicle, the traction torque is obtained, and the acceleration torque of the vehicle is maintained at the traction torque; wherein the traction torque is used to control the vehicle to be stationary on a slope.

[0020] Optionally, after detecting the pedal driving torque of the vehicle, issuing an acceleration torque corresponding to the pedal driving torque, and controlling the vehicle to run according to the acceleration torque, the method further includes:

[0021] In response to receiving a request for zeroing the brake pressure of the vehicle, the traction torque is acquired and the vehicle is maintained at the traction torque.

[0022] According to a second aspect of the present invention, a vehicle control device is provided, which is applied to an intelligent driving system, and the device includes:

[0023] A position acquisition module, used to acquire the current ramp position of the vehicle, and determine the ramp coefficient and ramp resistance of the current ramp position;

[0024] A torque generating module, configured to generate a traction torque of the vehicle at the current slope position by using the slope coefficient and the slope resistance;

[0025] The torque control module is configured to maintain the vehicle at the traction torque in response to receiving a braking request of the vehicle, and control the vehicle to be stationary on the slope.

[0026] Optionally, the intelligent driving system includes an inertial measurement unit, and the position acquisition module includes:

[0027] A first acquisition submodule is used to detect that the vehicle is on a slope and acquire the vehicle acceleration and pitch angle detected by the inertial measurement unit;

[0028] A first calculation submodule, configured to calculate a slope coefficient of a current slope position using the vehicle acceleration and the pitch angle;

[0029] The second calculation submodule is used to calculate the ramp resistance of the vehicle at the current ramp position according to the vehicle weight and the rolling resistance coefficient at the current ramp position.

[0030] Optionally, the torque generation module comprises:

[0031] A third calculation submodule, configured to calculate the gravity component of the vehicle at the current ramp position by using the ramp coefficient;

[0032] a fourth calculation submodule, configured to calculate the traction force of the vehicle at the current ramp position according to the gravity component and the ramp resistance; the traction force is balanced with the sum of the gravity component and the ramp resistance;

[0033] The generating submodule is used to generate the traction torque of the vehicle at the current ramp position according to the traction and a predetermined reduction ratio coefficient and a wheel radius.

[0034] Optionally, the torque control module comprises:

[0035] A first control submodule, configured to detect a pedal driving torque of a vehicle, issue an acceleration torque corresponding to the pedal driving torque, and control the vehicle to run according to the acceleration torque;

[0036] The second control submodule is used to obtain the traction torque in response to receiving a braking request of the vehicle, and maintain the acceleration torque of the vehicle to the traction torque; wherein the traction torque is used to control the vehicle to be stationary on a slope.

[0037] Optionally, the torque control module further includes:

[0038] The third control submodule is configured to obtain the traction torque in response to receiving a request for zeroing the brake pressure of the vehicle, and maintain the vehicle at the traction torque.

[0039] According to a third aspect of the present invention, a vehicle is also provided, characterized in that it includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the vehicle control method as described above is implemented.

[0040] According to a fourth aspect of the present invention, there is further provided a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0041] The vehicle control method provided by the embodiment of the present invention obtains the current ramp position of the vehicle, determines the ramp coefficient and ramp resistance of the current ramp position, uses the ramp coefficient and ramp resistance to generate the traction torque of the vehicle at the current ramp position, and maintains the vehicle to the traction torque in response to receiving the braking request of the vehicle, and controls the vehicle to be stationary on the ramp. The embodiment of the present invention calculates the traction torque in real time, and overcomes the ramp resistance by maintaining the traction torque, effectively avoiding the vehicle from rolling on the ramp, and ensuring that the vehicle can remain stable under various ramp conditions. Through precise ramp control, the safety of the vehicle on the ramp can be improved, the vehicle can be avoided from rolling on the ramp, and accidents caused by improper ramp control can be reduced. The safety of the vehicle on the ramp is ensured to be stable under various ramp conditions, and a safer driving experience can be provided under various ramp conditions, and the stability and safety of the vehicle stationary on the ramp can be improved.

[0042] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0044] Figure 1 is a flow chart of steps of a vehicle control method provided by an embodiment of the present invention;

[0045] Figure 2 yes Figure 1A flowchart of step 101 in the vehicle control method provided by an embodiment of the present invention;

[0046] Figure 3 yes Figure 1 A flowchart of step 102 in the vehicle control method provided by an embodiment of the present invention;

[0047] Figure 4 yes Figure 1 A flowchart of step 103 in the vehicle control method provided by an embodiment of the present invention;

[0048] Figure 5 is a schematic diagram of a scenario of a vehicle control method provided by an embodiment of the present invention;

[0049] Figure 6 is a schematic diagram of a ramp of a vehicle control method provided by an embodiment of the present invention;

[0050] Figure 7 It is a structural schematic diagram of a vehicle control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] To make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0052] In the prior art, in some scenarios, after cruising and stopping, the driver lightly steps on the accelerator, the vehicle has a tendency to start but does not move, the chassis begins to release pressure, the acceleration torque increases, but the throttle opening is small, and the overall driving force does not make the vehicle move forward. Then the driver releases the accelerator, the intelligent driving system requests a brake stop, the brake master cylinder pressure releases to 0 bar, the chassis system determines that the intelligent driving system is to be stationary, and the acceleration torque is reduced to 0 N.m. At this time, there is no hydraulic braking, no driver and acceleration torque, and the vehicle slides down the slope due to the resistance of the vehicle on the slope, or, after cruising and stopping, the front vehicle moves forward slightly, but does not move far, the vehicle has a tendency to start but does not move obviously, the intelligent driving system sends a starting request and an acceleration value, the chassis begins to release pressure, the acceleration torque increases, and because the front vehicle has not moved far, a stationary request is immediately issued, the chassis system determines that the intelligent driving system is to be stationary, and the acceleration torque is reduced to 0 N.m. At this time, there is no hydraulic braking, no driver and acceleration torque, and the vehicle slides down the slope due to the resistance of the vehicle on the slope. In order to solve this problem, the present application proposes a vehicle control method to prevent the vehicle from slipping when following a vehicle on a slope.

[0053] Reference Figure 1 , shows a flow chart of the steps of a vehicle control method provided by an embodiment of the present invention, which is applied to an intelligent driving system. The method may include:

[0054] Step 101, obtaining the current ramp position of the vehicle, and determining the ramp coefficient and ramp resistance of the current ramp position.

[0055] In an embodiment of the present invention, the intelligent driving system includes an acceleration module, which is configured in the intelligent driving system and is used to control the acceleration torque of the vehicle. The intelligent driving system obtains the current ramp position of the vehicle, determines the ramp coefficient and ramp resistance of the current ramp position, and specifically, the intelligent driving system includes an inertial measurement unit, which is used to monitor the state of the vehicle in real time, calculate the ramp coefficient of the current ramp position of the vehicle, and the ramp resistance of the vehicle at the current ramp position, the ramp coefficient is the slope percentage of the ramp where the vehicle is located, and the ramp resistance is the rolling resistance encountered by the vehicle when driving on the ramp, which is usually related to the vehicle mass, road structure characteristics and rolling resistance coefficient.

[0056] Reference Figure 5, showing a scenario schematic diagram of the vehicle control method provided by an embodiment of the present invention, the intelligent driving system includes an acceleration module, an advanced driving assistance system and an inertial measurement unit, the vehicle chassis includes an electronic stability control system and a deceleration module, the acceleration module and the deceleration module can respectively control acceleration and deceleration through a torque interface, and at the same time, the inertial measurement unit included in the intelligent driving system performs high-precision calculations on the ramp through its internal accelerometer and gyroscope. Specifically, when accelerating, the acceleration torque is sent to the vehicle controller VCU and the motor to control acceleration; when decelerating, the deceleration torque is sent to the braking system to brake and decelerate. Regardless of the vehicle chassis or the vehicle controller, the actual torque value after execution is returned, and the intelligent driving system performs torque closed-loop processing according to the return value. Specifically, the advanced driving assistance system in the intelligent driving system is used to perform all driving tasks, including driving, acceleration, deceleration, steering, etc. Under the control of the advanced driving assistance system, the vehicle can drive autonomously without a driver; the acceleration module is used to control the longitudinal movement of the vehicle, including acceleration, braking and cruise control, etc. By intelligently adjusting the engine output torque and braking force, the acceleration module can help the vehicle achieve a smoother acceleration and braking process; the vehicle's chassis system includes ESC (Electronic Stability Control) and a deceleration module. The deceleration module is used to provide additional auxiliary braking force when the driver needs to decelerate, helping the vehicle to decelerate and stop faster, and improving the driver's driving comfort and convenience. When the driver steps on the brake pedal, the deceleration module will automatically increase the braking hydraulic force to ensure that the vehicle stops quickly and reduce the braking distance.

[0057] Step 102 : Generate the traction torque of the vehicle at the current slope position by using the slope coefficient and the slope resistance.

[0058] Specifically, by using the slope coefficient and slope resistance, the traction torque of the vehicle at the current slope position is generated in real time. The traction torque is used to maintain the vehicle in a balanced and stationary state on the slope when the vehicle is subject to slope resistance. Figure 6, shows a ramp schematic diagram of the vehicle control method provided by an embodiment of the present invention, Fi is the ramp resistance, Tq is the driving force, G is the vehicle gravity, in this embodiment, after the vehicle stops, the driver lightly steps on the accelerator, the pedal driving torque of the vehicle increases, and at the same time, the acceleration torque of the intelligent driving system gradually increases, and the braking pressure of the braking system gradually releases pressure, when the driver releases the accelerator, the pedal driving torque of the vehicle is reset to zero, and the braking pressure is reset to zero. At this time, the vehicle is subjected to the ramp resistance, causing the vehicle to slip, and the intelligent driving system uses the ramp coefficient and the vehicle gravity to calculate the gravity component of the vehicle at the current ramp position, and calculates the traction of the vehicle at the current ramp position according to the gravity component and the ramp resistance, the traction is balanced with the sum of the gravity component and the ramp resistance, and the traction torque of the vehicle at the current ramp position is determined, so that the vehicle maintains the traction torque, overcomes the ramp resistance, and ensures that the vehicle remains stationary on the ramp.

[0059] Step 103 , in response to receiving a braking request of the vehicle, maintaining the vehicle to a traction torque, and controlling the vehicle to be stationary on the slope.

[0060] In an embodiment of the present invention, a braking request refers to an instruction sent by the vehicle intelligent driving system or the driver to the braking system, requesting the vehicle to slow down or stop. The acceleration module of the intelligent driving system maintains the vehicle to the traction torque calculated in real time in response to receiving the braking request of the vehicle, and controls the vehicle to stop on the slope.

[0061] Specifically, when the vehicle initiates a braking request, the acceleration module needs to adjust the vehicle's torque output according to the braking request and the current actual acceleration torque to ensure that the vehicle remains stationary on the slope. The acceleration module sends the calculated traction torque to the motor controller or the engine controller. The motor controller or the engine controller adjusts the output torque of the motor or the output torque of the engine according to the received traction torque to enable the vehicle to maintain the traction torque and ensure that the vehicle remains stationary on the slope.

[0062] It should be noted that when the vehicle is following a vehicle on a slope, in order to ensure that the vehicle remains stationary on the slope, the acceleration module can work together with the deceleration module to ensure that the vehicle remains stationary on the slope. The deceleration module sends the braking request to the braking system through the CAN bus or other communication interface, and the braking system adjusts the braking pressure to ensure that the vehicle remains stationary on the slope. The braking system feeds back the actual braking pressure to the acceleration module, and the acceleration module performs closed-loop control based on the feedback value.

[0063] Specifically, the intelligent driving system performs torque closed-loop processing based on the returned real torque value to ensure that the actual output torque of the vehicle is consistent with the target torque during acceleration or deceleration, thereby achieving precise torque control and vehicle stability. Torque closed-loop processing compares the actual torque value with the target torque value through a feedback control mechanism, calculates the error and adjusts the control command to ensure that the actual torque gradually approaches the target torque. The target torque is the target torque value generated by the intelligent driving system according to driving requirements (such as acceleration, deceleration or ramp control), and the actual torque is the actual torque value returned by the vehicle chassis or vehicle controller (VCU). The error between the target torque and the actual torque is calculated, the control command is adjusted according to the error, and a new torque command is sent to make the actual torque approach the target torque, thereby realizing the torque closed-loop processing of the intelligent driving system. This embodiment does not specifically limit this.

[0064] The vehicle control method provided by the embodiment of the present invention obtains the current ramp position of the vehicle, determines the ramp coefficient and ramp resistance of the current ramp position, uses the ramp coefficient and ramp resistance to generate the traction torque of the vehicle at the current ramp position, and maintains the vehicle to the traction torque in response to receiving the braking request of the vehicle, and controls the vehicle to be stationary on the ramp. The embodiment of the present invention calculates the traction torque in real time, and overcomes the ramp resistance by maintaining the traction torque, effectively avoiding the vehicle from rolling on the ramp, and ensuring that the vehicle can remain stable under various ramp conditions. Through precise ramp control, the safety of the vehicle on the ramp can be improved, the vehicle can be avoided from rolling on the ramp, and accidents caused by improper ramp control can be reduced. The safety of the vehicle on the ramp is ensured to be stable under various ramp conditions, and a safer driving experience can be provided under various ramp conditions, and the stability and safety of the vehicle stationary on the ramp can be improved.

[0065] Further, see Figure 2 , showing Figure 1 A flowchart of step 101 in a vehicle control method is provided, which is basically the same as the vehicle control method provided in the first embodiment of the present invention. The intelligent driving system includes an inertial measurement unit, and step 101 may include:

[0066] Step 1011, detecting that the vehicle is on a slope, obtaining the vehicle acceleration and pitch angle detected by the inertial measurement unit;

[0067] Step 1012, using the vehicle acceleration and the pitch angle, calculate the slope coefficient of the current slope position;

[0068] Step 1013, calculating the ramp resistance of the vehicle at the current ramp position according to the vehicle weight and the rolling resistance coefficient at the current ramp position.

[0069] It should be noted that the intelligent driving system includes an inertial measurement unit, which is used to monitor the status of the vehicle in real time. When the vehicle is on a ramp, the inertial measurement unit measures the acceleration and pitch angle of the vehicle through an accelerometer and a gyroscope. The accelerometer measures the acceleration of the vehicle on three orthogonal axes. In a stationary state, the acceleration measured by the accelerometer includes the acceleration of gravity and the vehicle's motion acceleration. The gyroscope measures the angular velocity of the vehicle on three orthogonal axes. By integrating the angular velocity, the vehicle's posture change can be estimated. The pitch angle of the vehicle can be calculated through the measurement data of the accelerometer and the gyroscope. The vehicle's acceleration and pitch angle are used to determine the vertical height and horizontal distance of the ramp, thereby calculating the slope coefficient of the current ramp position. The slope coefficient refers to the inclination angle of the ramp, specifically the ratio of the vertical height to the horizontal distance of the ramp, usually expressed in angles or percentages.

[0070] Specifically, ramp resistance is the rolling resistance a vehicle encounters when driving on a ramp, which is usually related to the vehicle mass, road structure characteristics and rolling resistance coefficient. The intelligent driving system determines the vehicle weight, and the inertial measurement unit in the intelligent driving system determines the rolling resistance coefficient of the ramp based on the current ramp position. The rolling resistance coefficient is a parameter that measures the resistance generated between the tires and the road surface due to deformation, friction and other factors during the driving process. The intelligent driving system calculates the ramp resistance of the vehicle at the current ramp position based on the vehicle weight and the rolling resistance coefficient at the current ramp position.

[0071] It should be noted that the ramp resistance is calculated by the vehicle mass, road structural characteristics and rolling resistance coefficient. In some embodiments, the ramp resistance is also affected by the static friction of the ramp and wind resistance, which is not specifically limited in this embodiment. In this embodiment, the ramp resistance is calculated by the following formula:

[0072] F 坡 =m×g×fr

[0073] Where m is the vehicle weight, g is the acceleration due to gravity, and fr is the rolling resistance coefficient, which depends on the road surface type and tire characteristics and is usually between 0.01 and 0.02.

[0074] The embodiment of the present invention monitors the ramp position of the vehicle in real time and calculates the slope coefficient and slope resistance of the current ramp position, so that under the slope stop-start condition, the traction torque is dynamically adjusted according to the slope coefficient and slope resistance calculated in real time, ensuring that the vehicle starts and stops smoothly on the slope and avoiding the problem of the vehicle sliding down the slope.

[0075] Further, see Figure 3 , showing Figure 1A flowchart of step 102 in a vehicle control method is provided. The method is substantially the same as the vehicle control method provided in the first embodiment of the present invention. Step 102 may include:

[0076] Step 1021, using the slope coefficient to calculate the gravity component of the vehicle at the current slope position;

[0077] Step 1022, calculating the traction force of the vehicle at the current ramp position according to the gravity component and the ramp resistance; the traction force is balanced with the sum of the gravity component and the ramp resistance;

[0078] Step 1023: Generate the traction torque of the vehicle at the current ramp position according to the traction force and the predetermined reduction ratio coefficient.

[0079] It should be noted that in the embodiment of the present invention, the vehicle needs to overcome gravity and ramp resistance to maintain a stable state. In order to ensure that the vehicle remains stationary on the ramp, it is necessary to calculate the traction of the vehicle at the current ramp position and generate a corresponding traction torque based on the traction.

[0080] Specifically, when the intelligent driving system is started, the acceleration module in the intelligent driving system needs to generate the traction torque of the vehicle at the current ramp position according to the ramp coefficient and ramp resistance of the current ramp position to ensure that the vehicle drives smoothly on the ramp. The gravity component of the vehicle at the current ramp position is calculated using the ramp coefficient, and the traction of the vehicle at the current ramp position is calculated based on the gravity component and the ramp resistance. Among them, the gravity component of the vehicle on the ramp is the component of gravity along the ramp direction, and the ramp resistance is the rolling resistance of the vehicle when driving on the ramp, which is usually related to the vehicle mass, road construction characteristics and rolling resistance coefficient. The traction is the force applied by the vehicle's driving wheels to overcome the gravity component and ramp resistance. According to Newton's second law, the traction is balanced with the sum of the gravity component and the ramp resistance. The traction torque is the torque applied by the driving wheels to generate traction. The traction torque of the vehicle at the current ramp position is generated based on the traction and the predetermined reduction ratio coefficient and the wheel radius. The reduction ratio coefficient is the ratio of the motor torque to the wheel side torque.

[0081] Specifically, based on the calculated traction force, the acceleration module generates the traction torque of the vehicle at the current ramp position. The traction torque is the torque provided by the drive wheel to overcome the ramp resistance and keep the vehicle running smoothly. Specifically, the traction torque is calculated by the radius of the vehicle drive wheel, the reduction ratio coefficient and the traction force. The traction torque is balanced with the sum of the gravity component and the ramp resistance to ensure that the vehicle is stationary on the ramp. The traction torque is calculated by the following formula:

[0082] T 牵 =k×r×F 牵

[0083] Among them, T 牵 is the traction torque, k is the reduction ratio coefficient (the ratio of motor torque to wheel torque), r is the radius of the wheel (in meters), F 牵 is the traction force at the current ramp position.

[0084] The embodiment of the present invention can accurately control the torque output of the vehicle by calculating the traction torque in real time, so that the intelligent driving system can automatically adjust the traction torque to ensure that the vehicle maintains stable driving on the slope, avoids the problem of insufficient or excessive power, and can provide a safer and more comfortable driving experience under various slope conditions.

[0085] Further, see Figure 4 , showing Figure 1 A flowchart of step 103 in a vehicle control method is provided. The method is substantially the same as the vehicle control method provided in the first embodiment of the present invention. Step 103 may include:

[0086] Step 1031, detecting the pedal driving torque of the vehicle, issuing an acceleration torque corresponding to the pedal driving torque, and controlling the vehicle to run according to the acceleration torque;

[0087] Step 1032, in response to receiving a braking request of the vehicle, obtaining traction torque, and maintaining the acceleration torque of the vehicle to the traction torque; wherein the traction torque is used to control the vehicle to be stationary on a slope.

[0088] It should be noted that in the above steps, when the intelligent driving system issues an acceleration command, the acceleration module needs to control the acceleration torque of the vehicle according to the command so that the vehicle runs according to the specified acceleration torque. The acceleration module sends the acceleration torque command to the motor controller or the engine controller through the CAN bus or other communication interface. The motor controller or the engine controller adjusts the output torque of the motor or the output torque of the engine according to the received command so that the vehicle runs according to the specified acceleration torque.

[0089] Specifically, after the vehicle stops, the driver lightly steps on the accelerator, the pedal drive torque of the vehicle increases, and the acceleration torque of the intelligent driving system gradually increases. When the driver releases the accelerator, the pedal drive torque is reset to zero. When the vehicle deceleration module initiates a braking request, the braking system brake pressure gradually releases. At this time, the vehicle is still subject to the vehicle gravity component and the slope resistance without driving. The acceleration module needs to obtain the traction torque and maintain the vehicle's acceleration torque to the traction torque. The traction torque is balanced with the sum of the gravity component and the slope resistance to ensure that the vehicle remains stationary on the slope. The acceleration module receives the braking request issued by the vehicle through the CAN bus or other communication interface. The braking request usually includes a deceleration request or a stationary request. The acceleration module calculates the real-time traction torque according to the slope coefficient and slope resistance of the current slope position, controls the vehicle to maintain the traction torque, and the traction torque is used to control the vehicle to remain stationary on the slope. The acceleration module sends the calculated traction torque to the motor controller or the engine controller. The motor controller or the engine controller adjusts the output torque of the motor or the output torque of the engine according to the received instructions to maintain the traction torque of the vehicle and ensure that the vehicle remains stationary on the slope.

[0090] The embodiments of the present invention can ensure that the vehicle remains stationary on a slope by calculating and maintaining traction torque in real time. In a slope stop-start condition, the vehicle's torque output can be dynamically adjusted according to the traction torque calculated in real time, to ensure that the vehicle starts and stops smoothly on the slope, avoid the problem of rolling down the slope, and improve the stability and safety of the vehicle when it is stationary on the slope.

[0091] Specifically, in step 1031, after detecting the pedal driving torque of the vehicle, issuing the acceleration torque corresponding to the pedal driving torque, and controlling the vehicle to run according to the acceleration torque, the method may further include:

[0092] In response to receiving a request for zeroing the brake pressure of the vehicle, a traction torque is acquired and the vehicle is maintained at the traction torque.

[0093] In the above steps of the embodiment of the present invention, in response to receiving a brake pressure zeroing request initiated by the vehicle deceleration module, traction torque is obtained and the vehicle is maintained at the traction torque. Specifically, when the brake pressure zeroing request is received, the acceleration module needs to obtain the traction torque and control the vehicle to maintain the traction torque to ensure that the vehicle remains stationary on the slope. The acceleration module receives the brake pressure zeroing request issued through the CAN bus or other communication interface. The brake pressure zeroing request is in the scenario where the front vehicle moves slightly after following and stopping on the slope but stops immediately. After the intelligent driving system requests to start, the intelligent driving acceleration torque gradually increases, and the braking pressure of the braking system gradually releases to 0. When the intelligent driving system requests to stop again, the intelligent driving system identifies the slope coefficient, maintains the acceleration torque of the corresponding slope, and keeps the vehicle stationary.

[0094] Specifically, the acceleration module calculates the real-time traction torque according to the slope coefficient and slope resistance of the current slope position, and sends the calculated traction torque to the motor controller or the engine controller. The motor controller or the engine controller adjusts the output torque of the motor or the output torque of the engine according to the received instructions to maintain the traction torque of the vehicle and ensure that the vehicle remains stationary on the slope.

[0095] The embodiment of the present invention calculates and maintains the traction torque in real time. Under the slope stop-start condition, the intelligent driving system can provide a smoother driving experience and reduce the driver's operating burden through precise slope control based on the traction torque calculated in real time. In particular, when the vehicle is stationary on a slope, the intelligent driving system can automatically adjust the traction torque to ensure that the vehicle can overcome the slope resistance and remain stationary on the slope, providing a safer and more comfortable driving experience under various slope conditions.

[0096] Reference Figure 7 , shows a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention, the device is applied to an intelligent driving system, the intelligent driving system includes an acceleration module, and the device includes:

[0097] The position acquisition module 201 is used to acquire the current ramp position of the vehicle and determine the ramp coefficient and ramp resistance of the current ramp position;

[0098] A torque generating module 202 is used to generate a traction torque of the vehicle at the current slope position by using the slope coefficient and the slope resistance;

[0099] The torque control module 203 is configured to maintain the vehicle at a traction torque in response to receiving a braking request of the vehicle, and control the vehicle to be stationary on a slope.

[0100] Optionally, the intelligent driving system includes an inertial measurement unit, and the position acquisition module 201 includes:

[0101] A first acquisition submodule is used to detect that the vehicle is on a slope and acquire the vehicle acceleration and pitch angle detected by the inertial measurement unit;

[0102] A first calculation submodule, configured to calculate a slope coefficient of a current slope position using the vehicle acceleration and the pitch angle;

[0103] The second calculation submodule is used to calculate the ramp resistance of the vehicle at the current ramp position according to the vehicle weight and the rolling resistance coefficient at the current ramp position.

[0104] Optionally, the torque generation module 202 includes:

[0105] A third calculation submodule, configured to calculate the gravity component of the vehicle at the current ramp position by using the ramp coefficient;

[0106] a fourth calculation submodule, configured to calculate the traction force of the vehicle at the current ramp position according to the gravity component and the ramp resistance; the traction force is balanced with the sum of the gravity component and the ramp resistance;

[0107] The generating submodule is used to generate the traction torque of the vehicle at the current ramp position according to the traction and a predetermined reduction ratio coefficient and a wheel radius.

[0108] Optionally, the torque control module 203 includes:

[0109] A first control submodule, configured to detect a pedal driving torque of a vehicle, issue an acceleration torque corresponding to the pedal driving torque, and control the vehicle to run according to the acceleration torque;

[0110] The second control submodule is used to obtain the traction torque in response to receiving a braking request of the vehicle, and maintain the acceleration torque of the vehicle to the traction torque; wherein the traction torque is used to control the vehicle to be stationary on a slope.

[0111] Optionally, the torque control module 203 further includes:

[0112] The third control submodule is configured to obtain the traction torque in response to receiving a request for zeroing the brake pressure of the vehicle, and maintain the vehicle at the traction torque.

[0113] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0114] The vehicle control device provided by the embodiment of the present invention obtains the current ramp position of the vehicle, determines the ramp coefficient and ramp resistance of the current ramp position, uses the ramp coefficient and ramp resistance to generate the traction torque of the vehicle at the current ramp position, and maintains the vehicle to the traction torque in response to receiving the braking request of the vehicle, and controls the vehicle to be stationary on the ramp. The embodiment of the present invention calculates the traction torque in real time, and overcomes the ramp resistance by maintaining the traction torque, effectively avoiding the vehicle from rolling on the ramp, and ensuring that the vehicle can remain stable under various ramp conditions. Through precise ramp control, the safety of the vehicle on the ramp can be improved, the vehicle can be avoided from rolling on the ramp, and accidents caused by improper ramp control can be reduced, the safety of the vehicle on the ramp can be improved, and the vehicle can be ensured to remain stable under various ramp conditions. It can provide a safer driving experience under various ramp conditions and improve the stability and safety of the vehicle when it is stationary on the ramp.

[0115] An embodiment of the present invention further provides a vehicle, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the vehicle control method as described above when executed by the processor.

[0116] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0117] The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0118] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0119] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0120] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0121] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: Applied to an intelligent driving system, the method comprises: Obtaining a current ramp position of the vehicle, and determining a ramp coefficient and a ramp resistance of the current ramp position; Generate a traction torque of the vehicle at the current slope position by using the slope coefficient and the slope resistance; In response to receiving a braking request for the vehicle, the vehicle is maintained at the traction torque and the vehicle is controlled to be stationary on the hill.

2. The method according to claim 1, characterized in that: The intelligent driving system includes an inertial measurement unit, and the obtaining of the current ramp position of the vehicle and the determination of the ramp coefficient and the ramp resistance of the current ramp position include: Detecting that the vehicle is on a slope, obtaining the acceleration and pitch angle of the vehicle detected by the inertial measurement unit; Calculating a slope coefficient of a current slope position using the vehicle acceleration and the pitch angle; The ramp resistance of the vehicle at the current ramp position is calculated based on the vehicle weight and the rolling resistance coefficient at the current ramp position.

3. The method according to claim 1, characterized in that The step of using the slope coefficient and the slope resistance to generate the traction torque of the vehicle at the current slope position includes: The slope coefficient is used to calculate the gravity component of the vehicle at the current slope position; The traction force of the vehicle at the current ramp position is calculated according to the gravity component and the ramp resistance; the traction force is balanced with the sum of the gravity component and the ramp resistance; The traction torque of the vehicle at the current slope position is generated according to the traction force, a predetermined reduction ratio coefficient, and a wheel radius.

4. The method according to claim 1, characterized in that In response to receiving a braking request of the vehicle, maintaining the vehicle at the traction torque and controlling the vehicle to be stationary on the slope includes: detecting a pedal driving torque of the vehicle, issuing an acceleration torque corresponding to the pedal driving torque, and controlling the vehicle to run according to the acceleration torque; In response to receiving a braking request of the vehicle, the traction torque is obtained, and the acceleration torque of the vehicle is maintained at the traction torque; wherein the traction torque is used to control the vehicle to be stationary on a slope.

5. The method according to claim 4, characterized in that After the pedal driving torque of the vehicle is detected, the acceleration torque corresponding to the pedal driving torque is issued, and the vehicle is controlled to run according to the acceleration torque, the method further includes: In response to receiving a request for zeroing the brake pressure of the vehicle, the traction torque is acquired and the vehicle is maintained at the traction torque.

6. A vehicle control device, characterized in that: Applied to the intelligent driving system, the device comprises: A position acquisition module, used to acquire the current ramp position of the vehicle, and determine the ramp coefficient and ramp resistance of the current ramp position; A torque generating module, configured to generate a traction torque of the vehicle at the current slope position by using the slope coefficient and the slope resistance; The torque control module is configured to maintain the vehicle at the traction torque in response to receiving a braking request of the vehicle, and control the vehicle to be stationary on the slope.

7. The device according to claim 6, characterized in that The intelligent driving system includes an inertial measurement unit, and the position acquisition module includes: A first acquisition submodule is used to detect that the vehicle is on a slope and acquire the vehicle acceleration and pitch angle detected by the inertial measurement unit; A first calculation submodule, configured to calculate a slope coefficient of a current slope position using the vehicle acceleration and the pitch angle; The second calculation submodule is used to calculate the ramp resistance of the vehicle at the current ramp position according to the vehicle weight and the rolling resistance coefficient at the current ramp position.

8. The device according to claim 6, characterized in that The torque generating module comprises: A third calculation submodule, configured to calculate the gravity component of the vehicle at the current ramp position by using the ramp coefficient; a fourth calculation submodule, configured to calculate the traction force of the vehicle at the current ramp position according to the gravity component and the ramp resistance; the traction force is balanced with the sum of the gravity component and the ramp resistance; The generating submodule is used to generate the traction torque of the vehicle at the current ramp position according to the traction and a predetermined reduction ratio coefficient and a wheel radius.

9. A vehicle, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the vehicle control method according to any one of claims 1 to 5 when executed by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 5 is implemented.

Images