Slope sliding prevention control method, device and equipment for vehicle and medium

Abstract

The invention relates to an anti-slope-sliding control method, device and equipment for a vehicle and a medium, and the method comprises the steps that when the vehicle meets preset anti-slope-sliding control conditions, the acceleration request value of the vehicle, the slope value of the vehicle and the current vehicle mass are obtained; determining a candidate torque value according to the acceleration request value, the slope value and the current vehicle mass; correcting the candidate torque value according to the vehicle driving data of the vehicle to obtain a target torque value; and performing conversion processing on the target torque value, and determining on-duty pressure so as to perform pressure maintaining control. According to the technical scheme, the safety, smoothness and comfort of vehicle driving are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle anti-slope control method, device, equipment and medium. Background Art

[0002] Vehicles may slide downhill when driving on a slope. This phenomenon not only affects driving stability but also causes safety hazards.

[0003] Adaptive cruise control is a car-assisted driving feature that automatically maintains a safe distance from the vehicle ahead and accelerates or decelerates when necessary.

[0004] In the related technology, the automatic parking and hill start assist functions solve the problem of rolling down a slope to a certain extent. When the vehicle enters the adaptive cruise process, the automatic parking and hill start assist functions will be exited. At this time, a constant parking pressure maintenance is used to control rolling down a slope. The driving conditions of the vehicle are complex and changeable. This method makes it difficult to mark the pressure maintenance parameters that meet various conditions. The safety, smoothness and comfort of vehicle driving need to be improved. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a vehicle anti-slope control method, device, equipment and medium.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for controlling a vehicle to prevent a slope from sliding, comprising:

[0007] When the vehicle meets the preset anti-slope control condition, obtaining the acceleration request value of the vehicle, the slope value of the vehicle and the current vehicle mass;

[0008] determining a candidate torque value according to the acceleration request value, the slope value and the current vehicle mass;

[0009] Correcting the candidate torque value according to the vehicle driving data of the vehicle to obtain a target torque value;

[0010] The target torque value is converted to determine the shift pressure for pressure-maintaining control.

[0011] In a second aspect, an embodiment of the present disclosure provides a vehicle anti-slope control device, comprising:

[0012] An acquisition module, used for acquiring an acceleration request value of the vehicle, a slope value of the vehicle and a current vehicle mass when the vehicle meets a preset anti-slope control condition;

[0013] a determination module, configured to determine a candidate torque value according to the acceleration request value, the slope value and the current vehicle mass;

[0014] a correction module, configured to correct the candidate torque value according to the vehicle driving data of the vehicle to obtain a target torque value;

[0015] The control module is used to convert the target torque value and determine the shift pressure for pressure-maintaining control.

[0016] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the vehicle anti-slope control method described in the first aspect above.

[0017] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle anti-slope control method described in the first aspect is implemented.

[0018] Compared with the prior art, the technical solution provided by the disclosed embodiment has the following advantages: when the vehicle meets the preset anti-slope control conditions, the candidate torque value is determined according to the acceleration request value of the vehicle, the slope value of the vehicle and the current vehicle mass, and then the candidate torque value is corrected according to the vehicle driving data to obtain the target torque value, the target torque value is converted and processed, and the shift pressure is determined to perform pressure holding control. Thus, the candidate torque value is determined by the slope value of the vehicle and the current vehicle mass, solving the problem of slope slipping on a large slope due to conservative settings resulting in constant parking pressure holding parameters. Driving safety is improved, and the candidate torque value is corrected according to the vehicle driving data, and the real-time updated braking torque is calculated, and the braking torque is slowly increased or decreased, making driving smoother and improving driving smoothness and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 A schematic flow chart of a method for preventing a vehicle from sliding downhill provided in an embodiment of the present disclosure;

[0022] Figure 2 A schematic diagram of a vehicle force provided by an embodiment of the present disclosure;

[0023] Figure 3 A schematic diagram of an output braking torque provided by an embodiment of the present disclosure;

[0024] Figure 4 A flow chart of another method for preventing a vehicle from sliding downhill provided by an embodiment of the present disclosure;

[0025] Figure 5 A schematic diagram of an anti-slip intervention process provided by an embodiment of the present disclosure;

[0026] Figure 6 A schematic structural diagram of a vehicle anti-slope control device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0028] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0029] Figure 1 This is a flow chart of a vehicle anti-slope control method provided in an embodiment of the present disclosure. The method provided in an embodiment of the present disclosure can be executed by a vehicle anti-slope control device, which can be implemented in software and / or hardware and can be integrated on any electronic device with computing capabilities.

[0030] like Figure 1 As shown, the anti-slope control method for a vehicle provided by an embodiment of the present disclosure may include:

[0031] Step 101, when the vehicle meets the preset anti-slope control conditions, the acceleration request value of the vehicle, the slope value of the vehicle and the current vehicle mass are obtained.

[0032] The method of the disclosed embodiment is applied to the anti-slope control of a vehicle in an ACC (adaptive cruise control) mode while driving on a slope.

[0033] In this embodiment, during the driving process of the vehicle, it is determined whether the vehicle meets the anti-slope control condition. When the anti-slope control condition is met, the vehicle is subjected to anti-slope control. When the anti-slope control is performed, the acceleration request value of the vehicle, the slope value of the vehicle and the current vehicle mass are obtained, wherein the slope value and the current vehicle mass can be obtained by using relevant methods, and the acceleration request value can be obtained based on ADAS (Advanced Driving Assistance System).

[0034] Step 102 : determining a candidate torque value according to the acceleration request value, the slope value and the current vehicle mass.

[0035] In this embodiment, the longitudinal force of the vehicle is calculated based on the acceleration request value, the slope value and the current vehicle mass. The longitudinal force is used to prevent the vehicle from sliding down the slope. Furthermore, the candidate torque value is calculated based on the longitudinal force and the known length value.

[0036] As an example, take the uphill example, Figure 2 As shown, in the case of uphill, in order to prevent sliding, the longitudinal speed of the vehicle should be greater than or equal to zero. Figure 2 The X direction along the slope upward. Based on the slope value, the current vehicle mass, and the acceleration request value, the longitudinal force to ensure that the car does not slide down the slope can be calculated. When the driving force is less than the force to maintain the body against sliding down, the braking force is increased to prevent the longitudinal speed from becoming negative. In this example, the calculation formula for the longitudinal force can be as follows: 2F x1 +2F x2 -mgsinφ=ma, where a is the acceleration request value, m is the current vehicle mass, φ is the slope value, F x is the longitudinal force, including 2F x1 +2F x2 , after calculating 2F x1 +2F x2 Finally, ADAS can allocate the control to each wheel according to the corresponding strategy.

[0037] Step 103 , correcting the candidate torque value according to the vehicle driving data to obtain a target torque value.

[0038] In this embodiment, after the candidate torque value is determined, the candidate torque value is corrected according to the vehicle's current driving data to generate a target torque value during the control process. Optionally, the correction can be implemented using a control algorithm or based on a calibration correspondence relationship to accurately calculate the braking torque that needs to be compensated, thereby improving the vehicle's driving smoothness and comfort.

[0039] The vehicle driving data includes vehicle speed and vehicle acceleration, and the vehicle driving data is obtained from a CAN (Controller Area Network) bus.

[0040] In one embodiment of the present disclosure, the vehicle driving data includes the vehicle speed, and the candidate torque value is corrected according to the vehicle driving data to obtain the target torque value, including: obtaining a correction value corresponding to the vehicle speed, and correcting the candidate torque value according to the correction value to obtain the target torque value. In this embodiment, the anti-slope control of the vehicle is divided into two scenarios: starting and following stop.

[0041] When the vehicle meets the starting anti-slope condition, a first correction value corresponding to the vehicle speed is obtained, and the candidate torque value is corrected according to the first correction value to obtain a target torque value. The greater the vehicle speed, the smaller the target torque value, that is, as the vehicle speed gradually increases, the target torque value gradually decreases.

[0042] As an example, taking calibration as an example, the first correction value corresponding to different vehicle speeds can be pre-calibrated. For example, the aforementioned known length value is L, and the candidate torque value is 1000L. As the vehicle speed gradually increases, the target torque value corrected according to the first correction value is 1200L, 800L, and 400L respectively. As a result, the vehicle's driving smoothness and comfort are improved when the vehicle starts to prevent rolling down a slope.

[0043] When the vehicle meets the anti-slope rolling condition, the second correction value corresponding to the vehicle speed is obtained, and the candidate torque value is corrected according to the second correction value to obtain the target torque value; when the vehicle speed is greater than the preset vehicle speed threshold, the greater the vehicle speed, the smaller the target torque value; when the vehicle speed is less than or equal to the preset vehicle speed threshold, the greater the vehicle speed, the greater the target torque value. That is, as the vehicle speed gradually increases, the target torque value first increases and then decreases.

[0044] As an example, taking calibration as an example, the second correction values ​​corresponding to different vehicle speeds may be pre-calibrated. For example, calibration is performed for the vehicle speed range [0, 5] respectively, and the preset vehicle speed threshold is 3, wherein T i is the target torque value when the vehicle speed is i. In the vehicle speed range of (0, 5], T3 is the largest, T3>T5>T1. Furthermore, for the special case where the vehicle speed is 0, T0>T3>T5>T1. As a result, the vehicle's driving smoothness and comfort are improved when following the vehicle in front to prevent it from sliding down a slope.

[0045] In one embodiment of the present disclosure, the vehicle driving data includes vehicle acceleration, and the candidate torque value is corrected according to the vehicle driving data to obtain the target torque value, including: obtaining a correction value corresponding to the vehicle acceleration, and correcting the candidate torque value according to the correction value to obtain the target torque value. In this embodiment, the anti-slope control of the vehicle is divided into two scenarios: starting and following stop.

[0046] Wherein, a third correction value corresponding to the vehicle acceleration is obtained, and the candidate torque value is corrected according to the third correction value to obtain a target torque value. For a first target torque value when the vehicle acceleration is greater than a preset acceleration threshold and a second target torque value when the vehicle acceleration is less than or equal to the preset acceleration threshold, the first target torque value is less than the second target torque value.

[0047] As an example, the third correction value corresponding to different vehicle accelerations may be pre-calibrated, and the third correction value is used to satisfy that the first target torque value is less than the second target torque value. For example, the acceleration threshold is 3, and the third correction value Y1 corresponds to when the vehicle acceleration is less than or equal to 3, and the third correction value Y2 corresponds to when the vehicle acceleration is greater than 3. For a certain torque value T, the third correction value when the vehicle acceleration is 1 is corrected to obtain T', and the third correction value when the vehicle acceleration is 5 is corrected to obtain T", and T" is less than T'. The above-mentioned torque value may be a candidate torque value, or it may be a target torque value corrected based on the vehicle speed. There is no limitation here, and the following stop scene can be set as needed, which will not be elaborated here. As a result, the vehicle's driving smoothness and comfort are improved when preventing the vehicle from sliding down a slope.

[0048] Reference Figure 3 , Figure 3 A schematic diagram of the braking torque output by the anti-slope control algorithm is shown, in which Ax is the requested acceleration, the current vehicle mass is determined by vehicle state estimation, and the braking torque is output by the control algorithm.

[0049] Step 104, converting the target torque value to determine the shift pressure for pressure-maintaining control.

[0050] In this embodiment, the target torque value is sent to the brake system for conversion processing, and the shift pressure corresponding to the target torque value is generated, so as to perform pressure maintenance control according to the shift pressure to realize the vehicle anti-slope control. The braking torque updated in real time is calculated through the above steps to improve the driving smoothness and comfort of the vehicle during anti-slope control.

[0051] According to the technical solution of the embodiment of the present disclosure, when the vehicle meets the preset anti-slope control conditions, the candidate torque value is determined according to the acceleration request value of the vehicle, the slope value of the vehicle and the current vehicle mass, and then the candidate torque value is corrected according to the vehicle driving data to obtain the target torque value, and the target torque value is converted and processed to determine the shift pressure for pressure maintenance control. Thus, the candidate torque value is determined by the slope value of the vehicle and the current vehicle mass, solving the problem of slope slipping on a large slope due to conservative settings resulting in constant parking pressure maintenance parameters. Driving safety is improved, and the candidate torque value is corrected according to the vehicle driving data, and the real-time updated braking torque is calculated, and the braking torque is slowly increased or decreased, making driving smoother and improving driving smoothness and comfort.

[0052] Based on the above embodiment, obtaining the current vehicle mass of the vehicle is described below.

[0053] In one embodiment of the present disclosure, the longitudinal driving force of each wheel is determined based on the tire longitudinal torque and tire radius on each wheel of the vehicle, and then the corrected longitudinal acceleration is obtained through vehicle state estimation. The longitudinal driving force and longitudinal acceleration are fitted based on the least squares method to obtain the current vehicle mass of the vehicle.

[0054] In this embodiment, since the loads such as passengers and objects on the vehicle are variable, in order to more accurately calculate the braking force and driving force to be controlled, the current vehicle mass of the vehicle needs to be accurately calculated, and the current vehicle mass can be accurately calculated through the signal in the CAN. Optionally, the instantaneous tire longitudinal torque is calculated by the driving torque and braking torque acting on each wheel, and the tire longitudinal torque is divided by the tire radius to obtain the driving force of each wheel. Then, the corrected longitudinal acceleration is derived in the vehicle state estimation module, and the final vehicle mass and rolling resistance are fitted using batch processing and the least squares algorithm based on the longitudinal driving force and longitudinal acceleration obtained above.

[0055] As an example, the tire longitudinal moment can be calculated using the following formula: τ = (F drive -F brake )*r, and the current vehicle mass can be determined using the following balance equation: F total -m*gC rr *m*g*sign(v)=m*a c , where C rr is the rolling resistance coefficient, a c is the corrected longitudinal acceleration, m is the vehicle mass, r is the tire radius, τ is the tire longitudinal moment, and F total It can be achieved through (F drive -F brakeIt should be noted that the above calculation formula is only an example, and can also be calculated in combination with air resistance, etc., and is not specifically limited here.

[0056] Therefore, by accurately calculating the current vehicle mass and then determining the target torque value based on the current vehicle mass for pressure maintenance control, the accuracy and safety of the vehicle's anti-slope control are further improved.

[0057] Based on the above embodiments, Figure 4 A flow chart of another vehicle anti-slope control method provided by an embodiment of the present disclosure is shown as follows: Figure 4 As shown, in this method, the vehicle meets the preset anti-slope control conditions, including:

[0058] Step 401 , predicting based on the preceding vehicle data of the preceding vehicle and the vehicle driving data of the vehicle, and determining the predicted speed of the vehicle at a specified time.

[0059] In this embodiment, the vehicle's visual sensor and / or radar sensor can be used to obtain the vehicle's front vehicle data, including the front vehicle distance, front vehicle speed, front vehicle acceleration, front vehicle status, etc. The vehicle's driving data can be obtained through the vehicle's CAN, including longitudinal speed, longitudinal acceleration, tilt angle, etc. The longitudinal description can refer to the above embodiment, and the tilt angle can be used to determine the slope.

[0060] Among them, prediction can be made based on the vehicle driving data and the preceding vehicle data to predict the speed of the vehicle within a certain period of time in the future, wherein the specific vehicle speed prediction method can be implemented using corresponding technologies.

[0061] As an example, based on the speed and acceleration of the vehicle and the data of the vehicle ahead, the speed of the vehicle within a certain period of time can be predicted, and then the predicted speed of the vehicle can be used to predict the time when the slope will roll. In this example, in order to more accurately determine whether to perform anti-slope control, the predicted speed of the vehicle is obtained through the simulation tool, and whether to perform anti-slope control is determined based on the predicted speed of the vehicle.

[0062] Step 402: If it is determined based on the predicted speed that the vehicle will roll down a slope at the specified time, and the interval between the current time and the specified time is less than or equal to the preset interval, it is determined that the vehicle meets the anti-rolling control condition.

[0063] In this embodiment, if it is determined based on the predicted speed that the vehicle does not roll down the slope at the specified time, and / or the interval between the current time and the specified time is greater than a preset interval, it is determined that the vehicle does not meet the anti-rolling control condition.

[0064] As an example, the vehicle obtains the predicted speed within the time T2, and determines whether there is a slope at the corresponding time based on the predicted speed within the time T2. Then, when it is determined that there is a slope at the specified time, the interval between the current time and the specified time is further determined. If the interval is less than or equal to the preset interval T1, it is determined that the vehicle meets the anti-slope control conditions and needs to perform anti-slope control at the current time. For example, T2 is 200ms and T1 is 100ms. Since there is a certain delay in the control of the braking force, it is more obvious when the vehicle speed drops rapidly. Therefore, whether to perform anti-slope control is determined by predicting the speed, and anti-slope control is performed in advance when it is predicted that the vehicle will slide, so as to enter the pressure holding state in advance, which solves the problem of lag in anti-slope control and further improves the safety and comfort of anti-slope control.

[0065] As another example, the slope and the acceleration of the preceding vehicle may be combined to further determine whether the anti-slope control condition is met. For example, when the slope is less than a preset slope and the acceleration of the preceding vehicle is less than a preset threshold, it is determined that the anti-slope control condition is not met.

[0066] In this embodiment, when it is determined that the vehicle meets the anti-slope rolling control condition, it can be further determined that the vehicle meets the starting anti-slope rolling condition or the following stop anti-slope rolling condition to distinguish between the starting scenario and the following stop scenario.

[0067] As an example, determining that a vehicle satisfies the anti-slope control condition includes: obtaining the driving state of the preceding vehicle, where the driving state includes a starting state and a parking state. When the driving state of the preceding vehicle is a starting state, it is determined that the vehicle satisfies the starting anti-slope condition; and when the driving state of the preceding vehicle is a parking state, it is determined that the vehicle satisfies the following anti-slope condition. In this example, the driving state of the preceding vehicle is determined by the preceding vehicle data, so that it can be determined whether the vehicle will start or follow the stopping in the ACC mode, thereby determining whether the starting anti-slope control or the following anti-slope control will be performed subsequently. In addition, the driving state of the preceding vehicle can be combined with auxiliary prediction in the ACC mode. Optionally, the parking state can also be determined based on the inclination angle to determine whether the current vehicle is uphill or downhill.

[0068] For example, refer to Figure 5, obtain the leading vehicle data through the visual sensor / radar sensor, obtain the vehicle driving data through the vehicle's CAN, and predict the vehicle speed and make arbitration judgments based on the leading vehicle data and the vehicle driving data to determine whether the vehicle does not activate the anti-hill roll control, activates the starting anti-hill roll control, or activates the following and stopping anti-hill roll control. Therefore, based on the predicted data, it is determined whether to activate the anti-hill roll control to avoid the impact of the anti-hill roll control lag, and it can determine the starting anti-hill roll control and the following and stopping anti-hill roll control, and adopt the processing logic adapted to the starting / following stop scenarios, such as using different torque value correction processing logic, to further improve the accuracy of the anti-hill roll control, as well as improve the driving smoothness and comfort of the vehicle when preventing hill roll.

[0069] Figure 6 A schematic diagram of a vehicle anti-slope control device provided by an embodiment of the present disclosure is shown in FIG. Figure 6 As shown, the anti-slope control device of the vehicle includes: an acquisition module 61, a determination module 62, a correction module 63, and a control module 64.

[0070] An acquisition module 61 is used to acquire the acceleration request value of the vehicle, the slope value of the vehicle and the current vehicle mass when the vehicle meets the preset anti-slope control condition;

[0071] A determination module 62, for determining a candidate torque value according to the acceleration request value, the slope value and the current vehicle mass;

[0072] A correction module 63, for correcting the candidate torque value according to the vehicle driving data of the vehicle to obtain a target torque value;

[0073] The control module 64 is used to convert the target torque value and determine the shift pressure for pressure-maintaining control.

[0074] In one embodiment of the present disclosure, the vehicle driving data includes vehicle speed, and the correction module 63 is specifically used to:

[0075] When the vehicle meets the starting anti-slope condition, obtaining a first correction value corresponding to the vehicle speed;

[0076] The candidate torque value is corrected according to the first correction value to obtain a target torque value; wherein, the greater the vehicle speed, the smaller the target torque value.

[0077] In one embodiment of the present disclosure, the vehicle driving data includes vehicle speed, and the correction module 63 is specifically used to:

[0078] When the vehicle meets the stop-and-slope prevention condition, a second correction value corresponding to the vehicle speed is obtained;

[0079] The candidate torque value is corrected according to the second correction value to obtain a target torque value; wherein, when the vehicle speed is greater than a preset vehicle speed threshold, the greater the vehicle speed, the smaller the target torque value; when the vehicle speed is less than or equal to the preset vehicle speed threshold, the greater the vehicle speed, the greater the target torque value.

[0080] In one embodiment of the present disclosure, the vehicle driving data includes vehicle acceleration, and the correction module 63 is specifically used to:

[0081] acquiring a third correction value corresponding to the vehicle acceleration;

[0082] The candidate torque value is corrected according to the third correction value to obtain a target torque value; wherein, for the first target torque value when the vehicle acceleration is greater than a preset acceleration threshold and the second target torque value when the vehicle acceleration is less than or equal to the preset acceleration threshold, the first target torque value is less than the second target torque value.

[0083] In one embodiment of the present disclosure, the device further includes:

[0084] A judgment module, used to make a prediction based on the preceding vehicle data of the preceding vehicle and the vehicle travel data of the vehicle, and determine the predicted speed of the vehicle at a specified time;

[0085] If it is determined based on the predicted speed that the vehicle will roll down a slope at a specified time, and the interval between the current time and the specified time is less than or equal to a preset interval, it is determined that the vehicle meets the anti-rolling control condition.

[0086] In one embodiment of the present disclosure, the judgment module is specifically used to:

[0087] Obtain the driving status of the preceding vehicle; the driving status includes the starting status and the parking status;

[0088] When the driving state of the preceding vehicle is the starting state, determining that the vehicle meets the starting anti-slope rolling condition;

[0089] When the driving state of the leading vehicle is a parking state, it is determined that the vehicle meets the following parking and anti-slope rolling conditions.

[0090] In one embodiment of the present disclosure, the acquisition module 61 is specifically used to:

[0091] Determining the longitudinal driving force of each wheel based on the tire longitudinal moment and tire radius on each wheel of the vehicle;

[0092] Obtaining a corrected longitudinal acceleration by estimating the vehicle state;

[0093] The longitudinal driving force and the longitudinal acceleration are fitted based on the least square method to obtain the current vehicle mass of the vehicle.

[0094] The anti-slope control device for a vehicle provided in the embodiment of the present disclosure can execute any anti-slope control method for a vehicle provided in the embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method. The contents not described in detail in the embodiment of the device of the present disclosure can refer to the description in any method embodiment of the present disclosure.

[0095] The present disclosure also provides an electronic device, which includes one or more processors and a memory. The processor may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. The memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on a computer-readable storage medium, and the processor may run the program instructions to implement the method of the above embodiment of the present disclosure and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0096] In one example, the electronic device may further include: an input device and an output device, and these components are interconnected through a bus system and / or other forms of connection mechanisms. In addition, the input device may also include, for example, a keyboard, a mouse, etc. The output device may output various information to the outside, including determined distance information, direction information, etc. The output device may include, for example, a display, a speaker, a printer, and a communication network and a remote output device connected thereto, etc. In addition, according to the specific application, the electronic device may also include any other appropriate components such as a bus, an input / output interface, etc.

[0097] In addition to the above methods and devices, the embodiments of the present disclosure may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes any method provided by the embodiments of the present disclosure.

[0098] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0099] In addition, the embodiments of the present disclosure may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes any method provided by the embodiments of the present disclosure.

[0100] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0101] It should be noted that, in this article, relational terms such as "first" and "second" 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.

[0102] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for preventing a vehicle from sliding downhill, characterized in that: include: When the vehicle meets the preset anti-slope control condition, obtaining the acceleration request value of the vehicle, the slope value of the vehicle and the current vehicle mass; determining a candidate torque value according to the acceleration request value, the slope value and the current vehicle mass; Correcting the candidate torque value according to the vehicle driving data of the vehicle to obtain a target torque value; The target torque value is converted to determine the shift pressure for pressure-maintaining control.

2. The method according to claim 1, characterized in that The vehicle driving data includes a vehicle speed, and the candidate torque value is corrected according to the vehicle driving data to obtain a target torque value, including: When the vehicle meets the starting anti-slope condition, obtaining a first correction value corresponding to the vehicle speed; The candidate torque value is corrected according to the first correction value to obtain the target torque value; wherein, the greater the vehicle speed, the smaller the target torque value.

3. The method according to claim 1, characterized in that The vehicle driving data includes a vehicle speed, and the candidate torque value is corrected according to the vehicle driving data to obtain a target torque value, including: When the vehicle meets the stop-and-follow anti-slope condition, obtaining a second correction value corresponding to the vehicle speed; The candidate torque value is corrected according to the second correction value to obtain the target torque value; wherein, when the vehicle speed is greater than a preset vehicle speed threshold, the greater the vehicle speed, the smaller the target torque value; when the vehicle speed is less than or equal to the preset vehicle speed threshold, the greater the vehicle speed, the greater the target torque value.

4. The method according to claim 1, characterized in that The vehicle driving data includes vehicle acceleration, and the candidate torque value is corrected according to the vehicle driving data to obtain the target torque value, including: acquiring a third correction value corresponding to the vehicle acceleration; The candidate torque value is corrected according to the third correction value to obtain the target torque value; wherein, for the first target torque value when the vehicle acceleration is greater than a preset acceleration threshold and the second target torque value when the vehicle acceleration is less than or equal to the preset acceleration threshold, the first target torque value is less than the second target torque value.

5. The method according to claim 1, characterized in that The vehicle meets the preset anti-slope control conditions, including: Determine a predicted speed of the vehicle at a specified time by predicting based on the preceding vehicle data of the preceding vehicle and the vehicle travel data of the vehicle; If it is determined according to the predicted speed that the vehicle is likely to roll down the slope at the specified time, and the interval between the current time and the specified time is less than or equal to a preset interval, it is determined that the vehicle meets the anti-rolling control condition.

6. The method according to claim 5, characterized in that The determining that the vehicle meets the anti-slope control condition includes: Acquiring the driving state of the preceding vehicle; the driving state includes a starting state and a parking state; When the driving state of the preceding vehicle is the starting state, determining that the vehicle meets the starting anti-slope rolling condition; When the driving state of the leading vehicle is the parking state, it is determined that the vehicle meets the following parking and anti-slope rolling condition.

7. The method according to claim 1, characterized in that Obtain the current vehicle mass of the vehicle, including: Determining the longitudinal driving force of each wheel based on the tire longitudinal moment and tire radius on each wheel of the vehicle; Obtaining a corrected longitudinal acceleration by estimating the vehicle state; The longitudinal driving force and the longitudinal acceleration are fitted based on the least square method to obtain the current vehicle mass of the vehicle.

8. A vehicle anti-slope control device, characterized in that: include: An acquisition module, used for acquiring an acceleration request value of the vehicle, a slope value of the vehicle and a current vehicle mass when the vehicle meets a preset anti-slope control condition; a determination module, configured to determine a candidate torque value according to the acceleration request value, the slope value and the current vehicle mass; a correction module, configured to correct the candidate torque value according to the vehicle driving data of the vehicle to obtain a target torque value; The control module is used to convert the target torque value and determine the shift pressure for pressure-maintaining control.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the vehicle anti-slope control method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle anti-slope control method described in any one of claims 1 to 7 is implemented.

Images