Vehicle ramp parking control method and device, storage medium and electronic equipment

Abstract

The invention provides a control method and device for vehicle ramp parking, a storage medium and electronic equipment, and belongs to the field of vehicle control. The method comprises the steps that when it is monitored that a vehicle has a high-voltage fault and is in a heavy-load uphill state, a first shifting fork for controlling a target gear and a second shifting fork which is not in gear are determined in shifting forks of a gearbox; the target gear is the current on-gear gear of the gearbox; monitoring whether the rotating speed of the output shaft of the gearbox meets a preset gear engaging condition or not; and when it is monitored that the rotating speed of the output shaft of the gearbox meets the gear engaging condition, the second shifting fork is controlled to execute gear engaging operation, the gear of the second shifting fork and the target gear are at the same time, the output shaft of the gearbox is locked, and vehicle parking is achieved. By the adoption of the method, when the vehicle goes uphill due to heavy load and a high-voltage fault occurs, the two gears are engaged at the same time, the output shaft of the gearbox is locked, so that the vehicle is controlled to stop, the vehicle can be effectively prevented from sliding on the slope, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a control method and device for vehicle ramp parking, a storage medium and an electronic device. Background Art

[0002] Automated Mechanical Transmission (AMT) is one of the common transmissions in vehicles. When a vehicle using AMT needs to stop, it can usually be stopped by combining electric brakes and mechanical brakes.

[0003] During the driving process of a vehicle, some faults may occur, and high-voltage faults are one of the common fault types. When a high-voltage fault occurs in a moving vehicle, the vehicle needs to be braked to a stop. However, a high-voltage fault will cause the vehicle's high-voltage system to fail and electrical braking will not be possible. Therefore, under the condition of a high-voltage fault, the driver is usually required to use mechanical brakes to stop the vehicle.

[0004] In actual driving scenarios, it is very common for a vehicle to be heavily loaded and drive on a slope. If a high-voltage fault occurs when the vehicle is heavily loaded and driving uphill, based on the existing control method, the vehicle can only be stopped by mechanical brakes. In this case, the mechanical braking capacity may be unable to resist the gravity of the vehicle, and the vehicle cannot be stopped, causing the vehicle to slide down the slope, which has an adverse impact on driving safety. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a control method for parking a vehicle on a slope to solve the problem of existing parking control methods. When a high-voltage fault occurs in a vehicle under heavy load and going uphill, it is difficult to control the vehicle to stop, causing the vehicle to slide down the slope, resulting in poor vehicle driving safety.

[0006] The embodiment of the present invention further provides a control device for parking a vehicle on a slope, so as to ensure the practical implementation and application of the above method.

[0007] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0008] A method for controlling vehicle parking on a slope, comprising:

[0009] When a high voltage fault is detected in the vehicle, determining whether the vehicle is in a heavily loaded uphill state;

[0010] If the vehicle is in a heavily loaded uphill state, a first fork and a second fork are determined among the forks of the gearbox according to the target gear position; the target gear position is the current gear position of the gearbox, the first fork is the gear fork of the target gear position, and the second fork is the gear fork of the gearbox that is not in gear;

[0011] Monitoring whether the output shaft speed of the gearbox meets the preset gear shifting condition;

[0012] When it is monitored that the output shaft speed of the gearbox meets the gear-engaging condition, the second shift fork is controlled to perform a gear-engaging operation so that the gear position of the second shift fork is in gear at the same time as the target gear position, so as to lock the output shaft of the gearbox and park the vehicle.

[0013] In the above method, optionally, the determining whether the vehicle is in a heavily loaded uphill state includes:

[0014] Obtaining a vehicle load signal and a slope signal corresponding to the vehicle;

[0015] Determining whether the vehicle load signal represents a heavy load state;

[0016] If the vehicle load signal indicates a heavy load state, determining whether the slope value in the slope signal is greater than a preset slope threshold;

[0017] If the slope value in the slope signal is greater than the slope threshold, it is determined that the vehicle is in a heavily loaded uphill state.

[0018] In the above method, optionally, monitoring whether the output shaft speed of the gearbox meets a preset gear shifting condition includes:

[0019] Determine whether the output shaft speed of the gearbox is within a preset speed range; a speed value within the speed range indicates that the speed is zero or close to zero;

[0020] If the output shaft speed of the gearbox is within the speed range, it is determined that the output shaft speed of the gearbox meets the gear shifting condition.

[0021] The above method may optionally further include:

[0022] When it is detected that the high voltage fault of the vehicle has been resolved, monitoring whether the vehicle is in a starting driving state;

[0023] When it is detected that the vehicle is in a starting driving state, the motor is controlled to run, and the first shift fork or the second shift fork is controlled to perform a shift-off operation to release the locked state of the output shaft of the gearbox.

[0024] In the above method, optionally, the monitoring whether the vehicle is in a start-up driving state includes:

[0025] Monitoring whether the throttle opening of the vehicle is greater than a preset opening threshold;

[0026] If the throttle opening of the vehicle is greater than the opening threshold, it is determined that the vehicle is in a start-up driving state.

[0027] In the above method, optionally, the controlling the motor to run includes:

[0028] Determining a required torque according to a throttle opening of the vehicle;

[0029] Based on the required torque, the electric motor is controlled.

[0030] In the above method, optionally, the controlling the first fork or the second fork to perform a shifting operation includes:

[0031] The gear position of the second shift fork and the target gear position, whichever is lower, is used as the gear position to be disengaged;

[0032] Determine the gear shift fork of the gear position to be disengaged among the first shift fork and the second shift fork;

[0033] The gear engaging fork of the gear to be disengaged is controlled to perform a gear disengaging operation to release the gear engaging state of the gear to be disengaged.

[0034] A control device for parking a vehicle on a slope, comprising:

[0035] A judgment unit, used to judge whether the vehicle is in a heavy-loaded uphill state when a high-voltage fault is detected in the vehicle;

[0036] a determination unit, configured to determine, if the vehicle is in a heavily loaded uphill state, a first shift fork and a second shift fork among the shift forks of the gearbox according to a target gear position; the target gear position is the current gear position of the gearbox, the first shift fork is the gear shift fork of the target gear position, and the second shift fork is the gear shift fork of the gearbox that is not in gear;

[0037] A monitoring unit, used to monitor whether the output shaft speed of the gearbox meets the preset gear shifting condition;

[0038] The control unit is used to control the second shift fork to perform a gear shifting operation when it is monitored that the output shaft speed of the gearbox meets the gear shifting condition, so that the gear position of the second shift fork is in gear at the same time as the target gear position, so as to lock the output shaft of the gearbox and realize vehicle parking.

[0039] A storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned control method for vehicle ramp parking.

[0040] An electronic device includes a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to control the vehicle hill parking method as described above.

[0041] A control method for parking a vehicle on a slope provided based on the above-mentioned embodiment of the present invention includes: when a high-voltage fault is detected in the vehicle, determining whether the vehicle is in a heavy-loaded uphill state; if the vehicle is in a heavy-loaded uphill state, determining a first fork and a second fork in each fork of a gearbox according to a target gear position; the target gear position is the current gear position of the gearbox, the first fork is a gear-engaging fork of the target gear position, and the second fork is a gear-unengaging fork in the gearbox; monitoring whether the output shaft speed of the gearbox meets a preset gear-engaging condition; when it is detected that the output shaft speed of the gearbox meets the gear-engaging condition, controlling the second fork to perform a gear-engaging operation, so that the gear position of the second fork is in gear at the same time as the target gear position, so as to lock the output shaft of the gearbox and realize vehicle parking. By applying the method provided by the embodiment of the present invention, when a vehicle is traveling on a slope under a heavy load and a high-voltage fault occurs, the shift fork in the gearbox that is not currently in gear can be controlled to perform a gear-engaging operation when the gearbox meets the gear-engaging conditions, so that two gears in the gearbox are in gear at the same time, that is, two gears are engaged at the same time. At this time, the output shaft will engage with the transmission mechanisms of the two speed ratios at the same time, resulting in a movement contradiction, thereby locking the output shaft and achieving parking. In the case of a heavy-loaded vehicle going uphill and a high-voltage failure, the vehicle can be reliably braked to a stop through the locked state of the output shaft, thereby preventing the vehicle from sliding down the slope and improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 A method flow chart of a method for controlling vehicle parking on a slope provided by an embodiment of the present invention;

[0044] Figure 2 A flowchart of another method for controlling a vehicle parking on a slope provided by an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of a control process of parking a vehicle on a slope provided by an embodiment of the present invention;

[0046] Figure 4A schematic diagram of the structure of a control device for parking a vehicle on a slope provided by an embodiment of the present invention;

[0047] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising 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, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0050] An embodiment of the present invention provides a method for controlling a vehicle parking on a slope. The method can be applied to a vehicle using an AMT transmission. The execution subject can be a transmission control unit (TCU) of the vehicle. The method flow chart of the method is shown in FIG. Figure 1 As shown, including:

[0051] S101: When a high voltage fault is detected in the vehicle, determining whether the vehicle is in a heavily loaded uphill state;

[0052] In the method provided by the embodiment of the present invention, when a high-voltage fault occurs in a vehicle, the vehicle control unit (VCU) will send a high-voltage fault signal, and the motor enable signal will be reset to zero. When the TCU detects that the motor enable signal is reset to zero, it means that a high-voltage fault has been detected in the vehicle. At this time, the TCU can identify whether the vehicle is in a heavy-loaded uphill state through signals such as the vehicle's load signal and slope signal. The heavy-loaded uphill state means that the vehicle is in a loaded state and is traveling on a slope.

[0053] If the vehicle is not in a heavily loaded uphill state, parking control can be performed through conventional mechanical braking methods to stop the vehicle.

[0054] S102: If the vehicle is in a heavily loaded uphill state, a first shift fork and a second shift fork are determined among the shift forks of the gearbox according to a target gear position; the target gear position is the current gear position of the gearbox, the first shift fork is the gear shift fork of the target gear position, and the second shift fork is the gear shift fork of the gearbox that is not in gear;

[0055] In the method provided by the embodiment of the present invention, there are at least two sets of shift forks in the gearbox of the vehicle. The shift forks are components used to shift the transmission gears, and can realize the shifting operation of different gears of the gearbox. Each set of shift forks is responsible for the shifting of different gears. For example, the gearbox has four gears and two sets of shift forks (shift fork 1 and shift fork 2). Shift fork 1 is used to handle the shifting of 1st gear and 2nd gear, and shift fork 2 is used to handle the shifting of 3rd gear and 4th gear. For example, in a normal state, if you want to shift from 3rd gear to 2nd gear, then control shift fork 2 to perform the shifting operation of 3rd gear, and control shift fork 1 to perform the shifting operation of 1st gear.

[0056] In the method provided by the embodiment of the present invention, if the vehicle is in a heavily loaded uphill state, the gear position of the current gearbox is used as the target gear position, which is also the current working gear position. The gear shift fork of the target gear position is used as the first shift fork, and the gear shift fork that is not in gear in the gearbox is used as the second shift fork. The second shift fork is the shift fork that does not control the gear shift of the working gear position, that is, a set of shift forks in the gearbox except the first shift fork.

[0057] S103: monitoring whether the output shaft speed of the gearbox meets a preset gear shifting condition;

[0058] In the method provided in the embodiment of the present invention, the gear-engaging condition can be set according to actual needs, and the gear-engaging condition can be set according to the condition that the output shaft speed can meet the gear-engaging condition, that is, the gear-engaging operation is performed. For example, the output shaft speed close to zero can be used as the gear-engaging condition.

[0059] When the vehicle is in a heavily loaded uphill state, the real-time speed of the output shaft of the gearbox can be collected to monitor in real time whether the output shaft speed of the gearbox meets the preset gear shifting conditions. If the conditions are not met, continuous monitoring is performed.

[0060] S104: When it is monitored that the output shaft speed of the gearbox meets the gear-engaging condition, the second shift fork is controlled to perform a gear-engaging operation so that the gear engaged by the second shift fork is in gear at the same time as the target gear, so as to lock the output shaft of the gearbox and park the vehicle.

[0061] In the method provided by the embodiment of the present invention, when it is monitored that the output shaft speed of the gearbox meets the gear-engaging condition, the TCU issues a command for the second shift fork to engage the gear, and the gear engaged can be set according to the implementation requirements, for example, any gear controllable by the second shift fork can be randomly selected to engage the gear, or different gears in gear can be pre-set to correspond to a certain gear that is not engaged, such as setting that if the gear in gear is 1st gear, then 3rd gear is added. The TCU can select the designated gear that needs to be engaged according to the current gear in gear and the pre-set information, and control the second shift fork to perform the gear-engaging operation of the designated gear. While controlling the second fork to perform the gear shifting operation, the first fork needs to maintain the gear shifting state. When the second fork completes the gear shifting operation, the gear shifted by the second fork is in the gear shifting state. At this time, the target gear position and the gear shifted by the second fork are both in the gear shifting state. The output shaft of the gearbox will engage with two transmission mechanisms with different transmission ratios (i.e. speed ratios) at the same time, and the output shaft will fall into a self-contradictory state and cannot operate, thereby causing the output shaft to be in a locked state, causing the vehicle to stop, thereby achieving vehicle parking control.

[0062] Based on the method provided by the embodiment of the present invention, when a high-voltage fault is detected in a vehicle, it is determined whether the vehicle is in a heavy-loaded uphill state; if the vehicle is in a heavy-loaded uphill state, a first fork and a second fork are determined among the various forks of the gearbox according to the target gear position; the target gear position is the current gear position of the gearbox, the first fork is the gear-engaging fork of the target gear position, and the second fork is the gear-engaging fork in the gearbox; it is monitored whether the output shaft speed of the gearbox meets the preset gear-engaging condition; when it is monitored that the output shaft speed of the gearbox meets the gear-engaging condition, the second fork is controlled to perform a gear-engaging operation, so that the gear position of the second fork is in gear at the same time as the target gear position, so as to lock the output shaft of the gearbox and realize vehicle parking. By applying the method provided by the embodiment of the present invention, when a vehicle is traveling on a slope under a heavy load and a high-voltage fault occurs, the shift fork in the gearbox that is not currently in gear can be controlled to perform a gear-engaging operation when the gearbox meets the gear-engaging conditions, so that two gears in the gearbox are in gear at the same time, that is, two gears are engaged at the same time. At this time, the output shaft will engage with the transmission mechanisms of the two speed ratios at the same time, resulting in a movement contradiction, thereby locking the output shaft and achieving parking. In the case of a heavy-loaded vehicle going uphill and a high-voltage failure, the vehicle can be reliably braked to a stop through the locked state of the output shaft, thereby preventing the vehicle from sliding down the slope and improving the safety of vehicle driving.

[0063] exist Figure 1 Based on the method shown in FIG. 1 , in the method provided in the embodiment of the present invention, as Figure 2 As shown, the process of determining whether the vehicle is in a heavily loaded uphill state mentioned in step S101 includes:

[0064] S201: Acquire a vehicle load signal and a slope signal corresponding to the vehicle;

[0065] In the method provided in the embodiment of the present invention, the TCU can receive the vehicle's load signal (i.e., vehicle load signal) and slope signal. The vehicle load signal is a signal generated by the vehicle system according to the vehicle's load condition, which reflects whether the vehicle is in a heavy load state. The slope signal is a signal measured by the vehicle system through various sensors, which records the slope value of the current driving slope of the vehicle.

[0066] S202: Determine whether the vehicle load signal indicates a heavy load state;

[0067] In the method provided in the embodiment of the present invention, whether the vehicle is in a heavy-loaded state can be identified based on the signal data of the vehicle load signal. If the vehicle load signal indicates a heavy-loaded state, the vehicle is in a heavy-loaded state.

[0068] If the vehicle load signal does not indicate a heavy load state, it is considered that the vehicle is not in a heavy load uphill state.

[0069] S203: If the vehicle load signal indicates a heavy load state, determining whether the slope value in the slope signal is greater than a preset slope threshold;

[0070] In the method provided by the embodiment of the present invention, a slope threshold can be set in advance according to actual needs. When the slope value in the slope signal exceeds the slope threshold, it is considered that the vehicle is currently in a ramp driving state. If the vehicle load signal represents a heavy load state, the slope value in the slope signal is obtained, and the slope value is compared with the preset slope threshold to identify whether the current vehicle is in a ramp driving state. If the slope value in the slope signal is not greater than the preset slope threshold, that is, the vehicle is not in a ramp driving state, then it can be considered that the vehicle is not in a heavy load uphill state.

[0071] S204: If the slope value in the slope signal is greater than the slope threshold, it is determined that the vehicle is in a heavily loaded uphill state.

[0072] In the method provided by the embodiment of the present invention, if the slope value in the slope signal is greater than a preset slope threshold, it is considered that the vehicle is in a heavily loaded uphill state.

[0073] exist Figure 1 On the basis of the method shown in the figure, in the method provided by the embodiment of the present invention, the process of monitoring whether the output shaft speed of the gearbox meets the preset gear shifting condition mentioned in step S103 includes:

[0074] Determine whether the output shaft speed of the gearbox is within a preset speed range; a speed value within the speed range indicates that the speed is zero or close to zero;

[0075] In the method provided by the embodiment of the present invention, a numerical range with a value including zero and a range near zero can be set in advance according to actual needs as the rotational speed range. Each value in the rotational speed range is a rotational speed value, and each rotational speed value in the rotational speed range includes zero and values close to zero.

[0076] When determining whether the rotational speed of the output shaft of the gearbox meets the gear shifting condition, the rotational speed of the output shaft is compared with the critical value of the preset rotational speed range to identify whether the rotational speed of the output shaft is within the preset rotational speed range, that is, to determine whether the rotational speed of the output shaft is close to zero.

[0077] If the rotational speed of the output shaft of the gearbox is within the rotational speed range, it is determined that the rotational speed of the output shaft of the gearbox meets the gear shifting condition.

[0078] In the method provided by the embodiment of the present invention, if the rotational speed of the output shaft is within the rotational speed range, it is considered that the rotational speed of the output shaft meets the gear shifting condition. If the rotational speed of the output shaft is not within the preset rotational speed range, it is considered that the rotational speed of the output shaft does not meet the gear shifting condition.

[0079] Based on the method provided by the embodiment of the present invention, gear shifting operations can be performed when the rotational speed of the output shaft is close to zero, which is beneficial to achieving gearbox locking at zero vehicle speed, reducing the impact on the gearbox, and ensuring the safety of the gearbox.

[0080] In Figure 1 Based on the method shown above, the method provided by the embodiment of the present invention further includes:

[0081] When it is monitored that the vehicle has lifted the high-voltage fault, monitor whether the vehicle is in the starting and driving state;

[0082] In the method provided by the embodiment of the present invention, when the TCU monitors that the motor enable signal is set to one, it indicates that the high-voltage fault of the vehicle has been lifted and the high-voltage system of the vehicle has returned to the normal working state. At this time, it can be monitored whether the vehicle is in the starting and driving state, that is, to monitor whether the driver starts the vehicle and intends to drive again.

[0083] When it is monitored that the vehicle is in the starting and driving state, control the motor to run and control the first shift fork or the second shift fork to perform a gear disengaging operation to release the locked state of the output shaft of the gearbox.

[0084] In the method provided by the embodiment of the present invention, when it is monitored that the vehicle is in the starting and driving state, the TCU controls the motor of the vehicle to work normally and output power according to requirements. At the same time, the TCU needs to control one set of shift forks among the first shift fork and the second shift fork to perform a gear disengaging operation, so that only one gear is retained in the gears engaged by these two sets of shift forks, so that the output shaft of the gearbox is released from the locked state and works normally again, and the vehicle can shift gears and drive normally according to the driving requirements.

[0085] Based on the method provided in the embodiment of the present invention, after the vehicle is freed from a high-voltage fault, when the driver intends to drive again, the locked state of the gearbox output shaft can be automatically released, and the normal working state of the gearbox can be restored, thereby ensuring the normal driving of the vehicle and improving the user experience.

[0086] On the basis of the method provided in the above embodiment, in the method provided in the embodiment of the present invention, the process of monitoring whether the vehicle is in the start-up driving state includes:

[0087] Monitoring whether the throttle opening of the vehicle is greater than a preset opening threshold;

[0088] If the throttle opening of the vehicle is greater than the opening threshold, it is determined that the vehicle is in a start-up driving state.

[0089] In the method provided in the embodiment of the present invention, an opening threshold can be set according to actual needs, and the opening threshold indicates that the driver has performed an accelerator operation. That is, if the throttle opening of the vehicle is greater than the opening threshold, it is considered that the driver has stepped on the accelerator and intends to drive.

[0090] After the high-voltage fault is removed from the vehicle, the throttle opening of the vehicle can be collected in real time, and the throttle opening of the vehicle can be compared with the preset opening threshold. When the throttle opening of the vehicle is monitored to be greater than the preset opening threshold, the vehicle is considered to be in the starting state. If the throttle opening of the vehicle is not greater than the preset opening threshold, it is considered that the vehicle is not in the starting state and monitoring can be continued.

[0091] On the basis of the method provided in the above embodiment, in the method provided in the embodiment of the present invention, the process of controlling the operation of the motor includes:

[0092] Determining a required torque according to a throttle opening of the vehicle;

[0093] Based on the required torque, the electric motor is controlled.

[0094] In the method provided by the embodiment of the present invention, when the vehicle is in the starting driving state, the vehicle control unit VCU will analyze the torque that the current power system needs to output, that is, the required torque, according to the current throttle opening of the vehicle. The VCU can send the current required torque to the TCU, and the TCU can generate corresponding motor control instructions according to the required torque, thereby controlling the motor so that the motor outputs torque according to the required torque.

[0095] On the basis of the method provided in the above embodiment, in the method provided in the embodiment of the present invention, the process of controlling the first fork or the second fork to perform a shifting operation includes:

[0096] The gear position of the second shift fork and the target gear position, whichever is lower, is used as the gear position to be disengaged;

[0097] In the method provided by the embodiment of the present invention, the target gear position (i.e., the gear position of the first shift fork) and the gear position of the second shift fork can be compared to identify the relatively lower gear position of the two gear positions, and the relatively lower gear position is used as the gear position to be disengaged. It can be understood that the vehicle gear position is represented by a numbered mark such as 1st gear, 2nd gear, 3rd gear, 4th gear, etc., and the gear positions are increased in order from small to large numerical numbers, that is, the gear position with a relatively small numerical number is a relatively low gear position.

[0098] Determine the gear shift fork of the gear position to be disengaged among the first shift fork and the second shift fork;

[0099] The gear engaging fork of the gear to be disengaged is controlled to perform a gear disengaging operation to release the gear engaging state of the gear to be disengaged.

[0100] In the method provided by the embodiment of the present invention, the fork used for engaging the gear to be disengaged among the first fork and the second fork is used as the gear engaging fork for the gear to be disengaged. The gear engaging fork of the gear to be disengaged is controlled to perform the gear disengagement operation, that is, to disengage the gear to be disengaged, so as to release the gear engaging state of the gear to be disengaged, so that it is no longer engaged, and only the other gear in gear is kept in the engaged state. For example, if the target gear is the lower gear among the two gears in gear, the first fork is controlled to perform the gear disengagement operation on the target gear, and the gear engaged by the second fork is kept in gear; if the gear engaged by the second fork is the lower gear among the two gears in gear, the second fork is controlled to perform the gear disengagement operation on the gear engaged, and the target gear is kept in gear.

[0101] Based on the method provided in the embodiment of the present invention, when executing the gear shifting operation, attempts can be continuously made to shift the lower gear in the current gear. Since the speed of the higher gear is relatively smaller than that of the lower gear, when the motor is running, the transmission mechanism of the higher gear will first resist the static pressure caused by the gravity of the whole vehicle. At this time, attempts can be continuously made to shift the lower gear. When the transmission mechanism of the higher gear is close to equilibrium with the static pressure, the transmission mechanism of the lower gear does not need to resist the static pressure, and the gear shifting operation of the lower gear can be successfully completed, which is conducive to quickly releasing the locked state of the output shaft of the gearbox.

[0102] In order to better illustrate the method provided by the embodiment of the present invention, based on the methods provided by the previous embodiments and combined with actual application scenarios, the embodiment of the present invention provides another control method for parking a vehicle on a slope. In the method provided by the embodiment of the present invention, the AMT gearbox of the vehicle has 4 gears and two sets of shift forks. Shift fork 1 is responsible for shifting 1st and 2nd gears, and shift fork 2 is responsible for shifting 3rd and 4th gears. The control process of parking a vehicle on a slope provided by the embodiment of the present invention can be as follows: Figure 3 shown.

[0103] When the vehicle is started, the TCU can receive the load signal, slope signal and the motor high-voltage enable signal. Through the above signals, it can determine whether the vehicle's load status is in a heavy load state, whether the slope is greater than the preset slope threshold p1, and monitor in real time whether the vehicle's motor is in the high-voltage enable state. The high-voltage enable state, that is, the high-voltage enable state is 1, that is, the high-voltage system is working normally.

[0104] Assume that when the vehicle is heavily loaded and going uphill in the 1st gear, the speed is positive, and a high-voltage fault suddenly occurs (the motor high-voltage enable state jumps from 1 to 0), the vehicle electric drive fails, and the speed will drop rapidly to 0 and then continue to slide back to a negative speed. At this time, the output shaft speed drops rapidly from the positive speed, and the TCU monitors in real time whether the output shaft speed is in the preset speed range (-n, n). It can be understood that the speed range is a range near the speed of 0. When the output shaft speed is in the preset speed range, that is, when the output shaft speed is close to 0, the shift fork 2 is issued to engage the 3rd gear, and the shift fork 1 remains in the 1st gear position unchanged. Because the output shaft speed drops to near 0rpm, the 3rd gear can find an opportunity to enter the gear, so the state of 1st gear and 3rd gear being engaged at the same time can be achieved. This state will cause the two input shafts to mesh with the same output shaft through the gear pairs of the 1st gear and 3rd gear ratios, thereby causing the output shaft to fall into a self-contradictory state, and then lock the output shaft to achieve parking. It is understandable that if the gear in the initial state is not 1st gear or 2nd gear, that is, the gear originally engaged is 3rd gear or 4th gear controlled by fork 2, then fork 1 is controlled to engage in gear engagement, such as controlling fork 1 to engage in 1st gear, thereby achieving two gears in gear at the same time. When the vehicle speed is near 0, the transmission is locked, which will not bring too much impact to the vehicle, and the impact force of the transmission gears is not large, and basically only bears static pressure.

[0105] When fork 1 and fork 2 control a gear respectively, the TCU is in a locked state (i.e., the output shaft is locked), and the current gear position of the vehicle can be displayed as locked.

[0106] When the TCU detects that the motor high voltage enable state jumps from 0 to 1, and the duration of this state is greater than the preset time threshold t, it is considered that the vehicle high voltage fault is eliminated. At this time, the vehicle's throttle opening can be monitored to see if it exceeds the preset opening threshold m to identify whether the vehicle needs to start driving. When the vehicle needs to start driving, the normal operation of the motor is restored, and the lock state of the gearbox needs to be released.

[0107] When the throttle opening is greater than the preset opening threshold m, the VCU will determine the required torque that the power system needs to output according to the throttle opening, and the VCU can send the required torque to the TCU. The TCU can generate a motor control instruction based on the required torque sent by the VCU to control the motor to output according to the required torque. Then, the relatively lower gear of the two gears currently in gear is disengaged, that is, the lower gear of the two gears currently in gear is disengaged. After the disengagement operation is completed, only one gear is retained in the gearbox. At this time, the locking state of the output shaft is released, and the gear can be shifted normally. The current gear of the vehicle shows the current gear in gear. For example, if the 1st gear and the 3rd gear are in gear at this time, the control fork 1 will continue to try to disengage the 1st gear. Because the speed ratio of the 3rd gear is small, the gear pair of the 3rd gear will first resist the static pressure and finally bear all the static pressure. At this time, the fork 1 will continue to try to disengage the 1st gear. When the gear pair of the 3rd gear is close to equilibrium with the static pressure, the 1st gear can be disengaged, and the vehicle releases the locking state of the TCU, and the 3rd gear is in gear, and then the vehicle can be downshifted normally.

[0108] Based on the method provided by the embodiment of the present invention, the working condition of high-voltage fault during heavy-load climbing of the vehicle can be identified, and the TCU can quickly make a gear lock action, by making two gears in gear at the same time when the vehicle is close to 0 speed, thereby locking the output shaft of the gearbox and realizing parking control, thereby realizing the function of anti-slip, which can avoid the occurrence of slipping caused by insufficient mechanical braking force under this working condition. In addition, after the high-voltage fault is eliminated, the locking state of the output shaft of the gearbox can be automatically released, and driving can be resumed, ensuring the normal driving of the vehicle and improving the user experience.

[0109] and Figure 1 Corresponding to the control method for parking a vehicle on a slope shown in the figure, an embodiment of the present invention further provides a control device for parking a vehicle on a slope, for Figure 1 The specific implementation of the method shown in is shown in the structural diagram Figure 4 As shown, including:

[0110] The judging unit 301 is used to judge whether the vehicle is in a heavy-load uphill state when a high-voltage fault is detected in the vehicle;

[0111] The determination unit 302 is used to determine, if the vehicle is in a heavy-load uphill state, a first shift fork and a second shift fork among the shift forks of the gearbox according to a target gear position; the target gear position is the current gear position of the gearbox, the first shift fork is the gear shift fork of the target gear position, and the second shift fork is the gear shift fork of the gearbox that is not in gear;

[0112] A monitoring unit 303 is used to monitor whether the output shaft speed of the gearbox meets the preset gear shifting condition;

[0113] The control unit 304 is used to control the second shift fork to perform a gear shift operation when it is monitored that the output shaft speed of the gearbox meets the gear shift condition, so that the gear position of the second shift fork is in gear at the same time as the target gear position, so as to lock the output shaft of the gearbox and realize vehicle parking.

[0114] By using the device provided by the embodiment of the present invention, when a vehicle is traveling on a slope under a heavy load and a high-voltage fault occurs, the shift fork in the gearbox that is not currently in gear can be controlled to perform a gear-engaging operation when the gearbox meets the gear-engaging conditions, so that two gears in the gearbox are in gear at the same time, that is, two gears are engaged at the same time. At this time, the output shaft will engage with the transmission mechanisms of the two speed ratios at the same time, resulting in a movement contradiction, thereby locking the output shaft and stopping the vehicle. In the case of a heavy-loaded vehicle going uphill and a high-voltage failure, the vehicle can be reliably braked to a stop through the locked state of the output shaft, thereby preventing the vehicle from sliding down the slope and improving the safety of vehicle driving.

[0115] exist Figure 4 Based on the device shown, the device provided in the embodiment of the present invention can be further expanded into multiple units. The function of each unit can be found in the description of each embodiment provided in the previous text for the control method of vehicle ramp parking, and no further examples will be given here.

[0116] A storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned control method for vehicle ramp parking.

[0117] The embodiment of the present invention further provides an electronic device, the structural diagram of which is shown in FIG. Figure 5 As shown, it specifically includes a memory 401 and one or more instructions 402, wherein the one or more instructions 402 are stored in the memory 401 and are configured to be executed by one or more processors 403 to perform the following operations:

[0118] When a high voltage fault is detected in the vehicle, determining whether the vehicle is in a heavily loaded uphill state;

[0119] If the vehicle is in a heavily loaded uphill state, a first fork and a second fork are determined among the forks of the gearbox according to the target gear position; the target gear position is the current gear position of the gearbox, the first fork is the gear fork of the target gear position, and the second fork is the gear fork of the gearbox that is not in gear;

[0120] Monitoring whether the output shaft speed of the gearbox meets the preset gear shifting condition;

[0121] When it is monitored that the output shaft speed of the gearbox meets the gear-engaging condition, the second shift fork is controlled to perform a gear-engaging operation so that the gear position of the second shift fork is in gear at the same time as the target gear position, so as to lock the output shaft of the gearbox and park the vehicle.

[0122] The electronic device in the embodiment of the present invention may be an ECU (Electronic Control Unit), a VCU (Vehicle Control Unit), an MCU (Micro Controller Unit), an HCU (Hybrid Control Unit), or the like.

[0123] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0124] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0125] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one 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 invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling vehicle parking on a slope, characterized in that: include: When a high voltage fault is detected in the vehicle, determining whether the vehicle is in a heavily loaded uphill state; If the vehicle is in a heavily loaded uphill state, a first fork and a second fork are determined among the forks of the gearbox according to the target gear position; the target gear position is the current gear position of the gearbox, the first fork is the gear fork of the target gear position, and the second fork is the gear fork of the gearbox that is not in gear; Monitoring whether the output shaft speed of the gearbox meets the preset gear shifting condition; When it is monitored that the output shaft speed of the gearbox meets the gear-engaging condition, the second shift fork is controlled to perform a gear-engaging operation so that the gear position of the second shift fork is in gear at the same time as the target gear position, so as to lock the output shaft of the gearbox and park the vehicle.

2. The method for controlling vehicle parking on a slope according to claim 1, characterized in that: The determining whether the vehicle is in a heavily loaded uphill state comprises: Obtaining a vehicle load signal and a slope signal corresponding to the vehicle; Determining whether the vehicle load signal represents a heavy load state; If the vehicle load signal indicates a heavy load state, determining whether the slope value in the slope signal is greater than a preset slope threshold; If the slope value in the slope signal is greater than the slope threshold, it is determined that the vehicle is in a heavily loaded uphill state.

3. The method for controlling vehicle parking on a slope according to claim 1, characterized in that: The step of monitoring whether the output shaft speed of the gearbox meets a preset gear shifting condition includes: Determine whether the output shaft speed of the gearbox is within a preset speed range; a speed value within the speed range indicates that the speed is zero or close to zero; If the output shaft speed of the gearbox is within the speed range, it is determined that the output shaft speed of the gearbox meets the gear shifting condition.

4. The method for controlling vehicle parking on a slope according to claim 1, characterized in that: Also includes: When it is detected that the high voltage fault of the vehicle has been resolved, monitoring whether the vehicle is in a starting driving state; When it is detected that the vehicle is in a starting driving state, the motor is controlled to run, and the first shift fork or the second shift fork is controlled to perform a shift-off operation to release the locked state of the output shaft of the gearbox.

5. The method for controlling vehicle parking on a slope according to claim 4, characterized in that: The monitoring of whether the vehicle is in a start-up driving state includes: Monitoring whether the throttle opening of the vehicle is greater than a preset opening threshold; If the throttle opening of the vehicle is greater than the opening threshold, it is determined that the vehicle is in a start-up driving state.

6. The method for controlling vehicle parking on a slope according to claim 4, characterized in that: The controlling the motor operation comprises: Determining a required torque according to a throttle opening of the vehicle; Based on the required torque, the electric motor is controlled.

7. The method for controlling vehicle parking on a slope according to claim 4, characterized in that: The controlling the first fork or the second fork to perform a shifting operation includes: The gear position of the second shift fork and the target gear position, whichever is lower, is used as the gear position to be disengaged; Determine the gear shift fork of the gear position to be disengaged among the first shift fork and the second shift fork; The gear engaging fork of the gear to be disengaged is controlled to perform a gear disengaging operation to release the gear engaging state of the gear to be disengaged.

8. A control device for parking a vehicle on a slope, characterized in that: include: A judgment unit, used to judge whether the vehicle is in a heavy-loaded uphill state when a high-voltage fault is detected in the vehicle; a determination unit, configured to determine, if the vehicle is in a heavily loaded uphill state, a first shift fork and a second shift fork among the shift forks of the gearbox according to a target gear position; the target gear position is the current gear position of the gearbox, the first shift fork is the gear shift fork of the target gear position, and the second shift fork is the gear shift fork of the gearbox that is not in gear; A monitoring unit, used to monitor whether the output shaft speed of the gearbox meets the preset gear shifting condition; The control unit is used to control the second shift fork to perform a gear shifting operation when it is monitored that the output shaft speed of the gearbox meets the gear shifting condition, so that the gear position of the second shift fork is in gear at the same time as the target gear position, so as to lock the output shaft of the gearbox and realize vehicle parking.

9. A storage medium, characterized in that: The storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the vehicle ramp parking control method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The device comprises a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to control the vehicle ramp parking as described in any one of claims 1 to 7.

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