Method and device for carrying out hill-holding control on vehicle, controller, vehicle and medium

Abstract

The embodiment of the invention relates to a method and device for carrying out slope parking control on a vehicle, a controller, the vehicle and a medium. The method includes detecting an exit operation for exiting a hill-holding function in a case where the hill-holding function of the vehicle is enabled. The method further includes, in response to detecting the exit operation, determining whether the exit operation is a maloperation. The method also includes maintaining a hill-hold function of the vehicle in response to determining that the exit operation is a maloperation. According to the method disclosed by the embodiment of the invention, under the condition that the vehicle starts the hill-holding function, by judging the quit operation for the hill-holding function, false quit of the hill-holding function caused by misoperation is avoided, so that the safety when the vehicle is located on a slope road is effectively improved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of vehicles, and in particular to a method, device, controller, vehicle, and medium for performing hill-holding control on a vehicle. Background Art

[0002] As people's demand for vehicles increases, the number of vehicles on the road increases day by day, and vehicle safety is of vital importance. For example, vehicles usually have a hill-holding function to prevent the vehicle from sliding (backward or forward) on a slope, which may cause safety hazards to the vehicle or other vehicles on the slope.

[0003] Typically, when a vehicle is on a slope, for example, when a user (e.g., a driver) releases the deceleration pedal of the vehicle, the hill-holding function of the vehicle will be enabled to prevent the vehicle from rolling. In addition, in actual operation, the hill-holding function may be accidentally exited without the driver's knowledge, so that the driver cannot brake the vehicle in time and the vehicle rolls unexpectedly, thereby posing a safety hazard to the vehicle on the slope. Summary of the invention

[0004] Embodiments of the present disclosure provide a method, an apparatus, a controller, a vehicle, and a medium for performing hill-holding control on a vehicle.

[0005] According to a first aspect of the present disclosure, a method for holding a vehicle on a hill is provided. The method includes, when the holding-on-hill function of the vehicle is enabled, detecting an exit operation for exiting the holding-on-hill function. The method also includes, in response to detecting the exit operation, determining whether the exit operation is an erroneous operation. The method also includes, in response to determining that the exit operation is an erroneous operation, maintaining the holding-on-hill function of the vehicle.

[0006] According to a second aspect of the present disclosure, a device for holding a hill on a vehicle is provided. The device includes a detection unit configured to detect an exit operation for exiting the holding hill function when the holding hill function of the vehicle is enabled. The device also includes an erroneous operation determination unit configured to determine whether the exit operation is an erroneous operation in response to detecting the exit operation. The device also includes a holding hill determination unit configured to maintain the holding hill function of the vehicle in response to determining that the exit operation is an erroneous operation.

[0007] According to a third aspect of the present disclosure, a controller is provided. The controller includes at least one processor; and a memory coupled to the at least one processor and having instructions stored thereon, which, when executed by the at least one processor, enable the controller to implement the method according to the first aspect of the present disclosure.

[0008] According to a fourth aspect of the present disclosure, a vehicle is provided, comprising a controller according to the third aspect of the present disclosure.

[0009] In a fifth aspect of the present disclosure, a computer-readable storage medium is provided. Computer-executable instructions are stored on the computer-readable storage medium, and the computer-executable instructions are executed by a processor to implement the method according to the first aspect of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] By describing the exemplary embodiments of the present disclosure in more detail in conjunction with the accompanying drawings, the above and other objects, features, and advantages of the present disclosure will become more apparent. In the exemplary embodiments of the present disclosure, the same reference numerals generally represent the same components.

[0011] Figure 1 FIG. is a schematic diagram of an example environment in which an apparatus and / or method according to an embodiment of the present disclosure may be implemented.

[0012] Figure 2 FIG. is a flowchart of a method for controlling a vehicle to stay on a slope according to an embodiment of the present disclosure.

[0013] Figure 3 FIG. is a schematic diagram of a process for determining whether an exit operation is a misoperation according to an embodiment of the present disclosure.

[0014] Figure 4 FIG. is a flowchart of a method for controlling a vehicle to stay on a slope according to another embodiment of the present disclosure.

[0015] Figure 5 FIG. is a schematic curve diagram of an example of a process for controlling a vehicle to stay on a slope according to an embodiment of the present disclosure.

[0016] Figure 6 FIG. is a schematic curve diagram of another example of a process for controlling a vehicle to stay on a slope according to an embodiment of the present disclosure.

[0017] Figure 7 FIG. is a schematic curve diagram of yet another example of a process for controlling a vehicle to stay on a slope according to an embodiment of the present disclosure.

[0018] Figure 8 FIG. is a schematic block diagram of an apparatus for controlling a vehicle to stay on a slope according to an embodiment of the present disclosure.

[0019] Figure 9 FIG. is a schematic block diagram of an example of an example device suitable for implementing an embodiment of the present disclosure.

[0020] In each of the drawings, the same or corresponding reference numerals denote the same or corresponding parts. DETAILED DESCRIPTION

[0021] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0022] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0023] The hill-hold function of a vehicle is used to prevent the vehicle from rolling forward or backward when the vehicle stops on a slope (for example, due to road congestion, etc.). Usually, when the vehicle stops on a slope, the hill-hold function is automatically triggered when it is detected that the user (for example, the driver) releases the deceleration pedal of the vehicle. When the hill-hold function is enabled, the hill-hold function is automatically exited when it is detected that the driver steps on the accelerator pedal or the deceleration pedal of the vehicle. However, the hill-hold function may be exited by mistake because, for example, the driver may accidentally touch the accelerator pedal or the deceleration pedal of the vehicle while waiting in the vehicle, which may cause the driver to be unable to brake the vehicle in time, resulting in unexpected rolling, thereby posing a safety hazard to the vehicle on the slope.

[0024] At least to address the above and other potential problems, an embodiment of the present disclosure provides a method for hill-holding control of a vehicle. The method includes detecting an exit operation for exiting the hill-holding function when the hill-holding function of the vehicle is enabled. The method also includes determining whether the exit operation is an erroneous operation in response to detecting the exit operation. The method also includes maintaining the hill-holding function of the vehicle in response to determining that the exit operation is an erroneous operation. According to the method of an embodiment of the present disclosure, when the hill-holding function of the vehicle has been enabled, it is possible to avoid erroneous exit of the hill-holding function due to erroneous operation by judging the exit operation for the hill-holding function, thereby effectively improving the safety of the vehicle when it is on a slope.

[0025] The embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. Figure 1 1 is a schematic diagram of an example environment 100 in which devices and / or methods according to embodiments of the present disclosure may be implemented. Figure 1As shown, in the exemplary environment 100, vehicles 121, 122, 123, and 124 are located on the slope road 110. Vehicles 121 and 122 are traveling upward on the slope road 110, and vehicles 123 and 124 are traveling downward on the slope road 110. During the driving process of these vehicles 121 - 124, in some time periods, it may be necessary to stop on the slope road due to reasons such as road congestion. For example, in some time periods, vehicles 121 and 122 may need to stop on the slope road, or in some time periods, vehicles 123 and 124 may need to stop on the slope road. When the vehicle stops on the slope road, according to an embodiment of the present disclosure, when the predetermined slope parking condition is met, the slope parking function of the vehicle can be enabled, thereby preventing the vehicle from slipping forward (for vehicles 123 and 124) or backward (for vehicles 121 and 122).

[0026] After the slope parking function is enabled, the accidental exit of the slope parking function may cause vehicle 121 or 122 to slip backward, or cause vehicle 123 or 124 to slip forward. According to an embodiment of the present disclosure, when the slope parking function is enabled, by judging the relevant operations of the user (for example, the exit operation), the accidental exit of the slope parking function can be avoided, thereby improving the safety of the vehicle on the slope road. In the following examples, this will be further described.

[0027] Figure 2 The flowchart of a method 200 for slope parking control of a vehicle according to an embodiment of the present disclosure is illustrated. Method 200 can be executed by Figure 1 a controller in any of the vehicles 121 - 124 shown or any controller communicatively connected to the vehicle. For example, it can be executed by the main control unit (MCU) in the vehicle. In the following, for convenience, the description will be made for Figure 1 vehicle 121, but it should be understood that the vehicle in the following can be Figure 1 any one of the vehicles 121 - 124 shown or any other vehicle having a slope parking function.

[0028] As Figure 2As shown, at block 202, when the slope parking function of vehicle 121 is enabled (the enabling of the slope parking function will be further described in the examples below), an exit operation for exiting the slope parking function is detected. In some embodiments, the exit operation may indicate an operation related to a target pedal of vehicle 121. In some embodiments, the target pedal is the acceleration pedal of vehicle 121 or the deceleration pedal of vehicle 121. In some embodiments, the exit operation may indicate an operation of stepping on the target pedal. In some embodiments, at block 202, the exit operation may be detected by detecting an opening signal related to the target pedal. In some embodiments, the opening signal may indicate the depth to which the target pedal (acceleration pedal or deceleration pedal) is stepped on.

[0029] At block 204, in response to detecting the exit operation at block 202, it is determined whether the exit operation is a misoperation. Figure 3 FIG. illustrates a schematic diagram of a process 300 for determining whether an exit operation is a misoperation according to an embodiment of the present disclosure. Figure 3 The process 300 in can correspond to Figure 2 block 204 in. As shown in Figure 3 At block 302, it can be determined whether the opening signal is less than a predetermined opening threshold. As an example, the predetermined opening threshold may indicate the percentage of the total stepping depth corresponding to the depth to which the target pedal is stepped on. For example, the predetermined opening threshold may correspond to 10% of the total stepping depth. It should be understood that the value of the predetermined opening threshold here is only an example, and any other value of the predetermined opening threshold can be set according to actual needs. In addition, it should be understood that the percentage form of the predetermined opening threshold here is only an example, and any other form of the predetermined opening threshold can be used according to actual needs.

[0030] If it is determined at block 302 that the opening signal is less than the predetermined opening threshold, at block 304, it can be determined that the exit operation is a misoperation. Here, the opening signal being less than the predetermined opening threshold may indicate that the depth to which the target pedal is stepped on is small (e.g., less than 10% of the total stepping depth), which may indicate that the target pedal (acceleration pedal or deceleration pedal) may have been stepped on by the user inadvertently, so such an operation can be regarded as a misoperation. If it is determined at block 302 that the opening signal is greater than or equal to the predetermined opening threshold, at block 306, it can be determined that the exit operation is not a misoperation. Here, the opening signal being greater than or equal to the predetermined opening threshold may indicate that the depth to which the target pedal is stepped on is large (e.g., greater than or equal to 10% of the total stepping depth), which may indicate that the target pedal may have been stepped on by the driver intentionally, so such an operation can be not regarded as a misoperation.

[0031] If it is determined at block 204 as described above that the exit operation is a misoperation, reference may be returned to Figure 2, at block 206, the hill-hold function of vehicle 121 is maintained. Thereby, the following situation can be avoided: once a user's exit operation (e.g., stepping on the accelerator pedal or the brake pedal) is detected, the hill-hold function is exited, resulting in unexpected vehicle rollback, which poses a safety hazard to the vehicle on slope 110.

[0032] According to the above method 200 of the present disclosure, when the hill-hold function of vehicle 121 has been enabled, by determining the exit operation for the hill-hold function, the accidental exit of the hill-hold function due to misoperation can be avoided, thereby effectively improving the safety when vehicle 121 is on a slope. In addition, in order to be able to exit the hill-hold function according to the normal exit operation of the user (e.g., the driver), in some embodiments, method 200 according to the present disclosure may further include: in response to determining at block 204 that the exit operation is not a misoperation, exiting the hill-hold function.

[0033] In addition, in some embodiments, the above method 200 may further include starting the hill-hold function of vehicle 121 as follows: in response to vehicle 121 meeting a predetermined hill-hold condition, enabling the hill-hold function. In some embodiments, the predetermined hill-hold condition may include: vehicle 121 is on a slope. As an example, based on the pulling force of vehicle 121 and the speed of vehicle 121, it can be determined whether vehicle 121 is on a slope. For example, when it is detected that the pulling force of vehicle 121 is large while the speed of the vehicle is much less than the speed corresponding to the pulling force, it can be determined that vehicle 121 is on a slope. In some embodiments, the predetermined hill-hold condition may further include: the speed of vehicle 121 is less than a predetermined speed threshold. It should be understood that the predetermined speed threshold can be any value set according to actual needs. In some embodiments, the predetermined hill-hold condition may further include: the gear signal of vehicle 121 does not match the speed direction of vehicle 121. For example, when the gear of the vehicle is in the D gear but the speed direction of the vehicle is backward, or when the gear of the vehicle is in the R gear but the speed direction of the vehicle is forward, it can be determined that the gear signal of the vehicle does not match the speed direction. In some embodiments, the above predetermined hill-hold condition may be determined by the MCU of vehicle 121. For example, the MCU of vehicle 121 can combine the signals it can directly obtain and the signals obtained from other units (e.g., vehicle control unit (VCU)) to determine whether the above predetermined hill-hold condition is met.

[0034] In addition, to ensure that the slope parking function of the vehicle 121 can be safely enabled, in some embodiments, before enabling the slope parking function, it can also be determined whether the relevant components of the vehicle 121 can work properly. Therefore, in some embodiments, the predetermined slope parking conditions may further include: the components related to the slope parking function of the vehicle 121 are in a fault-free state. It should be understood that the components related to the slope parking function may vary according to the type of the vehicle 121. In some embodiments, these components may at least include the MCU and the motor of the vehicle 121.

[0035] In one example, if it is detected that the motor of the vehicle 121 has a three-phase short circuit or a three-phase open circuit, etc., it can be determined that the motor is in a fault state, and at this time, the vehicle 121 can be regarded as not suitable for enabling the slope parking function. In another example, if it is detected that the MCU of the vehicle 121 has overvoltage or overcurrent, etc., it can be determined that the MCU is in a fault state, and at this time, the vehicle 121 can be regarded as not suitable for enabling the slope parking function. In yet another example, if it is detected that the power switch module (for example, IGBT module or Sic module) of the MCU of the vehicle 121 has overheating, etc., it can be determined that the MCU is in a fault state, and at this time, the vehicle 121 can be regarded as not suitable for enabling the slope parking function. Thus, it is possible to avoid serious faults that may be caused to the vehicle 121 by forcibly enabling the slope parking function, which further ensures the safety of the vehicle 121.

[0036] After the slope parking function of the vehicle 121 is enabled as described above, in some embodiments, the duration of enabling the slope parking function can also be timed, so as to exit the slope parking function when the timing value reaches a predetermined time threshold, facilitating further operations of the user (for example, the driver) on the vehicle 121. The following will refer to Figure 4 Describe such embodiments. Figure 4 FIG. illustrates a flowchart of a method 400 for slope parking control of a vehicle 121 according to another embodiment of the present disclosure.

[0037] As Figure 4As shown, at block 402, the hill-hold function can be enabled in response to the vehicle 121 meeting the predetermined hill-hold condition as described above. At block 406, in response to the vehicle 121 enabling the hill-hold function, the duration of the hill-hold function being enabled can be timed. At block 408, it can be determined whether the timed value of the timing reaches a predetermined time threshold. It should be understood that the predetermined time threshold can be a value set according to actual needs. As an example, the predetermined time threshold can be a value set according to the performance of the motor control system of the vehicle. For example, since the motor of the vehicle is stalled during the hill-hold process, the current in the motor is relatively large. In this case, if the hill-hold time is too long, it may cause the motor to overheat, and then there is a risk of motor damage, posing a safety hazard to the vehicle. Therefore, different vehicles can have their respective maximum hill-hold times that do not cause damage to the motor control system, and the predetermined time threshold setting can be set to be less than or equal to this maximum hill-hold time. It should be understood that this is only an example, and other factors can also be considered to set the predetermined time threshold. If at block 408 it is determined that the timed value of the timing reaches the predetermined time threshold, then at operation 418, the hill-hold function can be exited. Additionally, in some embodiments, method 400 according to the present disclosure can further include: stopping the timing at block 406 in response to exiting the hill-hold function.

[0038] If at block 408 it is determined that the timed value of the timing does not reach the predetermined time threshold, then during the execution of blocks 406 and 408, blocks 404, 410, 412, 414, and 416 can be executed. At block 404, an exit operation can be detected. For example, it can be detected as described above with reference to Figure 2 block 202 in. At block 410, it can be determined whether an exit operation is detected. If at block 410 it is determined that no exit operation is detected, then in the case where the timed value does not reach the predetermined time threshold, the process can return to block 404 to continue detecting the exit operation. If at block 410 it is determined that an exit operation is detected, then at block 412, it can be determined whether the exit operation is a misoperation. For example, it can be determined as described above with reference to Figure 3 described. If at block 412 it is determined that the exit operation is not a misoperation, then at block 418, the hill-hold function can be exited.

[0039] If at block 412 it is determined that the exit operation is a misoperation, then in some embodiments, starting from the time when the misoperation is determined, the timing at block 406 can be restarted, as Figure 4As shown by the dashed arrow in []. Thus, the slope holding time can be extended for the user of vehicle 121. In some other embodiments, when it is determined at block 412 that the exit operation is a misoperation, the timing at block 406 can continue. In other words, the misoperation of the user can be ignored. Thus, the desired slope holding duration set for vehicle 121 can be maintained. In these ways, the slope holding function of vehicle 121 can be maintained in case of misoperation, thereby improving the safety of vehicles 121-124 located on slopes.

[0040] In addition, to improve the accuracy of controlling the slope holding function, in some embodiments, when it is determined at block 412 that the exit operation is a misoperation, the exit operation can be detected again at block 414, and it is determined at block 416 whether the exit operation is detected again. If it is determined at block 416 that the exit operation is not detected again, then when the timing value does not reach the predetermined time threshold, the process can return to block 414 to continue detecting the exit operation. If the exit operation is detected again at block 416, the slope holding function can be exited at block 418.

[0041] Thus, the following situation can be avoided: the user hopes to exit the slope holding function by stepping on the target pedal, but due to the small stepping depth, the stepping operation is determined as a misoperation, so that the slope holding function cannot be exited according to the user's intention. In this case, since the user usually tries to step on the target pedal again, exiting the slope holding function in a timely manner when the user's stepping operation is detected again can further improve the accuracy of controlling the slope holding function.

[0042] The following refers to Figures 5 to 7 the illustrated curve graphs 500, 600, and 700 to describe some examples of the process of controlling the slope holding of vehicle 121. Figure 5 The schematic curve graph 500 illustrates an example of the process of controlling the slope holding of vehicle 121 according to an embodiment of the present disclosure. In Figure 5 it, the curve 501 represents the timing signal for timing the enabling duration of the slope holding function, and the curve 502 represents the opening signal related to the depth of the target pedal being stepped on. In Figure 5 it, the horizontal axis represents time T in seconds (s), and the vertical axis represents the magnitude of the related signal and can have any unit corresponding to the related signal. As Figure 5 shown, at time 5 seconds, the slope holding function is enabled and the timing starts, and the timing signal 501 starts to increase from 0. During the timing process, no exit operation is detected (for example, the target pedal is not stepped on), and the opening signal 502 remains 0. At time 20 seconds, the timing value reaches the predetermined time threshold (in the Figure 5 example, the predetermined time threshold is 15 seconds), the slope holding function exits, the timing stops, and the timing signal 501 is reset to 0.

[0043] Figure 6 Schematically illustrated is another example of a process for performing hill-hold control on vehicle 121 according to an embodiment of the present disclosure. In Figure 6 , curve 601 represents a timing signal for timing the duration of enabling the hill-hold function, and curve 602 represents an opening signal related to the depth of depression of the target pedal. In Figure 6 , the horizontal axis represents time T in seconds, and the vertical axis represents the magnitude of the relevant signal and may have any unit corresponding to the relevant signal. As Figure 6 shown, at time 5 seconds, the hill-hold function is enabled and timing starts, and the timing signal 601 starts increasing from 0.

[0044] At time 15 seconds, a malfunction occurs (e.g., the target pedal is depressed and the depth of depression is small), and the opening signal 602 is greater than 0 and less than a predetermined opening threshold. At this time, timing restarts, the timing signal 601 is reset to 0, and starts increasing from 0. Thereafter, no exit operation is detected again during the timing process. At time 30 seconds, the timing value reaches a predetermined time threshold (in the Figure 6 example, the predetermined time threshold is 15 seconds), the hill-hold function exits, the timing stops, and the timing signal 601 is reset to 0.

[0045] Figure 7 Schematically illustrated is yet another example of a process for performing hill-hold control on vehicle 121 according to an embodiment of the present disclosure. In Figure 7 , curve 701 represents a timing signal for timing the duration of enabling the hill-hold function, and curve 702 represents an opening signal related to the depth of depression of the target pedal. In Figure 7 , the horizontal axis represents time T in seconds, and the vertical axis represents the magnitude of the relevant signal and may have any unit corresponding to the relevant signal. As Figure 7 shown, at time 5 seconds, the hill-hold function is enabled and timing starts, and the timing signal 701 starts increasing from 0.

[0046] At time 15 seconds, a malfunction occurs (e.g., the target pedal is depressed and the depth of depression is small), and the opening signal is greater than 0 and less than a predetermined opening threshold. At this time, timing restarts, the timing signal 701 is reset to 0, and starts increasing from 0. Thereafter, during the timing process, at around time 26 seconds, an exit operation is detected again. At this time, the hill-hold function exits, the timing stops, and the timing signal 701 is reset to 0. It should be understood that the opening signal corresponding to the exit operation occurring at around time 26 seconds may have any value greater than, equal to, or less than the predetermined opening threshold.

[0047] It should be understood that although Figure 6 and7 An example of restarting the timing when a misoperation occurs (at time 15 seconds) is shown. However, in other embodiments, the current timing can continue as described above. In addition, it should be understood that the time values and the values of the predetermined time thresholds referred to above are only examples, and the time values and the values of the predetermined time thresholds can be any other values according to the actual situation and actual needs. Figures 5 - 7 The time values and the values of the predetermined time thresholds shown are only examples, and the time values and the values of the predetermined time thresholds can be any other values according to the actual situation and actual needs.

[0048] Figure 8 FIG. illustrates a schematic block diagram of an apparatus 800 for performing a slope parking control on a vehicle 121 according to an embodiment of the present disclosure. As Figure 8 shown, the apparatus 800 includes a detection unit 802 configured to detect an exit operation for exiting the slope parking function when the slope parking function of the vehicle is enabled. The apparatus 800 further includes a misoperation determination unit 804 configured to determine whether the exit operation is a misoperation in response to detecting the exit operation. The apparatus 800 further includes a slope parking determination unit 806 configured to maintain the slope parking function of the vehicle in response to determining that the exit operation is a misoperation.

[0049] In some embodiments, the apparatus 800 may further include an enabling unit. The enabling unit may be configured to enable the slope parking function in response to the vehicle satisfying a predetermined slope parking condition. In some embodiments, the predetermined slope parking condition may include the vehicle being on a slope road. In some embodiments, the predetermined slope parking condition may further include the speed of the vehicle being less than a predetermined speed threshold. In some embodiments, the predetermined slope parking condition may further include that the gear signal of the vehicle does not match the speed direction of the vehicle. In some embodiments, the predetermined slope parking condition may further include that the components of the vehicle related to the slope parking function are in a fault-free state.

[0050] In some embodiments, the exit operation may indicate an operation related to a target pedal of the vehicle. In some embodiments, the target pedal may be an acceleration pedal or a deceleration pedal of the vehicle. In some embodiments, the exit operation may indicate an operation of stepping on the target pedal. In some embodiments, an opening signal may indicate the depth to which the target pedal is stepped on. In some embodiments, the detection unit 802 may be configured to detect the exit operation by detecting an opening signal related to the target pedal.

[0051] In some embodiments, the misoperation determination unit 804 may be configured to determine whether the opening signal is less than a predetermined opening threshold. In some embodiments, the misoperation determination unit 804 may be configured to determine that the exit operation is a misoperation in response to the opening signal being less than the predetermined opening threshold. In some embodiments, the misoperation determination unit 804 may be configured to determine that the exit operation is not a misoperation in response to the opening signal being greater than or equal to the predetermined opening threshold.

[0052] In some embodiments, the device 800 may further include a timing unit. The timing unit may be configured to measure the duration of the enabled slope parking function in response to the vehicle enabling the slope parking function. In some embodiments, the slope parking determination unit 806 may further be configured to exit the slope parking function in response to the measured timing value reaching a predetermined time threshold. In some embodiments, the timing unit may further be configured to stop timing in response to exiting the slope parking function.

[0053] In some embodiments, the timing unit may further be configured to restart timing from the time when it is determined that the exit operation is a misoperation in response to determining that the exit operation is a misoperation. In other embodiments, the timing unit may further be configured to continue the current timing in response to determining that the exit operation is a misoperation. In these cases, in some embodiments, the detection unit 802 may be configured to detect the exit operation again. In some embodiments, the slope parking determination unit 806 may further be configured to exit the slope parking function in response to detecting the exit operation again. In some embodiments, the slope parking determination unit 806 may further be configured to exit the slope parking function during the timing process in response to determining that the operation is not a misoperation.

[0054] According to the above device 800 of the present disclosure, it is possible to avoid the accidental exit of the slope parking function due to misoperation by determining the exit operation for the slope parking function when the vehicle has enabled the slope parking function, thereby effectively improving the safety when the vehicle is on a slope road.

[0055] Figure 9 A schematic block diagram of an exemplary device 900 suitable for implementing the embodiments of the present disclosure is shown. The controller described above may be implemented using the device 900. As shown, the device 900 includes a processor 901, which may execute various appropriate actions and processes according to the computer program instructions stored in the read-only memory (ROM) 902 and loaded into the random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 may also be stored. The processor 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. The input / output (I / O) interface 905 is also connected to the bus 904.

[0056] The various processes and treatments described above, such as methods 200 and 400 and process 300, may be executed by the processor 901. For example, in some embodiments, methods 200 and 400 and process 300 may be implemented as computer software programs tangibly embodied in a machine-readable medium. In some embodiments, part or all of the computer program may be loaded and / or installed onto the device 900 via the ROM 902. When the computer program is loaded into the RAM 903 and executed by the processor 901, one or more actions of methods 200 and 400 and process 300 described above may be performed.

[0057] The present disclosure may be a method, an apparatus, a system, and / or a computer program product. The computer program product may include a computer-readable storage medium having thereon computer-readable program instructions for performing various aspects of the present disclosure.

[0058] A computer-readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. A computer-readable storage medium may be, for example—but not limited to—an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanically encoded device such as a punch card or raised structures in grooves having instructions stored thereon, and any suitable combination of the foregoing. The computer-readable storage medium as used herein is not construed to be a transitory signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0059] The computer-readable program instructions described herein may be downloaded to each computing / processing device from a computer-readable storage medium or may be downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0060] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine - related instructions, microcode, firmware instructions, state - setting data, or source code or object code written in any combination of one or more programming languages, including object - oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer - readable program instructions may be executed entirely on the user's computer, partially on the user's computer, executed as a stand - alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or, alternatively, may be connected to an external computer (e.g., through the Internet using an Internet service provider). In some embodiments, by using the state information of the computer - readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field - programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer - readable program instructions to implement various aspects of the present disclosure.

Claims

1. A method for performing hill-hold control on a vehicle, comprising: when the hill-hold function of the vehicle is enabled, detecting an exit operation for exiting the hill-hold function; in response to detecting the exit operation, determining whether the exit operation is a misoperation; and in response to determining that the exit operation is a misoperation, maintaining the hill-hold function of the vehicle.

2. The method according to claim 1, wherein the exit operation indicates an operation related to a target pedal of the vehicle, the target pedal being an acceleration pedal or a deceleration pedal of the vehicle, and detecting an exit operation for exiting the hill-hold function comprises: detecting the exit operation by detecting an opening signal related to the target pedal, wherein the exit operation indicates an operation of stepping on the target pedal, and wherein the opening signal indicates the depth to which the target pedal is stepped on.

3. The method according to claim 2, wherein determining whether the exit operation is a misoperation comprises: determining whether the opening signal is less than a predetermined opening threshold; in response to the opening signal being less than the predetermined opening threshold, determining that the exit operation is a misoperation; and in response to the opening signal being greater than or equal to the predetermined opening threshold, determining that the exit operation is not a misoperation.

4. The method according to claim 1, further comprising: when the vehicle enables the hill-hold function, timing the enabled duration of the hill-hold function; in response to the timing value reaching a predetermined time threshold, exiting the hill-hold function; and in response to exiting the hill-hold function, stopping the timing.

5. The method according to claim 4, further comprising: during the timing, in response to determining that the exit operation is a misoperation, restarting the timing from the time when the misoperation is determined; detecting the exit operation again; and in response to detecting the exit operation again, exiting the hill-hold function.

6. The method according to claim 4, further comprising: during the timing, in response to determining that the exit operation is a misoperation, continuing the timing; detecting the exit operation again; and in response to detecting the exit operation again, exiting the hill-hold function.

7. The method according to claim 4, further comprising: during the timing, in response to determining that the operation is not a misoperation, exiting the hill-hold function.

8. The method according to any one of claims 1-7, further comprising: in response to the vehicle satisfying a predetermined hill-hold condition, enabling the hill-hold function, wherein the predetermined hill-hold condition includes: the vehicle is on a slope; the speed of the vehicle is less than a predetermined speed threshold; and the gear signal of the vehicle does not match the speed direction of the vehicle.

9. A device for performing hill-hold control on a vehicle, comprising: a detection unit configured to, when the hill-hold function of the vehicle is enabled, detect an exit operation for exiting the hill-hold function; a misoperation determination unit configured to, in response to detecting the exit operation, determine whether the exit operation is a misoperation; and A slope-holding determination unit configured to maintain the slope-holding function of the vehicle in response to determining that the exit operation is an accidental operation.

10. A controller, comprising: at least one processor; and a memory coupled to the at least one processor and having instructions stored thereon, the instructions when executed by the at least one processor cause the controller to perform the method according to any one of claims 1-8.

11. A vehicle comprising the controller according to claim 10.

12. A computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions are executed by a processor to implement the method according to any one of claims 1 to 8.

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