Vehicle parking comfortable starting control method, controller and vehicle

Abstract

The invention provides a vehicle parking comfortable starting control method, a controller and a vehicle, and is applied to the technical field of electric vehicles. According to the control method, when the accelerator pedal opening degree of the vehicle is larger than or equal to the first preset accelerator pedal opening degree at the first moment, the wheel end braking device is controlled to reduce the output braking torque. And then, when the braking torque output by the wheel end braking device is smaller than or equal to the first preset braking torque value at the second moment after the first moment, the driving motor is controlled to output the driving torque. On the basis, after a driver slightly steps on the accelerator pedal, the vehicle can automatically perform cooperative control on the braking torque output by the wheel end braking device and the driving torque output by the driving motor so as to timely and stably start the electric vehicle, so that the impact feeling and the pause feeling in the parking starting process are reduced, and the comfort in the parking starting process is improved; and the driving experience of the user is improved.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and particularly to a control method, a controller and a vehicle for comfortable start of a parked vehicle. Background Art

[0002] With the development of electric vehicles, users have higher and higher requirements for the comfort during the driving process of electric vehicles. Among them, in scenarios such as stopping to avoid pedestrians during the driving of electric vehicles, stopping at intersections to wait for traffic lights, and stopping in traffic jams, it is necessary to start the electric vehicle again after a short stop. When starting the electric vehicle after a short stop, the parking function of the electric vehicle will be triggered and then the electric vehicle will be started. However, current electric vehicles usually only have a parking assist function. The comfort level during the process of the driver operating the accelerator pedal to start the electric vehicle is completely determined by the driver's experience and skills. There will be jerks and the like during the parking start of the electric vehicle, which has a great impact on the driving and riding experience during the parking start process of the electric vehicle. Therefore, there is an urgent need to provide a solution to improve the comfort during the parking start process of the electric vehicle, so as to improve the user experience. Summary of the Invention

[0003] Embodiments of the present application provide a control method, a controller and a vehicle for comfortable start of a parked vehicle, so as to improve jerks and lags during the parking start process of the electric vehicle, thereby improving the comfort during the parking start process of the electric vehicle and improving the user experience.

[0004] To achieve the above object, the embodiments of the present application provide the following technical solutions.

[0005] In a first aspect, an embodiment of the present application provides a control method for comfortable start of a parked vehicle. The control method is used to control the braking torque output by the wheel-end braking device and the driving torque output by the driving motor of the vehicle during the parking start process of the vehicle. Wherein, the control method includes: when the accelerator pedal opening of the vehicle is greater than or equal to a first preset accelerator pedal opening at a first moment, controlling the wheel-end braking device to reduce the output braking torque. When the braking torque output by the wheel-end braking device is less than or equal to a first preset braking torque value at a second moment after the first moment, controlling the driving motor to output a driving torque.

[0006] During the vehicle's parking start process, when the accelerator pedal opening is greater than or equal to the first preset accelerator pedal opening, it indicates that the driver needs to start the vehicle. At this time, the vehicle actively controls the wheel-end braking device to reduce the output braking torque, which can help the vehicle gradually exit the parking brake state. Then, when the braking torque output by the wheel-end braking device decreases to less than or equal to the first preset braking torque value, the vehicle then actively controls the drive motor to output a drive torque to drive the vehicle's wheels to rotate, thereby starting the vehicle. Based on this, the driver only needs to step on the accelerator pedal to trigger the vehicle's parking start function during parking start, without having to operate the accelerator pedal by themselves to control the vehicle to complete the parking start during the vehicle's parking start, reducing the operation difficulty of parking start and avoiding start lag caused by improper driver operation. In addition, through the above control method, the jerks generated when switching the braking torque output by the wheel-end braking device and the drive torque output by the drive motor can be reduced, enabling the vehicle to start more comfortably, thereby improving the user experience.

[0007] In one implementation, the above control method further includes: at a third moment after the second moment, when the vehicle speed reaches the first preset vehicle speed, controlling the drive motor to output a first drive torque, where the first drive torque is the torque required to keep the vehicle speed at the first preset vehicle speed. At a fourth moment after the third moment, when the accelerator pedal opening is greater than or equal to the second preset accelerator pedal opening, controlling the drive torque output by the drive motor to respond to the accelerator pedal opening.

[0008] In the above implementation, when the vehicle speed reaches the first preset vehicle speed after the vehicle starts, it indicates that the vehicle can already drive normally. At this time, the vehicle actively controls the drive motor to output a first drive torque to control the vehicle to perform constant-speed cruising at the first preset vehicle speed, which can improve driving comfort. During the vehicle's constant-speed cruising, when the accelerator pedal opening is greater than the second preset accelerator pedal opening, it indicates that the driver needs to accelerate. At this time, the vehicle actively controls the drive torque output by the drive motor to respond to the accelerator pedal opening, enabling the vehicle to accelerate.

[0009] In one implementation, the above control method further includes: at any moment between the third moment and the fourth moment, when the increasing rate of the vehicle's brake pedal opening is greater than the first preset increasing rate of the brake pedal opening, controlling the drive torque output by the drive motor to be zero, and controlling the wheel-end braking device to respond to the vehicle's brake pedal opening.

[0010] In the above implementation, when the increasing rate of the brake pedal opening is greater than the first preset increasing rate of the brake pedal opening during the vehicle's constant-speed cruising at the first preset vehicle speed, it indicates that the driver is quickly stepping on the brake pedal hard. At this time, the vehicle actively controlling the drive torque output by the drive motor to be zero and controlling the wheel-end braking device to respond to the vehicle's brake pedal opening can quickly stop the vehicle, thus ensuring driving safety.

[0011] In one implementation, the above control method further includes: at any moment between the third moment and the fourth moment, when the increasing rate of the brake pedal opening of the vehicle is less than or equal to the first preset increasing rate of the brake pedal opening, controlling the vehicle speed to be inversely proportional to the brake pedal opening.

[0012] In the above implementation, when the increasing rate of the brake pedal opening is less than or equal to the first preset increasing rate of the brake pedal opening during the vehicle's constant-speed cruise at the first preset vehicle speed, it indicates that the driver is slowly stepping on the brake pedal. At this time, controlling the vehicle speed to be inversely proportional to the brake pedal opening can control the vehicle speed to decrease during the increase of the brake pedal opening, thereby ensuring driving safety.

[0013] In one implementation, the above control method further includes: at the third moment, controlling the braking torque output by the wheel-end braking device to decrease to zero.

[0014] In the above implementation, when the vehicle speed reaches the first preset vehicle speed, it indicates that the vehicle has completed parking and starting. At this time, controlling the braking torque output by the wheel-end braking device to be zero can ensure that the electric vehicle can perform constant-speed cruise at the first preset vehicle speed.

[0015] In one implementation, the above control method further includes: when the vehicle is in the uphill parking and starting condition, after the first moment, controlling the decreasing slope of the braking torque of the wheel-end braking device to be inversely proportional to the ramp angle.

[0016] When the vehicle is in the uphill parking and starting condition, the vehicle's own weight will generate resistance to the vehicle. Among them, the larger the ramp angle, the greater the resistance generated by the vehicle's own weight to the vehicle. After the first moment, the larger the decreasing slope of the braking torque of the wheel-end braking device, the faster the braking torque decreases, which is likely to cause the vehicle to roll back. In the above implementation, when the vehicle is in the uphill parking and starting condition, the decreasing slope of the braking torque of the wheel-end braking device being inversely proportional to the ramp angle can slow down the decrease of the braking torque of the wheel-end braking device when the ramp angle is larger, avoiding vehicle rollback.

[0017] In one implementation, the above control method further includes: after the first moment, controlling the decreasing rate of the braking torque of the wheel-end braking device to be proportional to the road surface adhesion coefficient.

[0018] After the vehicle starts, the greater the adhesion coefficient of the road surface, the greater the resistance generated by the road surface on the vehicle. If the reduction rate of the braking torque of the wheel-end braking device remains unchanged, the vehicle speed will increase very slowly, thus reducing the starting efficiency of the vehicle. Similarly, the smaller the adhesion coefficient of the road surface, the smaller the resistance generated by the road surface on the vehicle. If the reduction rate of the braking torque of the wheel-end braking device remains unchanged, the vehicle speed will increase too fast, affecting driving safety. Through the above solution, after the second moment, the greater the adhesion coefficient of the road surface, the greater the reduction rate of the braking torque of the wheel-end braking device. After the second moment, the smaller the adhesion coefficient of the road surface, the smaller the reduction rate of the braking torque of the wheel-end braking device. Based on this, the vehicle speed can be increased quickly and smoothly on road surfaces with different adhesion coefficients.

[0019] In one implementation, the above control method further includes: when the vehicle is in the downhill parking start condition, after the second moment, controlling the driving torque output by the drive motor to be a negative torque.

[0020] When the vehicle is in the downhill parking start condition, the weight of the vehicle itself will provide an auxiliary force along the slope downward for the vehicle. At this time, the reduction of the braking torque of the wheel-end braking device may cause the vehicle to slip. In the above implementation, controlling the driving torque output by the drive motor to be a negative torque after the second moment can balance the auxiliary force provided by the weight of the vehicle itself and prevent the vehicle from slipping.

[0021] In one implementation, the above control method further includes: at any moment between the third moment and the fourth moment, the vehicle speed is proportional to the accelerator pedal opening.

[0022] In the above implementation, at any moment between the third moment and the fourth moment, the vehicle speed being proportional to the accelerator pedal opening can timely increase the vehicle speed when the accelerator pedal opening increases during the vehicle's constant speed cruise, ensuring that the vehicle can travel at the vehicle speed expected by the driver.

[0023] In one implementation, the above control method further includes: before the fourth moment, controlling the driving torque output by the drive motor not to respond to the accelerator pedal opening. Based on this, when the accelerator pedal opening changes during the vehicle's constant speed cruise, the vehicle can continue to cruise at a constant speed, avoiding the discomfort of the constant speed cruise caused by the driver's misoperation during the constant speed cruise.

[0024] In one implementation, the above control method further includes: at any moment between the third moment and the fourth moment, the vehicle speed is equal to the first preset vehicle speed. Based on this, when the accelerator pedal opening increases but is still less than the second preset accelerator pedal opening, the vehicle can still maintain a constant speed cruise, thus improving driving comfort.

[0025] In one implementation, the above control method further includes: between the sixth moment and the fourth moment, when the brake pedal opening increases to be greater than a first preset brake pedal opening, controlling the driving motor to output a torque opposite to the wheel rotation speed, so that the driving motor is converted from a driving state to a power generation state, thereby performing regenerative braking through the driving motor to recover energy while decelerating the vehicle.

[0026] In one implementation, the above control method further includes: at a seventh moment before the first moment, when the accelerator pedal opening reaches a first preset accelerator pedal opening, and the first preset accelerator pedal opening remains unchanged from the seventh moment to the first moment.

[0027] By the above method, it is possible to execute the parking start process after the accelerator pedal opening reaches the first preset accelerator pedal opening and remains for a period of time, avoiding the driver accidentally stepping on the accelerator pedal in the parking situation and affecting driving safety.

[0028] In one implementation, when the vehicle starts on a flat road, the above control method further includes: at an eighth moment after the third moment, when the accelerator pedal opening decreases to zero and at a ninth moment after the eighth moment, when the brake pedal opening is greater than a first preset brake pedal opening, controlling the braking torque output by the wheel-end braking device to be zero, and controlling the driving torque output by the driving motor to start decreasing. At a tenth moment after the ninth moment, when the brake pedal opening starts to decrease, controlling the braking torque output by the wheel-end braking device to be zero, and controlling the driving torque output by the driving motor to start increasing from a negative torque.

[0029] In the above implementation, at an eighth moment after the third moment, when the accelerator pedal opening decreases to zero and at a ninth moment after the eighth moment, when the brake pedal opening is greater than a second preset brake pedal opening, it indicates that the driver steps on the brake pedal after releasing the accelerator pedal. At this time, the vehicle enters the regenerative braking stage, and the driving torque output by the driving motor gradually decreases to a negative torque, and decelerates through the power generation working condition. When the brake pedal opening decreases again, it indicates that the driver is releasing the brake pedal. At this time, the driving torque output by the driving motor gradually increases from the negative torque to ensure that the vehicle can continue to drive. Based on this, when releasing the accelerator pedal and stepping on the brake pedal after parking start, the vehicle can be braked through regenerative braking and energy can be recovered, thereby increasing the vehicle's endurance.

[0030] In a second aspect, an embodiment of the present application provides a controller, which controls the braking torque output by the wheel-end braking device of the vehicle and the driving torque output by the driving motor of the vehicle during the parking start process of the vehicle to implement the control method in any one of the above first aspects.

[0031] In a third aspect, an embodiment of the present application provides a vehicle, which uses the control method in any one of the above first aspects to perform a comfortable parking start.

[0032] It should be noted that the wheel-end braking device of the present application can be an electro-mechanical braking device or an electro-hydraulic braking device, etc.

[0033] Regarding the technical principles and technical effects of the above-mentioned second and third aspects, reference can be made to the description of the first aspect above, and the present application will not elaborate here. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a vehicle provided by an embodiment of the present application;

[0035] Figure 2 Another schematic diagram of a vehicle provided by an embodiment of the present application;

[0036] Figure 3 A schematic diagram of a braking system provided by an embodiment of the present application;

[0037] Figure 4 A schematic diagram of an electro-mechanical braking device provided by an embodiment of the present application;

[0038] Figure 5 A schematic diagram of a parking start control process provided by an embodiment of the present application;

[0039] Figure 6 Another schematic diagram of a parking start control process provided by an embodiment of the present application;

[0040] Figure 7 Another schematic diagram of a parking start control process provided by an embodiment of the present application;

[0041] Figure 8 Another schematic diagram of a parking start control process provided by an embodiment of the present application;

[0042] Figure 9 Another schematic diagram of a parking start control process provided by an embodiment of the present application;

[0043] Figure 10 Another schematic diagram of a parking start control process provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] In the present application, "in one embodiment" is used to give examples, illustrations or explanations. The solutions described as "in one embodiment" in the present application should not be construed as being more preferred or having more advantages than the solutions of other embodiments. Rather, the use of "in one embodiment" is intended to present the inventive concept of the present application in a specific manner.

[0045] With the development of electric vehicles, electric vehicles usually have an automatic parking function. For example, in an electric vehicle equipped with an auto vehicle hold (AVH) system, the vehicle can be automatically parked after decelerating to a stop through the AVH system. In addition, an electric vehicle with a hill hold control (HHC) function and a hill descent control (HDC) function can also help the electric vehicle automatically park when decelerating to a stop during driving on a slope. However, after the electric vehicle has completed parking, the driver needs to operate the accelerator pedal by himself / herself to start the parked vehicle. The driver's self-operation of the accelerator pedal to start the parked vehicle may cause problems such as the electric vehicle surging forward due to an excessive accelerator pedal opening, and the body experiencing a sense of jerk when the braking torque output by the wheel-end braking device and the driving torque output by the drive motor are switched, thus affecting the comfort of starting the parked electric vehicle and reducing the user's driving and riding experience.

[0046] To solve the above problems, an embodiment of the present application provides a control method, a controller, and a vehicle for comfortable starting of a parked vehicle. The above control method is used to coordinately control the braking torque output by the wheel-end braking device of the vehicle and the driving torque output by the drive motor of the vehicle during the starting process of the parked vehicle. Specifically, when the accelerator pedal opening of the vehicle is greater than or equal to a first preset accelerator pedal opening after the vehicle has parked, the above control method first controls the wheel-end braking device to reduce the output braking torque. Then, when the braking torque output by the wheel-end braking device is reduced to be less than or equal to a first preset braking torque value, the drive motor is further controlled to output a driving torque.

[0047] Based on this, when the driver steps on the accelerator pedal during the starting process of parking, the vehicle can actively reduce the braking torque output by the wheel-end braking device, and after the braking torque output by the wheel-end braking device is reduced to a certain value, the vehicle can actively control the drive motor to output a driving torque, thereby avoiding the electric vehicle from surging forward and reducing the sense of jerk when switching between the braking torque output by the wheel-end braking device and the driving torque output by the drive motor, starting the vehicle more smoothly after parking, and improving the user's driving and riding experience.

[0048] It should be noted that the wheel-end braking device of the present application can be an electromechanical braking device or an electro-hydraulic braking device, etc. An embodiment of the present application takes an electromechanical braking device as an example for illustration. The technical solutions in the embodiments of the present application will be described below with reference to the drawings.

[0049] Figure 1 A schematic diagram of a vehicle provided for an embodiment of the present application. As Figure 1As shown, vehicle 10 generally includes a drive system 100, a braking system 200, a power battery 300, and a controller 400. The drive system 100, the braking system 200, and the controller 400 are generally communicatively connected via a communication bus and interact with signals. Among them, the communication bus includes a controller area network (CAN) bus, a local interconnect network (LIN) bus, a flexray, or other types of buses, which are not limited here. In addition, the drive system 100 is used to drive the wheels of the vehicle 10 to drive the vehicle 10 to travel. The braking system 200 is used to brake the wheels of the vehicle 10 to decelerate the vehicle 10. The power battery 300 is used to supply power to the drive system 100, the braking system 200, the controller 400, etc. The controller 400 is used to control the drive system 100 and the braking system 200.

[0050] The power battery 300 in the embodiments of the present application can be a lithium-ion battery, a lithium metal battery, a lead-acid battery, a nickel-cadmium battery, a nickel-metal hydride battery, a lithium-sulfur battery, a lithium-air battery, or a sodium-ion battery, etc., which are not limited here. In terms of scale, the power battery 300 in the embodiments of the present application can be a single cell, or a battery module or a battery pack, which are not limited here. The power battery 300 can also supply power to other electrical devices in the vehicle 10, such as supplying power to the in-vehicle air conditioner, the in-vehicle player, etc.

[0051] Figure 2 Another schematic diagram of the vehicle provided by the embodiments of the present application. As Figure 2 shown, in one embodiment, the drive system 100 includes a motor controller 110, a drive motor 120, and a reducer 130. The motor controller 110 is used to receive the direct current output by the power battery 300 and output alternating current according to the control instruction sent by the controller 400 to control the drive motor 120 to output drive torque. The drive motor 120 drives the wheels of the vehicle 10 through the reducer 130.

[0052] In one embodiment, the vehicle 10 further includes a vehicle speed measurement unit 140. As Figure 2As shown, the vehicle speed measurement unit 140 is used to detect the vehicle speed of the vehicle 10. The controller 400 can actively adjust the driving torque output by the drive motor 120 during the parking start process according to the vehicle speed detected by the vehicle speed measurement unit 140. Among them, the vehicle speed measurement unit 140 selects a resolver or a vehicle speed sensor. The vehicle speed sensor usually uses a magnetoresistive sensor or a Hall effect sensor. The magnetoresistive sensor measures the vehicle speed by detecting the change in the magnetic field, while the Hall effect sensor measures the vehicle speed by detecting the voltage generated by the change in the magnetic field. The resolver is used to collect the rotational speed of the drive motor 120, and the controller 400 can calculate the vehicle speed of the vehicle 10 according to the rotational speed of the drive motor 120. Among them, because the resolver can detect the rotational speed of the drive motor more quickly and accurately, in many cases, the vehicle speed measurement unit 140 selects a resolver.

[0053] In one embodiment, still as Figure 2 shown, the vehicle 10 further includes an inertial measurement unit 150 (inertial measurement unit, IMU). Among them, the inertial measurement unit 150 can detect the acceleration of the vehicle 10. The controller 400 can actively adjust the driving torque output by the drive motor 120 according to the acceleration of the vehicle 10 detected by the inertial measurement unit 150 to achieve smooth acceleration of the vehicle 10 during the parking start process.

[0054] In one embodiment, still as Figure 2 shown, the vehicle speed measurement unit 140 and the inertial measurement unit 150 are communicatively connected to the controller 400 through the braking system 200. Of course, the vehicle speed measurement unit 140 and the inertial measurement unit 150 can also be communicatively connected to the controller 400 directly through a communication bus or through the drive system 100.

[0055] In one embodiment, the vehicle 10 further includes a parking start button 160. The parking start button 160 can be connected to the controller 400. When the driver needs the vehicle 10 to start the parking start function, the driver can press the parking start button 160. When the driver wants the vehicle 10 to exit the parking start function, the driver can press the parking start button 160 again or the parking start automatically ends when the vehicle speed of the vehicle 10 rises to a relatively high speed (for example, 10 km / h).

[0056] The braking system 200 includes a plurality of electromechanical braking devices 210. The controller 400 can output a braking signal to the electromechanical braking device 210 in response to the brake pedal opening to control the braking torque output by the electromechanical braking device 210. Among them, the brake pedal opening (also called the brake pedal stroke) is the amount of change in the stroke of the brake pedal when the driver actively steps on the brake pedal.

[0057] Figure 3A schematic diagram of the braking system provided by the embodiments of the present application. As Figure 3 shown, the vehicle 10 includes four wheels 240. The braking system 200 generally includes four electromechanical braking devices 210. The four electromechanical braking devices 210 are respectively used to brake the four wheels 240 of the vehicle 10. Each electromechanical braking device 210 is used to brake one wheel 240 of the vehicle 10.

[0058] In one embodiment, the two wheels 240 corresponding to the front axle 220 of the vehicle 10 are the left front wheel FL and the right front wheel FR, and the two wheels 240 corresponding to the rear axle 230 of the vehicle 10 are the left rear wheel RL and the right rear wheel RR. Two electromechanical braking devices 210 are respectively used to brake the left front wheel FL and the right front wheel FR of the vehicle 10, and the other two electromechanical braking devices 210 are respectively used to brake the left rear wheel RL and the right rear wheel RR of the vehicle 10.

[0059] As Figure 3 shown, the vehicle 10 includes one or more controllers 400. Among them, after the driver steps on the brake pedal, the controller 400 sends a braking signal to the electromechanical braking device 210 to control the electromechanical braking device 210 to output a braking torque, thereby braking the corresponding wheel. In the embodiments of the present application, each controller 400 is used to output a braking signal to control one or more electromechanical braking devices 210.

[0060] In one embodiment, the braking system 200 includes one controller 400 and four electromechanical braking devices 210. After the driver steps on the brake pedal, the controller 400 controls the four electromechanical braking devices 210 to respectively brake the four wheels 240 of the vehicle 10.

[0061] In one embodiment, the braking system 200 includes two controllers 400 and four electromechanical braking devices 210. After the driver steps on the brake pedal, one controller 400 controls two electromechanical braking devices 210 to brake the two front wheels of the vehicle 10, and the other controller 400 controls the other two electromechanical braking devices 210 to brake the two rear wheels of the vehicle 10.

[0062] In one embodiment, the braking system 200 includes four controllers 400 and four electromechanical braking devices 210. After the driver steps on the brake pedal, the four controllers 400 respectively control the four electromechanical braking devices 210 to brake the four wheels 240 of the electric vehicle.

[0063] In one embodiment, when the vehicle 10 brakes, the drive motor 120 can also generate a torque opposite to the rotational speed direction of the wheel during the rotation of the wheel, so as to perform regenerative braking and recover energy while braking. Among them, when performing regenerative braking, as the braking duration increases, the drive torque output by the drive motor 120 will gradually decrease to a negative torque. After the brake pedal is released or when the energy recovery reaches the upper limit, the drive torque output by the drive motor 120 will start to increase from the negative torque.

[0064] Figure 4 This is a schematic diagram of an electromechanical braking device provided by an embodiment of the present application. As Figure 4 shown, when the electromechanical braking device 210 selects an electromechanical braking device, the electromechanical braking device 210 includes a wheel-end controller 211, a braking motor 212, and an actuator 213. The wheel-end controller 211 is used to receive the braking signal output by the controller 400 and control the braking motor 212 to output a braking torque. The actuator 213 is used to drive the caliper to clamp the brake disc of a corresponding wheel according to the braking torque output by the braking motor 212.

[0065] In one embodiment, the wheel-end controller 211 in the electromechanical braking device 210 includes the motor controller 110 in the drive system 100.

[0066] In one embodiment, the above-mentioned controller 400 is a central controller in the vehicle 10, a vehicle control unit (VCU), or a domain control unit (DCU) in the vehicle 10.

[0067] During the driving process of the vehicle 10, short-term stops are required in scenarios such as when the driver stops to avoid pedestrians, stops at intersections to wait for traffic lights, and stops in traffic jams. After the vehicle 10 stops in the above scenarios, the automatic parking system will control the electromechanical braking device 210 to output a braking torque to perform parking braking on the wheels of the vehicle 10. In addition, when temporarily stopping during the uphill or downhill process of the vehicle, the ramp parking function of the vehicle 10 will also be triggered, so as to control the braking motor 212 in the electromechanical braking device 210 to output a braking torque to perform parking braking on the wheels of the vehicle 10.

[0068] When the vehicle 10 is in the parking brake state, the vehicle 10 is stationary, and at this time, the electro-mechanical braking device 210 outputs a constant braking torque. When the vehicle 10 needs to be restarted, the driver needs to operate the accelerator pedal according to driving experience by himself / herself to complete the parking start of the vehicle 10. However, when starting from a standstill, if the driver cannot accurately grasp the opening of the accelerator pedal, it may cause the vehicle 10 to lurch forward or there may be a sense of jerk during the switching process between the braking torque output by the braking motor 212 in the electro-mechanical braking device 210 and the driving torque output by the driving motor 120, affecting the comfort of starting from a standstill.

[0069] The control method for comfortable starting of vehicle parking provided by the embodiments of the present application can actively control the electro-mechanical braking device 210 to reduce the output braking torque when the driver steps on the accelerator pedal and the opening of the accelerator pedal is greater than or equal to the first preset accelerator pedal opening. Then, when the braking torque output by the electro-mechanical braking device 210 is less than or equal to the first preset braking torque value, the driving motor 120 is actively controlled to output a driving torque. Based on this, during the parking start process, it is possible to control the smooth switching between the braking torque output by the electro-mechanical braking device 210 and the driving torque output by the driving motor 120, so that the vehicle 10 can accelerate more smoothly, thereby improving the comfort of starting from a standstill.

[0070] In one embodiment, when the vehicle 10 is in the uphill parking start condition and the downhill parking start condition, the weight of the vehicle 10 will affect the start of the vehicle 10, resulting in the vehicle 10 slipping. Therefore, the vehicle 10 can also adopt a targeted control strategy for the braking torque output by the braking motor 212 in the electro-mechanical braking device 210 and the driving torque output by the driving motor 120 according to the influence of the weight of the vehicle 10 on the parking start in the uphill parking start condition and the downhill parking start condition. For example, when the driving motor 120 outputs a driving torque in the uphill parking start condition and the downhill parking start condition, the reduction value of the braking torque is less than the reduction value of the braking torque during flat road driving, so as to avoid the vehicle 10 slipping due to too large a reduction value of the braking torque.

[0071] In one embodiment, when some emergency conditions occur during the parking start process (for example, the driver quickly steps on the brake pedal), the vehicle 10 should respond to the emergency conditions to adjust the braking torque output by the electro-mechanical braking device 210 and / or the driving torque output by the driving motor 120.

[0072] To facilitate understanding of the control method, controller and vehicle for comfortable starting of vehicle parking provided by the embodiments of the present application, the following combines the first moment t 1 、the second moment t 2 、the third moment t 3 、the fourth moment t 4 、the fifth moment t5 and the sixth moment t 6 the seventh moment t 7 and the eighth moment t 8 will illustrate the vehicle parking comfort start control method, controller and vehicle provided by the embodiments of the present application.

[0073] Figure 5 It is a schematic diagram of a parking start control process provided by an embodiment of the present application.

[0074] During the driving of the vehicle 10, when the driver steps on the brake pedal to control the vehicle 10 to decelerate to a stop, the controller 400 controls the electromechanical brake device 210 of the vehicle 10 to output the first parking brake torque Ta. Then, at the first moment t 1 when the accelerator pedal opening of the vehicle 10 increases to be greater than or equal to the first preset accelerator pedal opening α1, the controller 400 controls the electromechanical brake device 210 to reduce the output brake torque. At the first moment t 1 at the second moment t 2 after that, when the brake torque output by the electromechanical brake device 210 is less than or equal to the first preset brake torque value T1, the controller 400 controls the drive motor 120 to output a drive torque.

[0075] At the first moment t 1 when the accelerator pedal opening of the vehicle 10 increases to be greater than or equal to the first preset accelerator pedal opening α1, it indicates that the electric vehicle needs to perform a parking start. At this time, keeping the brake torque output by the electromechanical brake device 210 unchanged will cause the drive torque output by the drive motor 120 to be very large in the subsequent process to start the vehicle, affecting the parking start efficiency of the vehicle 10.

[0076] As Figure 5 shown, in the embodiments of the present application, at the first moment t 1 when the accelerator pedal opening increases to the first preset accelerator pedal opening α1, the controller 400 actively controls the electromechanical brake device 210 to reduce the output brake torque. Based on this, it can ensure that the vehicle can be started when the drive motor 120 outputs a smaller drive torque in the subsequent process.

[0077] Then, at the first moment t 1 at the second moment t 2When the braking torque output by the electromechanical braking device 210 is less than or equal to the first preset braking torque value T1, it indicates that the braking torque output by the electromechanical braking device 210 is relatively small at this time. At this time, the controller 400 controls the drive motor 120 to output a relatively small drive torque, which can accelerate the vehicle 10 more smoothly and avoid start-up lag caused by improper driver operation. In addition, through the above controller method, the sense of jerk generated when switching between the braking torque output by the electromechanical braking device and the drive torque output by the drive motor can be reduced, enabling the vehicle to start more comfortably, thereby improving the user experience.

[0078] In the embodiment of the present application, the above first preset accelerator pedal opening α1 is set to a relatively small value, for example, 10% of the total accelerator pedal opening. When the vehicle 10 is in the flat road parking start condition, the above first preset braking torque value T1 can be a very small value. Among them, when the vehicle 10 is in the flat road parking start condition, the first preset braking torque value T1 can be a calibration value set according to the weight of the vehicle 10 and the road surface adhesion coefficient. The embodiment of the present application does not make specific limitations on this.

[0079] When the vehicle 10 is in the uphill parking start condition or the downhill parking start condition, because the weight of the vehicle 10 has a more significant impact on the start of the vehicle 10, the above first preset braking torque value T1 should be set to a larger value in the uphill parking start condition or the downhill parking start condition. Among them, the first preset braking torque value T1 can be calibrated according to various influencing factors such as the weight of the vehicle, the ramp angle, and the road surface adhesion coefficient. The embodiment of the present application does not make specific limitations on this.

[0080] In one embodiment, at the third moment t 2 after the second moment t 3 when the vehicle speed reaches the first preset vehicle speed V1, the controller 400 controls the drive motor 120 to output the first drive torque M1. Among them, the first drive torque M1 is the torque required for the vehicle 10 to maintain the vehicle speed at the first preset vehicle speed V1. At the third moment t 3 after the fourth moment t 4 when the accelerator pedal opening is greater than the second preset accelerator pedal opening α2, the controller 400 controls the drive torque output by the drive motor 120 to respond to the accelerator pedal opening.

[0081] Still as Figure 5 shown, at the third moment t 2 after the second moment t 3 when the vehicle speed of the vehicle reaches the first preset vehicle speed V1, it indicates that the vehicle 10 has started. At this time, the controller 400 controls the drive motor 120 to output the first drive torque M1 to enable the vehicle 10 to cruise at a constant speed at the first preset vehicle speed V1, which can reduce the operation difficulty of the driver and further improve the ride experience.

[0082] At the third moment t 3 At the fourth moment t after that 4 When the accelerator pedal opening is greater than or equal to the second preset accelerator pedal opening α2, it indicates that the driver hopes the vehicle 10 to accelerate at this time. At this time, the controller 400 controls the driving torque output by the drive motor 120 to increase in response to the increase in the accelerator pedal opening.

[0083] In one embodiment, still as Figure 5 shown, after the accelerator pedal opening increases to the second preset accelerator pedal opening α2, the controller 400 controls the drive motor 120 to increase the output driving torque in response to the increase in the accelerator pedal opening to increase the vehicle speed of the vehicle 10. Among them, because there will be a certain time delay when the controller 400 adjusts the driving torque output by the drive motor 120 after obtaining that the accelerator pedal opening increases to be greater than or equal to the second preset accelerator pedal opening α2, the moment when the driving torque output by the drive motor 120 increases is slightly later than the moment when the accelerator pedal opening increases. Among them, the above time delay is usually in milliseconds or microseconds, and the specific value of the time delay can be determined according to parameters such as the communication time delay between the controller 400 and the drive motor 120, the calculation frequency of the controller 400, and the response speed of the drive motor 120. The embodiments of the present application do not make specific limitations here.

[0084] Then, at the fourth moment t 4 At t after that 41 When the vehicle speed of the vehicle 10 reaches the second preset vehicle speed V2, the controller 400 controls the drive motor 120 to output the second driving torque M2 to ensure that the vehicle 10 can continue to cruise at a constant speed at the second preset vehicle speed V2, thereby reducing the operation difficulty of the driver.

[0085] In one embodiment, the controller 400 controls the braking torque output by the electromechanical braking device 210 to decrease to zero at the third moment t 3

[0086] At the third moment t 3 When the braking torque output by the electromechanical braking device 210 is greater than zero, the driving force generated by the driving torque output by the drive motor 120 on the vehicle will be affected by the braking torque, resulting in too small an acceleration of the vehicle 10, so that the vehicle 10 3 cannot accelerate to the first preset vehicle speed V1 at the third moment t, reducing the starting efficiency of the vehicle 10 when parking.

[0087] In the embodiments of the present application, the controller 400 is at the third moment t 3 ​When the braking torque output by the electromechanical braking device 210 is reduced to zero, the vehicle speed of the vehicle 10 will no longer be affected by the braking torque. The controller 400 can more smoothly control the vehicle 10 to cruise at a first preset vehicle speed V1 by the driving torque output by the driving motor 120, thereby improving the starting efficiency of the vehicle 10 when starting from a parked state.

[0088] In one embodiment, at a seventh moment t 1 before a first moment t 7 the accelerator pedal opening reaches a first preset accelerator pedal opening α1, and from a fifth moment t 7 to the first moment t 1 the accelerator pedal opening remains unchanged.

[0089] Still as Figure 5 shown, at the seventh moment t 1 before the first moment t 7 the accelerator pedal opening reaching the first preset accelerator pedal opening α1 indicates that the accelerator pedal opening after the driver steps on the accelerator pedal has reached the trigger condition for starting from a parked state. However, during the driving process of the vehicle 10, the driver may accidentally step on the accelerator pedal, resulting in the accelerator pedal opening reaching the first preset accelerator pedal opening α1. At this time, the controller 400 controlling the electromechanical braking device 210 to reduce the output braking torque to perform a parked start may cause a safety accident.

[0090] In the embodiment of the present application, the controller 400 controls the electromechanical braking device 210 to reduce the output braking torque to perform a parked start when the accelerator pedal opening reaches the first preset accelerator pedal opening α1 at the seventh moment t 7 and the accelerator pedal opening remains unchanged from the seventh moment t 7 to the first moment t 1 Based on this, it is possible to perform coordinated control of the electromechanical braking device 210 and the driving motor 120 to complete a parked start when the driver's true intention is to start from a parked state, and avoid the controller 400 starting the vehicle 10 from a parked state when the driver accidentally steps on the accelerator pedal, which affects driving safety.

[0091] In one embodiment, still as Figure 5 shown, at any moment between a third moment t 3 and a fourth moment t 4 the vehicle speed of the vehicle 10 is equal to the first preset vehicle speed V1.

[0092] In the embodiment of the present application, between the third moment t 3 and the fourth moment t 4At any moment in between, the controller 400 controls the vehicle speed of the vehicle 10 to be equal to the first preset vehicle speed V1. It can control the vehicle 10 to perform constant-speed cruising at the first preset vehicle speed V1 while keeping the accelerator pedal and the brake pedal unchanged, thereby reducing the operation difficulty of the driver and reducing the energy consumption of the vehicle 10 at the same time.

[0093] In one embodiment, the controller 400 controls the reduction rate of the braking torque of the electromechanical braking device 210 to be proportional to the road surface adhesion coefficient at the first moment t 1 After that.

[0094] During the driving process of the vehicle 10, it will be affected by the road surface resistance. Among them, the road surface resistance is related to the road surface adhesion coefficient and the weight of the vehicle 10. When the weight of the vehicle 10 remains unchanged, the greater the road surface adhesion coefficient, the greater the road surface resistance. In the case of greater road surface resistance, keeping the reduction rate of the braking torque of the electromechanical braking device 210 unchanged will cause the vehicle 10 to start slowly.

[0095] In the embodiment of the present application, at the first moment t 1 After that, controlling the reduction rate of the braking torque of the electromechanical braking device 210 to be proportional to the road surface adhesion coefficient can increase the reduction rate of the braking torque when the road surface adhesion coefficient increases, so as to ensure that the vehicle 10 can complete the parking start within the same time when starting to park on roads with different road surface adhesion coefficients.

[0096] In one embodiment, at any moment between the third moment t 3 and the fourth moment t 4 The vehicle speed of the vehicle 10 is proportional to the accelerator pedal opening.

[0097] The third moment t 3 to the fourth moment t 4 An increase in the accelerator pedal opening between them indicates that the driver wants to control the vehicle 10 to accelerate. At this time, the controller 400 should control the vehicle speed of the vehicle 10 to increase so that the vehicle can accelerate in time.

[0098] Figure 6 This is another schematic diagram of the parking start control process provided by the embodiment of the present application.

[0099] As Figure 6 Shown, at any moment between the third moment t 3 and the fourth moment t 4 At the moment t 31 The driver further steps on the accelerator pedal, causing the brake pedal opening to gradually increase. The controller 400 controls the drive torque output by the drive motor 120 to gradually increase, so that the vehicle speed of the vehicle 10 gradually increases.

[0100] In the embodiment of the present application, at the third moment t 3 to the fourth moment t 4 If the accelerator pedal opening increases at any moment between them, it indicates that the driver wants to control the vehicle 10 to accelerate. At this time, the controller 400 can, in response to the increase in the accelerator pedal opening, control the drive motor 120 to increase the output drive torque, thereby increasing the vehicle speed of the vehicle 10 and enabling the vehicle 10 to further accelerate.

[0101] In one embodiment, before the fourth moment t 4 the controller 400 controls the drive torque output by the drive motor 120 not to respond to the accelerator pedal opening.

[0102] Figure 7 Another schematic diagram of the parking start control process provided by the embodiment of the present application.

[0103] As Figure 7 shown, at the third moment t 3 to the fourth moment t 4 at the moment t 31 between them, the driver further steps on the accelerator pedal, causing the brake pedal opening to gradually increase. The controller 400 still controls the drive motor 120 to output the first drive torque M1, thereby ensuring that the vehicle 10 can still cruise at a constant speed according to the first preset vehicle speed V1.

[0104] In the embodiment of the present application, after the vehicle 10 starts cruising at a constant speed at the third moment t 3 the driver may accidentally step on the accelerator pedal. At this time, the controller 400 controls the drive torque output by the drive motor 120 not to respond to the accelerator pedal opening, which can ensure safer driving of the vehicle 10.

[0105] In addition, on rainy or icy roads, when the vehicle 10 completes parking start and starts cruising at a constant speed, if the driver continues to step on the accelerator pedal, it may cause a safety accident. At this time, the controller 400 can also control the drive torque output by the drive motor 120 not to respond to the accelerator pedal opening.

[0106] Furthermore, in various situations where low-speed driving is required during driving, such as when the distance between the vehicle and the vehicle in front is relatively close or the rain is too heavy, the controller 400 can also control the drive torque output by the drive motor 120 not to respond to the accelerator pedal opening to ensure driving safety.

[0107] In one embodiment, at the third moment t 3 to the fourth moment t 4At any moment between them, when the increasing rate of the brake pedal opening of the vehicle 10 is greater than the first preset increasing rate of the brake pedal opening (for example, 10 mm / s), control the driving torque output by the driving motor 120 to be zero, and control the electromechanical braking device 210 to respond to the brake pedal opening of the vehicle.

[0108] At the third moment t 3 To the fourth moment t 4 When the increasing rate of the brake pedal opening at any moment between them is greater than the first preset increasing rate of the brake pedal opening, it indicates that the driver is quickly stepping on the brake pedal. At this time, usually an emergency occurs during the driving of the vehicle 10. For driving safety, the controller 400 needs to stop the driving motor 120 from outputting the driving torque to avoid increasing the braking distance of the vehicle 10. At the same time, the controller 400 controls the electromechanical braking device 210 to output the corresponding braking torque in response to the brake pedal opening of the vehicle, so as to quickly stop the vehicle 10 in time and avoid causing a safety accident.

[0109] In one embodiment, at the third moment t 3 To the fourth moment t 4 At any moment between them, when the increasing rate of the brake pedal opening of the vehicle 10 is less than or equal to the first preset increasing rate of the brake pedal opening (for example, 10 mm / s), the controller 400 controls the vehicle speed of the vehicle 10 to be inversely proportional to the brake pedal opening, that is, at the third moment t 3 To the fourth moment t 4 The greater the increasing rate of the brake pedal opening at any moment between them, the smaller the vehicle speed of the vehicle 10.

[0110] In the embodiment of the present application, when the increasing rate of the brake pedal opening is less than or equal to the first preset increasing rate of the brake pedal opening, it indicates that the driver is gently stepping on the brake pedal. At this time, the controller 400 can gradually increase the braking torque output by the electromechanical braking device 210 in response to the increasing brake pedal opening, so as to slowly decelerate the vehicle 10.

[0111] Figure 8 It is another schematic diagram of the parking start control process provided by the embodiment of the present application.

[0112] As Figure 8 shown, when the vehicle 10 is in the uphill parking start working condition, after the driver steps on the brake pedal to control the vehicle 10 to decelerate to a stop during the driving of the vehicle 10, the controller 400 controls the electromechanical braking device 210 of the vehicle 10 to output the second parking braking torque Tb. Among them, the second parking braking torque Tb is greater than the above-mentioned first parking braking torque Ta.

[0113] When the vehicle 10 is in the uphill parking start condition, the weight of the vehicle 10 will generate a resistance force on the vehicle 10 in the direction opposite to the driving direction. To prevent the vehicle 10 from rolling backward, the second parking brake torque Tb should be greater than the first parking brake torque Ta.

[0114] Based on the same technical principle as the flat road parking start, at the first moment t 1 When the accelerator pedal opening of the vehicle 10 increases to be greater than or equal to the first preset accelerator pedal opening α1, the controller 400 controls the electromechanical braking device 210 to reduce the output braking torque. At the first moment t 1 At the second moment t after that 2 When the braking torque output by the electromechanical braking device 210 is less than or equal to the preset braking torque value T2, the controller 400 controls the drive motor 120 to output a drive torque.

[0115] Among them, the drive torque output by the drive motor 120 in the uphill parking start condition should be greater than the drive torque in the flat road parking start condition. The preset braking torque value T2 in the uphill parking start condition should be greater than the first braking torque value T1 in the flat road parking start condition.

[0116] Based on the same technical principle, at the second moment t 2 At the third moment t after that 3 When the vehicle speed reaches the first preset vehicle speed V1, the controller 400 controls the drive motor 120 to output a drive torque M1a. Among them, the drive torque M1a is the torque required for the vehicle 10 to maintain the first preset vehicle speed V1.

[0117] It should be understood that because in the uphill parking start condition, the weight of the vehicle 10 will generate a resistance force. Therefore, the above drive torque M1a should be greater than the first drive torque M1 in the flat road parking start condition. Based on this, in the uphill parking start condition, the controller 400 can still control the vehicle speed of the vehicle 10 to maintain at the first preset vehicle speed V1 for constant speed cruise, thereby reducing the operation difficulty of the driver.

[0118] Based on the same technical principle, still as Figure 8 shown, in the uphill parking start condition, at t 41 the drive torque M2a output by the drive motor 120 at the moment is greater than the second drive torque M2. Based on this, when the accelerator pedal opening increases, in the uphill parking start condition, the controller 400 can still control the vehicle 10 to perform constant speed cruise at the vehicle speed V2 in the flat road parking start condition at t 41 moment.

[0119] In an embodiment, the vehicle 10 is in the uphill parking start condition, at the first moment t 1After that, the decreasing slope of the braking torque output by the electromechanical braking device 210 is inversely proportional to the ramp angle.

[0120] When the vehicle 10 is in the uphill parking start condition, the greater the ramp angle, the greater the resistance generated by the weight of the vehicle 10. When the ramp angle increases, keeping the braking torque decreasing rate unchanged will result in the first moment t 1 After that, the braking force provided by the braking torque output by the electromechanical braking device 210 is less than the sum of the resistance generated by the weight of the vehicle 10 and the road surface resistance, resulting in the vehicle 10 rolling backward.

[0121] In the embodiment of the present application, the decreasing slope of the braking torque of the electromechanical braking device 210 is inversely proportional to the ramp angle, so that when the ramp angle is larger, the first moment t 1 After that, the smaller the decreasing rate of the braking torque. Based on this, at the same moment after the first moment t 1 The braking torque output by the electromechanical braking device 210 at a smaller ramp angle is less than the braking torque output at a larger ramp angle, which can prevent the vehicle 10 from rolling backward when the resistance generated by the weight of the vehicle 10 increases after the ramp angle increases.

[0122] Figure 9 Another schematic diagram of the parking start control process provided by the embodiment of the present application.

[0123] As Figure 9 shown, when the vehicle 10 is in the downhill parking start condition, at the first moment t 1 After that, at the second moment t 2 When the braking torque output by the electromechanical braking device 210 is less than or equal to the preset braking torque value T2, the controller 400 controls the driving torque output by the driving motor 120 to be a negative torque.

[0124] When the vehicle 10 is in the downhill parking start condition, the weight of the vehicle 10 will generate an auxiliary force on the vehicle 10 in the same direction as the driving direction. At this time, when the braking torque output by the electromechanical braking device 210 decreases, the vehicle 10 will move downward even if the driving motor 120 does not output a driving torque. However, when the braking torque output by the electromechanical braking device 210 is too small, it may cause the vehicle 10 to lurch forward. Therefore, in order to prevent the vehicle 10 from lurching forward when the braking torque output by the electromechanical braking device 210 decreases, the driving motor 120 outputs a negative torque at the second moment t 2 The output negative torque M1b. Among them, the sum of the braking force provided by the negative torque for the vehicle 10 and the braking force provided by the braking torque for the vehicle should be less than the auxiliary force provided by the weight of the vehicle, so as to ensure that the vehicle 10 can start parking normally.

[0125] Based on the same technical principle, at the second moment t 2The third moment t afterwards 3 When the vehicle speed of the vehicle reaches the first preset vehicle speed V1, the controller 400 controls the drive motor 120 to output a negative torque M1b. Among them, because the weight of the vehicle 10 will generate an auxiliary force on the vehicle 10 in the same direction as the driving direction, the absolute value of the negative torque M1b is less than the first driving torque M1.

[0126] Furthermore, still as Figure 9 shown, when the vehicle 10 is in the downhill parking start condition, at the third moment t 3 The fourth moment t afterwards 4 When the accelerator pedal opening is greater than the second preset accelerator pedal opening α2, the controller 400 controls the drive torque output by the drive motor 120 to gradually increase from the negative torque M1b in response to the increase in the accelerator pedal opening.

[0127] Then, at the fourth moment t 4 Afterwards at t 41 When the vehicle speed of the vehicle 10 reaches the second preset vehicle speed V2, the controller 400 controls the drive motor 120 to output a drive torque M2b to ensure that the vehicle 10 can continue to cruise at a constant speed at the second preset vehicle speed V2, thereby reducing the driver's operation difficulty. Among them, because the weight of the vehicle 10 will generate an auxiliary force on the vehicle 10 in the same direction as the driving direction, the drive torque M2b is less than the second driving torque M2.

[0128] In one embodiment, at the fifth moment t 3 Between the fourth moment t 4 The fifth moment t 5 , the accelerator pedal opening decreases, and the controller 400 controls the drive motor 120 to reduce the output drive torque. At the fifth moment t 5 Between the fourth moment t 4 The sixth moment t 6 , the vehicle speed of the vehicle decreases to the second preset vehicle speed V2, and the controller 400 controls the drive motor to output the second drive torque M2. The second drive torque M2 is the torque required for the vehicle speed to be maintained at the second preset vehicle speed V2.

[0129] Figure 10 This is another schematic diagram of the parking start control process provided by the embodiment of the present application.

[0130] As Figure 10 shown, at the third moment t 3After the accelerator pedal opening decreases, it indicates that the driver is releasing the accelerator pedal. At this time, the vehicle 10 needs to decelerate. Therefore, the controller 400 controls the braking torque output by the electromechanical braking device 210 to be zero, and controls the driving torque output by the driving motor 120 to gradually decrease, and the vehicle speed of the vehicle 10 gradually decreases. Among them, because there is a communication delay and an operation delay between the controller 400 and the driving motor 120, the moment when the driving torque output by the driving motor 120 decreases is slightly later than the moment when the accelerator pedal opening decreases.

[0131] The vehicle 10 is driving under a flat road condition, at the third moment t 3 At the eighth moment t after that 8 The accelerator pedal opening decreases to zero, the vehicle speed of the vehicle 10 decreases to V3, and the controller 400 controls the driving motor 120 to output the third driving torque M3. Among them, the third driving torque M3 is the torque required for the vehicle speed of the vehicle 10 to be maintained at V3.

[0132] In the above embodiment, after the accelerator pedal opening decreases to zero, the controller 400 controls the vehicle 10 to continue constant-speed cruising at the vehicle speed V3. Based on this, the driver only needs to release the accelerator pedal to reduce the vehicle speed of the vehicle 10 during the driving process, and the vehicle 10 can still perform constant-speed cruising after decelerating, which reduces the operation difficulty of the driver. In addition, the constant-speed cruising of the vehicle 10 can also reduce energy consumption, thereby increasing the driving range of the vehicle 10.

[0133] In one embodiment, at the ninth moment t after the eighth moment t 8 At the ninth moment t after that 9 The braking pedal opening is greater than the first preset braking pedal opening β1, the controller controls the braking torque output by the electromechanical braking device 210 to be zero, and controls the driving torque output by the driving motor 120 to start decreasing.

[0134] When the vehicle 10 is driving in a congested section or following a vehicle closely, in order to ensure driving safety, the driver may step on the braking pedal to control the vehicle 10 to decelerate after the vehicle 10 starts. However, controlling the electromechanical braking device 210 by the controller 400 to increase the output braking torque will cause waste of kinetic energy and increase the wear of the brake disc.

[0135] In the embodiment of the present application, still as Figure 10 shown, at the ninth moment t after the eighth moment t 8 At the ninth moment t after that 9After the brake pedal opening degree is greater than the first preset brake pedal opening degree β1, the braking torque output by the electromechanical braking device 210 is zero, and the controller 400 controls the drive motor 120 to switch from the driving state to the power generation state. At this time, the drive motor 10 generates a torque opposite to the wheel rotation speed as the wheel rotates, causing the driving torque output by the drive motor 120 to gradually decrease to a negative torque, thereby recovering the kinetic energy of the vehicle 10 through regenerative braking. In addition, the zero braking torque output by the electromechanical braking device 210 does not cause wear to the brake disc, extending the service life of the brake disc.

[0136] In one embodiment, at the ninth moment t 9 At the tenth moment t after that 10 The brake pedal opening degree starts to decrease, the controller 400 controls the braking torque output by the electromechanical braking device 210 to be zero, and controls the driving torque output by the drive motor 120 to start increasing from the negative torque.

[0137] In the embodiment of the present application, at the ninth moment t 9 At the tenth moment t after that 10 The decrease in the brake pedal opening degree indicates that the driver is releasing the brake pedal. At this time, the drive motor 120 switches from the power generation state to the driving state, the controller 400 controls the driving torque of the drive motor 120 to gradually increase from the negative torque, and the vehicle speed of the vehicle 10 slowly decreases. When the vehicle speed of the vehicle 10 decreases to the vehicle speed V4, the controller 400 controls the drive motor 120 to output the driving torque M4, thereby ensuring that the vehicle 10 can cruise at a constant speed according to the vehicle speed V4, reducing energy consumption while reducing the driver's operation difficulty.

[0138] Furthermore, when at the tenth moment t 10 At the fourth moment t after that 4 The accelerator pedal opening degree is greater than or equal to the second preset accelerator pedal opening degree α2, and the controller 400 can continue to control the driving torque output by the drive motor 120 in response to the accelerator pedal opening degree, which is not elaborated in the embodiment of the present application.

[0139] In summary, the embodiment of the present application provides a control method, a controller, and a vehicle for comfortable starting of a parked vehicle. The above control method can actively reduce the braking torque output by the electromechanical braking device 210 after the accelerator pedal opening degree is greater than the first preset accelerator pedal opening degree during the parked vehicle starting process, and actively control the drive motor 120 to output the driving torque when the above braking torque decreases to the preset braking torque value, thereby avoiding the vehicle from surging forward during the parked vehicle starting process while reducing the jerks during the switching of the driving torque and the braking torque, improving the comfort of the parked vehicle starting process, and thus improving the user experience.

[0140] In the embodiments provided in the present application, each functional module may be integrated in one device, or each module may exist physically alone, or two or more modules may be integrated in one device.

[0141] As described above, the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method for comfortable parking start of a vehicle, characterized in that: The control method is used to control the braking torque output by the wheel end brake device of the vehicle and the driving torque output by the driving motor of the vehicle during the parking start process of the vehicle, and the control method includes: At a first moment, the accelerator pedal opening of the vehicle is greater than or equal to a first preset accelerator pedal opening, controlling the wheel-end brake device to reduce the output braking torque; At a second moment after the first moment, the braking torque output by the wheel-end braking device is less than or equal to a first preset braking torque value, and the driving motor is controlled to output driving torque.

2. The control method according to claim 1, characterized in that: The control method further comprises: At a third moment after the second moment, the speed of the vehicle reaches a first preset speed, controlling the drive motor to output a first drive torque, where the first drive torque is a torque required for the speed of the vehicle to be maintained at the first preset speed; At a fourth moment after the third moment, the accelerator pedal opening is greater than or equal to a second preset accelerator pedal opening, and the driving torque output by the driving motor is controlled in response to the accelerator pedal opening.

3. The control method according to claim 2, characterized in that: The control method further comprises: At any moment between the third moment and the fourth moment, the vehicle's brake pedal opening increase rate is greater than a first preset brake pedal opening increase rate, the drive torque output by the drive motor is controlled to be zero, and the wheel-end braking device is controlled to respond to the vehicle's brake pedal opening.

4. The control method according to claim 2, characterized in that: The control method further comprises: At any moment between the third moment and the fourth moment, the brake pedal opening increase rate of the vehicle is less than or equal to a first preset brake pedal opening increase rate, and the vehicle speed is controlled to be inversely proportional to the brake pedal opening.

5. The control method according to any one of claims 2 to 4, characterized in that: The control method further comprises: At the third moment, the braking torque output by the wheel end braking device is controlled to be reduced to zero.

6. The control method according to any one of claims 1 to 5, characterized in that: The control method further comprises: The vehicle is in an uphill parking start condition, and after the first moment, the braking torque reduction slope of the wheel end braking device is controlled to be inversely proportional to the slope angle.

7. The control method according to any one of claims 1 to 6, characterized in that: The control method further comprises: After the first moment, the braking torque reduction rate of the wheel end braking device is controlled to be proportional to the road surface adhesion coefficient.

8. The control method according to any one of claims 1 to 7, characterized in that: The control method further comprises: When the vehicle is in a downhill parking start condition, the driving torque output by the driving motor is controlled to be a negative torque at the second moment.

9. The control method according to any one of claims 2 to 7, characterized in that: The control method further comprises: At any time between the third time and the fourth time, the vehicle speed is proportional to the accelerator pedal opening.

10. The control method according to any one of claims 2 to 7, characterized in that: The control method further comprises: Before the fourth time, the driving torque output by the driving motor is controlled not to respond to the accelerator pedal opening.

11. The control method according to any one of claims 2 to 7, characterized in that: The control method further comprises: At any moment between the third moment and the fourth moment, the vehicle speed is equal to the first preset vehicle speed.

12. The control method according to any one of claims 1 to 11, characterized in that: The control method further comprises: The accelerator pedal opening reaches the first preset accelerator pedal opening at a seventh moment before the first moment, and the first preset accelerator pedal opening remains unchanged from the seventh moment to the first moment.

13. The control method according to any one of claims 2 to 12, characterized in that: The control method further comprises: At an eighth moment after the third moment, the accelerator pedal opening is reduced to zero, and at a ninth moment after the eighth moment, the brake pedal opening is greater than a first preset brake pedal opening, the braking torque output by the wheel-end brake device is controlled to be zero, and the driving torque output by the driving motor is controlled to start to decrease; At a tenth moment after the ninth moment, the brake pedal opening starts to decrease, the braking torque output by the wheel end brake device is controlled to be zero, and the driving torque output by the driving motor is controlled to increase from a negative torque.

14. A controller, characterized in that: The controller controls the vehicle during a parking start process of the vehicle to implement the control method according to any one of claims 1 to 13.

15. A vehicle, characterized in that: The vehicle performs parking comfort starting using the control method described in any one of claims 1 to 13.

Images