Control method and device of hill-holding mode, computer equipment, readable storage medium and program product

Abstract

The invention relates to a hill-holding mode control method and device, computer equipment, a readable storage medium and a program product. The method comprises the following steps: if a vehicle running state signal meets a preset hill-holding condition, determining an accumulated duration of a motor hill-holding mode within a preset time range before a current moment; if the accumulated duration does not exceed a first duration threshold value, a motor hill-holding instruction is output, and the motor hill-holding instruction is used for controlling the vehicle to be switched to a motor hill-holding mode; or if the accumulated duration exceeds the first duration threshold value, an electronic parking brake (EPB) hill-holding instruction is output, and the EPB hill-holding instruction is used for controlling the vehicle to be switched to the EPB hill-holding mode. By adopting the method, the reliability of the slope parking mode of the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly to a control method, device, computer device, readable storage medium and program product for a slope parking mode. Background Art

[0002] With the popularization of electric vehicles and hybrid vehicles, the slope parking system, as an important part of vehicle safety and user experience, has been widely applied in vehicles. By automatically preventing the vehicle from rolling backward on a slope, it significantly improves driving safety and convenience, especially in complex environments such as urban congested roads and mountain roads. The slope parking system not only reduces the driver's operation burden but also reduces the potential accident risk caused by operation errors.

[0003] However, the motor slope parking systems in related technologies usually output a certain torque by controlling the drive motor when the vehicle is stationary to maintain the vehicle's stability on a slope. However, it may cause the phenomenon of motor overheating due to the motor being in a zero-speed working state for a long time, resulting in the problem of low reliability of the vehicle's slope parking mode. Summary of the Invention

[0004] Based on this, it is necessary to provide a control method, device, computer device, readable storage medium and program product for a slope parking mode that can improve the reliability of the slope parking mode of a vehicle in view of the above technical problems.

[0005] In a first aspect, the present application provides a control method for a slope parking mode, including:

[0006] If the vehicle operating state signal meets the preset slope parking condition, determine the cumulative duration in the motor slope parking mode within a preset time range before the current moment;

[0007] If the cumulative duration does not exceed the first duration threshold, output a motor slope parking instruction, where the motor slope parking instruction is used to control the vehicle to switch to the motor slope parking mode; or,

[0008] If the cumulative duration exceeds the first duration threshold, output an electronic parking brake system (EPB) slope parking instruction, where the EPB slope parking instruction is used to control the vehicle to switch to the EPB slope parking mode.

[0009] In one of the embodiments, the vehicle operating state signal includes the state of an insulated gate bipolar transistor (IGBT), the vehicle gear signal, the handbrake signal, and the motor speed. The step of determining the cumulative duration in the motor slope parking mode within a preset time range before the current moment when the vehicle operating state signal meets the preset slope parking condition includes:

[0010] If the state of the IGBT satisfies the condition of being in the on state, the vehicle gear signal is not in neutral, the handbrake signal is a signal indicating that the handbrake is not pulled up, and the motor speed is within a preset speed range, it is determined that the vehicle running state signal satisfies the preset slope parking condition, and the cumulative duration in the motor slope parking mode within a preset time range before the current moment is determined.

[0011] In one embodiment, if the cumulative duration does not exceed a first duration threshold, outputting a motor slope parking instruction includes:

[0012] If the cumulative duration does not exceed the first duration threshold, enter the slope parking timing mode; when the duration of entering the slope parking timing mode reaches a second duration threshold and the vehicle running state signal satisfies the preset slope parking condition, output a motor slope parking instruction.

[0013] In one embodiment, the method further includes:

[0014] If the duration of entering the motor slope parking mode is greater than a third duration threshold, output a temporary exit instruction, and the temporary exit instruction is used to control the vehicle to switch to the temporary exit slope parking mode;

[0015] Store the number of times the vehicle switches to the temporary exit slope parking mode. If the number is greater than a number threshold, output an EPB slope parking instruction.

[0016] In one embodiment, the method further includes:

[0017] If the vehicle is in the motor slope parking mode and the motor temperature is greater than a preset temperature threshold, output the EPB slope parking instruction.

[0018] In one embodiment, the vehicle running state signal further includes one or more of the target torque of the vehicle motor, the foot brake duration, and the motor fault level. The method further includes:

[0019] When the vehicle is in the motor slope parking mode, if at least one of the following conditions is satisfied: the target torque is greater than the slope parking torque, the state of the IGBT is in the off state, the foot brake duration is greater than a fourth duration threshold, the handbrake signal is a signal indicating that the handbrake is pulled up, the vehicle gear signal is in neutral, and the motor fault level is greater than a preset level, it is determined that the vehicle running state signal satisfies the preset non-slope parking condition, and then output a non-slope parking instruction, and the non-slope parking instruction is used to control the vehicle to switch to the non-slope parking mode; or,

[0020] When the vehicle is in the EPB hill-holding mode, if at least one of the following conditions is met: the target torque is greater than the hill-holding torque, the duration of the foot brake is greater than the fourth duration threshold, and the handbrake signal is a pulled-up handbrake signal, it is determined that the vehicle operating state signal meets the preset non-hill-holding condition, and the non-hill-holding command is output; or,

[0021] When the vehicle is in the temporarily exiting the hill-holding mode, if the handbrake signal is a pulled-up handbrake signal, it is determined that the vehicle operating state signal meets the preset non-hill-holding condition, and the non-hill-holding command is output.

[0022] In a second aspect, the present application further provides a control device for a hill-holding mode, including:

[0023] A determination module, configured to determine the cumulative duration in the motor hill-holding mode within a preset time range before the current moment if the vehicle operating state signal meets the preset hill-holding condition;

[0024] An output module, configured to output a motor hill-holding command if the cumulative duration does not exceed the first duration threshold, where the motor hill-holding command is used to control the vehicle to switch to the motor hill-holding mode; or,

[0025] The output module is further configured to output an electronic parking brake system (EPB) hill-holding command if the cumulative duration exceeds the first duration threshold, where the EPB hill-holding command is used to control the vehicle to switch to the EPB hill-holding mode.

[0026] In a third aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0027] If the vehicle operating state signal meets the preset hill-holding condition, determine the cumulative duration in the motor hill-holding mode within a preset time range before the current moment;

[0028] If the cumulative duration does not exceed the first duration threshold, output a motor hill-holding command, where the motor hill-holding command is used to control the vehicle to switch to the motor hill-holding mode; or,

[0029] If the cumulative duration exceeds the first duration threshold, output an electronic parking brake system (EPB) hill-holding command, where the EPB hill-holding command is used to control the vehicle to switch to the EPB hill-holding mode.

[0030] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0031] If the vehicle operation status signal meets the preset slope parking condition, determine the cumulative duration in the motor slope parking mode within a preset time range before the current moment;

[0032] If the cumulative duration does not exceed the first duration threshold, output a motor slope parking instruction for controlling the vehicle to switch to the motor slope parking mode; or,

[0033] If the cumulative duration exceeds the first duration threshold, output an electronic parking brake system (EPB) slope parking instruction for controlling the vehicle to switch to the EPB slope parking mode.

[0034] In a fifth aspect, the present application also provides a computer program product, including a computer program which, when executed by a processor, implements the following steps:

[0035] If the vehicle operation status signal meets the preset slope parking condition, determine the cumulative duration in the motor slope parking mode within a preset time range before the current moment;

[0036] If the cumulative duration does not exceed the first duration threshold, output a motor slope parking instruction for controlling the vehicle to switch to the motor slope parking mode; or,

[0037] If the cumulative duration exceeds the first duration threshold, output an electronic parking brake system (EPB) slope parking instruction for controlling the vehicle to switch to the EPB slope parking mode.

[0038] The above control method, device, computer device, readable storage medium, and program product for the slope parking mode determine the cumulative duration in the motor slope parking mode within a preset time range before the current moment when it is determined that the vehicle operation status signal meets the preset slope parking condition, determine the slope parking type of the vehicle according to the cumulative duration, if the cumulative duration does not exceed the first duration threshold, control the vehicle to switch to the motor slope parking mode, and if the cumulative duration exceeds the first duration threshold, control the vehicle to switch to the EPB slope parking mode. Determining the slope parking type of the vehicle according to the cumulative duration before the vehicle needs to enter the slope parking mode avoids overheating or other damages caused by the cumulative working load of the motor when the motor enters the slope parking mode for a long time or frequently, ensures the safe operation of the motor, improves the reliability of the vehicle in the slope parking mode, and further guarantees the safety of the vehicle. Description of the Drawings

[0039] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the accompanying drawings required for the description of the embodiments of the present application or related technologies. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0040] Figure 1 It is a schematic structural diagram of a vehicle controller in an embodiment;

[0041] Figure 2 It is a schematic flowchart of a control method for the slope-holding mode in an embodiment;

[0042] Figure 3 It is a schematic flowchart of a control method for the slope-holding mode in an embodiment;

[0043] Figure 4 It is a schematic block diagram of a control device for the slope-holding mode in an embodiment;

[0044] Figure 5 It is an internal structure diagram of a computer device in an embodiment. Specific embodiments

[0045] In order to make the objectives, technical solutions, and advantages of the present application clearer, the following further details the present application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] The control method for the slope-holding mode provided by the embodiments of the present application can be applied to, for example, Figure 1 the vehicle controller shown. The vehicle controller may include a vehicle controller and a motor controller, and data interaction can be carried out between the vehicle controller and the motor controller. The vehicle controller is used to collect various sensor signals of the vehicle, monitor and analyze the operating state of the vehicle in real time to obtain an analysis result; the vehicle controller can also generate a control instruction based on the analysis result and send it to the motor controller. The motor controller can receive the control instruction, drive the motor to work, and the motor controller can also monitor the operating state of the motor and send the motor operating state to the motor controller.

[0047] In an exemplary embodiment, as Figure 2 shown, a control method for the slope-holding mode is provided. Taking this method applied to Figure 1 the vehicle controller as an example for description, in this embodiment, the method includes the following steps:

[0048] Step 201: If the vehicle operation status signal meets the preset slope parking condition, determine the cumulative duration in the motor slope parking mode within a preset time range before the current moment.

[0049] Among them, the vehicle operation status signal can be a set of signals reflecting the real-time operation status of the vehicle. The preset slope parking condition can be used to judge whether the vehicle needs to be in a slope parking scenario.

[0050] Specifically, the vehicle controller can obtain the vehicle operation status signal from the sensors of each vehicle in real time or each time the preset acquisition period is reached, and judge whether the vehicle operation status signal meets the preset slope parking condition. If the vehicle operation status signal meets the preset slope parking condition, it is determined that the vehicle needs to be in a slope parking state.

[0051] The vehicle controller can store the moment when the vehicle switches to the motor slope parking mode to obtain stored data, that is, the stored data includes the vehicle mode data corresponding to each moment respectively. In this way, when the vehicle controller determines that the current condition is met, it can obtain the vehicle mode data corresponding to each moment within the preset time range before the current moment, and perform statistical processing to obtain the cumulative duration of the vehicle in the motor slope parking mode. The specific duration of the preset time range can be determined according to the actual application scenario and is not specifically limited here. For example, the preset time range can be 5 minutes. It should be understood that this is only for example and does not constitute a specific limitation.

[0052] Step 202: If the cumulative duration does not exceed the first duration threshold, output a motor slope parking instruction.

[0053] Among them, the motor slope parking instruction is used to control the vehicle to switch to the motor slope parking mode. The specific value of the first duration threshold is determined according to parameters such as the rated parameters of the motor and is not specifically limited here. For example, the first duration threshold can be 2 minutes. It should be understood that this is only for example and does not constitute a specific limitation.

[0054] Specifically, if the cumulative duration does not exceed the first duration threshold, the motor controller in the vehicle controller can output a motor slope parking instruction to the motor, control the motor of the vehicle to switch to the motor slope parking mode, and at the same time the motor controller can send a motor slope parking signal to the vehicle controller, and this motor slope parking signal is used to inform the vehicle controller that the vehicle is in the motor slope parking mode.

[0055] Step 203: If the cumulative duration exceeds the first duration threshold, output an electronic parking brake system (EPB) slope parking instruction.

[0056] Among them, the electronic parking brake system (Electric Parking Brake, EPB) slope parking instruction is used to control the vehicle to switch to the EPB slope parking mode. The EPB slope parking mode is a passive EPB slope parking mode.

[0057] Specifically, if the cumulative duration exceeds the first duration threshold, the vehicle controller in the vehicle control unit outputs an EPB parking slope command and controls the vehicle to enter the passive EPB parking slope mode based on the EPB parking slope command.

[0058] For the above control method of the parking slope mode, when it is determined that the vehicle operation state signal meets the preset parking slope condition, the cumulative duration in the motor parking slope mode within the preset time range before the current moment is determined. According to the cumulative duration, the parking slope type of the vehicle is determined. If the cumulative duration does not exceed the first duration threshold, the vehicle is controlled to switch to the motor parking slope mode. If the cumulative duration exceeds the first duration threshold, the vehicle is controlled to switch to the passive EPB parking slope mode. Determining the parking slope type of the vehicle according to the cumulative duration before the vehicle needs to enter the parking slope mode avoids overheating or other damages caused by the cumulative working load of the motor when the motor enters the parking slope mode for a long time or frequently, ensures the safe operation of the motor, improves the reliability of the vehicle in the parking slope mode, and thus guarantees the safety of the vehicle.

[0059] In an exemplary embodiment, the specific implementation process of step 201, "If the vehicle operation state signal meets the preset parking slope condition, determine the cumulative duration in the motor parking slope mode within the preset time range before the current moment", may include:

[0060] If the state of the IGBT is in the on state, the vehicle gear signal is not in neutral, the handbrake signal is the signal of not pulling up the handbrake, and the motor speed is within the preset speed range, it is determined that the vehicle operation state signal meets the preset parking slope condition, and the cumulative duration in the motor parking slope mode within the preset time range before the current moment is determined.

[0061] Among them, the vehicle operation state signal includes the state of the Insulated Gate Bipolar Transistor (IGBT), the vehicle gear signal, the handbrake signal, and the motor speed. The state of the IGBT being in the on state can indicate that the motor can work and enter the parking slope through the motor; the vehicle gear signal not being in neutral can indicate that the power transmission between the motor and the wheels is not cut off, and the parking slope torque of the motor can be transmitted to the wheels to complete the motor parking slope; the handbrake signal being the signal of not pulling up the handbrake can indicate that the driver has not pulled up the handbrake; when the motor speed is within the preset speed range, for the Drive (D) gear, the motor speed is less than the first threshold, or for the Reverse (R) gear, the motor speed is greater than the second threshold. The first threshold is a negative integer, and the second value is a positive integer. The specific values of the first threshold and the second threshold can be determined according to the specific application scenario. For example, the first threshold can be -50 r / min, and the second threshold can be 50 r / min. It should be understood that this does not constitute a limitation here and is only for explanation.

[0062] Specifically, if the state of the IGBT in the vehicle operating state signal is in the on state, and the vehicle gear signal is not in neutral, and the handbrake signal is the signal of not pulling up the handbrake, and the motor speed is within the preset speed range, the vehicle controller determines that the vehicle operating state signal meets the preset slope parking condition, and the vehicle needs to be in the slope parking mode. The vehicle controller determines the cumulative duration in the motor slope parking mode within a preset time range before the current moment.

[0063] In this embodiment, by determining whether each vehicle operating state signal meets the preset slope parking condition and judging whether the vehicle needs to park on a slope through multiple vehicle operating state signals, the accuracy of slope parking judgment is improved, and the reliability of the vehicle slope parking mode is improved.

[0064] In an exemplary embodiment, the specific implementation process of step 202, "if the cumulative duration does not exceed the first duration threshold, then output the motor slope parking instruction", may include:

[0065] If the cumulative duration does not exceed the first duration threshold, enter the slope parking timing mode; when the duration of entering the slope parking timing mode reaches the second duration threshold and the vehicle operating state signal meets the preset slope parking condition, output the motor slope parking instruction.

[0066] Specifically, if the cumulative duration does not exceed the first duration threshold, the vehicle controller enters the slope parking timing mode. When the duration of entering the slope parking timing mode reaches the second duration threshold and within the duration range of being in the slope parking timing mode, the vehicle operating state signal still meets the preset slope parking condition, the motor controller in the vehicle controller outputs the motor slope parking instruction to control the vehicle to be in the motor slope parking mode. The second duration threshold can be determined according to the actual application scenario. For example, the second duration threshold can be 0.03s. It should be understood that this is only for illustration here and does not constitute a specific limitation.

[0067] If any one of the signals in the vehicle operating state signal changes during the process of being in the slope parking timing mode, it is determined that the vehicle operating state signal does not meet the preset slope parking condition, and the vehicle controller exits the slope parking timing mode and outputs a non-slope parking instruction, and the non-slope parking instruction is used to control the vehicle to enter the non-slope parking mode.

[0068] In addition, after the motor enters the motor slope parking mode, the motor controller can output a motor slope parking mode signal and send the motor slope parking mode signal to the vehicle controller. The vehicle controller can determine based on the motor slope parking mode signal that the vehicle enters the motor slope parking mode.

[0069] In this embodiment, by entering the slope-holding timing mode before switching to the motor slope-holding mode, when the duration of entering the slope-holding timing mode reaches the second duration threshold and within the duration range of the slope-holding timing mode, the vehicle operation state signal still meets the preset slope-holding condition, the motor controller in the vehicle controller outputs a motor slope-holding instruction, improving the reliability of the slope-holding mode.

[0070] In an exemplary embodiment, the control method of the slope-holding mode further includes:

[0071] If the duration of entering the motor slope-holding mode is greater than the third duration threshold, output a temporary exit instruction; store the number of times the vehicle switches to the temporary exit slope-holding mode, and if the number is greater than the number threshold, output an EPB slope-holding instruction.

[0072] Among them, the temporary exit instruction is used to control the vehicle to switch to the temporary exit slope-holding mode. The third duration threshold can be determined according to the actual application scenario and is not limited here. For example, it can be 5 s. It should be understood that this is only for illustration and does not constitute a specific limitation.

[0073] Specifically, the vehicle controller can store the continuous duration of the motor switching to the motor slope-holding mode and the number of times of switching to the motor slope-holding mode. If the current duration of entering the motor slope-holding mode is greater than the third duration, the motor controller outputs a temporary exit instruction, and controls the motor to switch to the temporary exit slope-holding mode through the temporary exit instruction. If the duration of switching to the temporary exit slope-holding mode is greater than the duration threshold and no handbrake pulling signal is detected during the timing process, the motor controller can output a motor slope-holding instruction. The duration threshold can be 0.1 s. It should be understood that this is only for illustration and does not constitute a specific limitation.

[0074] When the vehicle controller detects that the number of times of switching to the temporary exit slope-holding mode is greater than the number threshold, it outputs an EPB slope-holding instruction. In addition, the vehicle controller can also record the cumulative duration of switching to the temporary exit slope-holding mode, and output an EPB slope-holding instruction when the cumulative duration is greater than the duration threshold. The number threshold can be determined according to the actual application scenario. For example, it can be 2 times, and the duration threshold is 15 s. It should be understood that this is only for illustration and does not constitute a specific limitation.

[0075] In this embodiment, by storing the duration of switching to the motor slope-holding mode, when the duration meets the duration threshold, a temporary exit instruction is output, and the number of times of switching to the temporary exit motor slope-holding mode is recorded. When the number is greater than the number threshold, the vehicle is controlled to enter the passive EPB slope-holding mode, alleviating the overheating phenomenon of the motor caused by the long-term zero-speed operation state when the motor is in the motor slope-holding mode, reducing the temperature rise of the motor, and improving the service life of the motor.

[0076] In an exemplary embodiment, the control method for the hill-hold mode further includes:

[0077] If the vehicle is in the motor hill-hold mode and the motor temperature is greater than a preset temperature threshold, an EPB hill-hold instruction is output.

[0078] Specifically, the vehicle controller can obtain the motor temperature of the motor. If the vehicle is in the motor hill-hold mode and the motor temperature is greater than a preset temperature threshold, an EPB hill-hold instruction is output to control the vehicle to switch from the motor hill-hold mode to the passive EPB hill-hold mode. The preset temperature threshold can be determined according to the actual operating conditions of the motor. For example, it can be 130°C. It should be understood that the example here does not constitute a specific limitation.

[0079] In this embodiment, by controlling the vehicle to switch from the motor hill-hold mode to the EPB hill-hold mode when the motor temperature is greater than the preset temperature threshold, the motor temperature is prevented from being too high, and the service life of the motor is improved.

[0080] In an exemplary embodiment, the control method for the hill-hold mode further includes:

[0081] When the vehicle is in the motor hill-hold mode, if at least one of the following conditions is met: the target torque is greater than the hill-hold torque, the IGBT is in the off state, the foot brake duration is greater than a fourth duration threshold, the handbrake signal is a pulled-up handbrake signal, the vehicle gear signal is in neutral, and the motor fault level is greater than a preset level, it is determined that the vehicle operating state signal meets the preset non-hill-hold condition, and a non-hill-hold instruction is output; or,

[0082] When the vehicle is in the passive EPB hill-hold mode, if at least one of the following conditions is met: the target torque is greater than the hill-hold torque, the foot brake duration is greater than a fourth duration threshold, and the handbrake signal is a pulled-up handbrake signal, it is determined that the vehicle operating state signal meets the preset non-hill-hold condition, and a non-hill-hold instruction is output; or,

[0083] When the vehicle is in the temporarily exited hill-hold mode, if the handbrake signal is a pulled-up handbrake signal, it is determined that the vehicle operating state signal meets the preset non-hill-hold condition, and a non-hill-hold instruction is output.

[0084] Among them, the vehicle operating state signal further includes one or more of the target torque of the vehicle motor, the foot brake duration, and the motor fault level. The non-slope-holding instruction is used to control the vehicle to switch to the non-slope-holding mode. That the target torque is greater than the slope-holding torque can indicate that the vehicle needs to continue driving; that the IGBT is in the off state can indicate that the motor cannot work; that the foot brake duration is greater than the fourth duration threshold can indicate that the driver subjectively intends to perform slope holding through the foot brake; that the handbrake signal is the pulled-up handbrake signal can indicate that the driver subjectively intends to perform slope holding through the handbrake; that the vehicle gear signal is in neutral can indicate that the power transmission is interrupted and the slope-holding torque of the motor cannot be transmitted to the wheels; that the motor fault level is greater than the preset level can indicate that the motor fails and cannot work, and the slope-holding function cannot be completed. The fourth duration threshold can be determined according to the actual application scenario. For example, 2s. It should be understood that the examples here are only for illustration and do not constitute specific limitations.

[0085] Specifically, when the vehicle is in the motor slope-holding mode, if at least one of the following conditions is met: the target torque is greater than the slope-holding torque, the IGBT is in the off state, the foot brake duration is greater than the fourth duration threshold, the handbrake signal is the pulled-up handbrake signal, the vehicle gear signal is in neutral, and the motor fault level is greater than the preset level, the vehicle controller can determine that the vehicle operating state signal meets the preset non-slope-holding conditions, and then output a non-slope-holding instruction.

[0086] When the vehicle is in the passive EPB slope-holding mode, if at least one of the following conditions is met: the target torque is greater than the slope-holding torque, the foot brake duration is greater than the fourth duration threshold, and the handbrake signal is the pulled-up handbrake signal, the vehicle controller can determine that the vehicle operating state signal meets the preset non-slope-holding conditions and output a non-slope-holding instruction.

[0087] When the vehicle is in the temporarily exiting slope-holding mode, if the handbrake signal is the pulled-up handbrake signal, the vehicle controller can determine that the vehicle operating state signal meets the preset non-slope-holding conditions and output a non-slope-holding instruction.

[0088] In this embodiment, when the vehicle is in the slope-holding mode, when the vehicle operating state signal meets the preset non-slope-holding conditions, the vehicle is timely switched to the non-slope-holding mode to improve the safety of the vehicle.

[0089] In an exemplary embodiment, as Figure 3 shown, Figure 3 is a schematic flow diagram of a control method for the slope-holding mode, specifically including the following steps:

[0090] When the vehicle is in the non-slope-holding mode, it is judged whether the vehicle operating state signals all meet the following conditions: the IGBT is in the on state, the gear is not in neutral, the handbrake is not pulled up, the motor speed is less than -50 r / min in D gear or the motor speed is greater than 50 r / min in R gear; if the vehicle operating state signals do not meet the above conditions, the non-slope-holding mode is maintained;

[0091] If the vehicle operation status signal meets the above conditions, determine the cumulative duration of the motor hill-hold mode within 5 minutes before the current moment. If the cumulative duration is greater than 2 minutes, the vehicle switches to the passive EPB hill-hold mode. If the cumulative duration is not greater than 2 minutes, enter the hill-hold timing mode. During the timing process of the hill-hold timing mode, determine whether the vehicle status signal meets at least one of the following conditions: IGBT off, gear in neutral, handbrake pulled, motor speed greater than or equal to -50 r / min in D gear, or motor speed less than or equal to 50 r / min in R gear. If so, maintain the non-hill-hold mode. If not, the vehicle switches to the motor hill-hold mode.

[0092] When the vehicle is in the motor hill-hold mode, there are three ways to exit the motor hill-hold mode. One is that when the hill-hold mode lasts for a certain period of time, it will enter the temporarily exiting the hill-hold mode. In this mode, when it is detected that the handbrake is pulled, it will directly switch to the non-hill-hold mode. After the temporarily exiting the hill-hold mode lasts for a certain period of time, it switches back to the hill-hold mode. Another is to switch to the passive EPB hill-hold mode. When the motor has been in the hill-hold state for more than 15 s or the motor temperature exceeds 130 °C, the vehicle will switch from the motor hill-hold mode to the passive EPB hill-hold mode. The last one is that when any of the following conditions is met, the motor hill-hold mode is exited. The conditions are respectively that the target torque is greater than the hill-hold torque, the IGBT is off, the footbrake time is greater than the set time, the handbrake is pulled, the current gear is in neutral, and the motor fault level is greater than the set level.

[0093] When the vehicle is in the passive EPB hill-hold mode, when any of the following conditions is met, the hill-hold mode is exited. The conditions are respectively that the target torque is greater than the hill-hold torque, the handbrake is pressed, and the brake is depressed for more than two seconds.

[0094] Among the judgment conditions for exiting the passive EPB hill-hold mode, when the target torque is greater than the hill-hold torque, it is considered that the vehicle needs to continue driving; when the footbrake time is greater than 2 s, it is considered that the driver subjectively intends to perform hill-holding by the footbrake; when the handbrake is pulled, it is considered that the driver performs hill-holding through the active EPB (handbrake).

[0095] In this embodiment, it is automatically determined whether to enter or exit the hill-hold mode according to the vehicle operation status signal, making the driving of the vehicle more intelligent and meeting the needs of the development of automotive intelligence. This control method takes into account various driving situations and at the same time sets a time delay for entering the hill-hold mode, improving the safety and convenience of the hill-hold system.

[0096] In addition, for the motor hill-hold mode of the vehicle, the motor control is set to the speed loop, and the set speed is 0 to complete the hill-hold. At this time, the torque output by the motor is the hill-hold torque. When the motor hill-hold mode switches to the passive EPB hill-hold mode, the hill-hold torque will be sent to the EPB at the same time, so that the EPB performs hill-hold with this torque. If the vehicle directly enters the passive EPB hill-hold mode, it performs hill-hold through the hill-hold torque sent by the vehicle controller.

[0097] After entering the motor hill-hold mode, the motor control method is converted to the speed mode, the target speed is set to 0, and the hill-hold torque is output through a proportional integral (PI) controller. At this time, there is current passing through the motor, but the speed is 0. The motor operating at zero speed will cause the motor to heat up. Therefore, this control method sets that when the motor hill-hold lasts for a certain period of time, it will temporarily exit the hill-hold mode to relieve the motor heating situation. However, the motor staying on the hill for a long time will still cause a temperature fault in the motor. Therefore, when the motor hill-hold lasts for 15 s or the motor temperature is greater than 130 °C, it enters the passive EPB hill-hold mode, so that the motor stops working for heat dissipation.

[0098] In addition, the active EPB realizes vehicle hill-hold by pulling up the handbrake. And the passive EPB hill-hold mode enters the EPB mode after conditionally judging the vehicle state. The conditions for the passive EPB hill-hold mode to exit the hill-hold are different from those of the active EPB. The passive EPB hill-hold mode does not need to press a button to release the handbrake when starting on a slope. As long as the target torque is greater than the hill-hold torque, the vehicle can complete the start. While for the active EPB, the driver needs to manually press the handbrake to release the vehicle hill-hold.

[0099] When the vehicle is in the non-hill-hold mode, the motor hill-hold mode, the temporarily exited hill-hold mode, and the passive EPB hill-hold mode, it will send a signal to inform the vehicle controller of the current working mode of the vehicle.

[0100] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0101] Based on the same inventive concept, an embodiment of the present application further provides a control device for a slope-holding mode for implementing the control method of the slope-holding mode involved above. The solution provided by this device for solving the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the control device for the slope-holding mode provided below can refer to the limitations on the control method of the slope-holding mode in the above text, and will not be elaborated here.

[0102] In an exemplary embodiment, as Figure 4 shown, a control device 40 for a slope-holding mode is provided, including: a determination module 41 and an output module 42, where:

[0103] The determination module 41 is configured to determine the cumulative duration in the motor slope-holding mode within a preset time range before the current moment if the vehicle operating state signal meets the preset slope-holding condition;

[0104] The output module 42 is configured to output a motor slope-holding instruction if the cumulative duration does not exceed the first duration threshold, and the motor slope-holding instruction is used to control the vehicle to switch to the motor slope-holding mode; or,

[0105] The output module 42 is further configured to output an electronic parking brake system (EPB) slope-holding instruction if the cumulative duration exceeds the first duration threshold, and the EPB slope-holding instruction is used to control the vehicle to switch to the EPB slope-holding mode.

[0106] In one embodiment, the determination module 41 is configured to determine that the vehicle operating state signal meets the preset slope-holding condition and determine the cumulative duration in the motor slope-holding mode within a preset time range before the current moment if the state of the IGBT is in the on state, the vehicle gear signal is not in neutral, the handbrake signal is a non-pulled handbrake signal, and the motor speed is within the preset speed range.

[0107] In one embodiment, the output module 42 is configured to enter the slope-holding timing mode if the cumulative duration does not exceed the first duration threshold; and output a motor slope-holding instruction when the duration of entering the slope-holding timing mode reaches the second duration threshold and the vehicle operating state signal meets the preset slope-holding condition.

[0108] In one embodiment, the output module 42 is further configured to output a temporary exit instruction if the duration of entering the motor slope-holding mode is greater than the third duration threshold, and the temporary exit instruction is used to control the vehicle to switch to the temporary exit slope-holding mode;

[0109] Store the number of times the vehicle switches to the temporary exit slope-holding mode, and output an EPB slope-holding instruction if the number is greater than the number threshold.

[0110] In one embodiment, the output module 42 is further configured to output an EPB hill-hold instruction if the vehicle is in the motor hill-hold mode and the motor temperature is greater than a preset temperature threshold.

[0111] In one embodiment, the output module 42 is further configured to, when the vehicle is in the motor hill-hold mode, if at least one of the following conditions is met: the target torque is greater than the hill-hold torque, the IGBT is in the off state, the foot brake duration is greater than a fourth duration threshold, the handbrake signal is a pulled-up handbrake signal, the vehicle gear signal is in neutral, and the motor fault level is greater than a preset level, determine that the vehicle operating state signal meets the preset non-hill-hold condition, and output a non-hill-hold instruction, where the non-hill-hold instruction is used to control the vehicle to switch to the non-hill-hold mode; or,

[0112] When the vehicle is in the EPB hill-hold mode, if at least one of the following conditions is met: the target torque is greater than the hill-hold torque, and the foot brake duration is greater than a fourth duration threshold, and the handbrake signal is a pulled-up handbrake signal, determine that the vehicle operating state signal meets the preset non-hill-hold condition, and output a non-hill-hold instruction; or,

[0113] When the vehicle is in the temporarily exiting hill-hold mode, if the handbrake signal is a pulled-up handbrake signal, determine that the vehicle operating state signal meets the preset non-hill-hold condition, and output a non-hill-hold instruction.

[0114] Each module in the above hill-hold mode control device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0115] In an exemplary embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 5As shown in the figure. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a control method for the slope parking mode. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0116] Those skilled in the art can understand that Figure 5 the structure shown in the figure is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0117] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0118] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0119] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0120] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0121] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0122] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this application.

[0123] The above-described embodiments merely represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims

1. A control method for hill-holding mode, characterized in that: The method comprises: If the vehicle running status signal satisfies the preset hill-holding condition, determining the cumulative time in the motor hill-holding mode within the preset time range before the current moment; If the accumulated duration does not exceed the first duration threshold, a motor hill-holding instruction is output, where the motor hill-holding instruction is used to control the vehicle to switch to the motor hill-holding mode; or, If the accumulated time exceeds the first time threshold, an electronic parking brake system EPB hill-holding instruction is output, where the EPB hill-holding instruction is used to control the vehicle to switch to an EPB hill-holding mode.

2. The method according to claim 1, characterized in that The vehicle operation status signal includes the state of the insulated gate bipolar transistor IGBT, the vehicle gear position signal, the handbrake signal and the motor speed. If the vehicle operation status signal satisfies the preset hill-holding condition, the cumulative time in the motor hill-holding mode within the preset time range before the current moment is determined, including: If the state of the IGBT is in the open tube state, the vehicle gear signal is not neutral, the handbrake signal is a handbrake not pulled signal, and the motor speed is within the preset speed range, then it is determined that the vehicle operation status signal meets the preset hill-holding condition, and the cumulative time in the motor hill-holding mode within the preset time range before the current moment is determined.

3. The method according to claim 1, characterized in that The method further comprises: If the duration of entering the motor hill-holding mode is greater than the third duration threshold, a temporary exit instruction is output, where the temporary exit instruction is used to control the vehicle to switch to temporarily exit the hill-holding mode; The number of times the vehicle switches to the temporary exit hill-holding mode is stored, and if the number is greater than a number threshold, an EPB hill-holding instruction is output.

4. The method according to claim 1, characterized in that: If the accumulated duration does not exceed the first duration threshold, outputting a motor hill-staying instruction includes: If the accumulated duration does not exceed the first duration threshold, the hill-staying timing mode is entered; when the duration of entering the hill-staying timing mode reaches the second duration threshold and the vehicle running status signal meets the preset hill-staying condition, a motor hill-staying instruction is output.

5. The method according to claim 1, characterized in that The method further comprises: If the vehicle is in the motor hill-staying mode and the motor temperature is greater than a preset temperature threshold, the EPB hill-staying instruction is output.

6. The method according to claim 2 or 3, characterized in that: The vehicle operation status signal further includes one or more of a target torque of a vehicle motor, a foot brake duration, and a motor fault level. The method further includes: When the vehicle is in the motor hill-staying mode, if at least one of the following is satisfied: the target torque is greater than the hill-staying torque, the state of the IGBT is in the off state, the foot brake duration is greater than the fourth duration threshold, the handbrake signal is a handbrake pull-up signal, the vehicle gear signal is neutral, and the motor fault level is greater than a preset level, it is determined that the vehicle operating state signal meets the preset non-hill-staying condition, and a non-hill-staying instruction is output, and the non-hill-staying instruction is used to control the vehicle to switch to the non-hill-staying mode; or, When the vehicle is in the EPB hill-holding mode, if at least one of the target torque is greater than the hill-holding torque, the foot brake duration is greater than the fourth duration threshold, and the handbrake signal is a handbrake-up signal is satisfied, it is determined that the vehicle running state signal satisfies the preset non-hill-holding condition, and the non-hill-holding instruction is output; or, When the vehicle is in the temporary exit hill-staying mode, if the handbrake signal is a handbrake-pulling signal, it is determined that the vehicle operation status signal meets a preset non-hill-staying condition, and the non-hill-staying instruction is output.

7. A control device for hill-holding mode, characterized in that: The device comprises: A determination module, for determining the cumulative time in the motor hill-staying mode within a preset time range before the current moment if the vehicle running state signal satisfies the preset hill-staying condition; an output module, configured to output a motor hill-holding instruction if the accumulated duration does not exceed a first duration threshold, wherein the motor hill-holding instruction is used to control the vehicle to switch to a motor hill-holding mode; or The output module is further configured to output an electronic parking brake system EPB hill-holding instruction if the accumulated duration exceeds the first duration threshold, wherein the EPB hill-holding instruction is configured to control the vehicle to switch to an EPB hill-holding mode.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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