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

Abstract

This application relates to a control method, apparatus, computer device, readable storage medium, and program product for a parking mode. The method includes: if a vehicle operating status signal meets preset parking conditions, determining the cumulative duration of the vehicle in motor parking mode within a preset time range prior to the current moment; if the cumulative duration does not exceed a first duration threshold, outputting a motor parking command, the motor parking command being used to control the vehicle to switch to motor parking mode; or, if the cumulative duration exceeds the first duration threshold, outputting an electronic parking brake (EPB) parking command, the EPB parking command being used to control the vehicle to switch to EPB parking mode. This method can improve the reliability of the vehicle's parking mode.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a control method, apparatus, computer equipment, readable storage medium, and program product for a parking mode. Background Technology

[0002] With the increasing popularity of electric and hybrid vehicles, hill-start assist systems have become a widely used component of vehicle safety and user experience. By automatically preventing the vehicle from rolling back on slopes, they significantly improve driving safety and convenience, especially in complex environments such as congested urban roads and mountainous terrain. Hill-start assist systems not only reduce the driver's workload but also lower the potential risk of accidents caused by driver error.

[0003] However, the relevant motor-driven hill-holding system typically maintains the vehicle's stability on a slope by controlling the drive motor to output a certain torque when the vehicle is stationary. However, the motor may overheat due to operating at zero speed for an extended period, resulting in low reliability of the vehicle's hill-holding mode. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, readable storage medium, and program product for controlling the parking mode of a vehicle, which can improve the reliability of the parking mode, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a method for controlling a slope-mounted mode, including:

[0006] If the vehicle operating status signal meets the preset parking conditions, then the cumulative duration of the vehicle in motor parking mode within the preset time range before the current moment is determined.

[0007] If the cumulative duration does not exceed a first duration threshold, a motor parking command is output, which controls the vehicle to switch to motor parking mode; or...

[0008] If the cumulative duration exceeds the first duration threshold, an Electronic Parking Brake (EPB) hill-start assist command is output, which is used to control the vehicle to switch to EPB hill-start assist mode.

[0009] In one embodiment, the vehicle operating 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 operating status signal meets preset parking conditions, the cumulative duration of the vehicle in parking mode within a preset time range prior to the current moment is determined, including:

[0010] If the following conditions are met: the IGBT is in the open state, the vehicle gear signal is not in neutral, the handbrake signal is not engaged, and the motor speed is within the preset speed range, then the vehicle operating status signal is determined to meet the preset parking condition, and the cumulative duration of the vehicle in the motor parking mode within the preset time range before the current moment is determined.

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

[0012] If the cumulative duration does not exceed the first duration threshold, the vehicle enters the hill-stopping timing mode; if the duration of entering the hill-stopping timing mode reaches the second duration threshold and the vehicle operating status signal meets the preset hill-stopping conditions, a motor hill-stopping command is output.

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

[0014] If the duration of entering the motor parking mode exceeds the third duration threshold, a temporary exit command is output. The temporary exit command is used to control the vehicle to switch to the temporary exit parking mode.

[0015] The system stores the number of times the vehicle switches to the temporary exit parking mode. If the number of times exceeds a threshold, an EPB parking command is output.

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

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

[0018] In one embodiment, the vehicle operating status signal further includes one or more of the following: target torque of the vehicle motor, foot braking duration, and motor fault level; the method further includes:

[0019] When the vehicle is in the motor parking mode, if at least one of the following conditions is met: the target torque is greater than the parking torque, the IGBT is in the off state, the foot brake duration is greater than the fourth duration threshold, the handbrake signal is the handbrake engaged signal, the vehicle gear signal is in neutral, or the motor fault level is greater than a preset level, then the vehicle operating status signal is determined to meet the preset non-parking conditions, and a non-parking command is output. This non-parking command is used to control the vehicle to switch to non-parking mode; or...

[0020] When the vehicle is in the EPB hill-start assist mode, if at least one of the following conditions is met: the target torque is greater than the hill-start assist torque, the foot brake duration is greater than the fourth duration threshold, or the handbrake signal is a handbrake engaged signal, then the vehicle operating status signal is determined to meet the preset non-hill-start conditions, and the non-hill-start command is output; or...

[0021] When the vehicle is in the temporary exit from the hill-holding mode, if the handbrake signal is the handbrake engaged signal, it is determined that the vehicle operating status signal meets the preset non-hill-holding conditions, and the non-hill-holding command is output.

[0022] Secondly, this application also provides a control device for a slope-standing mode, comprising:

[0023] The determination module is used to determine the cumulative duration of the vehicle in motor parking mode within a preset time range before the current moment if the vehicle operating status signal meets the preset parking conditions.

[0024] The output module is configured to output a motor parking command if the cumulative duration does not exceed a first duration threshold. This motor parking command is used to control the vehicle to switch to motor parking mode; or...

[0025] The output module is also configured to output an Electronic Parking Brake (EPB) hill-start assist command if the cumulative duration exceeds the first duration threshold. The EPB hill-start assist command is used to control the vehicle to switch to EPB hill-start assist mode.

[0026] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0027] If the vehicle operating status signal meets the preset parking conditions, then the cumulative duration of the vehicle in motor parking mode within the preset time range before the current moment is determined.

[0028] If the cumulative duration does not exceed a first duration threshold, a motor parking command is output, which controls the vehicle to switch to motor parking mode; or...

[0029] If the cumulative duration exceeds the first duration threshold, an Electronic Parking Brake (EPB) hill-start assist command is output, which is used to control the vehicle to switch to EPB hill-start assist mode.

[0030] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0031] If the vehicle operating status signal meets the preset parking conditions, then the cumulative duration of the vehicle in motor parking mode within the preset time range before the current moment is determined.

[0032] If the cumulative duration does not exceed a first duration threshold, a motor parking command is output, which controls the vehicle to switch to motor parking mode; or...

[0033] If the cumulative duration exceeds the first duration threshold, an Electronic Parking Brake (EPB) hill-start assist command is output, which is used to control the vehicle to switch to EPB hill-start assist mode.

[0034] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0035] If the vehicle operating status signal meets the preset parking conditions, then the cumulative duration of the vehicle in motor parking mode within the preset time range before the current moment is determined.

[0036] If the cumulative duration does not exceed a first duration threshold, a motor parking command is output, which controls the vehicle to switch to motor parking mode; or...

[0037] If the cumulative duration exceeds the first duration threshold, an Electronic Parking Brake (EPB) hill-start assist command is output, which is used to control the vehicle to switch to EPB hill-start assist mode.

[0038] The aforementioned control method, device, computer equipment, readable storage medium, and program product for the parking mode determine the cumulative duration of the vehicle's parking mode within a preset time range before the current moment when the vehicle's operating status signal meets the preset parking conditions. Based on the cumulative duration, the vehicle's parking type is determined. If the cumulative duration does not exceed a first duration threshold, the vehicle is controlled to switch to the motor parking mode; if the cumulative duration exceeds the first duration threshold, the vehicle is controlled to switch to the EPB parking mode. Determining the vehicle's parking type based on the cumulative duration before the vehicle needs to enter parking mode avoids overheating or other damage to the motor due to accumulated workload during prolonged or frequent entry into parking mode, ensuring the safe operation of the motor, improving the reliability of the vehicle in parking mode, and thus guaranteeing vehicle safety. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the vehicle controller in one embodiment;

[0041] Figure 2 This is a flowchart illustrating the control method for the stationary slope mode in one embodiment;

[0042] Figure 3 This is a flowchart illustrating the control method for the stationary slope mode in one embodiment;

[0043] Figure 4 This is a structural block diagram of the control device for the slope-standing mode in one embodiment;

[0044] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0046] The slope-holding mode control method provided in this application embodiment can be applied to, for example... Figure 1 The vehicle controller shown can include a vehicle controller and a motor controller, which can interact with each other. The vehicle controller is used to monitor and analyze the vehicle's operating status in real time by collecting various sensor signals, and obtain analysis results. The vehicle controller can also generate control commands based on the analysis results and send them to the motor controller. The motor controller can receive control commands, drive the motor to work, and monitor the motor's operating status and send the motor's operating status to the motor controller.

[0047] In one exemplary embodiment, such as Figure 2 As shown, a control method for a stationary slope mode is provided, which can be applied to... Figure 1 Taking the vehicle controller as an example, this embodiment of the method includes the following steps:

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

[0049] Among them, the vehicle operating status signal is a set of signals that reflects the real-time operating status of the vehicle. The preset parking slope conditions can be used to determine whether the vehicle needs to be in a parking slope scenario.

[0050] Specifically, the vehicle controller can acquire vehicle operating status signals from the sensors of each vehicle in real time or at each preset acquisition cycle, and determine whether the vehicle operating status signals meet the preset parking slope conditions. If the vehicle operating status signals meet the preset parking slope conditions, it is determined that the vehicle needs to be in a parking slope state.

[0051] The vehicle controller can store the moment the vehicle switches to motor parking mode, resulting in stored data. This stored data includes the vehicle mode data corresponding to each moment. When the vehicle controller determines that the current conditions are met, it can retrieve the vehicle mode data corresponding to each moment within a preset time range preceding that current moment, perform statistical processing, and obtain the cumulative duration the vehicle was in motor parking mode. The specific duration of the preset time range can be determined based on the actual application scenario and is not specifically limited here. For example, the preset time range could be 5 minutes; however, this is merely an example and does not constitute a specific limitation.

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

[0053] The motor parking command is used to control the vehicle to switch to motor parking mode. The specific value of the first duration threshold is determined based on parameters such as the motor's rated parameters, and is not specifically limited here. For example, the first duration threshold can be 2 minutes. It should be understood that this is only an 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 parking command to the motor to control the vehicle's motor to switch to motor parking mode. At the same time, the motor controller can send a motor parking signal to the vehicle controller, which is used to inform the vehicle controller that the vehicle is in motor parking mode.

[0055] Step 203: If the cumulative duration exceeds the first duration threshold, output the Electronic Parking Brake (EPB) hill-start command.

[0056] The Electronic Parking Brake (EPB) hill-start assist command is used to control the vehicle to switch to EPB hill-start mode. EPB hill-start mode is a passive EPB hill-start mode.

[0057] Specifically, if the cumulative duration exceeds the first duration threshold, the vehicle controller in the vehicle controller outputs an EPB hill-start instruction and controls the vehicle to enter the passive EPB hill-start mode based on the EPB hill-start instruction.

[0058] The aforementioned hill-holding mode control method determines the cumulative duration of the vehicle's operation in motor hill-holding mode within a preset time range before the current moment, once the vehicle's operating status signal meets the preset hill-holding conditions. Based on this cumulative duration, the vehicle's hill-holding type is determined. If the cumulative duration does not exceed a first duration threshold, the vehicle switches to motor hill-holding mode; otherwise, it switches to passive EPB hill-holding mode. Determining the vehicle's hill-holding type based on the cumulative duration before the vehicle needs to enter hill-holding mode avoids overheating or other damage to the motor due to accumulated workload during prolonged or frequent hill-holding, ensuring safe motor operation, improving the reliability of the vehicle in hill-holding mode, and ultimately guaranteeing vehicle safety.

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

[0060] If the following conditions are met: the IGBT is in the open state, the vehicle gear signal is not in neutral, the handbrake signal is not engaged, and the motor speed is within the preset speed range, then the vehicle operating status signal meets the preset parking condition, and the cumulative duration of the motor parking mode within the preset time range before the current moment is determined.

[0061] The vehicle operating status signals include the status of the Insulated Gate Bipolar Transistor (IGBT), the vehicle gear position signal, the handbrake signal, and the motor speed. An IGBT in the open state indicates that the motor can operate, enabling hill-climbing. A gear position signal not in neutral indicates that power transmission between the motor and wheels is not interrupted, allowing the motor's hill-climbing torque to be transmitted to the wheels. A handbrake signal indicating the handbrake is not engaged indicates that the driver has not engaged the handbrake. Motor speed within a preset range is defined as follows: in Drive (D) gear, the motor speed is less than a first threshold; in Reverse (R) gear, the motor speed is greater than a second threshold. The first threshold is a negative integer, and the second threshold is a positive integer. The specific values ​​of the first and second thresholds can be determined based on the specific application scenario. For example, the first threshold could be -50 r / min, and the second threshold could be 50 r / min. It should be understood that this is not a limitation but merely for illustrative purposes.

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

[0063] In this embodiment, by determining whether the operating status signals of each vehicle meet the preset parking conditions, and by using multiple vehicle operating status signals to determine whether a vehicle needs to park on a slope, the accuracy of parking judgment is improved and the reliability of the vehicle parking mode is enhanced.

[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 parking command," may include:

[0065] If the cumulative duration does not exceed the first duration threshold, the vehicle enters the hill-holding timing mode. If the duration of entering the hill-holding timing mode reaches the second duration threshold and the vehicle operation status signal meets the preset hill-holding conditions, the vehicle outputs a motor hill-holding command.

[0066] Specifically, if the cumulative duration does not exceed the first duration threshold, the vehicle controller enters the hill-holding timing mode. If the duration in hill-holding timing mode reaches the second duration threshold, and within the duration of hill-holding timing mode, the vehicle's operating status signal still meets the preset hill-holding conditions, the motor controller in the vehicle controller outputs a motor hill-holding command, controlling the vehicle to enter motor hill-holding mode. The second duration threshold can be determined based on the actual application scenario; for example, the second duration threshold could be 0.03s. It should be understood that this is only an example and does not constitute a specific limitation.

[0067] If any of the vehicle's operating status signals changes during the hill-holding timing mode, it is determined that the vehicle's operating status signals do not meet the preset hill-holding conditions. The vehicle controller then exits the hill-holding timing mode and outputs a non-hill-holding command, which is used to control the vehicle to enter the non-hill-holding mode.

[0068] In addition, after the motor enters the parking mode, the motor controller can output a parking mode signal and send it to the vehicle controller. The vehicle controller can then determine whether the vehicle has entered the parking mode based on the parking mode signal.

[0069] In this embodiment, by entering the parking timer mode before switching to the motor parking mode, and when the duration of entering the parking timer mode reaches the second duration threshold, and the vehicle operating status signal still meets the preset parking conditions within the duration of the parking timer mode, the motor controller in the vehicle controller outputs the motor parking command, thereby improving the reliability of the parking mode.

[0070] In one exemplary embodiment, the control method for the stationary slope mode further includes:

[0071] If the duration of entering the motor parking mode exceeds the third duration threshold, a temporary exit command is output; the number of times the vehicle switches to the temporary exit parking mode is stored, and if the number exceeds the number threshold, an EPB parking command is output.

[0072] The temporary exit command is used to control the vehicle to switch to the temporary exit parking 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 seconds. It should be understood that this is only used as an example and does not constitute a specific limitation.

[0073] Specifically, the vehicle controller can store the duration of the motor switching to the parking mode and the number of times it switches to the parking mode. If the current duration of entering the parking mode exceeds a third duration, the motor controller outputs a temporary exit command, controlling the motor to switch to the temporary exit parking mode. If the duration of switching to the temporary exit parking mode exceeds a duration threshold, and no handbrake signal is detected during the timing, the motor controller can output a parking command. This duration threshold can be 0.1 seconds. It should be understood that this is only an example and does not constitute a specific limitation.

[0074] The vehicle controller outputs an EPB (Escape from Hill) command when it detects that the number of times the vehicle has switched to the temporary exit from hill-hold mode exceeds a threshold. Additionally, the vehicle controller can record the cumulative duration of switching to the temporary exit from hill-hold mode. If the cumulative duration exceeds a duration threshold, it outputs an EPB command. The number threshold can be determined based on the actual application scenario; for example, it could be 2 times, with a duration threshold of 15 seconds. It should be understood that this is merely an example and does not constitute a specific limitation.

[0075] In this embodiment, by storing the duration of switching to the motor parking mode, a temporary exit command is output when the duration meets the duration threshold. The number of times the motor parking mode is temporarily exited is also recorded. If the number of times exceeds the number threshold, the vehicle is controlled to enter the passive EPB parking mode. This alleviates the overheating phenomenon caused by the motor being in a zero-speed running state for a long time when it is in the motor parking mode, reduces the temperature rise of the motor, and improves the service life of the motor.

[0076] In one exemplary embodiment, the control method for the stationary slope mode further includes:

[0077] If the vehicle is in motor parking mode and the motor temperature is greater than the preset temperature threshold, an EPB parking command will be output.

[0078] Specifically, the vehicle controller can obtain the motor temperature. If the vehicle is in motor parking mode and the motor temperature is higher than a preset temperature threshold, it outputs an EPB parking command to control the vehicle to switch from motor parking mode to passive EPB parking mode. The preset temperature threshold can be determined based on the actual operating conditions of the motor, for example, it can be 130℃. It should be understood that this example does not constitute a specific limitation.

[0079] In this embodiment, the vehicle is switched from the motor parking mode to the EPB parking mode by controlling the motor temperature to be higher than the preset temperature threshold, which prevents the motor temperature from getting too high and improves the service life of the motor.

[0080] In one exemplary embodiment, the control method for the stationary slope mode further includes:

[0081] When the vehicle is in motor parking mode, if at least one of the following conditions is met: the target torque is greater than the parking torque, the IGBT is in the off state, the foot brake duration is greater than the fourth duration threshold, the handbrake signal is the handbrake engaged signal, the vehicle gear signal is in neutral, or the motor fault level is greater than a preset level, then the vehicle operating status signal is determined to meet the preset non-parking conditions, and a non-parking command is output; or...

[0082] When the vehicle is in passive 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 foot brake duration is greater than the fourth duration threshold, or the handbrake signal is a handbrake engaged signal, then the vehicle operating status signal is determined to meet the preset non-hill-holding conditions, and a non-hill-holding command is output; or...

[0083] When the vehicle is in the temporary exit parking mode, if the handbrake signal is the handbrake engaged signal, it is determined that the vehicle operating status signal meets the preset non-parking conditions, and a non-parking command is output.

[0084] The vehicle operating status signals include one or more of the following: target torque of the vehicle motor, foot brake duration, and motor fault level. The non-parking command is used to control the vehicle to switch to non-parking mode. A target torque greater than the parking torque indicates the vehicle needs to continue driving; the IGBT being in an off state indicates the motor is not working; a foot brake duration greater than the fourth duration threshold indicates the driver's intention to park using the foot brake; a handbrake signal indicating the handbrake is engaged indicates the driver's intention to park using the handbrake; a vehicle gear signal in neutral indicates power transmission interruption, and the motor's parking torque cannot be transmitted to the wheels; a motor fault level greater than the preset level indicates the motor is faulty and cannot function, thus failing to complete the parking function. The fourth duration threshold can be determined based on the actual application scenario, for example, 2 seconds. It should be understood that this example is for illustrative purposes only and does not constitute a specific limitation.

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

[0086] When the vehicle is in passive 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 foot brake duration is greater than the fourth duration threshold, or the handbrake signal is the handbrake engaged signal, the vehicle controller can determine that the vehicle operating status signal meets the preset non-hill-holding conditions and output a non-hill-holding command.

[0087] When the vehicle is in the temporary exit parking mode, if the handbrake signal is the handbrake engaged signal, the vehicle controller can determine that the vehicle operating status signal meets the preset non-parking conditions and output a non-parking command.

[0088] In this embodiment, when the vehicle is in hill-climbing mode, if the vehicle operating status signal meets the preset non-hill-climbing conditions, the vehicle is switched to non-hill-climbing mode in a timely manner to improve vehicle safety.

[0089] In one exemplary embodiment, such as Figure 3 As shown, Figure 3 This is a flowchart illustrating a control method for a slope-based control mode, which includes the following steps:

[0090] When the vehicle is in non-parking mode, determine whether the vehicle operation status signal meets the following conditions: IGBT is open, the gear is not in neutral, the handbrake is not engaged, the motor speed is less than -50 r / min in D gear or greater than 50 r / min in R gear; if the vehicle operation status signal does not meet the above conditions, then maintain non-parking mode.

[0091] If the vehicle operating status signal meets the above conditions, the cumulative duration of the motor parking mode in the 5 minutes prior to the current moment is determined. If the cumulative duration is greater than 2 minutes, the vehicle switches to passive EPB parking mode. If the cumulative duration is not greater than 2 minutes, the vehicle enters parking timing mode. During the timing of parking mode, it is determined whether the vehicle status signal meets at least one of the following conditions: IGBT off, gear is in neutral, handbrake is engaged, motor speed is greater than or equal to -50 r / min in D gear or less than or equal to 50 r / min in R gear. If yes, the non-parking mode is maintained; otherwise, the vehicle switches to motor parking mode.

[0092] When the vehicle is in motor hill-hold mode, there are three exit scenarios. First, if hill-hold mode is maintained for a certain period, it will temporarily exit hill-hold mode. In this mode, detecting the handbrake being engaged will directly switch to non-hill-hold mode. After the temporary exit from hill-hold mode lasts for a certain period, it will switch back to hill-hold mode. Second, it will switch to passive EPB hill-hold mode. If the motor hill-hold exceeds 15 seconds or the motor temperature exceeds 130°C, the vehicle will switch from motor hill-hold mode to passive EPB hill-hold mode. Finally, it will exit motor hill-hold mode when any of the following conditions are met: the target torque is greater than the hill-hold torque, the IGBT is turned off, the foot brake time is greater than the set time, the handbrake is engaged, the current gear is neutral, or the motor fault level is greater than the set level.

[0093] When the vehicle is in passive EPB hill-start assist mode, it will exit hill-start assist mode if any of the following conditions are met: the target torque is greater than the hill-start torque, the handbrake is pressed, or the brake is pressed for more than two seconds.

[0094] Among the conditions for exiting the passive EPB hill-holding mode, if the target torque is greater than the hill-holding torque, it is assumed that the vehicle will continue to drive; if the foot brake time is greater than 2 seconds, it is assumed that the driver intentionally uses the foot brake to hold the hill; if the handbrake is engaged, it is assumed that the driver uses the active EPB (handbrake) to hold the hill.

[0095] In this embodiment, the system automatically determines whether to enter or exit the parking mode based on the vehicle's operating status signal, making the driving vehicle more intelligent and adapting to the needs of intelligent vehicle development. This control method considers various driving situations and also sets a delay setting for entering the parking mode, improving the safety and convenience of the parking system.

[0096] Additionally, the vehicle's motor hill-hold mode sets the motor control to a speed loop, with the speed set to 0 to complete the hill-holding. In this mode, the motor outputs the hill-hold torque. When the motor hill-hold mode switches to passive EPB hill-hold mode, it simultaneously sends the hill-hold torque to the EPB, causing the EPB to perform hill-holding with that torque. If the vehicle directly enters passive EPB hill-hold mode, it uses the hill-hold torque sent by the vehicle controller for hill-holding.

[0097] Upon entering the motor parking mode, the motor control method switches to speed mode, setting the target speed to 0. The parking torque is output through the proportional-integral (PI) controller. At this time, current flows through the motor, but the speed is zero. Operating at zero speed will cause the motor to overheat. Therefore, this control method is designed to temporarily exit the parking mode after a certain period of time to alleviate motor overheating. However, prolonged parking can still lead to motor temperature failure. Therefore, if the motor parking lasts for 15 seconds or the motor temperature exceeds 130°C, the system enters passive EPB parking mode, causing the motor to stop working and dissipate heat.

[0098] Furthermore, the active EPB (Electronic Parking Brake) mode achieves vehicle parking on a slope by engaging the handbrake. The passive EPB mode, which enters EPB mode after assessing the vehicle's status, has different conditions for exiting parking on a slope. With passive EPB, the handbrake does not need to be released when starting on an incline; starting is achieved as long as the target torque exceeds the parking torque. Active EPB, however, requires the driver to manually engage the handbrake to release the vehicle from parking on the slope.

[0099] The vehicle will send a signal to the vehicle controller in non-parking mode, motor parking mode, temporary exit parking mode, and passive EPB parking mode to inform the vehicle controller which operating mode the vehicle is currently in.

[0100] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0101] Based on the same inventive concept, this application also provides a control device for implementing the control method of the aforementioned slope-holding mode. The solution provided by this device is similar to the implementation 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 be found in the limitations of the control method for the slope-holding mode described above, and will not be repeated here.

[0102] In one exemplary embodiment, such as Figure 4 As shown, a control device 40 for a stationary slope mode is provided, comprising: a determination module 41 and an output module 42, wherein:

[0103] The determination module 41 is used to determine the cumulative duration of the vehicle in the motor parking mode within a preset time range before the current moment if the vehicle operating status signal meets the preset parking conditions.

[0104] Output module 42 is used to output a motor parking command if the cumulative duration does not exceed a first duration threshold. The motor parking command is used to control the vehicle to switch to motor parking mode; or...

[0105] The output module 42 is also used to output an electronic parking brake (EPB) hill-start command if the cumulative duration exceeds a first duration threshold. The EPB hill-start command is used to control the vehicle to switch to EPB hill-start mode.

[0106] In one embodiment, the determining module 41 is configured to determine that the vehicle operating status signal meets the preset parking conditions if the IGBT is in the open state, the vehicle gear signal is not in neutral, the handbrake signal is not engaged, and the motor speed is within a preset speed range, and to determine the cumulative duration of the motor parking mode within the preset time range before the current moment.

[0107] In one embodiment, the output module 42 is configured to enter the hill-stopping timing mode if the cumulative duration does not exceed a first duration threshold; and to output a motor hill-stopping command if the duration of entering the hill-stopping timing mode reaches a second duration threshold and the vehicle operating status signal meets the preset hill-stopping conditions.

[0108] In one embodiment, the output module 42 is further configured to output a temporary exit command if the duration of entering the motor parking mode is greater than a third duration threshold. The temporary exit command is used to control the vehicle to switch to the temporary exit parking mode.

[0109] Store the number of times the vehicle switches to the temporary exit parking mode. If the number exceeds the threshold, output the EPB parking command.

[0110] In one embodiment, the output module 42 is further configured to output an EPB parking command if the vehicle is in motor parking 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 motor parking mode, determine that the vehicle operating status signal meets preset non-parking conditions if at least one of the following conditions is met: the target torque is greater than the parking torque, the IGBT is in the off state, the foot brake duration is greater than the fourth duration threshold, the handbrake signal is the handbrake engaged signal, the vehicle gear signal is in neutral, and the motor fault level is greater than a preset level; and then output a non-parking command. The non-parking command is used to control the vehicle to switch to non-parking mode; or...

[0112] When the vehicle is in EPB hill-start assist mode, if at least one of the following conditions is met: the target torque is greater than the hill-start assist torque, the foot brake duration is greater than the fourth duration threshold, or the handbrake signal is a handbrake engaged signal, then the vehicle operating status signal is determined to meet the preset non-hill-start conditions, and a non-hill-start command is output; or...

[0113] When the vehicle is in the temporary exit parking mode, if the handbrake signal is the handbrake engaged signal, it is determined that the vehicle operating status signal meets the preset non-parking conditions, and a non-parking command is output.

[0114] The various modules in the control device for the aforementioned slope-standing mode can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0115] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a standby mode control method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0116] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0117] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0118] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

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

[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 used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0121] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media 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), magnetic 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 take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0122] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this application.

[0123] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method of a hill hold mode characterized by, The method includes: If the vehicle operating status signal meets the preset parking conditions, then the cumulative duration of the vehicle in motor parking mode within the preset time range before the current moment is determined. If the cumulative duration does not exceed a first duration threshold, a motor parking command is output, which controls the vehicle to switch to motor parking mode; or... If the cumulative duration exceeds the first duration threshold, an Electronic Parking Brake (EPB) hill-start assist command is output, which is used to control the vehicle to switch to EPB hill-start assist mode. The vehicle operating 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 operating status signal meets the preset parking condition, the cumulative duration of the vehicle in parking mode within a preset time range prior to the current moment is determined, including: If the following conditions are met: the IGBT is in the open state, the vehicle gear signal is not in neutral, the handbrake signal is not engaged, and the motor speed is within the preset speed range, then the vehicle operating status signal is determined to meet the preset parking condition, and the cumulative duration of the motor parking mode within the preset time range before the current moment is determined. The method further includes: when the motor parking mode is switched to the EPB parking mode, sending the parking torque of the motor to the EPB, so that the EPB can park based on the parking torque; The method further includes: when the EPB parking mode is a passive parking mode, if the target torque of the vehicle's motor is greater than the parking torque, then controlling the EPB to release the parking brake.

2. The method of claim 1, wherein, The method further includes: If the duration of entering the motor parking mode exceeds the third duration threshold, a temporary exit command is output. The temporary exit command is used to control the vehicle to switch to the temporary exit parking mode. The system stores the number of times the vehicle switches to the temporary exit parking mode. If the number of times exceeds a threshold, an EPB parking command is output.

3. The method according to claim 1, characterized in that, If the cumulative duration does not exceed the first duration threshold, then a motor parking command is output, including: If the cumulative duration does not exceed the first duration threshold, the vehicle enters the hill-stopping timing mode; if the duration of entering the hill-stopping timing mode reaches the second duration threshold and the vehicle operating status signal meets the preset hill-stopping conditions, a motor hill-stopping command is output.

4. The method according to claim 1, characterized in that, The method further includes: If the vehicle is in the motor parking mode and the motor temperature is greater than the preset temperature threshold, the EPB parking command is output.

5. The method according to claim 2, characterized in that, The vehicle operating status signal also includes one or more of the following: target torque of the vehicle motor, foot brake duration, and motor fault level; the method further includes: When the vehicle is in the motor parking mode, if at least one of the following conditions is met: the target torque is greater than the parking torque, the IGBT is in the off state, the foot brake duration is greater than the fourth duration threshold, the handbrake signal is the handbrake engaged signal, the vehicle gear signal is in neutral, or the motor fault level is greater than a preset level, then the vehicle operating status signal is determined to meet the preset non-parking conditions, and a non-parking command is output. This non-parking command is used to control the vehicle to switch to non-parking mode; or... When the vehicle is in the EPB hill-start assist mode, if at least one of the following conditions is met: the target torque is greater than the hill-start assist torque, the foot brake duration is greater than the fourth duration threshold, or the handbrake signal is a handbrake engaged signal, then the vehicle operating status signal is determined to meet the preset non-hill-start conditions, and the non-hill-start command is output; or... When the vehicle is in the temporary exit from the hill-holding mode, if the handbrake signal is the handbrake engaged signal, it is determined that the vehicle operating status signal meets the preset non-hill-holding conditions, and the non-hill-holding command is output.

6. A control device for a slope-holding mode, characterized in that, The device includes: The determination module is used to determine the cumulative duration of the vehicle in motor parking mode within a preset time range before the current moment if the vehicle operating status signal meets the preset parking conditions. The output module is configured to output a motor parking command if the cumulative duration does not exceed a first duration threshold. This motor parking command is used to control the vehicle to switch to motor parking mode; or... The output module is also used to output an Electronic Parking Brake (EPB) hill-start command if the cumulative duration exceeds the first duration threshold. The EPB hill-start command is used to control the vehicle to switch to EPB hill-start mode. The vehicle operating status signal includes the state of the insulated gate bipolar transistor (IGBT), the vehicle gear signal, the handbrake signal, and the motor speed. The determining module is used to determine that the vehicle operating status signal meets the preset parking conditions if the IGBT is in the open state, the vehicle gear signal is not in neutral, the handbrake signal is not engaged, and the motor speed is within a preset speed range. It also determines the cumulative duration of the motor parking mode within the preset time range before the current moment. The output module is further configured to send the parking torque of the motor to the EPB when the motor parking mode is switched to the EPB parking mode, so that the EPB can park based on the parking torque; The output module is also used to control the EPB to release the parking brake if the target torque of the vehicle's motor is greater than the parking torque when the EPB parking mode is passive parking mode.

7. The apparatus according to claim 6, characterized in that, The output module is also used to output a temporary exit command if the duration of entering the motor parking mode is greater than the third duration threshold. The temporary exit command is used to control the vehicle to switch to the temporary exit parking mode. The system stores the number of times the vehicle switches to the temporary exit parking mode. If the number of times exceeds a threshold, an EPB parking command is output.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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