Vehicle ramp crawling control method, device and equipment and computer storage medium

Abstract

The invention relates to the technical field of vehicle control, and discloses a vehicle ramp crawling control method, device and equipment and a computer storage medium, the method comprises the following steps: determining a current torque control value of a target vehicle based on current vehicle driving information of the target vehicle; wherein the current vehicle driving information at least comprises a current slope value and a current vehicle speed value; when the current vehicle speed value is in the creeping vehicle speed interval, determining a current creeping control mode of the target vehicle based on the current slope value, and performing creeping control on the target vehicle according to the current creeping control mode; wherein the control parameters corresponding to the current crawling control mode at least comprise the current torque control value. According to the technical scheme, stable operation and controllable vehicle speed closed-loop control of the vehicle on the ramp can be achieved, so that the vehicle running stability is improved, and better driving experience is provided for a user.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly relates to a vehicle ramp creep control method, device, equipment and computer storage medium. Background Art

[0002] The vehicle creep function realizes the low-speed driving of the vehicle through throttle-free control, improving the safety and comfort of the vehicle. Without the control of the engine and transmission for the vehicle creep, the vehicle creep control is mainly reflected in the motor control strategy and the brake system control strategy. Currently, there is a logic mainly based on feedforward torque control. In this control logic, the creep control belongs to open-loop control. When going uphill and downhill on a large slope, the motor control cannot ensure the smooth closed-loop control of the vehicle creep speed. Summary of the Invention

[0003] In view of the above problems, the present application provides a vehicle ramp creep control method, device, equipment and computer storage medium, which are used to solve the problem that the smooth closed-loop control of the creep speed cannot be guaranteed when the vehicle is on a ramp in the prior art.

[0004] According to one aspect of the embodiments of the present application, a vehicle ramp creep control method is provided, and the method includes:

[0005] Based on the current vehicle driving information of the target vehicle, determine the current torque control value of the target vehicle; wherein, the current vehicle driving information at least includes the current slope value and the current vehicle speed value;

[0006] When the current vehicle speed value is within the creep speed range, based on the magnitude of the current slope value, determine the current creep control mode of the target vehicle, and perform creep control on the target vehicle according to the current creep control mode; wherein, the control parameters corresponding to the current creep control mode at least include: the current torque control value.

[0007] In an optional manner, the current vehicle driving information includes the current slope value and the current vehicle speed value, and further includes at least one of the current vehicle speed difference, the current brake pedal opening value and the current acceleration difference;

[0008] The step of determining the current torque control value of the target vehicle based on the current vehicle driving information of the target vehicle further includes:

[0009] Based on the current slope value and the current vehicle speed value, determine the first basic torque value of the target vehicle;

[0010] Based on at least one of the current vehicle speed difference, the current brake pedal opening value, the current vehicle speed value, the current slope value, and the current acceleration difference, correct the first basic torque value to obtain the current torque control value.

[0011] In an alternative manner, the step of determining the first basic torque value of the target vehicle based on the current slope value and the current vehicle speed value further includes:

[0012] Determine the first basic torque value according to the current slope value and the current vehicle speed value, and in combination with the first correlation relationship between the slope value, the vehicle speed value, and the basic torque value.

[0013] In an alternative manner, the current vehicle driving information includes the current slope value, the current vehicle speed value, the current vehicle speed difference, the current brake pedal opening value, and the current acceleration difference;

[0014] The step of correcting the first basic torque value based on at least one of the current vehicle speed difference, the current brake pedal opening value, the current vehicle speed value, the current slope value, and the current acceleration difference to obtain the current torque control value further includes:

[0015] Determine the first limit torque coefficient of the target vehicle according to the current vehicle speed difference and in combination with the second correlation relationship between the vehicle speed difference and the limit torque coefficient;

[0016] Determine the second limit torque coefficient of the target vehicle according to the current brake pedal opening value and the current vehicle speed value, and in combination with the third correlation relationship between the brake pedal opening value, the vehicle speed value, and the limit torque coefficient;

[0017] Determine the third limit torque coefficient of the target vehicle according to the current brake pedal opening value and the current slope value, and in combination with the fourth correlation relationship between the brake pedal opening value, the slope value, and the limit torque coefficient;

[0018] Determine the fourth limit torque coefficient of the target vehicle according to the current acceleration difference and in combination with the fifth correlation relationship between the acceleration difference and the limit torque coefficient;

[0019] Based on the product of the first basic torque value, the first limit torque coefficient, the second limit torque coefficient, the third limit torque coefficient, and the fourth limit torque coefficient, obtain the second basic torque value of the vehicle;

[0020] Based on the current vehicle speed difference and the current acceleration difference, and in combination with the sixth correlation relationship among the vehicle speed difference, the acceleration difference, and the torque value, determine the third basic torque value of the target vehicle;

[0021] Determine the sum of the second basic torque value and the third basic torque value as the current torque control value of the vehicle.

[0022] In an alternative embodiment, the method further includes:

[0023] Based on the difference between the current vehicle speed value and the target vehicle speed value of the target vehicle, determine the current vehicle speed difference, and based on the difference between the current acceleration value and the target acceleration value of the target vehicle, determine the current acceleration difference.

[0024] In an alternative embodiment, the step of determining the current creep control mode of the target vehicle based on the magnitude of the current slope value further includes:

[0025] When the absolute value of the current slope value is greater than a preset slope value and the target vehicle is currently on a downhill slope, determine the current creep control mode as a cooperative control mode including a hydraulic control mode and a torque control mode;

[0026] Otherwise, determine the current creep control mode as a torque control mode.

[0027] In an alternative embodiment, the control parameter corresponding to the hydraulic control mode is the current torque control value, and the control parameter corresponding to the hydraulic control mode is the current hydraulic control value.

[0028] According to another aspect of the embodiments of the present application, there is provided a vehicle ramp creep control device, including:

[0029] A processing module, configured to determine the current torque control value of the target vehicle based on the current vehicle driving information of the target vehicle; wherein, the current vehicle driving information at least includes the current slope value and the current vehicle speed value;

[0030] A control module, configured to, when the current vehicle speed value is within the creep vehicle speed range, determine the current creep control mode of the target vehicle based on the magnitude of the current slope value, and perform creep control on the target vehicle according to the current creep control mode; wherein, the control parameter corresponding to the current creep control mode at least includes: the current torque control value.

[0031] According to another aspect of the embodiments of the present application, there is provided a vehicle ramp creep control device, including:

[0032] According to another aspect of the embodiments of the present application, a vehicle ramp creep control device is provided, including: a processor, a memory, a communication interface, and a communication bus, and the processor, the memory, and the communication interface complete communication with each other through the communication bus;

[0033] The memory is used to store at least one executable instruction, and the executable instruction causes the processor to execute the operations of the vehicle ramp creep control method of the present invention.

[0034] According to still another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, in which at least one executable instruction is stored, and the executable instruction causes the vehicle ramp creep control device / equipment to execute the operations of the vehicle ramp creep control method of the present invention.

[0035] In the embodiments of the present application, by determining the current torque control value of the target vehicle based on the current vehicle driving information of the target vehicle, when the current vehicle speed value is within the creep vehicle speed range, based on the magnitude of the current slope value, the current creep control mode of the target vehicle is determined, and the target vehicle is subjected to creep control according to the current creep control mode, which can achieve stable operation of the vehicle on the ramp and controllable vehicle speed closed-loop control, thereby improving the stability of vehicle driving and providing a better driving experience for users.

[0036] The above description is only an overview of the technical solutions of the embodiments of the present application. In order to be able to understand the technical means of the embodiments of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the embodiments of the present application more obvious and understandable, the specific embodiments of the present application are specifically given below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings are only used to illustrate the embodiments and are not considered to be a limitation of the present application. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0038] Figure 1 A flowchart showing the first embodiment of the vehicle ramp creep control method provided by the present application;

[0039] Figure 2 A flowchart showing the second embodiment of the vehicle ramp creep control method provided by the present application;

[0040] Figure 3 A schematic diagram of the principle of the vehicle ramp creep control method;

[0041] Figure 4 A schematic structural diagram showing an embodiment of the vehicle ramp creep control device provided by the present application;

[0042] Figure 5 The structural schematic diagram of an embodiment of the vehicle ramp creep control device provided by the present application is shown. Specific embodiments

[0043] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0044] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0045] The flowcharts shown in the drawings are only exemplary descriptions, and do not necessarily include all contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0046] In the present application, "a plurality of" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0047] The vehicle creep function realizes the low-speed driving of the vehicle through throttle-free control, improving the safety and comfort of the vehicle. For the vehicle creep, there is no control of the engine and transmission, and the vehicle creep control is mainly reflected in the motor control strategy and the brake system control strategy. Currently, there is a logic mainly based on feedforward torque control. In this control logic, the creep control belongs to open-loop control. When going uphill and downhill on a large ramp, the motor control cannot ensure the smooth closed-loop control of the vehicle creep speed. Based on this:

[0048] Figure 1 The flowchart of the first embodiment of the vehicle ramp creep control method provided by the present application is shown. This method is executed by the vehicle ramp creep control device. Please refer to Figure 1 As shown, the method includes the following steps:

[0049] 4. The method according to claim 2, wherein the current vehicle driving information includes a current gradient value, a current vehicle speed value, a current vehicle speed difference value, a current braking pedal opening value, and a current acceleration difference value;

[0050] The step of correcting the first basic torque value based on at least one of the current vehicle speed difference value, the current braking pedal opening value, the current vehicle speed value, the current gradient value, and the current acceleration difference value to obtain the current torque control value further includes:

[0051] Step S110: Determine the current torque control value of the target vehicle based on the current vehicle driving information of the target vehicle.

[0052] Wherein, the target vehicle in this embodiment is defaulted to a new energy vehicle, and can also be adjusted according to actual situations without limitation here. The current vehicle driving information includes at least a current gradient value and a current vehicle speed value. The gradient value can be collected by devices such as a gradient sensor or a gyroscope, the vehicle speed value can be collected by a vehicle speed sensor, the vehicle speed difference value can be determined by combining the vehicle speed sensor and a data processing unit (VCU), the braking pedal opening value can be collected by a braking pedal position sensor (such as a slide rheostat type sensor), and the acceleration difference value can be collected by an accelerometer.

[0053] Step S120: When the current vehicle speed value is within the creep vehicle speed range, determine the current creep control mode of the target vehicle based on the magnitude of the current gradient value, and perform creep control on the target vehicle according to the current creep control mode.

[0054] Wherein, the creep vehicle speed range is defaulted to 0 - 7 km / h, and can also be adjusted according to actual situations without limitation here. When the gradient value is a positive number, it indicates that the vehicle is in an uphill state, and when the gradient value is a negative number, it indicates that the vehicle is in a downhill state. Different gradient values correspond to different creep control modes, and the current creep control mode is one of all creep control modes. The control parameters corresponding to the current creep control mode include at least: the current torque control value. The current torque control value is: the target torque value set during the torque control at the current moment. In this embodiment, it is defaulted that at least one of the vehicle's ESC (Electronic Stability Control, body stability control system) and VDC (Vehicle Dynamics Control, vehicle dynamic control system) is used to execute the current creep control mode to perform creep control on the vehicle.

[0055] It should be noted that ESC mainly controls the vehicle by controlling the hydraulic pressure, and VDC mainly controls the vehicle by controlling the motor torque.

[0056] The technical solution of this embodiment can achieve smooth operation of the vehicle on slopes and controllable closed-loop speed control, thereby improving the driving stability of the vehicle and providing a better driving experience for users.

[0057] Figure 2 The flowchart of the second embodiment of the vehicle ramp creep control method provided by this application is shown. This method is executed by the vehicle ramp creep control device. In the second embodiment, the current vehicle driving information includes the current slope value and the current vehicle speed value, and also includes at least one of the current vehicle speed difference, the current braking pedal opening value, and the current acceleration difference. Please refer to Figure 2 as shown, the method includes the following steps:

[0058] Step S210: Based on the current slope value and the current vehicle speed value, determine the first basic torque value of the target vehicle, and based on at least one of the current vehicle speed difference, the current braking pedal opening value, the current vehicle speed value, the current slope value, and the current acceleration difference, correct the first basic torque value to obtain the current torque control value.

[0059] Among them, the first basic torque value refers to the torque magnitude when the vehicle motor rotates, with the unit of N·m. This torque value is determined by the slope value and the vehicle speed value. The current torque control value refers to the specific value for setting and adjusting the torque generated by the vehicle motor during operation, specifically the torque value of the vehicle motor obtained after correcting the first basic torque value.

[0060] In step S210, the step of determining the first basic torque value of the target vehicle based on the current slope value and the current vehicle speed value further includes:

[0061] According to the current slope value and the current vehicle speed value, and in combination with the first correlation relationship between the slope value, the vehicle speed value, and the basic torque value, determine the first basic torque value.

[0062] Among them, the first correlation relationship is: a basic torque map table based on the slope value and the vehicle speed value. This map table can be obtained through experimental tests or simulation analyses of the target vehicle. Each set of data (slope value and vehicle speed value) in the map table corresponds to a basic torque value. Specifically, substitute the current slope value and the current vehicle speed value into the map table corresponding to the first correlation relationship, and determine the basic torque value corresponding to the current slope value and the current vehicle speed value as the first basic torque value.

[0063] In step S210, the current vehicle driving information includes the current slope value, the current vehicle speed value, the current vehicle speed difference value, the current braking pedal opening value, and the current acceleration difference value. The step of correcting the first base torque value based on at least one of the current vehicle speed difference value, the current braking pedal opening value, the current vehicle speed value, the current slope value, and the current acceleration difference value to obtain the current torque control value further includes:

[0064] Determine the first limiting torque coefficient of the target vehicle according to the current vehicle speed difference value and in combination with the second correlation relationship between the vehicle speed difference value and the limiting torque coefficient.

[0065] Among them, the second correlation relationship is: a limiting torque coefficient map table based on the vehicle speed difference value. This map table can be obtained through experimental tests or simulation analyses of the target vehicle. Different vehicle speed difference values in the map table respectively correspond to a limiting torque coefficient. Specifically, substitute the current vehicle speed difference value into the map table corresponding to the second correlation relationship, and determine the limiting torque coefficient corresponding to the current vehicle speed difference value as the first limiting torque coefficient.

[0066] Determine the second limiting torque coefficient of the target vehicle according to the current braking pedal opening value and the current vehicle speed value and in combination with the third correlation relationship between the braking pedal opening value, the vehicle speed value, and the limiting torque coefficient.

[0067] Among them, the third correlation relationship is: a limiting torque coefficient map table based on the braking pedal opening value and the vehicle speed value. This map table can be obtained through experimental tests or simulation analyses of the target vehicle. A set of data (braking pedal opening value and vehicle speed value) in the map table respectively corresponds to a limiting torque coefficient. Specifically, substitute the current braking pedal opening value and the current vehicle speed value into the map table corresponding to the third correlation relationship, and determine the limiting torque coefficient corresponding to the current braking pedal opening value and the current vehicle speed value as the second limiting torque coefficient.

[0068] Determine the third limiting torque coefficient of the target vehicle according to the current braking pedal opening value and the current slope value and in combination with the fourth correlation relationship between the braking pedal opening value, the slope value, and the limiting torque coefficient.

[0069] Among them, the fourth correlation relationship is: a limiting torque coefficient map table based on the braking pedal opening value and the slope value. This map table can be obtained through experimental tests or simulation analyses of the target vehicle. Each set of data (braking pedal opening value and slope value) in the map table respectively corresponds to a limiting torque coefficient. Specifically, substitute the current braking pedal opening value and the current slope value into the map table corresponding to the fourth correlation relationship, and determine the limiting torque coefficient corresponding to the current braking pedal opening value and the current slope value as the third limiting torque coefficient.

[0070] Based on the current acceleration difference and in combination with the fifth correlation relationship between the acceleration difference and the limiting torque coefficient, determine the fourth limiting torque coefficient of the target vehicle.

[0071] Among them, the fifth correlation relationship is: a limiting torque coefficient map based on the acceleration difference. This map can be obtained through experimental tests or simulation analyses of the target vehicle. Different acceleration differences in the map correspond to a limiting torque coefficient respectively. Specifically, substitute the current acceleration difference into the map corresponding to the fifth correlation relationship, and determine the limiting torque coefficient corresponding to the current acceleration difference as the fourth limiting torque coefficient.

[0072] Based on the product among the first basic torque value, the first limiting torque coefficient, the second limiting torque coefficient, the third limiting torque coefficient, and the fourth limiting torque coefficient, obtain the second basic torque value of the vehicle.

[0073] Among them, τ p =τ base ×τ Vfc ×τ Bfc ×τ Sfc ×τ Afc ; τ p represents the second basic torque value, equivalent to the P-term value in PID regulation; τ base represents the first basic torque value, τ Vfc represents the first limiting torque coefficient, τ Bfc represents the second limiting torque coefficient, τ Sfc represents the third limiting torque coefficient, τ Afc represents the fourth limiting torque coefficient.

[0074] Based on the current vehicle speed difference and the current acceleration difference, and in combination with the sixth correlation relationship among the vehicle speed difference, the acceleration difference, and the torque value, determine the third basic torque value of the target vehicle.

[0075] Among them, the sixth correlation relationship is: a torque value map based on the vehicle speed difference and the acceleration difference. This map can be obtained through experimental tests or simulation analyses of the target vehicle. Each set of data (vehicle speed difference and acceleration difference) in the map corresponds to a torque value respectively. Specifically, substitute the current vehicle speed difference and the current acceleration difference into the map corresponding to the sixth correlation relationship, and determine the limiting torque coefficient corresponding to the current vehicle speed difference and the current acceleration difference as the third basic torque value.

[0076] Determine the sum of the second basic torque value and the third basic torque value as the current torque control value of the vehicle.

[0077] Among them, τ g =τ p +τ i ; τg Represents the current torque control value, τ p Represents the second base torque value, τ i Represents the third base torque value.

[0078] Step S220: When the current vehicle speed value is within the creep vehicle speed range, based on the magnitude of the current slope value, determine the current creep control mode of the target vehicle, and perform creep control on the target vehicle according to the current creep control mode.

[0079] Among them, the control parameters corresponding to the current creep control mode at least include: the current torque control value.

[0080] The technical solution of this embodiment further determines the base torque according to the vehicle speed and the slope, and then corrects the base torque in combination with the vehicle driving information to obtain the optimal control torque, so as to realize the smooth operation of the vehicle on the slope and the controllable vehicle speed closed-loop control, improve the driving stability of the vehicle, and provide a better driving experience for users.

[0081] Based on any of the above embodiments, it further includes:

[0082] Based on the difference between the current vehicle speed value and the target vehicle speed value of the target vehicle, determine the current vehicle speed difference, and based on the difference between the current acceleration value and the target acceleration value of the target vehicle, determine the current acceleration difference.

[0083] Among them, the target vehicle speed value is the ideal vehicle speed value of the vehicle at the current moment, which can be determined by factors such as the driving mode of the vehicle-mounted system. The current vehicle speed value is the actual vehicle speed value of the vehicle at the current moment, which can be collected by devices such as vehicle speed sensors. The current vehicle speed difference = current vehicle speed value - target vehicle speed value. The target acceleration value is the ideal acceleration value of the vehicle at the current moment, which can be determined by factors such as the driving mode of the vehicle-mounted system. The current acceleration value is the actual acceleration value of the vehicle at the current moment, which can be collected by devices such as vehicle speed sensors and calculated by the vehicle-mounted system. The current acceleration difference = current acceleration value - target acceleration value.

[0084] The above technical solution further clarifies the calculation methods of the current vehicle speed difference and the current acceleration difference, which can improve the accuracy and stability of the vehicle speed closed-loop control and provide a better driving experience for users.

[0085] Based on any of the above embodiments, the step of determining the current creep control mode of the target vehicle based on the magnitude of the current slope value further includes:

[0086] When the absolute value of the current slope value is greater than the preset slope value and the slope where the target vehicle is currently located is a downhill slope, determine the current creep control mode as a coordinated control mode including a hydraulic control mode and a torque control mode; otherwise, determine the current creep control mode as a torque control mode.

[0087] Among them, the preset slope value is defaulted to 15%. The slope value represents the ratio of the vertical height to the horizontal distance. For example, a slope value of 15% means that for every 100 meters of horizontal advancement, the vertical height rises (falls) by 15 meters. The larger the slope value, the steeper the road. The hydraulic control mode is a mode of controlling the vehicle movement through liquid pressure, and the control parameter corresponding to the hydraulic control mode is the current hydraulic control value; the torque control mode is a mode of controlling the vehicle movement through torque change, and the control parameter corresponding to the torque control mode is the current torque control value.

[0088] It should be noted that in the prior art, when the vehicle is on a downhill road and creep control is performed without stepping on the accelerator, due to the absence of closed-loop control, the vehicle speed will become faster and faster; when the vehicle is on a road surface with continuous up and down slope changes, the vehicle speed will also be fast and slow; if creep torque control is performed according to a specific map, because the torque cannot be adjusted in a timely manner, it may not be able to adapt to special extreme climate conditions, such as cold or hot weather, etc. In this embodiment, the ESC is controlled according to the current hydraulic control value to perform creep control on the vehicle, and the VDC is controlled according to the current torque control value to perform creep control on the vehicle. As Figure 3 shown, after obtaining the current torque control value and determining the current creep control mode, the current torque control value can also be torque-filtered so that the VDC performs creep control on the vehicle according to the filtered torque control value, and further determines different creep control modes according to the magnitude of the slope value, so as to be able to perform creep control adjustment in different driving environments, realize the stable operation of the vehicle on the slope and the controllable vehicle speed closed-loop control, improve the stability of vehicle driving, and provide a better driving experience for users.

[0089] Figure 4 The structural schematic diagram of the embodiment of the vehicle ramp creep control device provided by the present application is shown. Please refer to Figure 4 shown, the vehicle ramp creep control device 300 includes: a processing module 310 and a control module 320.

[0090] The processing module 310 is used to determine the current torque control value of the target vehicle based on the current vehicle driving information of the target vehicle; wherein, the current vehicle driving information at least includes the current slope value and the current vehicle speed value;

[0091] The control module 320 is used to, when the current vehicle speed value is within the creep vehicle speed range, determine the current creep control mode of the target vehicle based on the magnitude of the current slope value, and perform creep control on the target vehicle according to the current creep control mode; wherein, the control parameter corresponding to the current creep control mode at least includes: the current torque control value.

[0092] In an alternative manner, the current vehicle driving information includes a current slope value and a current vehicle speed value, and further includes at least one of a current vehicle speed difference value, a current brake pedal opening value, and a current acceleration difference value; specifically, the processing module 310 is configured to:

[0093] Based on the current slope value and the current vehicle speed value, determine a first basic torque value of the target vehicle, and based on at least one of the current vehicle speed difference value, the current brake pedal opening value, the current vehicle speed value, the current slope value, and the current acceleration difference value, correct the first basic torque value to obtain the current torque control value.

[0094] In an alternative manner, specifically, the processing module 310 is configured to:

[0095] According to the current slope value and the current vehicle speed value, and in combination with a first correlation relationship between the slope value, the vehicle speed value, and the basic torque value, determine the first basic torque value.

[0096] In an alternative manner, the current vehicle driving information includes a current slope value, a current vehicle speed value, a current vehicle speed difference value, a current brake pedal opening value, and a current acceleration difference value; specifically, the processing module 310 is configured to:

[0097] According to the current vehicle speed difference value, and in combination with a second correlation relationship between the vehicle speed difference value and the limiting torque coefficient, determine a first limiting torque coefficient of the target vehicle;

[0098] According to the current brake pedal opening value and the current vehicle speed value, and in combination with a third correlation relationship between the brake pedal opening value, the vehicle speed value, and the limiting torque coefficient, determine a second limiting torque coefficient of the target vehicle;

[0099] According to the current brake pedal opening value and the current slope value, and in combination with a fourth correlation relationship between the brake pedal opening value, the slope value, and the limiting torque coefficient, determine a third limiting torque coefficient of the target vehicle;

[0100] According to the current acceleration difference value, and in combination with a fifth correlation relationship between the acceleration difference value and the limiting torque coefficient, determine a fourth limiting torque coefficient of the target vehicle;

[0101] Based on the product of the first basic torque value, the first limiting torque coefficient, the second limiting torque coefficient, the third limiting torque coefficient, and the fourth limiting torque coefficient, obtain a second basic torque value of the vehicle;

[0102] Based on the current vehicle speed difference and the current acceleration difference, and in combination with the sixth correlation relationship among the vehicle speed difference, the acceleration difference, and the torque value, determine the third basic torque value of the target vehicle;

[0103] Determine the sum of the second basic torque value and the third basic torque value as the current torque control value of the vehicle.

[0104] In an alternative embodiment, the vehicle ramp creep control device 300 further includes:

[0105] A calculation module, configured to determine the current vehicle speed difference based on the difference between the current vehicle speed value and the target vehicle speed value of the target vehicle, and determine the current acceleration difference based on the difference between the current acceleration value and the target acceleration value of the target vehicle.

[0106] In an alternative embodiment, the control module 320 is specifically configured to:

[0107] When the absolute value of the current slope value is greater than the preset slope value and the ramp where the target vehicle is currently located is a downhill slope, determine the current creep control mode as a coordinated control mode including a hydraulic control mode and a torque control mode;

[0108] Otherwise, determine the current creep control mode as the torque control mode.

[0109] In an alternative embodiment, the control parameter corresponding to the hydraulic control mode is the current torque control value, and the control parameter corresponding to the hydraulic control mode is the current hydraulic control value.

[0110] The technical solution of this embodiment can achieve smooth operation of the vehicle on a ramp and controllable vehicle speed closed-loop control, thereby improving the driving stability of the vehicle and providing a better driving experience for users.

[0111] It should be noted that the vehicle ramp creep control device provided in the above embodiment and the vehicle ramp creep control method provided in the foregoing embodiment belong to the same concept. The specific manners in which each module and unit perform operations have been described in detail in the method embodiment, and will not be elaborated herein.

[0112] Figure 5 The structural schematic diagram of an embodiment of the vehicle ramp creep control device provided in the present application is shown, which shows the structural schematic diagram of a computer system suitable for implementing the vehicle ramp creep control device of the embodiment of the present application. The specific implementation of the vehicle ramp creep control device in the specific embodiment of the present application is not limited.

[0113] Please refer to Figure 5As shown, the vehicle ramp creep control device includes: a controller; a memory for storing one or more programs, which, when executed by the controller, perform the above-described vehicle ramp creep control method.

[0114] Please continue to refer to Figure 5 As shown, the computer system 500 of the vehicle ramp creep control device includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage section 508 into the random access memory (RAM) 503, such as executing the method in the above embodiments. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0115] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read from it can be installed into the storage section 508 as needed.

[0116] Specifically, according to the embodiments of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments of the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 509, and / or installed from the removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, various functions defined in the system of the present application are executed.

[0117] Another aspect of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle ramp creep control method described above is implemented. The computer-readable storage medium may be included in the vehicle ramp creep control device described in the above embodiments, or may exist alone without being assembled into the electronic device.

[0118] Another aspect of the present application further provides a computer program product or a computer program. The computer program product or the computer program includes at least one executable instruction. When the executable instruction runs on the vehicle ramp creep control device / equipment, the vehicle ramp creep control device / equipment is caused to execute the vehicle ramp creep control method described above.

[0119] The executable instruction can specifically be used to cause the vehicle ramp creep control device / equipment to perform the following operations:

[0120] Based on the current vehicle driving information of the target vehicle, determine the current torque control value of the target vehicle; wherein, the current vehicle driving information at least includes the current slope value and the current vehicle speed value;

[0121] When the current vehicle speed value is within the creep vehicle speed range, based on the magnitude of the current slope value, determine the current creep control mode of the target vehicle, and perform creep control on the target vehicle according to the current creep control mode; wherein, the control parameters corresponding to the current creep control mode at least include: the current torque control value.

[0122] In an optional manner, the current vehicle driving information includes the current slope value and the current vehicle speed value, and further includes at least one of the current vehicle speed difference value, the current brake pedal opening value, and the current acceleration difference value;

[0123] The step of determining the current torque control value of the target vehicle based on the current vehicle driving information of the target vehicle further includes:

[0124] Based on the current slope value and the current vehicle speed value, determine the first basic torque value of the target vehicle;

[0125] Based on at least one of the current vehicle speed difference value, the current brake pedal opening value, the current vehicle speed value, the current slope value, and the current acceleration difference value, correct the first basic torque value to obtain the current torque control value.

[0126] In an optional manner, the step of determining the first basic torque value of the target vehicle based on the current slope value and the current vehicle speed value further includes:

[0127] Determine the first base torque value according to the current slope value and the current vehicle speed value, and in combination with the first correlation relationship between the slope value, the vehicle speed value and the base torque value.

[0128] In an alternative manner, the current vehicle driving information includes a current slope value, a current vehicle speed value, a current vehicle speed difference value, a current braking pedal opening value, and a current acceleration difference value;

[0129] The step of correcting the first base torque value based on at least one of the current vehicle speed difference value, the current braking pedal opening value, the current vehicle speed value, the current slope value, and the current acceleration difference value to obtain the current torque control value further includes:

[0130] Determine the first limiting torque coefficient of the target vehicle according to the current vehicle speed difference value, and in combination with the second correlation relationship between the vehicle speed difference value and the limiting torque coefficient;

[0131] Determine the second limiting torque coefficient of the target vehicle according to the current braking pedal opening value and the current vehicle speed value, and in combination with the third correlation relationship between the braking pedal opening value, the vehicle speed value, and the limiting torque coefficient;

[0132] Determine the third limiting torque coefficient of the target vehicle according to the current braking pedal opening value and the current slope value, and in combination with the fourth correlation relationship between the braking pedal opening value, the slope value, and the limiting torque coefficient;

[0133] Determine the fourth limiting torque coefficient of the target vehicle according to the current acceleration difference value, and in combination with the fifth correlation relationship between the acceleration difference value and the limiting torque coefficient;

[0134] Obtain the second base torque value of the vehicle based on the product of the first base torque value, the first limiting torque coefficient, the second limiting torque coefficient, the third limiting torque coefficient, and the fourth limiting torque coefficient;

[0135] Determine the third base torque value of the target vehicle based on the current vehicle speed difference value and the current acceleration difference value, and in combination with the sixth correlation relationship between the vehicle speed difference value, the acceleration difference value, and the torque value;

[0136] Determine the sum of the second base torque value and the third base torque value as the current torque control value of the vehicle.

[0137] In an alternative manner, the method further includes:

[0138] Determine the current vehicle speed difference based on the difference between the current vehicle speed value and the target vehicle speed value of the target vehicle, and determine the current acceleration difference based on the difference between the current acceleration value and the target acceleration value of the target vehicle.

[0139] In an alternative manner, the step of determining the current creep control mode of the target vehicle based on the magnitude of the current slope value further includes:

[0140] When the absolute value of the current slope value is greater than a preset slope value and the target vehicle is currently on a downhill slope, determine the current creep control mode as a coordinated control mode including a hydraulic control mode and a torque control mode;

[0141] Otherwise, determine the current creep control mode as a torque control mode.

[0142] In an alternative manner, the control parameter corresponding to the hydraulic control mode is the current torque control value, and the control parameter corresponding to the hydraulic control mode is the current hydraulic control value.

[0143] The technical solution of this embodiment can achieve smooth operation of the vehicle on a slope and controllable vehicle speed closed-loop control, thereby improving the stability of vehicle driving and providing a better driving experience for users.

[0144] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0145] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in an order different from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0146] The units involved in the embodiments described in this application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not, in some cases, constitute a limitation on the units themselves.

[0147] According to one aspect of the embodiments of this application, a computer system is further provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage section into a random access memory (RAM), such as executing the method in the above embodiments. In the RAM, various programs and data required for system operations are also stored. The CPU, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0148] The following components are connected to the I / O interface: an input section including a keyboard, a mouse, etc.; an output section including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker; a storage section including a hard disk, etc.; and a communication section including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as required. A removable medium, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive as required, so that a computer program read from it can be installed into the storage section as required.

[0149] The above content is only a preferred exemplary embodiment of this application and is not used to limit the implementation of this application. Those of ordinary skill in the art can easily make corresponding adaptations or modifications according to the main concept and spirit of this application. Therefore, the protection scope of this application should be subject to the protection scope required by the claims.

Claims

1. A vehicle ramp creep control method, characterized in that: The method comprises: Determining a current torque control value of the target vehicle based on current vehicle driving information of the target vehicle; wherein the current vehicle driving information at least includes a current slope value and a current vehicle speed value; When the current vehicle speed value is in the creeping speed range, the current creep control mode of the target vehicle is determined based on the current slope value, and the target vehicle is creep controlled according to the current creep control mode; wherein the control parameters corresponding to the current creep control mode include at least: the current torque control value.

2. The method according to claim 1, characterized in that The current vehicle driving information includes a current slope value and a current vehicle speed value, and also includes at least one of a current vehicle speed difference value, a current brake pedal opening value, and a current acceleration difference value; The step of determining the current torque control value of the target vehicle based on the current vehicle driving information of the target vehicle further comprises: Determining a first basic torque value of the target vehicle based on the current slope value and the current vehicle speed value; Based on at least one of the current vehicle speed difference, the current brake pedal opening value, the current vehicle speed value, the current slope value and the current acceleration difference value, the first basic torque value is corrected to obtain the current torque control value.

3. The method according to claim 2, characterized in that The step of determining a first basic torque value of the target vehicle based on the current slope value and the current vehicle speed value further includes: The first basic torque value is determined according to the current slope value and the current vehicle speed value and in combination with a first correlation relationship among the slope value, the vehicle speed value and the basic torque value.

4. The method according to claim 2, characterized in that: The current vehicle driving information includes the current slope value, the current vehicle speed value, the current vehicle speed difference value, the current brake pedal opening value and the current acceleration difference value; The step of correcting the first basic torque value based on at least one of the current vehicle speed difference, the current brake pedal opening value, the current vehicle speed value, the current slope value and the current acceleration difference to obtain the current torque control value further includes: Determining a first limit torque coefficient of the target vehicle according to the current vehicle speed difference and in combination with a second correlation relationship between the vehicle speed difference and the limit torque coefficient; Determining a second limit torque coefficient of the target vehicle according to the current brake pedal opening value and the current vehicle speed value, and in combination with a third association relationship between the brake pedal opening value, the vehicle speed value and the limit torque coefficient; Determining a third limiting torque coefficient of the target vehicle according to the current brake pedal opening value and the current slope value, and in combination with a fourth association relationship between the brake pedal opening value, the slope value and the limiting torque coefficient; Determining a fourth limit torque coefficient of the target vehicle according to the current acceleration difference and in combination with a fifth association relationship between the acceleration difference and the limit torque coefficient; Obtaining a second basic torque value of the vehicle based on a product of the first basic torque value, the first limit torque coefficient, the second limit torque coefficient, the third limit torque coefficient and the fourth limit torque coefficient; Determining a third basic torque value of the target vehicle based on the current vehicle speed difference and the current acceleration difference and in combination with a sixth association relationship among the vehicle speed difference, the acceleration difference and the torque value; The sum of the second basic torque value and the third basic torque value is determined as the current torque control value of the vehicle.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The current vehicle speed difference is determined based on a difference between the current vehicle speed value and a target vehicle speed value of the target vehicle, and the current acceleration difference is determined based on a difference between the current acceleration value and a target acceleration value of the target vehicle.

6. The method according to claim 1, characterized in that The step of determining the current creep control mode of the target vehicle based on the current slope value further includes: When the absolute value of the current slope value is greater than the preset slope value and the slope currently located by the target vehicle is a downhill slope, the current creep control mode is determined to be a coordinated control mode including a hydraulic control mode and a torque control mode; Otherwise, the current creep control mode is determined as the torque control mode.

7. The method according to claim 6, characterized in that The control parameter corresponding to the hydraulic control mode is the current torque control value, and the control parameter corresponding to the hydraulic control mode is the current hydraulic control value.

8. A vehicle ramp creep control device, characterized in that: The device comprises: A processing module, configured to determine a current torque control value of the target vehicle based on current vehicle driving information of the target vehicle; wherein the current vehicle driving information at least includes a current slope value and a current vehicle speed value; A control module is used to determine the current creep control mode of the target vehicle based on the current slope value when the current vehicle speed value is in the creep speed range, and to perform creep control on the target vehicle according to the current creep control mode; wherein the control parameters corresponding to the current creep control mode include at least: the current torque control value.

9. A vehicle slope creep control device, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the vehicle hill creep control method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one executable instruction, and when the executable instruction is executed on the vehicle hill creep control device / equipment, the vehicle hill creep control device / equipment performs the operation of the vehicle hill creep control method as described in any one of claims 1-7.

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