Vehicle parking starting control method, related device and automobile

Abstract

The invention discloses a vehicle parking and starting control method which comprises the steps that when a vehicle enters an automatic cruise mode, the running state of the vehicle is determined; when it is determined that the vehicle is in the non-parking state, the torque demand state of a driving motor of the vehicle is determined; when the driving motor of the vehicle has no torque demand, the driving motor of the vehicle is controlled to complete torque zero-crossing control; when it is determined that the vehicle is in the parking state, starting to calculate the parking time of the vehicle; and in response to determining that the parking time of the vehicle is less than the preset time, controlling a driving motor of the vehicle to complete torque zero-crossing control. When the vehicle is not completely braked or not completely stopped stably or the vehicle needs to be restarted when the vehicle is stopped stably for less than the preset time, the torque zero-crossing control process which needs a long time is completed in advance, so that the vehicle can be started without the process, the time consumed by the torque zero-crossing control process when the vehicle is started is saved, and the starting efficiency of the vehicle is improved. And the starting response sensitivity of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to a vehicle parking and starting control method, related devices, and an automobile. Background Art

[0002] With the development of vehicle technology, new energy vehicles, relying on the characteristics of electric motors, have advantages such as quick power and fast response compared to fuel-driven transmission vehicles, and occupy an increasing market share.

[0003] Currently, many vehicles are equipped with an adaptive cruise function. This function, combined with intelligent driving functions such as lane centering, can already achieve functions such as automatic starting, acceleration, cornering, following, and deceleration of the vehicle without driver intervention, making the driving experience of intelligent driving closer to that of human driving.

[0004] Even though the starting response time of new energy vehicles has been greatly optimized compared to pure fuel vehicles, since current intelligent driving functions such as adaptive cruise cannot predict the starting of the vehicle as accurately as human driving, the starting process of the vehicle is still relatively slow, reducing the driver's driving experience. Summary of the Invention

[0005] To solve the above technical problems, this application provides a vehicle parking and starting control method, related devices, and an automobile.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] In a first aspect, the embodiments of this application disclose a vehicle parking and starting control method, the method including:

[0008] When the vehicle enters the automatic cruise mode, determine the operating state of the vehicle;

[0009] When it is determined that the vehicle is in an unparked state, determine the torque demand state of the driving motor of the vehicle;

[0010] In response to determining that there is no torque demand from the driving motor of the vehicle, control the driving motor of the vehicle to complete torque zero-crossing control;

[0011] When it is determined that the vehicle is in a parked state, determine the parking time of the vehicle;

[0012] In response to determining that the parking time of the vehicle is less than a preset time, control the driving motor of the vehicle to complete torque zero-crossing control.

[0013] Optionally, the controlling the driving motor of the vehicle to complete torque zero-crossing control in response to determining that the parking time of the vehicle is less than a preset time includes:

[0014] In response to determining that the parking time of the vehicle is less than a preset time, control the drive motor of the vehicle to complete torque zero-crossing control by applying a pressing torque; the pressing torque is greater than the zero-crossing torque required for the drive motor to perform the torque zero-crossing control;

[0015] The method further includes:

[0016] In response to determining that the parking time of the vehicle is greater than the preset time, control the drive motor of the vehicle to remove the pressing torque.

[0017] Optionally, the method further includes:

[0018] Obtain the parking slope of the vehicle in the parking state;

[0019] Determine the pressing torque removal rate according to the parking slope;

[0020] The step of, in response to determining that the parking time of the vehicle is greater than the preset time, controlling the drive motor of the vehicle to remove the pressing torque includes:

[0021] In response to determining that the parking time of the vehicle is greater than the preset time, control the drive motor of the vehicle to remove the pressing torque according to the pressing torque removal rate.

[0022] Optionally, the method further includes:

[0023] Obtain the current slope of the vehicle and the distance between the target vehicle and the vehicle; the target vehicle is in front of the vehicle;

[0024] Determine the pressing torque according to the current slope and the distance between the vehicles;

[0025] The step of, in response to determining that the parking time of the vehicle is less than the preset time, controlling the drive motor of the vehicle to complete torque zero-crossing control by applying a pressing torque includes:

[0026] In response to determining that the parking time of the vehicle is less than the preset time, control the drive motor of the vehicle to complete torque zero-crossing control by applying the pressing torque.

[0027] Optionally, the method further includes:

[0028] In response to the vehicle receiving a start request, determine the drive torque required for the vehicle to start;

[0029] Control the drive motor of the vehicle according to the drive torque so that the vehicle starts.

[0030] In a second aspect, an embodiment of the present application discloses a vehicle parking and starting control device, the device includes:

[0031] A first operating state determination unit, configured to determine the operating state of the vehicle when the vehicle enters the automatic cruise mode;

[0032] A second operating state determination unit, configured to determine the torque demand state of the drive motor of the vehicle when it is determined that the vehicle is in an unparked state;

[0033] A first control unit, configured to control the drive motor of the vehicle to complete torque zero-crossing control in response to determining that there is no torque demand from the drive motor of the vehicle;

[0034] A parking time determination unit, configured to determine the parking time of the vehicle when it is determined that the vehicle is in a parked state;

[0035] A second control unit, configured to control the drive motor of the vehicle to complete torque zero-crossing control in response to determining that the parking time of the vehicle is less than a preset time.

[0036] Optionally, the second control unit is further configured to:

[0037] In response to determining that the parking time of the vehicle is less than a preset time, control the drive motor of the vehicle to complete torque zero-crossing control by applying a pressing torque; the pressing torque is greater than the zero-crossing torque required for the drive motor to perform the torque zero-crossing control;

[0038] The device further includes:

[0039] A third control unit, configured to control the drive motor of the vehicle to remove the pressing torque in response to determining that the parking time of the vehicle is greater than the preset time.

[0040] Optionally, the device further includes:

[0041] A first acquisition unit, including acquiring the parking slope of the vehicle in a parked state;

[0042] A removal rate determination unit, configured to determine the pressing torque removal rate according to the parking slope;

[0043] The second control unit is further configured to:

[0044] In response to determining that the parking time of the vehicle is greater than the preset time, control the drive motor of the vehicle to remove the pressing torque according to the pressing torque removal rate.

[0045] Optionally, the device further includes:

[0046] A second acquisition unit, configured to acquire the current slope of the vehicle and the distance between the target vehicle and the vehicle; the target vehicle is located in front of the vehicle;

[0047] A pressing torque determination unit for determining a pressing torque according to the current slope and the workshop distance;

[0048] The second control unit is further configured to:

[0049] In response to determining that the parking time of the vehicle is less than a preset time, control the drive motor of the vehicle to complete torque zero-crossing control by applying the pressing torque.

[0050] Optionally, the device further includes:

[0051] A driving torque determination unit for determining a driving torque required for starting the vehicle in response to the vehicle receiving a start request;

[0052] A third control unit for controlling the drive motor of the vehicle according to the driving torque so that the vehicle starts.

[0053] In a third aspect, an embodiment of the present application discloses a computer device, which includes a processor and a memory:

[0054] The memory is used to store program code and transmit the program code to the processor;

[0055] The processor is configured to execute the vehicle parking and starting control method as described in the first aspect and any optional item of the first aspect according to the instructions in the program code.

[0056] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium, which is used to store a computer program, and the computer program is used to execute the vehicle parking and starting control method as described in the first aspect and the first aspect when being executed by a processor.

[0057] In a fifth aspect, an embodiment of the present application discloses a new energy vehicle, which includes a drive motor;

[0058] The drive motor is used to execute the vehicle parking and starting control method as described in the first aspect and any optional item of the first aspect.

[0059] As can be seen from the above technical solution, when the vehicle enters the automatic cruise mode, the running state of the vehicle is determined; when it is determined that the vehicle is in an unparked state, the torque demand state of the vehicle's drive motor is determined; in response to determining that there is no torque demand for the vehicle's drive motor, the vehicle's drive motor is controlled to complete the torque zero-crossing control; when it is determined that the vehicle is in a parked state, the parking time of the vehicle is determined; in response to determining that the parking time of the vehicle is less than the preset time, the vehicle's drive motor is controlled to complete the torque zero-crossing control. That is, when the vehicle has not come to a complete stop or is not completely stable, or when the vehicle needs to start again before it has been stable for less than the preset time, the torque zero-crossing control process that takes a relatively long time is completed in advance, so that the vehicle can start without having to perform this process again when starting, saving the time consumed by the torque zero-crossing control process when the vehicle starts and improving the sensitivity of the vehicle's starting response. Description of the Drawings

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0061] Figure 1 It is a schematic diagram of vehicle torque change when the vehicle starts in the related art;

[0062] Figure 2 It is a flowchart of a vehicle parking and starting control method provided by an embodiment of the present application;

[0063] Figure 3 It is a schematic diagram of vehicle torque change when the vehicle starts after optimizing the vehicle parking and starting control method provided by an embodiment of the present application;

[0064] Figure 4 It is a schematic diagram of vehicle torque change after optimizing another vehicle parking and starting control method provided by an embodiment of the present application;

[0065] Figure 5 It is an execution schematic diagram of a vehicle parking and starting control method provided by an embodiment of the present application;

[0066] Figure 6 It is an execution timing diagram of a vehicle parking and starting control method in an actual vehicle test provided by an embodiment of the present application;

[0067] Figure 7 It is a structural block diagram of a vehicle parking and starting control device provided by an embodiment of the present application;

[0068] Figure 8Block diagram of a computer device for vehicle parking and starting control provided by an embodiment of the present application. Detailed implementation manners

[0069] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0070] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, which is only a way of distinguishing objects with the same attributes when describing the embodiments of the present application.

[0071] New energy vehicles, including pure electric vehicles and hybrid vehicles, have the advantages of quick power and fast response compared with traditional fuel vehicles, and have gradually occupied an increasingly high market share.

[0072] Currently, many new energy vehicles have been equipped with an Adaptive Cruise Control (ACC) system. This system can assist the driver in driving the vehicle and realize semi-hands-off functions such as automatic starting, accelerating, cornering, following, and decelerating of the vehicle. Especially in combination with other functions such as lane centering, it can achieve an autonomous driving performance similar to that of a real person driving. Under the control of this system, the starting response time of new energy vehicles is much better than that of traditional fuel vehicles, and the drivability is relatively high.

[0073] Since real-person driving often involves a certain degree of anticipation. For example, when a driver is about to start the vehicle, they do not start when they actually see the vehicle in front moving, but when they see the brake lights of the vehicle in front go out, they anticipate that the vehicle in front is about to start moving forward, and then prepare to start the starting action, thus saving the time between the brake lights of the vehicle in front going out and the vehicle in front actually starting to move, enabling the vehicle to start faster. When the vehicle is in intelligent driving, the ACC controls the driving of the vehicle through many pre-provided calibration parameters. Even if the driving performance parameters of the vehicle in the intelligent driving state are calibrated in a way close to real-person driving, due to the lack of this anticipation process in the ACC, the driver will feel that the vehicle starts slowly in the vehicle, thus reducing the driving comfort of the vehicle.

[0074] The inventors found that due to the negative torque response characteristics of battery energy recovery in the motor of new energy vehicles, in order to avoid the impact caused by the commutation of the motor tooth surface during the switching of positive and negative torque working conditions, new energy vehicles must pass through a relatively gentle torque zero-crossing stage in a certain area near zero torque. When the adaptive cruise mode is turned on, the new energy vehicle will restart after stopping or about to stop, and the drive motor will also request power torque again from zero torque request. Before the power fully responds, it will experience a complete torque zero-crossing process. This process can be referred to Figure 1 , Figure 1 which is a schematic diagram of the vehicle torque change when the vehicle starts in the related art. When starting in cruise, the power torque starts to be requested, and the torque starts to increase. After experiencing the zero-crossing process, the torque is fully responded, that is, torque zero-crossing control is achieved in a section where the cruise demand torque curve and the final response torque curve are separated. After completing the zero-crossing control, the final response torque reaches the cruise demand torque again, and the vehicle starts successfully. However, the torque zero-crossing process itself is a relatively slow process and takes a certain amount of time. The rise of its torque curve is close to the torque response during human driving. However, when the adaptive cruise system without anticipation guides the vehicle for intelligent driving, the vehicle may be cut in because of its slow start, which makes the driver's driving experience worse.

[0075] To solve this technical problem, the embodiment of the present application provides a vehicle parking and starting control method to optimize the starting speed of new energy vehicles during the adaptive cruise process. The embodiment of the present application completes the process of motor torque zero-crossing control that takes a certain amount of time in advance when the vehicle has not completely stopped or has just stopped, so that there is no need to perform torque zero-crossing control during vehicle starting, reducing the time consumption during the starting process, improving the sensitivity of the vehicle starting response, and improving the drivability of the vehicle.

[0076] Next, a vehicle parking and starting control method provided by the embodiment of the present application will be introduced in conjunction with the accompanying drawings. It can be understood that this method can be applied to the electronic control unit (ECU) of the vehicle or other control units with computing capabilities, and then send control signals to the vehicle control unit (VCU) or other vehicle controllers through communication buses such as the controller area network bus (CAN), and then control the drive motor and transmission system through the VCU to control the parking and starting of the vehicle. This method includes S201 - S205:

[0077] S201: When the vehicle enters the automatic cruise mode, determine the operating state of the vehicle.

[0078] Among them, the operating states of the vehicle include a parking state, a driving state, and a non-parking state. The parking state refers to the state where the vehicle has come to a complete stop, which can also be said to be a stationary state; the driving state refers to the state where the vehicle is in normal driving; and the non-parking state refers to the intermediate state when the vehicle switches from the driving state to the parking state, which can be the operating state of the vehicle from the moment the driver starts stepping on the brake until the vehicle comes to a complete stop.

[0079] When the vehicle enters the adaptive cruise control (ACC) mode, the operating speed and operating state of the vehicle can all be controlled by the ACC, and vehicle driving operations such as determining whether the vehicle is parked, controlling the parking and starting of the vehicle are also controlled by the ACC.

[0080] S202: When it is determined that the vehicle is in the non-parking state, determine the torque demand state of the vehicle's drive motor.

[0081] Among them, the torque of the vehicle's drive motor refers to the output torque of the vehicle's electric motor, which is also called motor torque, and is related to the output power of the motor. The common unit is Newton-meter (N·m).

[0082] Among them, the torque demand state of the vehicle drive motor can be a state with torque demand or a state without torque demand. In some possible implementation manners, when the vehicle moves forward completely by inertia and the motor does not need to provide power for the vehicle to move forward, the torque demand state of the vehicle's drive motor is a state without torque demand.

[0083] S203: In response to determining that the vehicle's drive motor has no torque demand, control the vehicle's drive motor to complete torque zero-crossing control.

[0084] After the vehicle completes torque zero-crossing control during parking at this time, the vehicle successfully enters the parking state. And when the vehicle starts again next time, since the vehicle has completed torque zero-crossing control during the previous parking, there is no need to perform torque zero-crossing control during starting, thus saving the time required for torque zero-crossing control during the vehicle starting stage and improving the sensitivity of the vehicle starting response.

[0085] Please refer to Figure 3 together, and compare with Figure 1 for reference. Figure 3 is a schematic diagram of the torque change during vehicle starting after optimizing a vehicle parking and starting control method provided by an embodiment of the present application. During the vehicle starting process shown in Figure 3 , the torque is pre-tightened in advance before cruise starting, that is, the vehicle has completed torque zero-crossing control during the previous parking, which means that the zero-crossing process has been completed in advance. Compared with Figure 1 , Figure 1 has a separation between the final response torque curve and the cruise demand torque curve, that is, the torque zero-crossing control process, while Figure 3The cruise demand torque curve and the final response torque curve in [it] do not have this section of separation. That is to say, there is no torque zero-crossing control process, or the torque zero-crossing control process has been completed in advance, so as to achieve the agile starting effect of rapid torque response.

[0086] S204: When it is determined that the vehicle is in the parking state, determine the parking time of the vehicle.

[0087] In some possible scenarios, when the vehicle comes to a complete stop and enters the parking state, the drive motor does not need to drive the vehicle forward. At this time, the torque zero-crossing control is no longer performed by the drive motor.

[0088] S205: In response to determining that the parking time of the vehicle is less than the preset time, control the drive motor of the vehicle to complete the torque zero-crossing control.

[0089] Among them, the preset time can be calibrated, which can be calibrated to 3 seconds, or can be calibrated to 5 seconds or other times. Taking 3 seconds as an example, when the parking time of the vehicle is less than 3 seconds, or within 3 seconds from the vehicle coming to a stop, the torque zero-crossing control is completed through the drive motor, so as to reduce the response time during the next start.

[0090] To reduce the energy consumption after the zero-crossing torque control of the vehicle and improve the economy of the vehicle, based on the above embodiments, further, the controlling the drive motor of the vehicle to complete the torque zero-crossing control in response to determining that the parking time of the vehicle is less than the preset time includes:

[0091] In response to determining that the parking time of the vehicle is less than the preset time, control the drive motor of the vehicle to complete the torque zero-crossing control by applying a pressing torque; the pressing torque is greater than the zero-crossing torque required for the drive motor to perform the torque zero-crossing control;

[0092] In response to determining that the parking time of the vehicle is greater than the preset time, control the drive motor of the vehicle to remove the pressing torque.

[0093] In some possible implementation manners, the torque zero-crossing control can be achieved by the drive motor applying a pressing torque. The process that a tooth of a certain meshing gear crosses the tooth clearance and switches from one side of the mating tooth to the other side during gear meshing is called torque zero-crossing control. When the zero-crossing torque control is combined and the tooth of the meshing gear has been attached to the other tooth surface of another meshing gear, there is a certain pressing force on the mating surface, that is, there is a mutual pressing torque between the teeth, and this torque is called the pressing torque. Compared with other methods for torque zero-crossing control, the method of applying a pressing torque can enable the drive motor to complete the torque zero-crossing control in advance, achieving the effect of rapid vehicle start.

[0094] Among them, the magnitude of the pressing torque should be at least greater than the zero-crossing torque required for the driving motor to perform zero-crossing torque control, so as to achieve the effect of quickly completing the zero-crossing torque control.

[0095] In some possible implementation manners, if the new energy vehicle is in a two-wheel drive mode during current driving, then the pressing torque when the vehicle starts to park should be at least greater than the zero-crossing torque of the corresponding driving motor in the two-wheel drive mode.

[0096] In some other possible implementation manners, if the new energy vehicle is in a four-wheel drive mode during current driving, then the pressing torque when the vehicle starts to park should be at least greater than the sum of the zero-crossing torques of the two corresponding driving motors in the four-wheel drive mode, so as to ensure that both driving motors have completed the zero-crossing torque control process in advance before the vehicle starts again next time.

[0097] Taking 3 seconds as an example again, when the parking time of the vehicle is less than 3 seconds, or within 3 seconds starting from when the vehicle stops stably, it is considered that the vehicle is in a state of no motor torque request and ready to start again at any time during adaptive cruise. At this time, the pressing torque can be immediately applied to complete the zero-crossing torque process in advance.

[0098] When 3 seconds have passed since the adaptive cruise stopped stably, it is considered that the overall vehicle demand is to park stably for a short time. To save energy consumption, the pressing torque should be gently removed to 0, and the degree of gentleness should ensure that the tooth surfaces of the meshing gears in the transmission system are still close in the power direction, that is, there is no need to solve the zero-crossing control problem of excessive backlash during the restart process, so as to meet the requirements of quick start and save the additional energy consumption caused by the existence of the pressing torque.

[0099] In some possible implementation manners, the rate of gently removing the pressing torque is related to the current parking environment of the vehicle. To optimize the process of gently removing the pressing torque of the vehicle, based on the above embodiments, further, the method further includes:

[0100] Obtain the parking slope of the vehicle in the parking state;

[0101] Determine the pressing torque removal rate according to the parking slope;

[0102] In response to determining that the parking time of the vehicle is greater than a preset time, control the driving motor of the vehicle to remove the pressing torque, including:

[0103] In response to determining that the parking time of the vehicle is greater than a preset time, control the driving motor of the vehicle to remove the pressing torque according to the pressing torque removal rate.

[0104] Among them, the pressing torque is not removed instantaneously in its entirety, but is gently removed at a certain pressing torque removal rate, so as to ensure that the tooth surfaces remain in a tight state when the pressing torque is removed.

[0105] In some possible implementations, the pressing torque removal rate is related to the parking slope of the vehicle: when the slope is smaller, the absolute value of the pressing torque removal rate is smaller, that is, the removal of the pressing torque is softer, improving the smooth operation of the gear transmission system.

[0106] In some possible implementations, the specific setting of the pressing torque is related to the current parking environment of the vehicle. To optimize the pressing torque during actual vehicle parking based on the parking environment, based on the above embodiments, further, the method further includes:

[0107] Obtain the current slope of the vehicle and the distance between the target vehicle and the vehicle; the target vehicle is located in front of the vehicle;

[0108] Determine the pressing torque according to the current slope and the distance between vehicles;

[0109] In response to determining that the parking time of the vehicle is less than a preset time, control the drive motor of the vehicle to complete torque zero-crossing control by applying a pressing torque, including:

[0110] In response to determining that the parking time of the vehicle is less than a preset time, control the drive motor of the vehicle to complete torque zero-crossing control by applying a pressing torque.

[0111] As a possible implementation, the calculation method of the pressing torque can be shown as the following formula (1):

[0112] Pressing torque = zero-crossing torque + F(slope, distance to the vehicle ahead) (1)

[0113] Wherein, F refers to the compensation value required to compensate the zero-crossing torque calculated according to the slope and the distance to the vehicle ahead. When the slope is larger and the distance to the vehicle ahead is farther, the compensation value required to be given to the zero-crossing torque is larger, so that the applied pressing torque is larger and the effect of restarting is more sensitive.

[0114] Please refer to Figure 5 , Figure 5 which is an execution schematic diagram of a vehicle parking and starting control method provided by an embodiment of the present application. The execution method includes S501 - S507:

[0115] S501: Adaptive cruise mode is turned on;

[0116] S502: Determine whether the vehicle has stopped stably and the drive motor has no torque requirement; if not, enter S503; if so, go to S504;

[0117] S503: If the vehicle has stopped stably, determine whether the parking time of the vehicle is less than a preset time; if so, enter S504; if not, go to S505;

[0118] S504: Applied clamping torque = zero-crossing torque + F(gradient, distance to the vehicle ahead);

[0119] S505: Determine whether the vehicle restarts; if not, proceed to S506; if yes, go to S507;

[0120] S506: Gradually remove the clamping torque to 0, and the rate of gradual removal is related to the parking gradient;

[0121] S507: Transmit the torque to the drive motor.

[0122] When the vehicle restarts, the vehicle receives a start request and determines the drive torque required for the vehicle to start; then, according to the drive torque, the drive motor of the vehicle is controlled to enable the vehicle to start.

[0123] Please refer to Figure 6 , Figure 6 , which is the execution timing diagram of a vehicle parking and starting control method provided by an embodiment of the present application in a real vehicle test.

[0124] Taking a new energy vehicle equipped with an ACC with the vehicle parking and starting control method provided by an embodiment of the present application as an example, this timing diagram shows the whole process of the vehicle completely stopping to waiting until restarting in the adaptive cruise function, and this process includes 601 - 605.

[0125] 601: The adaptive cruise system decelerates the vehicle and it has not come to a complete stop and there is no regenerative braking energy; at this time, there is no motor torque request for the adaptive cruise function. At this time, the pre-tightening torque is applied in advance through the drive motor to complete the process, so as to complete the zero-crossing torque control by applying the clamping torque and be ready to restart at any time.

[0126] 602: Within 3 seconds after the vehicle comes to a complete stop, the vehicle continues to apply the clamping torque.

[0127] 603: When the vehicle has been completely stopped for more than 3 seconds, the vehicle gradually releases the clamping torque to save energy consumption.

[0128] 604: After the gradual release of the clamping torque is completed, the tooth surface clamping torque is approximately 0 at this time, but the gear transmission system is still clamped in the power direction.

[0129] 605: The driver re-triggers the cruise start due to the vehicle ahead starting. Since the zero-crossing torque control of the motor torque has been completed and there is no need for backlash transition in the power direction, the power response can directly cross the zero-crossing torque control process and directly respond to the cruise demand torque. The power response is sensitive, reducing the situation of being cut in by other vehicles and improving the drivability of the vehicle.

[0130] Please refer to Figure 7 , Figure 7The structural block diagram of a vehicle parking and starting control device provided by an embodiment of the present application. The device includes:

[0131] A first operating state determination unit 710, configured to determine the operating state of the vehicle when the vehicle enters the automatic cruise mode;

[0132] A second operating state determination unit 720, configured to determine the torque demand state of the drive motor of the vehicle when it is determined that the vehicle is in an unparked state;

[0133] A first control unit 730, configured to control the drive motor of the vehicle to complete torque zero-crossing control in response to determining that there is no torque demand from the drive motor of the vehicle;

[0134] A parking time determination unit 740, configured to determine the parking time of the vehicle when it is determined that the vehicle is in a parked state;

[0135] A second control unit 750, configured to control the drive motor of the vehicle to complete torque zero-crossing control in response to determining that the parking time of the vehicle is less than a preset time.

[0136] As a possible implementation manner, the second control unit is further configured to:

[0137] In response to determining that the parking time of the vehicle is less than a preset time, control the drive motor of the vehicle to complete torque zero-crossing control by applying a pressing torque; the pressing torque is greater than the zero-crossing torque required for the drive motor to perform the torque zero-crossing control;

[0138] The device further includes:

[0139] A third control unit, configured to control the drive motor of the vehicle to remove the pressing torque in response to determining that the parking time of the vehicle is greater than the preset time.

[0140] As a possible implementation manner, the device further includes:

[0141] A first acquisition unit, including acquiring the parking slope of the vehicle in a parked state;

[0142] A removal rate determination unit, configured to determine the pressing torque removal rate according to the parking slope;

[0143] The second control unit is further configured to:

[0144] In response to determining that the parking time of the vehicle is greater than the preset time, control the drive motor of the vehicle to remove the pressing torque according to the pressing torque removal rate.

[0145] As a possible implementation manner, the device further includes:

[0146] A second acquisition unit, configured to acquire a current slope of the vehicle and a distance between the target vehicle and the vehicle; the target vehicle is located in front of the vehicle.

[0147] A pressing torque determination unit, configured to determine a pressing torque according to the current slope and the distance between vehicles.

[0148] The second control unit is further configured to:

[0149] In response to determining that the parking time of the vehicle is less than a preset time, control the drive motor of the vehicle to complete torque zero-crossing control by applying the pressing torque.

[0150] As a possible implementation, the device further includes:

[0151] A driving torque determination unit, configured to determine a driving torque required for starting the vehicle in response to the vehicle receiving a start request.

[0152] A third control unit, configured to control the drive motor of the vehicle according to the driving torque so that the vehicle starts.

[0153] It can be seen from the above technical solutions that when the vehicle enters the automatic cruise mode, the running state of the vehicle is determined; when it is determined that the vehicle is not in the parked state, the torque demand state of the drive motor of the vehicle is determined; in response to determining that there is no torque demand for the drive motor of the vehicle, control the drive motor of the vehicle to complete torque zero-crossing control; when it is determined that the vehicle is in the parked state, the parking time of the vehicle is determined; in response to determining that the parking time of the vehicle is less than a preset time, control the drive motor of the vehicle to complete torque zero-crossing control. That is, when the vehicle has not come to a complete stop or is not fully stationary, or when the vehicle needs to start again before it has been stationary for less than the preset time, the torque zero-crossing control process, which takes a relatively long time, is completed in advance, so that the vehicle can start without having to perform this process again when starting, saving the time consumed by the torque zero-crossing control process when the vehicle starts and improving the sensitivity of the vehicle's starting response.

[0154] Please refer to Figure 8 , Figure 8 , which is a structural block diagram of a computer device for vehicle parking and starting control provided by an embodiment of the present application. The computer device includes a processor 810 and a memory 820:

[0155] The memory 820 is used to store program code and transmit the program code to the processor 810.

[0156] The processor 810 is configured to execute the vehicle parking and starting control method according to any one of the above embodiments according to the instructions in the program code.

[0157] An embodiment of the present application also discloses a computer-readable storage medium for storing a computer program, which is used to execute the vehicle parking and starting control method described in any one of the above embodiments when executed by a processor.

[0158] An embodiment of the present application also discloses a new energy vehicle, which includes a drive motor;

[0159] The drive motor is used to execute the vehicle parking and starting control method described in any one of the above embodiments.

[0160] It can be understood that this method can be applied to a processing device, which is a processing device capable of performing motion control, such as a terminal device or a server with motion control functions. This method can be independently executed by the terminal device or the server, or can be applied to a network scenario where the terminal device and the server communicate, and is executed in cooperation with the terminal device and the server. Among them, the terminal device can be a device such as a computer or a mobile phone. The server can be understood as an application server or a Web server. In actual deployment, the server can be an independent server or a cluster server.

[0161] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium, and when executed, it executes the steps including the above method embodiments; and the foregoing storage medium can be at least one of the following media: read-only memory (abbreviation: ROM), RAM, magnetic disk, or optical disk, etc., various media that can store program codes.

[0162] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments. The device and system embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0163] As described above, it is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle parking and starting control method, characterized in that The method includes: When the vehicle enters the automatic cruise mode, determining the operating state of the vehicle; When it is determined that the vehicle is in an unparked state, determining the torque demand state of the drive motor of the vehicle; In response to determining that the drive motor of the vehicle has no torque demand, controlling the drive motor of the vehicle to complete torque zero-crossing control; When it is determined that the vehicle is in a parked state, determining the parking time of the vehicle; In response to determining that the parking time of the vehicle is less than a preset time, controlling the drive motor of the vehicle to complete torque zero-crossing control.

2. The method according to claim 1, wherein The controlling the drive motor of the vehicle to complete torque zero-crossing control in response to determining that the parking time of the vehicle is less than a preset time includes: In response to determining that the parking time of the vehicle is less than a preset time, controlling the drive motor of the vehicle to complete torque zero-crossing control by applying a pressing torque; the pressing torque is greater than the zero-crossing torque required for the drive motor to perform the torque zero-crossing control; The method further includes: In response to determining that the parking time of the vehicle is greater than the preset time, controlling the drive motor of the vehicle to remove the pressing torque.

3. The method according to claim 2, wherein The method further includes: Obtaining the parking slope of the vehicle in the parked state; Determining a pressing torque removal rate according to the parking slope; The controlling the drive motor of the vehicle to remove the pressing torque in response to determining that the parking time of the vehicle is greater than the preset time includes: In response to determining that the parking time of the vehicle is greater than the preset time, controlling the drive motor of the vehicle to remove the pressing torque according to the pressing torque removal rate.

4. The method according to claim 2, wherein The method further includes: Obtaining the current slope of the vehicle and the distance between the target vehicle and the vehicle; the target vehicle is located in front of the vehicle; Determining a pressing torque according to the current slope and the distance between the vehicles; The controlling the drive motor of the vehicle to complete torque zero-crossing control by applying a pressing torque in response to determining that the parking time of the vehicle is less than a preset time includes: In response to determining that the parking time of the vehicle is less than a preset time, controlling the drive motor of the vehicle to complete torque zero-crossing control by applying the pressing torque.

5. The method according to any one of claims 1 to 4, characterized in that The method further includes: In response to the vehicle receiving a start request, determining the drive torque required for the vehicle to start; Controlling the drive motor of the vehicle according to the drive torque so that the vehicle starts.

6. A vehicle parking and starting control device, characterized in that, The device includes: A first operating state determination unit, configured to determine the operating state of the vehicle when the vehicle enters the automatic cruise mode; A second operating state determination unit, configured to determine the torque demand state of the drive motor of the vehicle when it is determined that the vehicle is in an unparked state; A first control unit, configured to control the drive motor of the vehicle to complete torque zero-crossing control in response to determining that the drive motor of the vehicle has no torque demand; A parking time determination unit, configured to determine the parking time of the vehicle when it is determined that the vehicle is in a parked state; A second control unit, configured to control the drive motor of the vehicle to complete torque zero-crossing control in response to determining that the parking time of the vehicle is less than a preset time.

7. The device according to claim 6, characterized in that The second control unit is further configured to: In response to determining that the parking time of the vehicle is less than a preset time, control the drive motor of the vehicle to complete torque zero-crossing control by applying a pressing torque; the pressing torque is greater than the zero-crossing torque required for the drive motor to perform the torque zero-crossing control; The device further includes: A third control unit, configured to control the drive motor of the vehicle to remove the pressing torque in response to determining that the parking time of the vehicle is greater than the preset time.

8. A computer device, characterized in that, The computer device includes a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the vehicle parking and starting control method according to any one of claims 1-5 based on the instructions in the program code.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the vehicle parking and starting control method according to any one of claims 1-5 when executed by a processor.

10. A new energy vehicle, characterized in that, The new energy vehicle includes a drive motor; The drive motor is configured to execute the vehicle parking and starting control method according to any one of claims 1-5.

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