Vehicle ramp parking control method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle ramp parking control method and device, a vehicle and a storage medium, and the vehicle ramp parking control method comprises the steps that the state of a brake pedal is recognized; when the brake pedal is stepped down, the gradient of the current running ramp of the vehicle is recognized; calculating a current load of the axle based on the gradient; comparing the current load with the maximum load; when the current load exceeds the maximum load, calculating the adjustment stroke of the suspension, and calculating the braking force required by the axle based on the stroke change; the stroke is sent to the suspension, and the suspension is adjusted; and the braking force required by the axle is sent to a braking control system, and the braking control system adjusts the braking force of the axle based on the braking force required by the axle. According to the method, the ramp parking capacity of the vehicle under the off-road climbing working condition is improved while the cost is not increased.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and particularly to a vehicle ramp parking control method, device, vehicle and storage medium. Background Art

[0002] When a vehicle is driving on a ramp, if the driver releases the accelerator pedal, the motor torque will gradually withdraw, and the vehicle will roll backward. In addition, after the driver steps on the brake pedal, the braking force of the braking system is the only source of the vehicle's braking. The braking force of the rear axle of the vehicle on a ramp is small, and the vehicle cannot complete parking on the ramp, resulting in the vehicle rolling backward and causing a safety accident. Summary of the Invention

[0003] To solve the above technical problems, the present disclosure provides a vehicle ramp parking control method, device, vehicle and storage medium, which can improve the ramp parking ability of the vehicle in off-road climbing conditions without increasing costs.

[0004] In a first aspect, the present disclosure provides a vehicle ramp parking control method, including: identifying the state of the brake pedal; when the brake pedal is depressed, identifying the slope of the current driving ramp of the vehicle; calculating the current load of the axle based on the slope; comparing the current load with the maximum load; when the current load exceeds the maximum load, calculating the suspension adjustment stroke, and calculating the braking force required for the axle after the stroke change; sending the stroke to the suspension and adjusting the suspension; sending the braking force required for the axle to the braking control system, and the braking control system adjusting the braking force of the axle based on the braking force required for the axle.

[0005] In some embodiments, it further includes: when the brake pedal is not depressed, identifying the slope of the current driving ramp of the vehicle; calculating the target torque required for parking on the current driving ramp based on the slope, and sending the target torque to the drive motor to increase the torque of the drive motor.

[0006] In some embodiments, it further includes: when the brake pedal is not depressed, comparing the target torque with the maximum torque of the drive motor; when the target torque is greater than the maximum torque, sending the maximum torque to the drive motor to increase the torque of the drive motor; increasing the braking force of the axle through the braking control system.

[0007] In some embodiments, it further includes: when the current load exceeds the maximum load, calculating the first stroke of the rear suspension to rise and the front suspension to lower, and calculating the braking force required for the axle after the first stroke change, the stroke including the first stroke, and the suspension including the front suspension and the rear suspension; sending the first stroke to the suspension and controlling the rear suspension to rise and the front suspension to lower.

[0008] In some embodiments, it further includes: when the brake pedal is depressed, comparing the first stroke with a stroke adjustment threshold; when the first stroke is greater than the stroke adjustment threshold, controlling the rear suspension to rise to the highest position and the front suspension to lower to the lowest position; sending the maximum braking force of the axle to the brake control system, and the brake control system adjusting the braking force of the axle based on the maximum braking force of the axle.

[0009] In some embodiments, it further includes: after the brake control system adjusts the braking force of the axle based on the maximum braking force of the axle, sending the maximum torque to the drive motor to increase the torque of the drive motor.

[0010] In some embodiments, calculating a target torque required for parking on the current driving slope based on the slope, and sending the target torque to the drive motor to increase the torque of the drive motor includes: calculating a target torque required for parking on the current driving slope based on the slope; identifying the state of the accelerator pedal; when it is identified that the opening of the accelerator pedal is gradually decreasing, sending the target torque to the drive motor to increase the torque of the drive motor.

[0011] In a second aspect, the present disclosure provides a vehicle ramp parking control device, including: a central controller, a sensor, and a brake control system; wherein, the central controller is used to identify the state of the brake pedal; the sensor is used to identify the slope of the current driving ramp of the vehicle when the brake pedal is depressed; the central controller is further used to calculate the current load of the axle based on the slope; the central controller is further used to compare the current load with the maximum load; the central controller is further used to calculate the stroke of the suspension adjustment and the braking force required for the axle after the stroke change when the current load exceeds the maximum load; the central controller is further used to send the stroke to the suspension and adjust the suspension; the central controller is further used to send the braking force required for the axle to the brake control system; the brake control system is used to adjust the braking force of the axle based on the braking force required for the axle.

[0012] In a third aspect, the present disclosure provides a vehicle, including a memory and a processor, wherein, the memory is used to store a program; the processor is coupled to the memory and is used to execute the program stored in the memory to implement the vehicle ramp parking control method provided by the present disclosure.

[0013] In a fourth aspect, the present disclosure provides a computer-readable storage medium, the storage medium stores a computer program, the computer program includes program instructions, and the program instructions cause the processor to execute the vehicle ramp parking control method provided by the present disclosure when being executed by the processor.

[0014] The technical solution provided by the present disclosure has the following advantages compared with the prior art:

[0015] In the gearshift control method of the vehicle provided by the present disclosure, first, the state of the brake pedal is identified. When the brake pedal is depressed, that is, when the driver has a braking requirement, the slope of the current driving ramp of the vehicle is identified. Based on the slope, the current load of the axle is calculated. The current load is compared with the maximum load. When the current load exceeds the maximum load, the suspension adjustment stroke is calculated, and the braking force required by the axle after the stroke change is calculated. The stroke is sent to the suspension and the suspension is adjusted. The braking force required by the axle is sent to the braking control system, and the braking control system adjusts the braking force of the axle based on the braking force required by the axle, thereby improving the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from slipping backward and causing safety accidents. Thus, without increasing costs and in line with the driver's driving intention, the ramp parking ability of the vehicle under off-road climbing conditions can be improved, and the vehicle can be prevented from slipping backward and causing safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a flowchart of the steps of a vehicle ramp parking control method provided by the present disclosure;

[0019] Figure 2 is a schematic structural diagram of a vehicle ramp parking control device provided by the present disclosure;

[0020] Figure 3 is a flowchart of the steps of another vehicle ramp parking control method provided by the present disclosure;

[0021] Figure 4 is a flowchart of the steps of yet another vehicle ramp parking control method provided by the present disclosure;

[0022] Figure 5 is a flowchart of the steps of step S320 in the vehicle ramp parking control method provided by the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to better understand the above objects, features, and advantages of the present disclosure, the following will further describe the solutions of the present disclosure. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0024] Numerous specific details are set forth in the following description to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0025] Figure 1 is a flowchart of the steps of a vehicle ramp parking control method provided by the present disclosure. Referring to Figure 1 , the present disclosure provides a vehicle ramp parking control method, including:

[0026] Step S100, identify the state of the brake pedal.

[0027] Figure 2 is a schematic structural diagram of a vehicle ramp parking control device provided by the present disclosure. Referring to Figure 2 , specifically, the brake pedal 30 is electrically connected to the brake control system 20 through a CAN line, and the brake control system 20 is electrically connected to the central controller 10 through a CAN line. The brake control system 20 can collect the state information of the brake pedal 30 and send the state information of the brake pedal 30 to the central controller 10, so that the central controller 10 can identify the state of the brake pedal 30.

[0028] When the brake pedal is depressed, step S210 is executed to identify the slope of the current driving ramp of the vehicle.

[0029] Specifically, when the central controller 10 identifies that the state of the brake pedal 30 is depressed, the central controller 10 controls the sensor 40 to continuously identify the slope of the current driving ramp of the vehicle and send the slope to the central controller 10.

[0030] Step S220, calculate the current load of the axle based on the slope.

[0031] Specifically, the central controller 10 calculates the current load of the axle based on the slope. Optionally, the axle includes a front axle and a rear axle, and the central controller 10 can calculate the current load of the front axle and the current load of the rear axle based on the slope.

[0032] Step S230, compare the current load with the maximum load.

[0033] Specifically, the central controller 10 compares the current load with the maximum load. Optionally, the central controller 10 can compare the current load of the rear axle with the maximum load of the rear axle that the rear brake can satisfy.

[0034] When the current load exceeds the maximum load, step S240 is executed to calculate the stroke of the suspension adjustment and calculate the braking force required for the axle based on the changed stroke.

[0035] Specifically, when the current load exceeds the maximum load, the central controller 10 calculates the suspension adjustment stroke and calculates the braking force required for the axle based on the stroke change. Optionally, when the current load of the rear axle exceeds the maximum load of the rear axle, the central controller 10 calculates the suspension adjustment stroke and calculates the braking force required for the axle based on the stroke change. Optionally, the suspension adjustment stroke calculated by the central controller 10 can be the first stroke for raising the rear suspension and lowering the front suspension. The braking force required for the axle calculated by the central controller 10 based on the stroke change can be the braking force required for the front axle and the braking force required for the rear axle based on the stroke change.

[0036] Step S250: Send the stroke to the suspension and adjust the suspension.

[0037] Specifically, the central controller 10 sends the stroke to the suspension and adjusts the suspension. Optionally, the central controller 10 is electrically connected to the right front wheel suspension 71, the left front wheel suspension 72, the right rear wheel suspension 73, and the left rear wheel suspension 74 through a CAN line. The right front wheel suspension 71, the left front wheel suspension 72, the right rear wheel suspension 73, and the left rear wheel suspension 74 are respectively connected to the right front wheel 61, the left front wheel 62, the right rear wheel 63, and the left rear wheel 64. The central controller 10 sends the stroke to the suspension and controls the rear suspension to rise and the front suspension to lower, that is, the central controller 10 controls the right front wheel suspension 71 and the left front wheel suspension 72 to lower, and controls the right rear wheel suspension 73 and the left rear wheel suspension 74 to rise.

[0038] Step S260: Send the braking force required for the axle to the braking control system, and the braking control system adjusts the braking force of the axle based on the braking force required for the axle.

[0039] Specifically, the central controller 10 sends the travel to the suspension. After adjusting the suspension, the central controller 10 sends the braking force required for the axle to the braking control system 20, and the braking control system 20 adjusts the braking force of the axle based on the braking force required for the axle. Optionally, the braking control system 20 is electrically connected to the right front brake caliper 51, the left front brake caliper 52, the right rear brake caliper 53, and the left rear brake caliper 54. The right front brake caliper 51, the left front brake caliper 52, the right rear brake caliper 53, and the left rear brake caliper 54 are respectively connected to the right front wheel 61, the left front wheel 62, the right rear wheel 63, and the left rear wheel 64. The central controller 10 sends the travel to the suspension and controls the rear suspension to rise and the front suspension to lower. That is, after the central controller 10 controls the right front wheel suspension 71 and the left front wheel suspension 72 to lower and controls the right rear wheel suspension 73 and the left rear wheel suspension 74 to rise, the central controller 10 sends the braking force required for the front axle and the braking force required for the rear axle to the braking control system 20. The braking control system 20 adjusts the braking force of the front axle and the braking force of the rear axle respectively based on the braking force required for the front axle and the braking force required for the rear axle. That is, the braking control system 20 adjusts the right front brake caliper 51, the left front brake caliper 52, the right rear brake caliper 53, and the left rear brake caliper 54 respectively based on the braking force required for the front axle and the braking force required for the rear axle, so as to realize the adjustment of the braking force of the front axle and the braking force of the rear axle, thereby improving the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from slipping backward and causing a safety accident.

[0040] Optionally, the braking control system 20 can be connected to the right front brake caliper 51, the left front brake caliper 52, the right rear brake caliper 53, and the left rear brake caliper 54 through hydraulic pipelines. The right front brake caliper 51, the left front brake caliper 52, the right rear brake caliper 53, and the left rear brake caliper 54 are all hydraulic brake calipers. The braking control system 20 can transmit the braking hydraulic pressure to the hydraulic brake calipers through the hydraulic pipelines, so as to realize the adjustment of the braking force.

[0041] Optionally, the braking control system 20 can also be connected to the brake caliper motors through CAN lines. Each brake caliper motor is respectively connected to the right front brake caliper 51, the left front brake caliper 52, the right rear brake caliper 53, and the left rear brake caliper 54. Each brake caliper motor drives the corresponding brake caliper, so as to realize the adjustment of the braking force.

[0042] Specifically, in the vehicle ramp parking control method provided in this embodiment, first, the state of the brake pedal is identified. When the brake pedal is depressed, that is, when the driver has a braking demand, the slope of the current driving ramp of the vehicle is identified. Based on the slope, the current load of the axle is calculated. The current load is compared with the maximum load. When the current load exceeds the maximum load, the suspension adjustment stroke is calculated, and the braking force required for the axle after the stroke change is calculated. The stroke is sent to the suspension, and the suspension is adjusted. The braking force required for the axle is sent to the braking control system, and the braking control system adjusts the braking force of the axle based on the braking force required for the axle, thereby improving the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from slipping backward and causing safety accidents. In the vehicle ramp parking control method provided in this embodiment, without increasing costs and in line with the driver's driving intention, the ramp parking ability of the vehicle under off-road climbing conditions is improved, and the vehicle is prevented from slipping backward and causing safety accidents.

[0043] Figure 3 is a flowchart of the steps of another vehicle ramp parking control method provided by the present disclosure. Refer to Figure 2 and Figure 3 , the vehicle ramp parking control method further includes:

[0044] When the brake pedal is not depressed, step S310 is executed to identify the slope of the current driving ramp of the vehicle.

[0045] Specifically, the central controller 10 is electrically connected to the sensor 40 through a CAN line. When the central controller 10 identifies that the state of the brake pedal 30 is not depressed, the central controller 10 controls the sensor 40 to continuously identify the slope of the current driving ramp of the vehicle and sends the slope to the central controller 10.

[0046] Step S320, calculate the target torque required for parking on the current driving ramp based on the slope, and send the target torque to the drive motor to increase the torque of the drive motor.

[0047] Specifically, the central controller 10 is electrically connected to the drive motor 80 through a CAN line. The central controller 10 calculates the target torque required for parking on the current driving ramp based on the slope and sends the target torque to the drive motor 80, thereby increasing the torque of the drive motor 80, improving the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from slipping backward and causing safety accidents.

[0048] It should be noted that Figure 2Exemplarily shown in the figure is that the vehicle includes two drive motors 80. Correspondingly, when the vehicle automatically parks on a ramp, the torques of the two drive motors 80 can be increased to improve the ramp parking ability of the vehicle under off-road climbing conditions. In other embodiments of the present disclosure, the vehicle may further include other numbers of drive motors 80. Correspondingly, when the vehicle automatically parks on a ramp, the torques of the corresponding number of drive motors 80 can be increased to improve the ramp parking ability of the vehicle under off-road climbing conditions, which will not be elaborated one by one herein.

[0049] Figure 4 is a flowchart of the steps of another vehicle ramp parking control method provided by the present disclosure. Refer to Figure 4 , in some embodiments, the vehicle ramp parking control method further includes:

[0050] When the brake pedal is not depressed, step S330 is executed to compare the target torque with the maximum torque of the drive motor.

[0051] Specifically, when the brake pedal is not depressed, after the central controller 10 calculates the target torque required for parking on the current driving ramp based on the slope, the central controller 10 compares the target torque with the maximum torque of the drive motor.

[0052] When the target torque is greater than the maximum torque, step S340 is executed to send the maximum torque to the drive motor to increase the torque of the drive motor.

[0053] Specifically, when the target torque is greater than the maximum torque, the central controller 10 sends the maximum torque to the drive motor 80, so that the torque of the drive motor 80 is the maximum torque, thereby improving the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from rolling backward and causing a safety accident.

[0054] Continue to refer to Figure 4 , in some embodiments, the vehicle ramp parking control method further includes:

[0055] After sending the maximum torque to the drive motor in step S340, step S350 is executed to increase the braking force of the axle through the brake control system.

[0056] Specifically, when the target torque is greater than the maximum torque, the central controller 10 sends the maximum torque to the drive motor 80. After the torque of the drive motor 80 reaches the maximum torque, the braking control system 20 increases the braking force of the front axle and the rear axle. That is, the braking control system 20 adjusts the right front brake caliper 51, the left front brake caliper 52, the right rear brake caliper 53, and the left rear brake caliper 54 to increase the braking force of the front axle and the rear axle, thereby increasing the braking force of the axles, enhancing the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and preventing the vehicle from rolling backward and causing safety accidents.

[0057] That is, when the target torque is greater than the maximum torque, the ramp parking ability of the vehicle under off-road climbing conditions can be enhanced by increasing the torque of the drive motor 80 and the braking force, realizing the automatic parking function of the vehicle on the ramp, and preventing the vehicle from rolling backward and causing safety accidents.

[0058] Continue to refer to Figure 4 , in some embodiments, the vehicle ramp parking control method further includes:

[0059] When the current load exceeds the maximum load in step S240, calculating the suspension adjustment stroke and calculating the braking force required for the axles based on the changed stroke includes: when the current load exceeds the maximum load, calculating the first stroke of the rear suspension rising and the front suspension lowering, and calculating the braking force required for the axles based on the changed first stroke. The stroke includes the first stroke, and the suspension includes the front suspension and the rear suspension.

[0060] Specifically, when the current load of the rear axle exceeds the maximum load of the rear axle, the central controller 10 calculates the suspension adjustment stroke, which can be the first stroke of the rear suspension rising and the front suspension lowering.

[0061] In step S250, sending the stroke to the suspension and adjusting the suspension includes: sending the first stroke to the suspension and controlling the rear suspension to rise and the front suspension to lower.

[0062] Specifically, the central controller 10 is electrically connected to the right front wheel suspension 71, the left front wheel suspension 72, the right rear wheel suspension 73, and the left rear wheel suspension 74 through the CAN line. The right front wheel suspension 71, the left front wheel suspension 72, the right rear wheel suspension 73, and the left rear wheel suspension 74 are respectively connected to the right front wheel 61, the left front wheel 62, the right rear wheel 63, and the left rear wheel 64. The central controller 10 sends the first stroke to the suspension and controls the rear suspension to rise and the front suspension to lower. That is, the central controller 10 controls the right front wheel suspension 71 and the left front wheel suspension 72 to lower, and controls the right rear wheel suspension 73 and the left rear wheel suspension 74 to rise.

[0063] Continue to refer to Figure 4 , in some embodiments, the vehicle ramp parking control method further includes:

[0064] When the brake pedal is depressed, step S270 is executed to compare the first stroke with the stroke adjustment threshold value.

[0065] Specifically, after the central controller 10 calculates the strokes of the rear suspension lift and the front suspension drop, it compares the strokes with the stroke adjustment threshold values of the rear suspension lift and the front suspension drop.

[0066] When the first stroke is greater than the stroke adjustment threshold value, step S280 is executed to control the rear suspension to lift to the highest position and the front suspension to drop to the lowest position.

[0067] Specifically, when the stroke is greater than the stroke adjustment threshold value, the central controller 10 controls the rear suspension to lift to the highest position and the front suspension to drop to the lowest position, that is, the central controller 10 controls the right front wheel suspension 71 and the left front wheel suspension 72 to drop to the lowest position, and controls the right rear wheel suspension 73 and the left rear wheel suspension 74 to lift to the highest position, which can more evenly distribute the vehicle body weight, improve the ramp parking ability of the vehicle under off-road climbing conditions, realize the automatic parking function of the vehicle on the ramp, and avoid the vehicle from slipping backward and causing a safety accident.

[0068] Continue to refer to Figure 4 , in some embodiments, the vehicle ramp parking control method further includes:

[0069] After controlling the rear suspension to lift to the highest position and the front suspension to drop to the lowest position in the execution of step S280, step S290 is executed to send the maximum braking force of the axle to the braking control system, and the braking control system adjusts the braking force of the axle based on the maximum braking force of the axle.

[0070] Specifically, after the central controller 10 controls the rear suspension to lift to the highest position and the front suspension to drop to the lowest position, the central controller 10 sends the maximum braking force of the front axle and the maximum braking force of the rear axle to the braking control system 20, and the braking control system 20 adjusts the braking force of the front axle and the braking force of the rear axle respectively based on the maximum braking force of the front axle and the maximum braking force of the rear axle, so that the braking force of the front axle and the braking force of the rear axle are both the maximum braking force, thereby improving the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from slipping backward and causing a safety accident.

[0071] Continue to refer to Figure 4 , in some embodiments, the vehicle ramp parking control method further includes:

[0072] After the braking control system adjusts the braking force of the front axle and the braking force of the rear axle respectively based on the maximum braking force of the front axle and the maximum braking force of the rear axle in the execution of step S290, step S2100 is executed to send the maximum torque to the drive motor to increase the torque of the drive motor.

[0073] Specifically, the central controller 10 sends the maximum braking force of the front axle and the maximum braking force of the rear axle to the braking control system 20. After the braking control system 20 adjusts the braking force of the front axle and the braking force of the rear axle respectively based on the maximum braking force of the front axle and the maximum braking force of the rear axle, the central controller 10 sends the maximum torque to the drive motor 80, increasing the torque of the drive motor 80, thereby enhancing the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from slipping backward and causing safety accidents.

[0074] That is, when the stroke is greater than the stroke adjustment threshold, the ramp parking ability of the vehicle under off-road climbing conditions can be improved by adjusting the suspension, increasing the braking force, and increasing the torque of the drive motor 80, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from slipping backward and causing safety accidents.

[0075] Figure 5 It is a step flowchart of step S320 in the vehicle ramp parking control method provided by the present disclosure. Refer to Figure 3 and Figure 5 , in some embodiments, in step S320, calculating the target torque required for parking on the current driving ramp based on the slope and sending the target torque to the drive motor to increase the torque of the drive motor includes:

[0076] Step S321, calculating the target torque required for parking on the current driving ramp based on the slope.

[0077] Specifically, the central controller 10 calculates the target torque required for parking on the current driving ramp based on the slope.

[0078] Step S322, identifying the state of the accelerator pedal.

[0079] Specifically, the central controller 10 collects the state signal of the accelerator pedal 90, so that the central controller 10 identifies the state of the accelerator pedal 90.

[0080] Step S323, when it is identified that the opening of the accelerator pedal is gradually decreasing, sending the target torque to the drive motor to increase the torque of the drive motor.

[0081] Specifically, when the central controller 10 identifies that the opening of the accelerator pedal 90 is gradually decreasing, at this time, the target torque is sent to the drive motor 80 to increase the torque of the drive motor 80, thereby enhancing the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from slipping backward and causing safety accidents.

[0082] Continue to refer to Figure 2 , the present disclosure provides a vehicle ramp parking control device, including: a central controller 10, a sensor 40, and a braking control system 20;

[0083] Among them, the sensor 40 is used to identify the slope of the current driving ramp of the vehicle when the brake pedal 30 is depressed.

[0084] The central controller 10 is further configured to calculate the current load of the axle based on the slope.

[0085] The central controller 10 is further configured to compare the current load with the maximum load.

[0086] When the current load exceeds the maximum load, the central controller 10 is further configured to calculate the stroke of the suspension adjustment and calculate the braking force required for the axle based on the changed stroke.

[0087] The central controller 10 is further configured to send the stroke to the suspension and adjust the suspension.

[0088] The central controller 10 is further configured to send the braking force required for the axle to the brake control system 20.

[0089] The brake control system 20 is configured to adjust the braking force of the axle based on the braking force required for the axle.

[0090] Specifically, by using the vehicle ramp parking control device provided in the present disclosure, the state of the brake pedal 30 can be identified first. When the brake pedal is depressed, that is, when the driver has a braking demand, the sensor 40 identifies the slope of the current driving ramp of the vehicle. The central controller 10 can calculate the current load of the axle based on the slope, compare the current load with the maximum load. When the current load exceeds the maximum load, calculate the stroke of the suspension adjustment and calculate the braking force required for the axle based on the changed stroke, send the stroke to the suspension and adjust the suspension, send the braking force required for the axle to the brake control system 20, and the brake control system 20 adjusts the braking force of the axle based on the braking force required for the axle, thereby improving the ramp parking ability of the vehicle under off-road climbing conditions, realizing the automatic parking function of the vehicle on the ramp, and avoiding the vehicle from slipping backward and causing safety accidents. The vehicle ramp parking control device provided in this embodiment can improve the ramp parking ability of the vehicle under off-road climbing conditions, avoid the vehicle from slipping backward and causing safety accidents while not increasing costs and conforming to the driver's driving intention.

[0091] An embodiment of the present disclosure provides a vehicle, including a processor and a memory. Optionally, the electronic device may further include a communication interface and a bus. Among them, the processor, the communication interface, and the memory can communicate with each other through the bus. The communication interface can be used for information transmission. The memory is used to store programs. The processor is coupled to the memory and is configured to execute the programs stored in the memory to implement the vehicle ramp parking control method provided in the present disclosure.

[0092] When each functional module is divided corresponding to each function, the vehicle may include: a central controller, a sensor, and a braking control system. It should be noted that all relevant contents of each step involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be elaborated here.

[0093] The vehicle adopting the embodiment of the present disclosure is used to execute the above-mentioned vehicle ramp parking control method, and thus can achieve the same effect as the above implementation method.

[0094] When an integrated unit is adopted, the vehicle may include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute corresponding program codes and data, etc.

[0095] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules, and circuits shown in combination with the disclosure content of the present application. The processor can also be a combination that realizes computing functions, such as including a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0096] In addition, when the logical instructions in the above-mentioned memory are implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium.

[0097] As a computer-readable storage medium, the memory can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of the present disclosure. The processor executes functional applications and data processing by running the program instructions / modules stored in the memory, that is, realizes the vehicle ramp parking control method in the above embodiments.

[0098] The memory may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal device, etc.

[0099] In addition, the memory may include high-speed random access memory and may also include non-volatile memory.

[0100] This embodiment also provides a computer-readable storage medium storing program instructions, which when running, are used to cause a computer to execute the vehicle ramp parking control method as described in the present disclosure.

[0101] This embodiment provides a computer program product. The computer program product includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to execute the above-mentioned vehicle ramp parking control method.

[0102] The above-mentioned computer-readable storage medium may be a transient computer-readable storage medium or a non-transient computer-readable storage medium.

[0103] The technical solution of the embodiments of the present disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present disclosure. The foregoing storage medium may be a non-transient storage medium, such as: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc, etc., which are various media that can store program codes.

[0104] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solution formed by the specific combination of the above technical features. It should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, a technical solution formed by mutually replacing the above features with the (but not limited to) technical features having similar functions disclosed in the present disclosure.

[0105] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although a number of specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments may also be implemented combinatorially in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0106] Although the subject matter has been described in language specific to structural features and / or methodological acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

[0107] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle ramp parking control method, characterized in that, Comprising: Identifying the state of the brake pedal; When the brake pedal is depressed, identifying the slope of the current driving ramp of the vehicle; Calculating the current load of the axle based on the slope; Comparing the current load with the maximum load; When the current load exceeds the maximum load, calculating the stroke of suspension adjustment and calculating the braking force required for the axle after the change based on the stroke; Sending the stroke to the suspension and adjusting the suspension; Sending the braking force required for the axle to the braking control system, and the braking control system adjusting the braking force of the axle based on the braking force required for the axle.

2. The method according to claim 1, characterized in that, Further comprising: When the brake pedal is not depressed, identifying the slope of the current driving ramp of the vehicle; Calculating the target torque required for parking on the current driving ramp based on the slope and sending the target torque to the drive motor to increase the torque of the drive motor.

3. The method according to claim 2, wherein Further comprising: When the brake pedal is not depressed, comparing the target torque with the maximum torque of the drive motor; When the target torque is greater than the maximum torque, sending the maximum torque to the drive motor to increase the torque of the drive motor; Increasing the braking force of the axle through the braking control system.

4. The method according to claim 1, characterized in that Further comprising: When the current load exceeds the maximum load, calculating the first stroke of the rear suspension to rise and the front suspension to lower and calculating the braking force required for the axle after the change based on the first stroke, the stroke including the first stroke, and the suspension including the front suspension and the rear suspension; Sending the first stroke to the suspension and controlling the rear suspension to rise and the front suspension to lower.

5. The method according to claim 4, characterized in that Further comprising: When the brake pedal is depressed, comparing the first stroke with the stroke adjustment threshold; When the first stroke is greater than the stroke adjustment threshold, controlling the rear suspension to rise to the highest and the front suspension to lower to the lowest; Sending the maximum braking force of the axle to the braking control system, and the braking control system adjusting the braking force of the axle based on the maximum braking force of the axle.

6. The method according to claim 5, wherein Further comprising: After the braking control system adjusts the braking force of the axle based on the maximum braking force of the axle, sending the maximum torque to the drive motor to increase the torque of the drive motor.

7. The method according to claim 2, wherein The calculating the target torque required for parking on the current driving ramp based on the slope and sending the target torque to the drive motor to increase the torque of the drive motor includes: Calculating the target torque required for parking on the current driving ramp based on the slope; Identifying the state of the accelerator pedal; When it is identified that the opening of the accelerator pedal is gradually decreasing, sending the target torque to the drive motor to increase the torque of the drive motor.

8. A vehicle ramp parking control device, characterized in that, Comprising: A central controller, a sensor and a braking control system; wherein, The central controller is used for identifying the state of the brake pedal; The sensor is used for identifying the slope of the current driving ramp of the vehicle when the brake pedal is depressed; The central controller is further used for calculating the current load of the axle based on the slope; The central controller is further used for comparing the current load with the maximum load; The central controller is further configured to calculate the suspension adjustment stroke when the current load exceeds the maximum load, and calculate the braking force required for the axle after the change based on the stroke; The central controller is further configured to send the stroke to the suspension and adjust the suspension; The central controller is further configured to send the braking force required for the axle to the braking control system; The braking control system is configured to adjust the braking force of the axle based on the braking force required for the axle.

9. A vehicle, characterized in that, It includes a memory and a processor, wherein, The memory is used for storing programs; The processor is coupled to the memory and is configured to execute the programs stored in the memory to implement the vehicle ramp parking control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program includes program instructions, and the program instructions, when executed by the processor, cause the processor to execute the vehicle ramp parking control method according to any one of claims 1-7.

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