Vehicle ramp auxiliary control method and multi-axle heavy-load electric drive vehicle

Abstract

The invention provides a vehicle ramp assist control method and a multi-axle heavy-load electric drive vehicle, and the method comprises the steps: in a ramp assist exit mode, judging whether the vehicle meets a first ramp assist condition or not according to obtained first driving state information; if it is judged that the vehicle meets the first ramp assisting condition, the vehicle enters a pre-control mode, and driving control is conducted on the vehicle based on pre-control torque; in the pre-control mode, whether the vehicle meets a second ramp assistance condition or not is judged according to the opening degree of a brake pedal and the vehicle speed; and if it is judged that the vehicle meets the second ramp assistance condition, the vehicle enters a cooperative control mode, and driving control is conducted on the vehicle based on the pre-control torque and the compensation torque. In the technical scheme provided by the embodiment of the invention, the multi-axle heavy-load electric-driven vehicle realizes ramp assistance through cooperative control of the multi-axle motor, can be applied to a working condition with a relatively large ramp gradient value and a super-heavy-load working condition, and is wider in application range.

Description

Technical Field

[0001] The present invention relates to the technical field of ramp assistance, and particularly to a vehicle ramp assistance control method and a multi-axle heavy-duty electric vehicle. Background Art

[0002] As a common working condition during the operation of a multi-axle heavy-duty electric vehicle, ramp start requires the driver to coordinately control the accelerator pedal and the brake pedal. If the operation is improper, it will cause a vehicle roll-back accident, reducing the safety during driving. In related technologies, in order to reduce the occurrence rate of vehicle roll-back accidents, a ramp assistance (Hill Assistance Control, abbreviated as HAC) function is configured for the vehicle to assist the driver in completing ramp start. Most of the existing multi-axle heavy-duty electric vehicles achieve the ramp assistance function by maintaining pressure through an electronic parking brake system (Electrical Park Brake, abbreviated as EPB). However, it cannot be achieved on some vehicles with pneumatic parking brakes, and it is also not applicable to working conditions with a relatively large ramp gradient value and overweight load conditions, so the applicable range is limited. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention provide a vehicle ramp assistance control method and a multi-axle heavy-duty electric vehicle to solve the problem of limited applicable range of the ramp assistance function realized by the EPB pressure maintenance method in the prior art.

[0004] In a first aspect, an embodiment of the present invention provides a vehicle ramp assistance control method, and the method includes:

[0005] In the ramp assistance exit mode, it is judged whether the vehicle meets the first ramp assistance condition according to the obtained first driving state information;

[0006] If it is judged that the vehicle meets the first ramp assistance condition, enter the pre-control mode, and perform drive control on the vehicle based on the pre-control torque;

[0007] In the pre-control mode, it is judged whether the vehicle meets the second ramp assistance condition according to the brake pedal opening and the vehicle speed;

[0008] If it is judged that the vehicle meets the second ramp assistance condition, enter the collaborative control mode, and perform drive control on the vehicle based on the pre-control torque and the compensation torque.

[0009] In a possible implementation manner, the first driving state information includes a gradient value, a vehicle gear, a handbrake state, an accelerator pedal opening, a brake pedal opening, and a vehicle speed;

[0010] The first ramp assist condition includes that the slope value is greater than a preset slope threshold, the vehicle gear is in the forward gear, the handbrake state is disabled, the accelerator pedal opening is zero, the brake pedal opening is greater than a first opening threshold, and the vehicle speed is less than a speed threshold.

[0011] In a possible implementation, before driving and controlling the vehicle based on the pre-control torque, it further includes:

[0012] Based on the linear relationship between the brake pedal opening and the pre-control coefficient and the linear relationship between the vehicle mass and the pre-control coefficient, determine the pre-control coefficient according to the brake pedal opening and the total vehicle mass;

[0013] Multiply the pre-control coefficient by the slope value to obtain the pre-control torque.

[0014] In a possible implementation, the pre-control coefficient is negatively correlated with the brake pedal opening and positively correlated with the total vehicle mass.

[0015] In a possible implementation, driving and controlling the vehicle based on the pre-control torque and the compensation torque includes:

[0016] Based on the proportional-integral (PI) control algorithm, calculate the compensation torque according to the proportional coefficient, integral coefficient, reference speed, and actual speed;

[0017] Add the pre-control torque and the compensation torque to obtain the cooperative control torque;

[0018] Drive and control the vehicle based on the cooperative control torque.

[0019] In a possible implementation, the second ramp assist condition includes that the brake pedal opening is less than a second opening threshold, or the vehicle speed is less than zero.

[0020] In a possible implementation, the method further includes:

[0021] In the cooperative control mode, when the brake pedal opening is greater than the second opening threshold, enter the pre-control mode.

[0022] In a possible implementation, the method further includes:

[0023] In the pre-control mode or the cooperative control mode, determine whether the vehicle meets the ramp assist exit condition according to the acquired second driving state information;

[0024] If it is determined that the vehicle meets the ramp assist exit condition, enter the ramp assist exit mode, and perform drive control on the vehicle according to the throttle request torque.

[0025] In a possible implementation, the ramp assist control torque includes a pre-control torque or a coordinated control torque, and the second driving state information includes a slope value, a vehicle gear position, a handbrake state, and a throttle request torque.

[0026] The ramp assist exit condition includes that the slope value is less than a preset slope threshold, or the vehicle gear position is not a forward gear, or the handbrake state is an enabled state, or the throttle request torque is greater than the ramp assist control torque.

[0027] In a second aspect, an embodiment of the present invention provides a multi-axle heavy-duty electric drive vehicle, which includes:

[0028] A vehicle controller for generating a drive control command according to the acquired driving state information and sending the drive control command to the electric drive control system.

[0029] An electric drive control system for outputting a corresponding drive torque to perform drive control on the vehicle in response to the drive control command.

[0030] An intelligent power system for providing power for the vehicle.

[0031] An energy storage system for assisting the intelligent power system to provide power for the vehicle.

[0032] A high-voltage power supply system for providing high-voltage direct current for the energy storage system, the intelligent power system, and the electric drive control system.

[0033] A low-voltage power supply system for providing low-voltage direct current for the vehicle controller, the high-voltage power supply system, the electric drive control system, the intelligent power system, and the energy storage system.

[0034] In the technical solution provided by the embodiment of the present invention, the multi-axle heavy-duty electric drive vehicle realizes ramp assist through coordinated control of multi-axle motors, can be applied to working conditions with a relatively large ramp slope value and overweight load conditions, and has a wider application range. Moreover, during ramp driving, it can enter the corresponding drive control mode according to the driving state information of the vehicle, and perform ramp assist drive control on the vehicle through pre-control torque or coordinated control torque to realize the ramp assist function, thereby improving the safety of the vehicle in the ramp driving scenario. Description of the Drawings

[0035] Figure 1 It is a flowchart of a vehicle ramp assist control method provided by an embodiment of the present invention.

[0036] Figure 2 It is a linear relationship diagram between the brake pedal opening and the pre-control coefficient provided by an embodiment of the present invention.

[0037] Figure 3 It is a schematic diagram of mode switching provided by an embodiment of the present invention.

[0038] Figure 4 It is a schematic structural diagram of a vehicle ramp assist control device provided by an embodiment of the present invention.

[0039] Figure 5 It is a schematic structural diagram of a multi-axle heavy-duty electric drive vehicle using a vehicle ramp assist control method provided by an embodiment of the present invention. Detailed implementation manners

[0040] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described below with reference to the accompanying drawings and specific implementation manners. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0041] Figure 1 It is a flowchart of a vehicle ramp assist control method provided by an embodiment of the present invention. As Figure 1 shown, the method includes:

[0042] Step 101: In the ramp assist exit mode, determine whether the vehicle meets the first ramp assist condition according to the acquired first driving state information; if it is determined that the vehicle meets the first ramp assist condition, enter the pre-control mode; if it is determined that the vehicle does not meet the first ramp assist condition, maintain the ramp assist exit mode.

[0043] In the embodiments of the present invention, each step is applied to a multi-axle heavy-duty electric drive vehicle.

[0044] In this step, the first driving state information includes the slope value, the vehicle gear, the handbrake state, the accelerator pedal opening, the brake pedal opening and the vehicle speed. The first ramp assist condition includes that the slope value is greater than a preset slope threshold, the vehicle gear is in the forward gear, the handbrake state is not enabled, the accelerator pedal opening is zero, the brake pedal opening is greater than the first opening threshold, and the vehicle speed is less than the vehicle speed threshold. For example, the first opening threshold is 50%, and the vehicle speed threshold is 2 km / h.

[0045] Step 102: Enter the pre-control mode and perform drive control on the vehicle based on the pre-control torque.

[0046] In the embodiment of the present invention, before step 102, it further includes: determining a pre-control coefficient according to the brake pedal opening and the total vehicle mass based on the linear relationship between the brake pedal opening and the pre-control coefficient and the linear relationship between the vehicle mass and the pre-control coefficient; multiplying the pre-control coefficient by the slope value to obtain a pre-control torque. In the embodiment of the present invention, in the pre-control mode, the pre-control torque is output to control the vehicle, which can avoid the phenomenon of sudden acceleration when the brake pedal is fully depressed and the throttle request torque is too large, and improve the safety of the vehicle in the ramp driving scenario.

[0047] Figure 2 FIG. is a linear relationship diagram between the brake pedal opening and the pre-control coefficient provided by the embodiment of the present invention. As Figure 2 shown, the value range of the pre-control coefficient is 0 to 1, and the brake pedal opening is 0 to 1. The pre-control coefficient is negatively correlated with the brake pedal opening, that is, the pre-control coefficient decreases as the brake pedal opening increases. In addition, the pre-control coefficient is positively correlated with the total vehicle mass, that is, the pre-control coefficient increases as the total vehicle mass increases.

[0048] Step 103: In the pre-control mode, determine whether the vehicle meets the second ramp assist condition according to the brake pedal opening and the vehicle speed; if it is determined that the vehicle meets the second ramp assist condition, enter the coordinated control mode; if it is determined that the vehicle does not meet the second ramp assist condition, maintain the pre-control mode.

[0049] In this step, the second ramp assist condition includes that the brake pedal opening is less than the second opening threshold, or the vehicle speed is less than zero. For example, the second opening threshold is 5%.

[0050] Step 104: Enter the coordinated control mode, and perform drive control on the vehicle based on the pre-control torque and the compensation torque.

[0051] In this step, in the coordinated control mode, based on the Proportional-Integral (PI) control algorithm, calculate the compensation torque according to the proportional coefficient, the integral coefficient, the reference speed, and the actual speed; add the pre-control torque and the compensation torque to obtain the coordinated control torque; perform drive control on the vehicle based on the coordinated control torque.

[0052] In the embodiment of the present invention, the calculation formula of the compensation torque is:

[0053] T = k p (R - Vx) + k i ∫(R - Vx)dt,

[0054] where T represents the compensation torque, k p represents the proportional coefficient, k ik represents the integral coefficient, R represents the reference speed, and Vx represents the actual speed. Among them, the reference speed is 0.

[0055] In the embodiment of the present invention, the compensation torque is calculated based on the PI control algorithm, and the vehicle is driven and controlled by the pre-control torque and the compensation torque, which can improve the vehicle's slope-holding performance. p The larger k is, the longer the system response time is, but it can weaken the system oscillation; i The larger k is, the shorter the system response time is, but it will exacerbate the system oscillation. In practical applications, users can set the specific values of k p and k i according to actual usage requirements, and the embodiment of the present invention does not limit this.

[0056] In the embodiment of the present invention, when the vehicle is about to slip, the pre-control torque is pre-loaded, that is, feed-forward control. At the same time, the vehicle speed is closed-loop controlled based on the PI control algorithm to suppress the vehicle's slipping phenomenon, that is, feedback control. By adopting the drive control method combining feed-forward control and feedback control, compared with the single PI control method, the system response time is reduced, the slipping distance is shortened, and the safety of the vehicle in the ramp driving scenario is improved.

[0057] In the embodiment of the present invention, the method further includes: in the coordinated control mode, when the brake pedal opening is greater than the second opening threshold, enter the pre-control mode; otherwise, maintain the coordinated control mode.

[0058] In the embodiment of the present invention, the method further includes: in the pre-control mode or the coordinated control mode, determine whether the vehicle meets the ramp assist exit condition according to the acquired second driving state information; if it is determined that the vehicle meets the ramp assist exit condition, enter the ramp assist exit mode, and drive and control the vehicle based on the throttle request torque. The second driving state information includes the slope value, the vehicle gear, the handbrake state, and the throttle request torque. The ramp assist exit conditions include that the slope value is less than the preset slope threshold, or the vehicle gear is not in the forward gear, or the handbrake state is in the enabled state, or the throttle request torque is greater than the ramp assist control torque. Among them, the ramp assist control torque includes the pre-control torque or the coordinated control torque.

[0059] Figure 3 is a schematic diagram of a mode switch provided by the embodiment of the present invention. As Figure 3 shown, the vehicle has three drive control modes in the ramp driving scenario, and the three drive control modes are the ramp assist exit mode, the pre-control mode, and the coordinated control mode. In the ramp assist exit mode, the vehicle is driven and controlled based on the throttle request torque; in the pre-control mode, the vehicle is driven and controlled based on the pre-control torque; in the coordinated control mode, the vehicle is driven and controlled based on the pre-control torque and the compensation torque.

[0060] As Figure 3 shown, in the ramp assist exit mode, if the vehicle meets the first ramp assist condition, it enters the pre-control mode; in the pre-control mode, if the vehicle meets the second ramp assist condition, it enters the coordinated control mode; in the coordinated control mode, if the vehicle meets the ramp assist exit condition, it enters the ramp assist exit mode.

[0061] As Figure 3 shown, in the coordinated control mode, if the brake pedal opening is greater than the second opening threshold, it enters the pre-control mode; in the pre-control mode, if the vehicle meets the ramp assist exit condition, it enters the ramp assist exit mode.

[0062] It should be noted that in the ramp assist exit mode, it is impossible to directly enter the coordinated control mode. It can only enter the pre-control mode from the ramp assist exit mode first, and then enter the coordinated control mode from the pre-control mode.

[0063] In the technical solution provided by the embodiments of the present invention, the multi-axle heavy-duty electric drive vehicle realizes ramp assist through the coordinated control of multi-axle motors, can be applied to working conditions with a relatively large ramp slope value and overweight load conditions, and has a wider range of applications. Moreover, during the ramp driving process, it can enter the corresponding drive control mode according to the driving state information of the vehicle, and perform ramp assist drive control on the vehicle through pre-control torque or coordinated control torque to realize the ramp assist function and improve the safety of the vehicle in the ramp driving scenario.

[0064] Figure 4 As shown in the structural schematic diagram of a vehicle ramp assist control device provided by the embodiments of the present invention, Figure 4 shown, the device includes a first judgment module 11, a pre-control module 12, a second judgment module 13, and a coordinated control module 14. The first judgment module 11 is used to judge whether the vehicle meets the first ramp assist condition according to the acquired first driving state information in the ramp assist exit mode; if the first judgment module 11 judges that the vehicle meets the first ramp assist condition, it drives the pre-control module 12 to enter the pre-control mode and performs drive control on the vehicle based on the pre-control torque; the second judgment module 13 is used to judge whether the vehicle meets the second ramp assist condition according to the brake pedal opening and vehicle speed in the pre-control mode; if the second judgment module 13 judges that the vehicle meets the second ramp assist condition, it drives the coordinated control module 14 to enter the coordinated control mode and performs drive control on the vehicle based on the pre-control torque and compensation torque.

[0065] In an embodiment of the present invention, the first driving state information includes a slope value, a vehicle gear, a handbrake state, an accelerator pedal opening, a brake pedal opening, and a vehicle speed; the first ramp assist condition includes that the slope value is greater than a preset slope threshold, the vehicle gear is in the forward gear, the handbrake state is not enabled, the accelerator pedal opening is zero, the brake pedal opening is greater than a first opening threshold, and the vehicle speed is less than a vehicle speed threshold.

[0066] In an embodiment of the present invention, the device further includes a torque generation module 15. The torque generation module 15 is configured to determine a pre-control coefficient according to the brake pedal opening and the total vehicle mass based on the linear relationship between the brake pedal opening and the pre-control coefficient and the linear relationship between the vehicle mass and the pre-control coefficient; multiply the pre-control coefficient by the slope value to obtain a pre-control torque.

[0067] In an embodiment of the present invention, the pre-control coefficient is negatively correlated with the brake pedal opening and positively correlated with the total vehicle mass.

[0068] In an embodiment of the present invention, the coordinated control module 14 is specifically configured to calculate a compensation torque based on the proportional-integral (PI) control algorithm according to a proportional coefficient, an integral coefficient, a reference speed, and an actual speed; add the pre-control torque and the compensation torque to obtain a coordinated control torque; perform drive control on the vehicle based on the coordinated control torque.

[0069] In an embodiment of the present invention, the second ramp assist condition includes that the brake pedal opening is less than a second opening threshold, or the vehicle speed is less than zero.

[0070] In an embodiment of the present invention, the device further includes a switching module 16. The switching module 16 is configured to enter the pre-control mode when the brake pedal opening is greater than the second opening threshold in the coordinated control mode.

[0071] In an embodiment of the present invention, the switching module 16 is further configured to determine whether the vehicle meets the ramp assist exit condition according to the acquired second driving state information in the pre-control mode or the coordinated control mode; if it is determined that the vehicle meets the ramp assist exit condition, enter the ramp assist exit mode, and perform drive control on the vehicle based on the throttle request torque.

[0072] In an embodiment of the present invention, the ramp assist control torque includes a pre-control torque or a coordinated control torque, the second driving state information includes a slope value, a vehicle gear, a handbrake state, and a throttle request torque; the ramp assist exit condition includes that the slope value is less than a preset slope threshold, or the vehicle gear is not in the forward gear, or the handbrake state is enabled, or the throttle request torque is greater than the ramp assist control torque.

[0073] In the technical solution provided by the embodiment of the present invention, the multi-axle heavy-duty electric vehicle realizes ramp assist through the coordinated control of multi-axle motors, can be applied to working conditions with a relatively large ramp slope value and super heavy-duty conditions, and has a wider application range. Moreover, during the ramp driving process, it can enter the corresponding drive control mode according to the driving state information of the vehicle, and perform ramp assist drive control on the vehicle through pre-control torque or coordinated control torque, realizing the ramp assist function and improving the safety of the vehicle in the ramp driving scenario.

[0074] Figure 5 FIG. is a schematic structural diagram of a multi-axle heavy-duty electric vehicle using the vehicle ramp assist control method according to the above embodiment. As Figure 5 shown, the multi-axle heavy-duty electric vehicle includes a vehicle controller 1, an electric drive control system 2, an intelligent power system 3, an energy storage system 4, a high-voltage power supply system 5, and a low-voltage power supply system 6. The vehicle controller 1 is used to generate a drive control instruction according to the acquired driving state information and send the drive control instruction to the electric drive control system; the electric drive control system 2 is used to output a corresponding drive torque in response to the drive control instruction to perform drive control on the vehicle; the intelligent power system 3 is used to provide power for the vehicle; the energy storage system 4 is used to assist the intelligent power system to provide power for the vehicle; the high-voltage power supply system 5 is used to provide high-voltage direct current for the energy storage system, the intelligent power system, and the electric drive control system; the low-voltage power supply system 6 is used to provide low-voltage direct current for the vehicle controller, the high-voltage power supply system, the electric drive control system, the intelligent power system, and the energy storage system. Among them, the high-voltage direct current provided by the high-voltage power supply system 5 is 600V direct current voltage, and the low-voltage direct current provided by the low-voltage power supply system 6 is 24V direct current voltage. The electric drive control system 2 includes multi-axle drive motors, and the drive control instruction is used to indicate the drive torque that each axle's drive motor needs to output.

[0075] As Figure 5 shown, the vehicle controller 1 is respectively communicatively connected to the electric drive control system 2, the intelligent power system 3, the energy storage system 4, the high-voltage power supply system 5, and the low-voltage power supply system 6 through the CAN bus; the high-voltage power supply system 5 is electrically connected to the electric drive control system 2, the intelligent power system 3, and the energy storage system 4 respectively; the low-voltage power supply system 6 is electrically connected to the vehicle controller 1, the electric drive control system 2, the intelligent power system 3, the energy storage system 4, and the high-voltage power supply system 5 respectively.

[0076] In the technical solution provided by the embodiment of the present invention, the multi-axis heavy-duty electric vehicle realizes ramp assist through the coordinated control of multi-axis motors, can be applied to working conditions with a large ramp slope value and super heavy-duty working conditions, and has a wider scope of application. Moreover, during the ramp driving process, it can enter the corresponding drive control mode according to the driving state information of the vehicle, and perform ramp assist drive control on the vehicle through pre-control torque or coordinated control torque, realizing the ramp assist function and improving the safety of the vehicle in the ramp driving scenario.

[0077] The embodiment of the present invention provides a computer-readable storage medium, and the computer-readable storage medium includes a stored program. When the program runs, it controls the device where the computer-readable storage medium is located to execute the steps of the above embodiment of the vehicle ramp assist control method, and the specific description can refer to the above embodiment of the vehicle ramp assist control method.

[0078] As mentioned above, the above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention 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 by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A vehicle ramp assist control method, characterized in that, The method includes: In the ramp assist exit mode, determining whether the vehicle meets the first ramp assist condition according to the acquired first driving state information; If it is determined that the vehicle meets the first ramp assist condition, entering a pre-control mode and performing drive control on the vehicle based on a pre-control torque; In the pre-control mode, determining whether the vehicle meets the second ramp assist condition according to the brake pedal opening and the vehicle speed; If it is determined that the vehicle meets the second ramp assist condition, entering a coordinated control mode and performing drive control on the vehicle based on the pre-control torque and a compensation torque.

2. The method according to claim 1, wherein The first driving state information includes a gradient value, a vehicle gear, a handbrake state, an accelerator pedal opening, a brake pedal opening, and a vehicle speed; The first ramp assist condition includes that the gradient value is greater than a preset gradient threshold, the vehicle gear is in the forward gear, the handbrake state is not enabled, the accelerator pedal opening is zero, the brake pedal opening is greater than a first opening threshold, and the vehicle speed is less than a speed threshold.

3. The method according to claim 2, wherein Before performing drive control on the vehicle based on the pre-control torque, it further includes: Based on the linear relationship between the brake pedal opening and the pre-control coefficient and the linear relationship between the vehicle mass and the pre-control coefficient, determining the pre-control coefficient according to the brake pedal opening and the total vehicle mass; Multiplying the pre-control coefficient by the gradient value to obtain the pre-control torque.

4. The method according to claim 3, characterized in that, The pre-control coefficient is negatively correlated with the brake pedal opening and positively correlated with the total vehicle mass.

5. The method according to claim 3, wherein Performing drive control on the vehicle based on the pre-control torque and the compensation torque includes: Based on a proportional-integral (PI) control algorithm, calculating the compensation torque according to a proportional coefficient, an integral coefficient, a reference speed, and an actual speed; Adding the pre-control torque and the compensation torque to obtain a coordinated control torque; Performing drive control on the vehicle based on the coordinated control torque.

6. The method according to claim 1, characterized in that The second ramp assist condition includes that the brake pedal opening is less than a second opening threshold, or the vehicle speed is less than zero.

7. The method according to claim 6, wherein The method further includes: In the coordinated control mode, when the brake pedal opening is greater than the second opening threshold, entering the pre-control mode.

8. The method according to claim 1, wherein The method further includes: In the pre-control mode or the coordinated control mode, determining whether the vehicle meets the ramp assist exit condition according to the acquired second driving state information; If it is determined that the vehicle meets the ramp assist exit condition, entering the ramp assist exit mode and performing drive control on the vehicle based on a throttle request torque.

9. The method according to claim 8, characterized in that, The ramp assist control torque includes the pre-control torque or the coordinated control torque, and the second driving state information includes a gradient value, a vehicle gear, a handbrake state, and a throttle request torque; The ramp assist exit condition includes that the gradient value is less than a preset gradient threshold, or the vehicle gear is not in the forward gear, or the handbrake state is enabled, or the throttle request torque is greater than the ramp assist control torque.

10. A multi-axis heavy-duty electric vehicle, which utilizes the vehicle ramp assist control method according to any one of claims 1-8, is characterized in that, The vehicle includes: A vehicle controller, configured to generate a drive control instruction according to the acquired driving state information and send the drive control instruction to an electric drive control system; The electric drive control system, configured to output a corresponding drive torque to perform drive control on the vehicle in response to the drive control instruction; An intelligent power system, configured to provide power for the vehicle; An energy storage system, configured to assist the intelligent power system to provide power for the vehicle; A high-voltage power supply system, configured to provide high-voltage direct current for the energy storage system, the intelligent power system and the electric drive control system; A low-voltage power supply system, configured to provide low-voltage direct current for the vehicle controller, the high-voltage power supply system, the electric drive control system, the intelligent power system and the energy storage system.

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