Slope parking control method, vehicle-mounted control equipment, system, vehicle and storage medium

Abstract

The embodiment of the invention provides a hill-holding control method, vehicle-mounted control equipment, a system, a vehicle and a storage medium. The method comprises the steps that the current headstock orientation, the current hill-holding gradient and the current environment data of a vehicle are acquired; when the current vehicle head orientation and the current slope-holding gradient meet the triggering condition corresponding to the hydraulic slope-holding function, the vehicle slope-holding hydraulic pressure is determined based on the current vehicle head orientation, the current slope-holding gradient and the current environment data; and controlling the stability control system to carry out hydraulic hill-holding based on the vehicle hill-holding hydraulic pressure. The method is used for carrying out effective slope parking control on the vehicle under the condition that the slope of the road surface is large, so that the safety performance of vehicle slope parking is improved.

Description

Technical Field

[0001] This application relates to the field of braking control technology, and in particular to a parking slope control method, on-board control equipment, system, vehicle, and storage medium. Background Technology

[0002] When vehicles enter suburban, outdoor, or mountainous areas, the slope of the road can prevent them from parking, posing a safety risk to passengers and reducing user experience, potentially leading to complaints. Therefore, slope control for vehicles on inclines is essential.

[0003] In existing technologies, an electronic parking brake (EPB) system, typically located on the rear axle of the vehicle, is used to park the entire vehicle through single-axle braking. However, this parking method has certain requirements regarding road slope. When the road slope exceeds the maximum parking slope that the electronic parking brake system can control, it usually cannot effectively guarantee vehicle parking, affecting the safety of parking on slopes.

[0004] Therefore, how to effectively control vehicles on steep road surfaces and improve their safety performance when parking on slopes is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a slope control method, on-board control device, system, vehicle, and storage medium, aiming to solve the technical problem of how to effectively control vehicles on steep road slopes and improve the safety performance of vehicles on slopes.

[0006] A slope control method includes: Obtain the vehicle's current heading, current slope gradient, and current environmental data; When the current vehicle heading and the current parking slope meet the triggering conditions corresponding to the hydraulic parking function, the vehicle parking hydraulic pressure is determined based on the current vehicle heading, the current parking slope, and the current environmental data. Based on the vehicle's hydraulic parking mechanism, a stability control system is used to perform hydraulic parking.

[0007] In this embodiment, the trigger condition for the hydraulic parking function is determined by real-time acquisition of the current vehicle heading and current parking slope. When the trigger condition is triggered, the vehicle's parking hydraulic pressure is determined using real-time data on the current vehicle heading, current parking slope, and current environment. The stability control system is then controlled to perform hydraulic parking based on this hydraulic pressure, thereby controlling the vehicle for effective parking and improving vehicle safety. Compared to existing methods that only use the electronic parking brake system for parking control, this method takes into account the current vehicle heading, current parking slope, and current environment data. By controlling the stability control system to perform hydraulic parking based on the vehicle's parking hydraulic pressure, it can handle complex parking scenarios, perform effective parking control, and significantly improve vehicle safety during parking.

[0008] Preferably, the triggering condition for the hydraulic parking slope function includes: the current parking slope is greater than the maximum parking slope corresponding to the current vehicle heading.

[0009] In this embodiment, based on the current vehicle heading, it is determined whether the current parking slope is greater than the maximum parking slope corresponding to the current vehicle heading, so as to determine whether the current parking slope meets the triggering conditions corresponding to the hydraulic parking function. This method can further control the vehicle to maintain stable parking when the electronic parking brake system cannot maintain stable parking. Moreover, this method does not limit the size of the current parking slope and can effectively control the vehicle to maintain parking in complex scenarios with a large current parking slope, which has broad application prospects.

[0010] Preferably, determining the vehicle's parking hydraulic pressure based on the current vehicle orientation, the current parking slope, and the current environmental data includes: Based on the current vehicle orientation and the current environmental data, determine the maximum adhesion of the vehicle's rear axle; The smaller of the maximum parking force corresponding to the parking brake system and the maximum adhesion force of the vehicle's rear axle is determined as the effective parking force. Based on the effective slope force and the current slope gradient, the vehicle's slope hydraulic pressure is determined.

[0011] In this embodiment, the smaller of the maximum parking slope force corresponding to the parking brake system and the maximum adhesion force of the vehicle's rear axle is determined as the effective parking slope force. Based on the effective parking slope force, a sufficient amount of hydraulic pressure for parking slope is determined to ensure stable parking of the vehicle, improve the effectiveness of parking slope control, and ensure the safety performance of the vehicle.

[0012] Preferably, the current environmental data includes the road surface adhesion coefficient; The determination of the maximum adhesion force of the vehicle's rear axle based on the current vehicle orientation and the current environmental data includes: Based on the current vehicle heading and the current slope, determine the normal force on the rear axle of the vehicle; The maximum adhesion force of the vehicle's rear axle is determined based on the road surface adhesion coefficient and the normal force of the vehicle's rear axle.

[0013] In this embodiment, different methods are used to reasonably determine the maximum adhesion of the vehicle's rear axle based on the current vehicle's orientation, so as to accurately determine the effective hill-holding force based on the reasonably determined maximum adhesion of the vehicle's rear axle.

[0014] Preferably, the vehicle parking hydraulic pressure is determined based on the difference between the parking clamping force and the effective parking force; The parking clamping force is the product of the required parking slope force and the rolling radius of the vehicle tires; The required slope holding force is the product of the vehicle's weight and the sine value corresponding to the current slope.

[0015] In this embodiment, the required parking force is accurately determined based on the vehicle's weight and the sine value corresponding to the current parking slope. The parking clamping force is accurately determined based on the required parking force and the vehicle's tire rolling radius. The vehicle's parking hydraulic pressure is accurately determined based on the parking clamping force and the effective parking force.

[0016] Preferably, the hydraulic slope-holding control system based on the vehicle's hydraulic slope-holding mechanism includes: When a wheel speed pulse occurs, the vehicle parking hydraulic pressure is boosted to reduce the wheel speed to 0. The boosted vehicle parking hydraulic pressure is then updated to the vehicle parking hydraulic pressure, and the process of controlling the stability control system to perform hydraulic parking based on the vehicle parking hydraulic pressure is repeated. When the wheel speed is 0 and the target deviation value is greater than or equal to the preset difference for a duration that meets the preset duration, the vehicle's parking hydraulic pressure is maintained, the stability control system is controlled to perform hydraulic parking according to the vehicle's parking hydraulic pressure, and outputs a slide warning message. When the wheel speed is 0 and the target deviation value is less than the preset difference for a duration that meets the preset duration, the vehicle's parking hydraulic pressure is maintained, and the stability control system performs hydraulic parking according to the vehicle's parking hydraulic pressure. The target deviation value is the difference between the vehicle's real-time longitudinal acceleration and the longitudinal acceleration offset value when the vehicle is statically parked on the slope.

[0017] In this embodiment, after determining the vehicle's parking hydraulic pressure, the control system performs stable parking control based on the vehicle's parking hydraulic pressure, and monitors in real time the target deviation value between the wheel speed and the vehicle's real-time longitudinal acceleration and the longitudinal acceleration offset value of the vehicle's static parking. When abnormal conditions occur in the wheel speed and the target deviation value, corresponding countermeasures are taken in a timely manner, which can effectively ensure the safe parking of the vehicle.

[0018] An in-vehicle control device includes a processor and a memory, wherein, Memory, used to store computer programs; The processor is used to execute the program stored in the memory to implement the above-mentioned slope control method.

[0019] A slope-holding control system includes the aforementioned vehicle-mounted control device and stability control system, wherein the vehicle-mounted control device is connected to the stability control system and is used to control the stability control system to perform hydraulic slope-holding.

[0020] A vehicle comprising the aforementioned hill-start assist control system.

[0021] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described slope control method. Attached Figure Description

[0022] Figure 1 This is a flowchart of a slope control method provided in an embodiment of this application; Figure 2 This is another flowchart of a slope control method provided in one embodiment of this application; Figure 3 This is another flowchart of a slope control method provided in one embodiment of this application; Figure 4 This is another flowchart of a slope control method provided in one embodiment of this application; Figure 5 This is an overall flowchart of the slope control method provided in the embodiments of this application; Figure 6 This is a structural diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0023] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0024] This application provides a slope-holding control method, comprising: acquiring the vehicle's current heading, current slope gradient, and current environmental data; determining the vehicle's slope-holding hydraulic pressure based on the current heading and slope gradient when they meet the triggering conditions corresponding to the hydraulic slope-holding function; and controlling the stability control system to perform hydraulic slope-holding based on the vehicle's slope-holding hydraulic pressure. This method is used to effectively control vehicle slope-holding when the road surface has a large gradient, thereby improving the vehicle's slope-holding safety performance.

[0025] In one embodiment, such as Figure 1 As shown, a slope control method is provided, which is applied to... Figure 6 Taking the vehicle-mounted control equipment as an example, the explanation includes the following steps: S101: Obtain the vehicle's current heading, current slope gradient, and current environmental data; S102: When the current vehicle orientation and current parking slope meet the trigger conditions corresponding to the hydraulic parking function, determine the vehicle parking hydraulic pressure based on the current vehicle orientation, current parking slope and current environmental data; S103: Based on the vehicle's hydraulic parking mechanism, the stability control system performs hydraulic parking.

[0026] Among these, "current vehicle orientation" refers to the direction the vehicle is facing when parked on a slope. "Current slope gradient" refers to the gradient of the slope where the vehicle is located, usually expressed as the slope angle. "Current environmental data" refers to the surrounding environmental data collected when the vehicle is on the slope.

[0027] As an example, in step S101, the on-board control device acquires data on the current vehicle orientation, current parking slope, and current environment collected by sensors mounted on the vehicle. Understandably, different vehicle orientations, slopes, and environments require different sizes of vehicle parking hydraulic pressure for parking. Therefore, acquiring various vehicle data in real time allows for precise determination of the vehicle parking hydraulic pressure based on the real-time collected data, controlling the vehicle to achieve the parking function.

[0028] The hydraulic parking function refers to the function of controlling the vehicle's parking position using hydraulic pressure. The hydraulic pressure used to control the vehicle's parking position refers to the hydraulic pressure required to achieve this. The triggering conditions for the hydraulic parking function refer to the conditions that must be met to activate the function, given the current vehicle orientation and the current slope.

[0029] As an example, in step S102, the on-board control device compares and analyzes the current vehicle orientation and current slope gradient with the pre-set trigger conditions for the hydraulic parking function to determine whether the hydraulic parking function can be triggered. If the hydraulic parking function is not triggered, the electronic parking brake system (EPB) is controlled to provide the parking force to control the vehicle's parking position. If the hydraulic parking function can be triggered, the current vehicle orientation, current slope gradient, and current environmental data are processed to determine the vehicle's parking hydraulic pressure, so as to control the vehicle's parking position based on the parking hydraulic pressure. Understandably, if the current vehicle orientation and current slope gradient do not meet the trigger conditions for the hydraulic parking function, it indicates that the current slope gradient is small, and the parking force provided by the EPB can ensure stable parking. In this case, it is more convenient for the on-board control device to directly control the EPB to provide the parking force and control the vehicle's stable parking position. If the current vehicle orientation and current slope gradient meet the trigger conditions for the hydraulic parking function, it indicates that using only the electronic parking brake system for parking control cannot guarantee stable parking. It is necessary to determine the vehicle's parking hydraulic pressure based on the real-time collected data on the vehicle's current orientation, current slope gradient, and current environment. This allows for effective parking control of the vehicle and improves its safety performance.

[0030] The stability control system is a system used to control the vehicle's parking position on a slope via hydraulic control. In this embodiment, the stability control system is an Electronic Stability Control (ESC) system.

[0031] As an example, in step S103, after determining the vehicle parking hydraulic pressure that needs to be used, the on-board control device controls the stability control system to execute the vehicle parking hydraulic pressure to control the vehicle to perform stable hydraulic parking.

[0032] In this embodiment, the trigger condition for the hydraulic parking function is determined by real-time acquisition of the current vehicle heading and current parking slope. When the trigger condition is triggered, the vehicle's parking hydraulic pressure is determined using real-time data on the current vehicle heading, current parking slope, and current environment. The stability control system is then controlled to perform hydraulic parking based on this hydraulic pressure, thereby controlling the vehicle for effective parking and improving vehicle safety. Compared to existing parking methods that only use the electronic parking brake (EPB) system for parking control, this method takes into account the current vehicle heading, current parking slope, and current environment data. By controlling the stability control system to perform hydraulic parking based on the vehicle's parking hydraulic pressure, it can handle complex parking scenarios, perform effective parking control, and significantly improve vehicle safety during parking.

[0033] In one embodiment, the triggering condition for the hydraulic parking slope function includes: the current parking slope is greater than the maximum parking slope corresponding to the current vehicle heading.

[0034] The maximum parking slope refers to the maximum gradient that ensures stable parking of the vehicle when using only the electronic parking brake system for parking control. Understandably, due to the position of the electronic parking brake system within the vehicle, the maximum parking slope varies depending on the vehicle's orientation. Therefore, it is necessary to pre-test the maximum parking slope corresponding to different vehicle orientations. In this example, when the vehicle is facing upwards, the maximum parking slope corresponding to this orientation is the first maximum parking slope. When the vehicle is facing downwards, the maximum parking slope corresponding to this orientation is the second maximum parking slope.

[0035] As an example, when the vehicle control equipment determines that the current vehicle orientation is upward, it determines the relationship between the current parking slope and the first maximum parking slope (i.e., the maximum parking slope corresponding to the vehicle orientation upward). If the current parking slope is less than or equal to the first maximum parking slope, it indicates that only the electronic parking brake system can control the vehicle's parking position, and the triggering condition for the hydraulic parking function is not met. If the current parking slope is greater than the first maximum parking slope, it indicates that only the electronic parking brake system can control the vehicle's parking position, and the triggering condition for the hydraulic parking function is met.

[0036] As another example, when the vehicle control equipment determines that the current vehicle orientation is downward, it determines the relationship between the current parking slope and the second maximum parking slope (i.e., the maximum parking slope corresponding to downward orientation). If the current parking slope is less than or equal to the second maximum parking slope, it indicates that only the electronic parking brake system can control the vehicle's parking position, and the triggering conditions for the hydraulic parking function are not met. If the current parking slope is greater than the second maximum parking slope, it indicates that only the electronic parking brake system can control the vehicle's parking position, and the triggering conditions for the hydraulic parking function are met.

[0037] In this embodiment, based on the current vehicle heading, it is determined whether the current parking slope is greater than the maximum parking slope corresponding to the current vehicle heading, so as to determine whether the current parking slope meets the triggering conditions corresponding to the hydraulic parking function. This method can further control the vehicle to maintain stable parking when the electronic parking brake system cannot maintain stable parking. Moreover, this method does not limit the size of the current parking slope and can effectively control the vehicle to maintain parking in complex scenarios with a large current parking slope, which has broad application prospects.

[0038] In one embodiment, such as Figure 2 As shown, step S102, which determines the vehicle's parking hydraulic pressure based on the current vehicle orientation, current parking slope, and current environmental data, includes: S201: Determine the maximum adhesion of the vehicle's rear axle based on the current vehicle orientation and current environmental data; S202: The smaller of the maximum parking force corresponding to the parking brake system and the maximum adhesion force of the vehicle's rear axle is determined as the effective parking force; S203: Determine the vehicle's parking hydraulic pressure based on the effective parking force and the current parking slope.

[0039] Among them, the maximum adhesion of the rear axle of the vehicle refers to the maximum value of the adhesion of the rear axle of the vehicle.

[0040] As an example, in step S201, the on-board control device processes the real-time collected environmental data based on the current vehicle orientation to obtain the maximum adhesion force of the vehicle's rear axle. Since the maximum parking force of the vehicle's rear axle can assist the vehicle in parking on a slope, determining the maximum adhesion of the vehicle's rear axle is crucial for accurately determining the required amount of hydraulic pressure needed for parking the vehicle.

[0041] The maximum parking force corresponding to the parking brake system refers to the maximum parking force that the parking brake system can generate. The effective parking force refers to the parking force of the vehicle before the hydraulic parking function is activated.

[0042] As an example, in step S202, the on-board control device obtains the maximum parking force that the parking brake system can provide from the vehicle's system database. The maximum parking slope force corresponding to the parking brake system. Maximum adhesion to the rear axle of the vehicle Perform a size comparison, and The smaller value among them is determined as the effective parking force, that is, the maximum parking force corresponding to the parking brake system. Less than the maximum adhesion of the vehicle's rear axle Then the maximum parking slope force corresponding to the parking brake system will be... Determined as the effective slope holding force, if the maximum adhesion force of the vehicle's rear axle is... Less than the maximum parking force corresponding to the parking brake system This will increase the maximum adhesion of the vehicle's rear axle. This is determined to be the effective parking force. In this example, the maximum parking force corresponding to the parking brake system is... for ,in, The maximum parking slope force that the EPB parking brake system can provide. This is the maximum clamping force of the caliper motor. The nominal coefficient of friction for the rear axle brake of the vehicle. The effective braking radius of the vehicle's rear axle brake. This refers to the rolling radius of the vehicle's tires.

[0043] Understandably, if the parking brake system corresponds to the maximum parking slope force... Less than the maximum adhesion of the vehicle's rear axle If the vehicle cannot stop on the slope under these circumstances, it indicates that the maximum stopping force of the parking brake system relative to the current situation is insufficient. Effective but relatively small, therefore, the maximum parking slope force corresponding to the parking brake system is... As the effective parking force, based on this effective parking force, the required vehicle parking hydraulic pressure generated by the stability control system is precisely determined to ensure stable parking of the vehicle under the combined action of the parking brake system and the stability control system. If the maximum adhesion force of the vehicle's rear axle... Less than the maximum parking force corresponding to the parking brake system If the vehicle cannot stop on the slope under these circumstances, it indicates that the maximum stopping force of the parking brake system relative to the current situation is insufficient. Ineffective; therefore, the maximum adhesion of the vehicle's rear axle is reduced. As an effective slope-holding force, based on the effective slope-holding force, the hydraulic pressure required by the stability control system to hold the vehicle on the slope is accurately determined to ensure that the vehicle can hold the slope stably under the action of the stability control system.

[0044] Furthermore, the maximum parking slope force corresponding to the parking brake system will be... Maximum adhesion to the rear axle of the vehicle The smaller value in the equation is determined as the effective slope-holding force. Based on the effective slope-holding force, a sufficient amount of hydraulic pressure is determined to ensure stable vehicle slope-holding, improve the effectiveness of vehicle slope-holding control, and ensure vehicle safety.

[0045] As an example, in step S203, the on-board control device performs hydraulic calculations on the effective slope holding force and the current slope gradient to obtain the vehicle's slope holding hydraulic pressure. In this example, based on the accurately analyzed effective slope holding force and the real-time acquired current slope gradient, the vehicle's slope holding hydraulic pressure can be accurately determined.

[0046] In this embodiment, the smaller of the maximum parking slope force corresponding to the parking brake system and the maximum adhesion force of the vehicle's rear axle is determined as the effective parking slope force. Based on the effective parking slope force, a sufficient amount of hydraulic pressure for parking slope is determined to ensure stable parking of the vehicle, improve the effectiveness of parking slope control, and ensure the safety performance of the vehicle.

[0047] In one embodiment, the current environmental data includes the road surface adhesion coefficient. .

[0048] In one embodiment, such as Figure 3 As shown, step S201, which determines the maximum adhesion of the vehicle's rear axle based on the current vehicle orientation and current environmental data, includes: S301: Determine the normal force on the rear axle of the vehicle based on the current vehicle orientation and the current slope gradient; S302: Determine the maximum adhesion force of the vehicle's rear axle based on the road surface adhesion coefficient and the normal force of the vehicle's rear axle.

[0049] As an example, in step S301, the on-board control device calculates the normal force on the rear axle of the vehicle based on the current vehicle orientation, the current slope gradient, and multiple vehicle parameter data. Understandably, because the vehicle's center of gravity is at different positions depending on its facing direction on a slope, different current facing directions correspond to different normal forces on the rear axle, and consequently, different maximum adhesion forces on the rear axle. In this example, when the vehicle is facing upwards, the normal force on the rear axle is... ( When the current vehicle orientation is downwards, the normal force on the rear axle is... ( ).in, Let g be the mass of the vehicle, and g be the acceleration due to gravity. This is the distance from the vehicle's center of gravity to the center of the rear axle wheel. Given the current slope gradient, The vertical height from the vehicle's center of gravity to the slope (the lowest point of the wheels). This refers to the vehicle's wheelbase.

[0050] As an example, in step S302, the on-board control device uses the road surface adhesion coefficient. Normal force on the rear axle of the vehicle Make corrections to determine the maximum adhesion of the vehicle's rear axle. In this example, the road surface adhesion coefficient is... Normal force with the rear axle of the vehicle The product of these factors is determined as the maximum adhesion force of the vehicle's rear axle. ,Right now = In this example, the maximum adhesion of the vehicle's rear axle is determined by the vehicle's current orientation. The difference lies in the maximum adhesion of the rear axle when the vehicle's current orientation is upward. ( The maximum adhesion force of the rear axle of the vehicle when the current vehicle orientation is downward. for ( ).

[0051] In this embodiment, different methods are used to reasonably determine the maximum adhesion of the vehicle's rear axle based on the current vehicle's orientation, so as to accurately determine the effective hill-holding force based on the reasonably determined maximum adhesion of the vehicle's rear axle.

[0052] In one embodiment, the vehicle parking hydraulic pressure is determined based on the difference between the parking clamping force and the effective parking force; The parking clamping force is the product of the required parking force and the rolling radius of the vehicle tires; The required slope holding force is the product of the vehicle's weight and the sine value corresponding to the current slope gradient.

[0053] Parking clamping force refers to the clamping force required to control the vehicle's parking position. Required parking slope force refers to the parking slope force required for the vehicle to park on a slope.

[0054] As an example, the vehicle control equipment controls the parking clamping force. The difference between the effective parking force and the actual parking force is processed to determine the vehicle's parking hydraulic pressure. In this example, the onboard control equipment determines the maximum parking force corresponding to the parking brake system. Maximum adhesion to the rear axle of the vehicle The smaller value in the equation represents the maximum parking force corresponding to the parking brake system. At that time, obtain the parking clamping force Difference from effective slope holding force And determine the vehicle's parking hydraulic pressure as follows: The onboard control equipment determines the maximum parking force corresponding to the parking brake system. Maximum adhesion to the rear axle of the vehicle The smaller value in the equation represents the maximum adhesion force on the rear axle of the vehicle. At that time, obtain the parking clamping force Difference from effective slope holding force And determine the vehicle's parking hydraulic pressure as follows: ,in, The area of ​​the brake wheel cylinder of the front axle brake of the vehicle. The nominal coefficient of friction for the front axle brakes of the vehicle. The effective braking radius of the vehicle's front axle brake.

[0055] As an example, the onboard control equipment will determine the vehicle's required hill-start assist. and vehicle tire rolling radius The product of these factors is determined as the parking clamping force. ,Right now = The onboard control equipment determines the vehicle's required hill-start assist. For vehicle gravity With the current slope The product of the corresponding sine values, i.e. .

[0056] In this example, the effective parking force is the maximum parking force corresponding to the parking brake system. At that time, the vehicle's parking hydraulic pressure was The effective holding force is the maximum adhesion force of the vehicle's rear axle. At that time, the vehicle's parking hydraulic pressure was .

[0057] In this embodiment, the required parking force is accurately determined based on the vehicle's weight and the sine value corresponding to the current parking slope. The parking clamping force is accurately determined based on the required parking force and the vehicle's tire rolling radius. The vehicle's parking hydraulic pressure is accurately determined based on the parking clamping force and the effective parking force.

[0058] In one embodiment, such as Figure 4 As shown, step S103, which involves controlling the stability control system to perform hydraulic parking based on the vehicle's parking hydraulic system, includes: S401: When a wheel speed pulse occurs, the vehicle parking hydraulic pressure is boosted to make the wheel speed 0. The boosted vehicle parking hydraulic pressure is then updated to the vehicle parking hydraulic pressure. The hydraulic parking hydraulic pressure is repeatedly executed based on the vehicle parking hydraulic pressure to control the stability control system to perform hydraulic parking. S402: When the wheel speed is 0 and the target deviation value is greater than or equal to the preset difference for a duration that meets the preset duration, maintain the vehicle's parking hydraulic pressure, control the stability control system to perform hydraulic parking according to the vehicle's parking hydraulic pressure, and output a slide warning message. S403: When the wheel speed is 0 and the target deviation value is less than the preset difference for a duration that meets the preset duration, maintain the vehicle's parking hydraulic pressure and control the stability control system to perform hydraulic parking according to the vehicle's parking hydraulic pressure. The target deviation value is the difference between the vehicle's real-time longitudinal acceleration and the longitudinal acceleration offset value when the vehicle is statically parked on the slope. In this example, the target deviation value is... ,in, For the target difference, The real-time longitudinal acceleration of the vehicle, in m / s². , This represents the longitudinal acceleration offset of the vehicle while stationary on the slope, given the current slope gradient. The unit is m / s². .

[0059] As an example, in step S401, the onboard control equipment controls the stability control system (ESC) to generate parking hydraulic pressure to control the vehicle's parking position and monitors the wheel speed in real time. In determining the wheel speed When wheel speed pulses occur, the vehicle's parking hydraulic pressure is increased based on the existing parking hydraulic pressure. This increased pressure is then updated to the vehicle's parking hydraulic pressure, and the stability control system (ESC) continues to generate parking hydraulic pressure to control the vehicle's parking position, while the wheel speed is monitored in real time. until the wheel speed When the value is 0, the vehicle's parking hydraulic pressure will no longer be increased. Based on the vehicle's parking hydraulic pressure when the wheel speed is 0, the stability control system will control the hydraulic parking.

[0060] The preset difference is a pre-set value used to determine the magnitude of the target deviation. The preset duration refers to the pre-set duration for determining the target deviation. The glide warning message is a message used to remind the driver whether the vehicle is glideing.

[0061] As an example, in step S402, the onboard control equipment controls the stability control system (ESC) to generate parking hydraulic pressure to control the vehicle's parking position and monitors the wheel speed in real time. In determining the wheel speed When the value is 0, the difference between the vehicle's real-time longitudinal acceleration and the longitudinal acceleration offset value when the vehicle is statically parked on the slope is further monitored and used as the target deviation value. In determining the target deviation value When the duration of the difference being greater than or equal to the preset value meets the preset duration, the target deviation value is determined. A large and sustained hydraulic pressure is maintained on the vehicle's slope-holding system, and the stability control system operates according to this hydraulic pressure. Simultaneously, a downward slope warning is displayed via instruments or sound to alert the driver to potential vehicle slippage, thus providing a warning of a dangerous situation. For example, the onboard control equipment determines the target deviation value... Greater than or equal to 0.5m / When the cumulative duration reaches 1 second, it is determined that the target deviation value is large and the duration of this large target deviation value is relatively long.

[0062] As an example, in step S403, the onboard control equipment controls the stability control system (ESC) to generate parking hydraulic pressure to control the vehicle's parking position and monitors the wheel speed in real time. In determining the wheel speed When the value is 0, the difference between the vehicle's real-time longitudinal acceleration and the longitudinal acceleration offset value when the vehicle is statically parked on the slope is further monitored and used as the target deviation value. In determining the target deviation value When the duration of the difference being less than the preset value meets the preset duration, the target deviation value is determined. If the slope is relatively small and can be sustained for a relatively long period, the vehicle's parking hydraulic pressure is maintained, and the stability control system is controlled to perform hydraulic parking according to the vehicle's parking hydraulic pressure. For example, the onboard control equipment determines the target deviation value. Less than 0.5m / When the cumulative duration reaches 1 second, it is determined that the target deviation value is small and can be sustained for a long time, thus determining that the vehicle is in a stable and effective safe parking state.

[0063] In this embodiment, after determining the vehicle's parking hydraulic pressure, the stability control system performs stable parking control based on the vehicle's parking hydraulic pressure, and monitors in real time the target deviation between the wheel speed and the vehicle's real-time longitudinal acceleration and the longitudinal acceleration offset value of the vehicle's static parking. When abnormal conditions occur in the wheel speed and the target deviation value, corresponding countermeasures are taken in a timely manner, which can effectively ensure the safe parking of the vehicle.

[0064] In this embodiment, as Figure 5 The diagram shown is an overall flowchart of the slope control method provided in this embodiment. Figure 5 As can be seen, in this embodiment, when the vehicle control device determines that the driver has activated the function of providing parking force through the electronic parking brake system (EPB) for parking, it executes step S102, specifically determining whether the current parking slope of the vehicle exceeds the capability range of the electronic parking brake system (EPB). Figure 5As shown, the maximum parking slope corresponding to the current vehicle orientation is 30%. When the current parking slope of the vehicle does not exceed 30%, it indicates that the slope is within the capability range of the EPB system. At this time, only the EPB system is controlled to perform the parking function until the driver releases the EPB function. When the on-board control equipment determines that the current parking slope of the vehicle exceeds 30%, it indicates that the slope exceeds the capability range of the EPB system. At this time, the hydraulic parking function of the ESC system is activated. The hydraulic parking function of the ESC helps the EPB system to ensure stable parking of the vehicle and improve the vehicle's safety performance. This process includes: first, executing step S103, determining the vehicle's parking hydraulic pressure based on the current vehicle orientation, current parking slope, and current environmental data obtained in step S101. The specific determination method includes steps S201 to S203. Next, step S104 is executed, controlling the stability control system to perform hydraulic parking based on the vehicle's parking hydraulic pressure. At this time, it is necessary to monitor the vehicle's status in real time to ensure the vehicle is stably and safely parked on the slope. Specifically, steps S401 to S403 are executed, monitoring the target deviation between the wheel speed and the vehicle's real-time longitudinal acceleration and the longitudinal acceleration offset value of the vehicle's static parking. When abnormal conditions occur in the wheel speed and target deviation value, corresponding countermeasures are taken in a timely manner until the driver deactivates the EPB function and / or the hydraulic parking function exits, effectively ensuring the vehicle's safe parking. In this embodiment, different methods are used to control the vehicle's parking based on the current parking slope. When the current parking slope is large, EPB parking is combined with ESC hydraulic parking, using ESC hydraulic parking to assist EPB parking, while real-time monitoring of the vehicle's status ensures the effectiveness and safety of the parking. This method can handle complex scenarios with large current parking slopes and has broad application prospects.

[0065] This application also provides an electronic device 60, please refer to... Figure 6 It includes a memory 610 and a processor 620, wherein the memory 610 is used to store computer programs; and the processor 620 is used to execute the programs stored in the memory 610 to implement the slope control method described in any embodiment of this application.

[0066] This application also provides a slope-holding control system, including the vehicle-mounted control device and the stability control system described in the above embodiments. The vehicle-mounted control device and the stability control system are connected and used to control the stability control system to perform hydraulic slope-holding.

[0067] This application also provides a vehicle including the hill-start assist control system described in the above embodiments.

[0068] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the slope control method described in any embodiment of this application.

[0069] In this application, "multiple" refers to two or more.

[0070] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0071] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0072] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0073] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A slope control method, characterized in that, include: Obtain the vehicle's current heading, current slope gradient, and current environmental data; When the current vehicle orientation and the current parking slope meet the triggering conditions corresponding to the hydraulic parking function, the vehicle parking hydraulic pressure is determined based on the current vehicle orientation, the current parking slope, and the current environmental data. Based on the vehicle's hydraulic parking mechanism, a stability control system is used to perform hydraulic parking.

2. The slope control method as described in claim 1, characterized in that, The triggering conditions for the hydraulic parking slope function include: the current parking slope is greater than the maximum parking slope corresponding to the current vehicle heading.

3. The slope control method as described in claim 1, characterized in that, The process of determining the vehicle's parking hydraulic pressure based on the current vehicle orientation, the current parking slope, and the current environmental data includes: Based on the current vehicle orientation and the current environmental data, determine the maximum adhesion of the vehicle's rear axle; The smaller of the maximum parking force corresponding to the parking brake system and the maximum adhesion force of the vehicle's rear axle is determined as the effective parking force. Based on the effective slope force and the current slope gradient, the vehicle's slope hydraulic pressure is determined.

4. The slope control method as described in claim 3, characterized in that, The current environmental data includes the road surface adhesion coefficient; The determination of the maximum adhesion force of the vehicle's rear axle based on the current vehicle orientation and the current environmental data includes: Based on the current vehicle heading and the current slope, determine the normal force on the rear axle of the vehicle; The maximum adhesion force of the vehicle's rear axle is determined based on the road surface adhesion coefficient and the normal force of the vehicle's rear axle.

5. The slope control method as described in claim 3, characterized in that, The vehicle's parking hydraulic pressure is determined based on the difference between the parking clamping force and the effective parking force. The parking clamping force is the product of the required parking slope force and the rolling radius of the vehicle tires; The required slope holding force is the product of the vehicle's weight and the sine value corresponding to the current slope.

6. The slope control method as described in claim 1, characterized in that, The hydraulic slope-holding control system based on the vehicle's hydraulic slope-holding mechanism includes: When a wheel speed pulse occurs, the vehicle parking hydraulic pressure is boosted to reduce the wheel speed to 0. The boosted vehicle parking hydraulic pressure is then updated to the vehicle parking hydraulic pressure, and the process of controlling the stability control system to perform hydraulic parking based on the vehicle parking hydraulic pressure is repeated. When the wheel speed is 0 and the target deviation value is greater than or equal to the preset difference for a duration that meets the preset duration, the vehicle's parking hydraulic pressure is maintained, the stability control system is controlled to perform hydraulic parking according to the vehicle's parking hydraulic pressure, and outputs a slide warning message. When the wheel speed is 0 and the target deviation value is less than the preset difference for a duration that meets the preset duration, the vehicle's parking hydraulic pressure is maintained, and the stability control system performs hydraulic parking according to the vehicle's parking hydraulic pressure. The target deviation value is the difference between the vehicle's real-time longitudinal acceleration and the longitudinal acceleration offset value when the vehicle is statically parked on the slope.

7. A vehicle-mounted control device, characterized in that, Including processor and memory, among which, Memory, used to store computer programs; A processor for executing a program stored in memory to implement the slope control method according to any one of claims 1-6.

8. A slope-holding control system, characterized in that, The system includes the vehicle-mounted control device and the stability control system as described in claim 7, wherein the vehicle-mounted control device and the stability control system are connected and used to control the stability control system to perform hydraulic hill-climbing.

9. A vehicle, characterized in that, Includes the slope control system as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the slope control method according to any one of claims 1-6.

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