Slope sliding prevention control method and device for heavy-load uphill road section of unmanned commercial vehicle

Abstract

The invention discloses an anti-slip control method and device for a heavy-load uphill road section of an unmanned commercial vehicle, and belongs to the technical field of unmanned active safety control of new energy heavy trucks, and the method comprises the steps: in a parking stage, receiving real-time gradient information sent by a gradient sensor; determining an electric braking exit vehicle speed threshold value from a predefined slope-electric braking exit vehicle speed mapping relation; the vehicle speed is monitored, when the vehicle speed is lower than an electric braking quit vehicle speed threshold value, a maximum deceleration instruction is sent to an electronic braking system, and the electronic braking system is controlled to execute service braking; when the vehicle speed is zero, a parking braking instruction is sent to an electronic parking system, and the electronic parking system is controlled to execute parking braking; in the starting stage, when it is detected that the vehicle tends to slide backwards, the positive torque request is increased, the vehicle control unit is controlled to adjust power output, and the driving force is made to be larger than the sliding-backwards gravity. The problem of slope sliding under the heavy load working condition is solved, and the driving safety and reliability are improved.

Description

Technical Field

[0001] This invention relates to a method and device for preventing slippage of unmanned commercial vehicles on heavy-duty uphill sections, belonging to the field of active safety control technology for unmanned new energy heavy-duty trucks. Background Technology

[0002] The demand for driverless commercial vehicles, especially 8x4 unmanned dump trucks with a gross vehicle weight of over 49 tons, is increasing in scenarios such as ports, mining areas, and construction sites. These vehicles often face harsh working conditions involving heavy loads uphill. Under such conditions, when a vehicle stops midway down a slope and then starts again, it is very easy for it to "roll backward," meaning that the vehicle slides backward down the slope due to gravity.

[0003] Slippage poses a serious threat to vehicle safety. In traditional manually driven vehicles, experienced drivers can prevent slippage through skillful manual operation. However, in autonomous driving mode, the vehicle loses the driver's immediate judgment and precise operation; the responsibility for preventing slippage relies entirely on the level of automation of the control system.

[0004] Currently, many existing hill-start assist solutions focus on hill-start assist for passenger cars or light-duty vehicles, and their control strategies are relatively simple. For heavy-duty commercial vehicles, these solutions have significant shortcomings: Heavy-duty vehicles have large mass and inertia, requiring far more starting driving force than passenger cars. Existing solutions often rely on a single controller for judgment, resulting in slow system response and potential delays between the motor torque request and output, making it impossible to promptly overcome the gravitational component of the vehicle rolling backward.

[0005] During the start-up process, the timing of releasing the parking brake and applying drive torque is crucial. If released too early and the torque does not follow in time, the vehicle will roll backward instantly; if released too late, it may cause the engine or electric motor to stall, or cause the braking system to overheat and wear. Existing solutions struggle to achieve a precise, smooth, and seamless transition between the two.

[0006] When driving uphill under heavy load, the required braking timing and starting torque vary greatly depending on the gradient. Existing control strategies often use fixed speed thresholds or torque increments, lacking the ability to adaptively adjust based on real-time gradient information. This results in poor adaptability as they cannot achieve optimal control under various conditions, from gentle to steep inclines.

[0007] Anti-rollover control involves multiple subsystems, including the vehicle controller, intelligent driving controller, braking system, parking system, transmission, and drive motor. In existing technologies, these systems often operate independently or have a shallow level of coordination, lacking a high-level intelligent controller for unified decision-making and coordinated scheduling. This results in low control efficiency and even inter-system command conflicts.

[0008] Therefore, there is an urgent need in this field for an anti-slippage control method and device for unmanned heavy-duty commercial vehicles that can achieve efficient multi-system collaboration and adaptive adjustment according to real-time operating conditions, so as to fundamentally solve the slippage safety hazards under heavy-duty uphill conditions and improve the safety and reliability of unmanned commercial operation. Summary of the Invention

[0009] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and device for preventing slippage of unmanned commercial vehicles on heavy-load uphill sections, which can adaptively adjust according to real-time operating conditions to prevent slippage.

[0010] To achieve the above objectives, the present invention is implemented using the following technical solution: In a first aspect, the present invention provides a method for preventing rollback on heavily loaded uphill sections of unmanned commercial vehicles, applicable to intelligent driving controllers, the method comprising: During the parking phase, it receives real-time slope information from the slope sensor; Based on the real-time slope information, the electric braking exit speed threshold is determined from the predefined slope-electric braking exit speed mapping relationship; Monitor vehicle speed, and when the vehicle speed is lower than the electric braking exit speed threshold, send a maximum deceleration command to the electronic braking system to control the electronic braking system to perform service braking. When the vehicle speed is zero, a parking brake command is sent to the electronic parking system to control the electronic parking system to perform the parking brake. During the initial stage, when a tendency for the vehicle to roll backward is detected, the positive torque request is increased, and the vehicle controller is controlled to adjust the power output so that the driving force is greater than the backward gravity.

[0011] Furthermore, the predefined gradient-electric braking exit speed mapping relationship includes: When the gradient is less than 3%, the electric braking disengagement speed threshold is 2 km / h. When the gradient is 3% ≤ and the slope is less than 5%, the electric braking disengagement speed threshold is 3 km / h. When the gradient is 5% ≤ 8%, the electric braking disengagement speed threshold is 4 km / h. When the gradient is ≥ 8%, the electric braking disengagement speed threshold is 5 km / h.

[0012] Furthermore, during the initial stage, a starting command is issued, outputting the target torque to the vehicle controller to control the motor controller to output the drive torque, while simultaneously controlling the electronic parking system to gradually release the parking brake.

[0013] Furthermore, during the initial stage, the transmission controller is switched to first gear, enabling the vehicle to start in a high gear ratio.

[0014] Furthermore, during the parking phase, the vehicle is first braked by electric braking. When the vehicle speed is lower than the electric braking exit speed threshold, the electronic braking system and electronic parking system are controlled to increase braking force, while the transmission controller and motor controller are controlled to reduce the electric braking torque output, and the air brake is used to stop the vehicle.

[0015] Secondly, the present invention provides a slope slip control device for heavy-load uphill sections of unmanned commercial vehicles, comprising: Intelligent driving controller, used to execute the method described in any of the foregoing descriptions; The vehicle controller receives the target torque command from the intelligent driving controller and controls the motor controller to output drive torque. Motor controller, used to drive the vehicle; The electronic braking system is used to receive deceleration commands from the intelligent driving controller and perform service braking. The electronic parking system is used to receive parking commands from the intelligent driving controller and execute the parking brake. The transmission controller is used to receive gear control commands from the intelligent driving controller and perform the operation of switching to 1st gear; A slope sensor is used to detect the vehicle's slope and send the data to the intelligent driving controller.

[0016] Furthermore, the intelligent driving controller, vehicle controller, electronic braking system, electronic parking system, transmission controller, motor controller, and slope sensor communicate with each other via a CAN bus.

[0017] Thirdly, the present invention provides an electronic device, comprising: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of any of the methods described above.

[0018] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0019] Fifthly, the present invention provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of any of the methods described above.

[0020] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This invention utilizes a collaborative control mechanism centered on an intelligent driving controller to apply maximum braking force and initiate parking in a timely and decisive manner during the parking phase, and to precisely coordinate the release of power and braking during the starting phase, ensuring the static and dynamic stability of the vehicle on slopes and completely solving the major safety hazard of heavy trucks weighing over 49 tons rolling down steep slopes.

[0021] This invention does not rely on a single controller, but rather coordinates multiple controllers, including the vehicle controller, transmission controller, motor controller, electronic braking system, and electronic parking brake, through an intelligent driving controller, forming a highly efficient control closed loop. This architecture enables the system to respond quickly to changes in vehicle status and execute complex linkage commands, resulting in more timely and precise control responses.

[0022] This invention innovatively introduces an adaptive control strategy based on real-time information from a slope sensor. Through a preset mapping relationship between "slope and electric braking exit speed," the system can intelligently determine the timing for switching braking modes, ensuring that control parameters perfectly match actual slope, load, and other operating conditions. This avoids the drawbacks of fixed thresholds being too conservative on gentle slopes and ineffective on steep slopes, significantly broadening the applicable operating conditions of the solution and improving reliability.

[0023] This vehicle actively controls the transmission to engage first gear for starting via an intelligent driving controller, ensuring that the vehicle obtains maximum starting drive torque at the maximum speed ratio, effectively overcoming the resistance of heavy-load uphill driving. At the same time, through a synchronized control logic that first applies torque and then gradually releases the brakes, a seamless connection between power and braking is achieved, preventing rollback and avoiding starting shock, thus ensuring a smooth and stable starting process.

[0024] During the parking phase, this invention prioritizes electric braking to fully utilize energy recovery and improve fuel economy. When the vehicle speed falls below an adaptive threshold, it seamlessly switches to maximum-intensity air braking to ensure absolute reliability of the parking brake. This tiered braking strategy optimizes the overall energy efficiency of the vehicle while ensuring safe stopping. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the composition of the anti-slippage control system for heavy-load uphill sections of unmanned commercial vehicles provided in an embodiment of the present invention; Figure 2 This is a control flowchart of the method for preventing slippage on heavy-load uphill sections of unmanned commercial vehicles provided in this embodiment of the invention. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0027] Example 1: This example describes a method for preventing rollback on heavily loaded uphill sections of unmanned commercial vehicles, applicable to intelligent driving controllers. The method includes: During the parking phase, it receives real-time slope information from the slope sensor; Based on the real-time slope information, the electric braking exit speed threshold is determined from the predefined slope-electric braking exit speed mapping relationship; Monitor vehicle speed, and when the vehicle speed is lower than the electric braking exit speed threshold, send a maximum deceleration command to the electronic braking system to control the electronic braking system to perform service braking. When the vehicle speed is zero, a parking brake command is sent to the electronic parking system to control the electronic parking system to perform the parking brake. During the initial stage, when a tendency for the vehicle to roll backward is detected, the positive torque request is increased, and the vehicle controller is controlled to adjust the power output so that the driving force is greater than the backward gravity.

[0028] The method and device for preventing slippage of unmanned commercial vehicles on uphill sections under heavy load provided in this embodiment are used to solve the slippage problem of unmanned vehicles under heavy load conditions and improve vehicle driving safety and reliability.

[0029] like Figure 1 and Figure 2 As shown, this embodiment provides a method and device for preventing rollback on heavy-duty uphill sections of unmanned commercial vehicles, comprising a vehicle controller (VCU), an intelligent driving controller (IECU), an electronic parking brake (EPB), an electronic braking system (EBS), a transmission controller (TCU), and a motor controller (MCU). The vehicle controller (VCU) is the core controller for implementing the rollback prevention function. After receiving the start command from the intelligent driving controller (IECU), it detects the current status of the other systems and issues control commands to complete the rollback prevention start.

[0030] When the vehicle is heavily loaded and coming to a stop on an uphill slope, the Slope Sensor (SPS) transmits the slope information to the Intelligent Driving Controller (IECU) in real time. The IECU then selects the electric braking exit speed threshold based on the slope value, as follows: For gradients less than 3%, the electric braking disengagement speed is 2 km / h. For slopes of 3% ≤ 5%, the electric braking disengagement speed is 3 km / h. For slopes of 5% ≤ 8%, the electric braking disengagement speed is 4 km / h. For slopes of 8% or less, the electric braking disengagement speed is 5 km / h. When the vehicle speed falls below the corresponding threshold, the IECU issues a maximum deceleration requirement to the Electronic Braking System (EBS) to apply maximum service braking force. When the vehicle speed reaches 0, the IECU controls the Electronic Parking Brake (EPB) to engage the parking brake, achieving full parking of the vehicle.

[0031] When a vehicle starts uphill under heavy load, after the Intelligent Driving Controller (IECU) issues a start command, it outputs the target torque to the Vehicle Control Unit (VCU) and controls the Motor Control Unit (MCU) to output drive torque. Simultaneously, it controls the Electronic Parking Brake (EPB) to gradually release the parking brake. Through the precise control of the IECU, a seamless connection between brake release and power initiation is achieved. The IECU also actively controls the Transmission Control Unit (TCU) in first gear, allowing the vehicle to start at a high gear ratio, reducing the risk of rolling backwards and ensuring sufficient power output.

[0032] This embodiment utilizes a collaborative control mechanism centered on an intelligent driving controller to apply maximum braking force and initiate parking in a timely and decisive manner during the parking phase, and to precisely coordinate the release of power and braking during the starting phase, ensuring the static and dynamic stability of the vehicle on slopes and completely solving the major safety hazard of heavy trucks weighing over 49 tons rolling down steep slopes.

[0033] This embodiment does not rely on a single controller, but rather coordinates multiple controllers, including the vehicle controller, transmission controller, motor controller, electronic braking system, and electronic parking brake, through an intelligent driving controller, forming a highly efficient control closed loop. This architecture enables the system to respond quickly to changes in vehicle status and execute complex linkage commands, resulting in more timely and precise control responses.

[0034] This embodiment innovatively introduces an adaptive control strategy based on real-time information from a slope sensor. Through a preset "slope-electric braking exit speed" mapping relationship, the system can intelligently determine the timing for switching braking modes, ensuring that the control parameters perfectly match the actual slope, load, and other operating conditions. This avoids the shortcomings of fixed thresholds being too conservative on gentle slopes and ineffective on steep slopes, significantly broadening the applicable operating conditions of the solution and improving reliability.

[0035] This vehicle actively controls the transmission to engage first gear for starting via an intelligent driving controller, ensuring that the vehicle obtains maximum starting drive torque at the maximum speed ratio, effectively overcoming the resistance of heavy-load uphill driving. At the same time, through a synchronized control logic that first applies torque and then gradually releases the brakes, a seamless connection between power and braking is achieved, preventing rollback and avoiding starting shock, thus ensuring a smooth and stable starting process.

[0036] In this embodiment, during the parking phase, the system prioritizes electric braking to fully utilize energy recovery and improve fuel economy. When the vehicle speed falls below the adaptive threshold, it seamlessly switches to maximum-intensity air braking to ensure absolute reliability of parking braking. This tiered braking strategy optimizes the overall energy utilization efficiency of the vehicle while ensuring safe stopping.

[0037] In summary, this embodiment not only significantly improves the safety and reliability of unmanned commercial vehicles under extreme conditions such as heavy-load uphill driving, but also enhances the system's adaptability and economy through intelligent and collaborative control strategies. It has important practical value for promoting the commercial application of unmanned driving technology in the commercial vehicle field.

[0038] Example 2: This example provides a slope-avoidance control device for heavy-duty uphill sections of unmanned commercial vehicles, including a vehicle controller (VCU), an intelligent driving controller (IECU), an electronic braking system (EBS), an electronic parking brake (EPB), a transmission controller (TCU), a motor controller (MCU), and a slope sensor (SPS). The intelligent driving controller, vehicle controller, electronic braking system, electronic parking brake system, transmission controller, motor controller, and slope sensor communicate with each other via a CAN bus.

[0039] The Vehicle Control Unit (VCU) is primarily used to control the driving of the heavy-duty truck chassis. As the execution center of the entire drive-by-wire chassis, it is responsible for receiving driving commands from the Intelligent Driving Controller (IECU) and controlling the torque output of the Motor Controller (MCU). It also calculates the vehicle speed in real time and monitors the vehicle's tendency to slip on inclines.

[0040] The Intelligent Control Unit (IECU) is responsible for road planning and issuing driving commands: During the parking phase, the IECU issues a deceleration request and sends out energy recovery negative torque to control the vehicle's deceleration and braking. When the vehicle speed is below a threshold, the IECU directly sends an XBR deceleration command to activate the Electronic Parking Brake (EPB) to park the vehicle and prevent it from rolling away.

[0041] The motor controller MCU is mainly used to drive the vehicle. On uphill sections, when the output shaft speed of the gearbox is detected to be negative, the MCU will automatically control the motor to output positive torque, keep the output speed at 0, and prevent the vehicle from rolling back.

[0042] The Slope Sensor (SPS) is mainly used to identify the vehicle's slope, determine whether the vehicle is on an uphill section, and transmit the data in real time to the Vehicle Control Unit (VCU) and the Intelligent Driving Control Unit (IECU). During the start-up process, the Intelligent Driving Controller (IECU) monitors the vehicle's status in real time. If it detects that the vehicle is prone to rolling backward on an uphill section, the IECU will increase the positive torque request, requesting the VCU to increase the torque and adjust the power output to ensure that the vehicle's driving force is always greater than the weight of the backward roll, thus protecting the vehicle from rolling backward during the start-up phase.

[0043] During parking, the Intelligent Driving Controller (IECU) prioritizes electric braking when controlling the vehicle's active braking. When the vehicle speed falls below a threshold, the IECU controls the Electronic Braking System (EBS) and Electronic Parking Brake (EPB) to gradually increase braking force. Simultaneously, it sends commands to the Vehicle Control Unit (VCU) to control the Transmission Control Unit (TCU) and Motor Control Unit (MCU) to reduce electric braking torque output and use air braking to bring the vehicle to a stop. This mechanism prevents the vehicle from rolling backward due to the combined effect of electric braking and the vehicle's gravity during deceleration.

[0044] When the vehicle is heavily loaded and coming to a stop on an uphill slope, the Slope Sensor (SPS) transmits the slope information to the Intelligent Driving Controller (IECU) in real time. The IECU then selects the electric braking exit speed threshold based on the slope value, as follows: For gradients less than 3%, the electric braking disengagement speed is 2 km / h. For slopes of 3% ≤ 5%, the electric braking disengagement speed is 3 km / h. For slopes of 5% ≤ 8%, the electric braking disengagement speed is 4 km / h. For slopes of 8% or less, the electric braking disengagement speed is 5 km / h. When a vehicle is heavily loaded and going uphill to stop, once the vehicle speed falls below the electric braking disengagement speed threshold, the IECU issues a maximum deceleration requirement to the Electronic Braking System (EBS) to apply maximum service braking force. Once the vehicle speed reaches zero, the IECU controls the Electronic Parking Brake (EPB) to engage the parking brake, achieving full parking.

[0045] When a vehicle starts uphill under heavy load, after the Intelligent Driving Controller (IECU) issues a start command, it outputs the target torque to the Vehicle Control Unit (VCU) and controls the Motor Controller (MCU) to output drive torque. Simultaneously, it controls the Electronic Parking Brake (EPB) to gradually release the parking brake. Through the precise control of the IECU, a seamless connection between brake release and power initiation is achieved.

[0046] When the vehicle starts uphill under heavy load, the Intelligent Driving Controller (IECU) actively controls the Transmission Control Unit (TCU) to engage in first gear, allowing the vehicle to start in a high gear ratio, reducing the risk of the vehicle rolling backward and ensuring the vehicle's power output.

[0047] Example 3: This example provides an electronic device, including: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of any of the methods described in Embodiment 1.

[0048] Example 4: This example provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described in Example 1.

[0049] Example 5: This example provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the method described in any one of Examples 1.

[0050] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0051] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0052] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0053] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0054] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit its protection scope. Although this disclosure has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading this disclosure, they can still make various changes, modifications or equivalent substitutions to the specific implementation of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the pending claims.

Claims

1. A method for preventing rollback on heavily loaded uphill sections of unmanned commercial vehicles, applicable to intelligent driving controllers, characterized in that: The method includes: During the parking phase, it receives real-time slope information from the slope sensor; Based on the real-time slope information, the electric braking exit speed threshold is determined from the predefined slope-electric braking exit speed mapping relationship; Monitor vehicle speed, and when the vehicle speed is lower than the electric braking exit speed threshold, send a maximum deceleration command to the electronic braking system to control the electronic braking system to perform service braking. When the vehicle speed is zero, a parking brake command is sent to the electronic parking system to control the electronic parking system to perform the parking brake. During the initial stage, when a tendency for the vehicle to roll backward is detected, the positive torque request is increased, and the vehicle controller is controlled to adjust the power output so that the driving force is greater than the backward gravity.

2. The method for preventing slippage of unmanned commercial vehicles on heavy-load uphill sections according to claim 1, characterized in that, The predefined gradient-electric braking exit speed mapping relationship includes: When the gradient is less than 3%, the electric braking disengagement speed threshold is 2 km / h. When the gradient is 3% ≤ and 5% <, the electric braking disengagement speed threshold is 3 km / h. When the gradient is 5% ≤ 8%, the electric braking disengagement speed threshold is 4 km / h; When the gradient is ≥ 8%, the electric braking disengagement speed threshold is 5 km / h.

3. The method for preventing slippage of unmanned commercial vehicles on heavy-load uphill sections according to claim 1, characterized in that, During the initial stage, a starting command is issued, and the target torque is output to the vehicle controller to control the motor controller to output the drive torque, while simultaneously controlling the electronic parking system to gradually release the parking brake.

4. The method for preventing slippage of unmanned commercial vehicles on heavy-load uphill sections according to claim 1, characterized in that, During the initial stage, the transmission controller is switched to first gear, allowing the vehicle to start in a high gear ratio.

5. The method for preventing slippage of unmanned commercial vehicles on heavy-load uphill sections according to claim 1, characterized in that, During the parking phase, the vehicle is first braked by electric braking. When the vehicle speed is lower than the electric braking exit speed threshold, the electronic braking system and electronic parking system are controlled to increase braking force, while the transmission controller and motor controller are controlled to reduce the electric braking torque output, and the air brake is used to stop the vehicle.

6. A slope-slip control device for heavy-load uphill sections of unmanned commercial vehicles, characterized in that, include: An intelligent driving controller for performing the method according to any one of claims 1 to 5; The vehicle controller receives the target torque command from the intelligent driving controller and controls the motor controller to output drive torque. Motor controller, used to drive the vehicle; The electronic braking system is used to receive deceleration commands from the intelligent driving controller and perform service braking. The electronic parking system is used to receive parking commands from the intelligent driving controller and execute the parking brake. The transmission controller is used to receive gear control commands from the intelligent driving controller and perform the operation of switching to 1st gear; A slope sensor is used to detect the vehicle's slope and send the data to the intelligent driving controller.

7. The anti-slippage control device for heavy-load uphill sections of unmanned commercial vehicles according to claim 6, characterized in that, The intelligent driving controller, vehicle controller, electronic braking system, electronic parking system, transmission controller, motor controller, and slope sensor communicate with each other via a CAN bus.

8. An electronic device, characterized in that, include: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of the method according to any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When executed by a processor, the computer program implements the steps of the method described in any one of claims 1-5.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1-5.

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