Single-pedal climbing escape control method, device and equipment and storage medium

Abstract

The invention discloses a single-pedal climbing escape control method, device and equipment and a storage medium, and relates to the technical field of new energy automobile control, and the single-pedal climbing escape control method comprises the steps that single-pedal climbing escape mode admission information and user control information are obtained; identifying vehicle mode information based on the single-pedal escape mode admission information and the user control information; determining a torque motion direction of a corresponding speed limit point and a vehicle motion torque based on the vehicle mode information; and based on the vehicle motion torque, the vehicle is controlled to do front-back yo-yo in the torque motion direction, and single-pedal climbing out-of-trouble control is completed. The escape mode is automatically recognized through the single-pedal climbing escape mode admission information and the user control information, so that the torque movement direction of the corresponding speed limit point and the vehicle movement torque are determined, the motor is controlled to output the torque according to the set direction to achieve front-back vehicle yo-yo, pit escape is completed, the driving difficulty is remarkably reduced, the escape time is shortened, and the driving efficiency is improved. The safety and durability of the whole vehicle are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of new energy vehicle control, in particular to a single-pedal hill climbing escape control method, device, equipment and storage medium. BACKGROUND

[0002] Under complex working conditions such as mine area, unpaved or construction road, new energy commercial vehicles are often trapped in pits due to full load, large slope and low adhesion. In order to minimize the cost of manual rescue and shorten the downtime, the vehicle must rely on its own power to quickly complete the low-speed escape and ensure that the driver's operation is extremely simple, safe and controllable.

[0003] The existing method is that when the vehicle is trapped in the pit, the driver needs to continuously step on the accelerator to output torque at the maximum throttle opening. However, if the vehicle still cannot move forward, the manual repeated gear shifting operation is used to control the vehicle to roll forward and backward to use inertia to climb the slope. However, the existing method of continuously stepping on the accelerator will result in uncontrollable control and difficult operation of the vehicle, which is easy to cause the tire to dig deeper or even the vehicle to lose control due to judgment errors, and cannot adapt to full-slope full-load working conditions. In addition, the driver needs to accelerate repeatedly to realize auxiliary operation, which is not convenient. Therefore, how to more efficiently and accurately control the single-pedal hill climbing escape has become a problem to be solved.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide a single-pedal hill climbing escape control method, device, equipment and storage medium, which aims to solve the technical problem of how to more efficiently and accurately control the single-pedal hill climbing escape.

[0006] To achieve the above purpose, the present application provides a single-pedal hill climbing escape control method, which comprises:

[0007] Obtaining single-pedal hill climbing escape mode access information and user control information;

[0008] Identifying vehicle mode information based on the single-pedal escape mode access information and the user control information;

[0009] Determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information;

[0010] Controlling the vehicle to roll forward and backward in the torque motion direction based on the vehicle motion torque to complete the single-pedal hill climbing escape control.

[0011] In an embodiment, the step of obtaining single-pedal hill climbing escape mode access information comprises:

[0012] acquire vehicle characteristic information, the vehicle characteristic information comprising escape mode switch information, brake braking time information, fault level information, escape mode vehicle speed information, vehicle gear information, driving information, throttle information, anti-sideslip activation information, and lock vehicle power information;

[0013] identify escape mode entry and exit states using predefined escape rules and the vehicle characteristic information, to obtain single-pedal hill climbing escape mode access information.

[0014] In an embodiment, the step of identifying vehicle mode information based on the single-pedal escape mode access information and the user manipulation information comprises:

[0015] determining throttle duration information and brake duration information based on the user manipulation information;

[0016] when the single-pedal escape mode access information is access escape mode, if the throttle duration information and the brake duration information both exceed a predefined time threshold, the vehicle mode information is vehicle autonomous control escape mode;

[0017] when the single-pedal escape mode access information is access escape mode, if the throttle duration information does not exceed a predefined time threshold or the brake duration information does not exceed a predefined time threshold, the vehicle mode information is throttle control escape mode.

[0018] In an embodiment, the step of determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information comprises:

[0019] acquiring target mode switch information and throttle opening degree information;

[0020] selecting torque in the corresponding power mode based on the target mode switch information to determine power mode torque information;

[0021] determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information and the power mode torque information, to determine autonomous escape torque motion information;

[0022] determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information, the power mode torque information, and the throttle opening degree information, to determine throttle escape torque motion information;

[0023] determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the autonomous escape torque motion information and the throttle escape torque motion information.

[0024] In an embodiment, the step of determining the autonomous escape torque motion information based on the vehicle mode information and the power mode torque information includes:

[0025] determining first autonomous escape torque motion information based on the vehicle mode information and the power mode torque information to accelerate forward with the torque motion direction of the corresponding positive speed limit point and the vehicle forward motion torque;

[0026] determining second autonomous escape torque motion information based on the first vehicle torque motion information to accelerate backward with the torque motion direction of the corresponding reverse speed limit point and the vehicle reverse motion torque at a predefined step length;

[0027] obtaining the autonomous escape torque motion information based on the first autonomous escape torque motion information and the second autonomous escape torque motion information.

[0028] In an embodiment, the step of determining the autonomous escape torque motion information based on the vehicle mode information, the power mode torque information and the throttle opening information includes:

[0029] determining first autonomous escape torque motion information based on the vehicle mode information, the power mode torque information and the throttle opening information to accelerate forward with the torque motion direction of the corresponding positive speed limit point and the vehicle forward motion torque;

[0030] determining second autonomous escape torque motion information based on the first autonomous escape torque motion information to drive the vehicle to accelerate backward with the torque motion direction of the corresponding reverse speed limit point and the vehicle reverse motion torque at a predefined step length;

[0031] obtaining the first autonomous escape torque motion information based on the first autonomous escape torque motion information and the second autonomous escape torque motion information.

[0032] In an embodiment, the step of controlling the vehicle to move forward and backward in the torque motion direction based on the vehicle motion torque to complete the single pedal hill climb escape control includes:

[0033] obtaining vehicle escape information;

[0034] controlling the vehicle to move forward and backward in the torque motion direction based on the vehicle escape information and the vehicle motion torque to complete the single pedal hill climb escape control.

[0035] In addition, to achieve the above object, the application further provides a single pedal hill climb escape control device, which comprises:

[0036] an acquisition module, configured to acquire single-pedal hill climbing escape mode access information and user control information;

[0037] a processing module, configured to identify vehicle mode information based on the single-pedal escape mode access information and the user control information;

[0038] the processing module is further configured to determine a torque motion direction of a corresponding speed limit point and vehicle motion torque based on the vehicle mode information;

[0039] an execution module, configured to control the vehicle to move forward and backward in the torque motion direction based on the vehicle motion torque, to complete single-pedal hill climbing escape control.

[0040] In addition, to achieve the above object, the present application further provides a single-pedal hill climbing escape control device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the single-pedal hill climbing escape control method as described above.

[0041] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer readable storage medium, and a computer program is stored on the storage medium, and the computer program is executed by a processor to implement the steps of the single-pedal hill climbing escape control method as described above.

[0042] The one or more technical solutions provided by the present application have at least the following technical effects:

[0043] The single-pedal hill climbing escape control method provided by the present embodiment acquires single-pedal hill climbing escape mode access information and user control information, identifies vehicle mode information based on the single-pedal escape mode access information and the user control information, determines a torque motion direction of a corresponding speed limit point and vehicle motion torque based on the vehicle mode information, and controls the vehicle to move forward and backward in the torque motion direction based on the vehicle motion torque, to complete single-pedal hill climbing escape control. The present application acquires single-pedal hill climbing escape mode access information and user control information, automatically identifies escape mode, determines a torque motion direction of a corresponding speed limit point and vehicle motion torque, controls the motor to output torque in the set direction to realize forward and backward movement, thereby completing pit escape, significantly reducing driving difficulty, shortening escape time, and avoiding motor stall and battery impact, to ensure vehicle safety and durability. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0046] Figure 1 A flowchart provided by the single-pedal climbing escape control method embodiment one of the present application;

[0047] Figure 2 A flowchart provided by the single-pedal climbing escape control method embodiment two of the present application;

[0048] Figure 3 A brief flowchart of the single-pedal climbing escape control method provided by the embodiments of the present application;

[0049] Figure 4 A module structure diagram of the single-pedal climbing escape control device of the embodiments of the present application;

[0050] Figure 5 A device structure diagram of the hardware running environment involved in the single-pedal climbing escape control method in the embodiments of the present application.

[0051] The purpose implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application, and are not used to limit the present application.

[0053] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings in the specification and specific embodiments.

[0054] The main solution of the embodiments of the present application is: obtaining single-pedal climbing escape mode access information and user control information; identifying vehicle mode information based on the single-pedal escape mode access information and the user control information; determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information; controlling the vehicle to move forward and backward in the torque motion direction based on the vehicle motion torque, and completing the single-pedal climbing escape control.

[0055] In the present embodiment, for the convenience of description, the following will be described with the single-pedal climbing escape control device as the execution subject.

[0056] Since the existing technology continues to step on the accelerator, the control of the vehicle is uncontrollable and difficult to operate, and the tire is easy to dig deeper and even the vehicle is out of control due to misjudgment, which cannot adapt to full slope and full load working conditions, and the driver needs to accelerate repeatedly to realize auxiliary operation, which is not convenient.

[0057] The present application provides a solution to obtain single-pedal climbing escape mode access information and user control information; identify vehicle mode information based on the single-pedal escape mode access information and the user control information; determine the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information; control the vehicle to move forward and backward based on the vehicle motion torque in the torque motion direction, and complete single-pedal climbing escape control.

[0058] From the above embodiments, the present application obtains single-pedal climbing escape mode access information and user control information, automatically identifies the escape mode, determines the torque motion direction of the corresponding speed limit point and the vehicle motion torque, controls the motor to output torque in the set direction to realize forward and backward movement, and thus completes the pit escape, significantly reduces the driving difficulty, shortens the escape time, and avoids motor stall and battery impact, ensuring the safety and durability of the vehicle.

[0059] Based on this, the present application provides a single-pedal climbing escape control method, which refers to Figure 1 , Figure 1 The present application is a flowchart of the first embodiment of the single-pedal climbing escape control method.

[0060] In this embodiment, the single-pedal climbing escape control method includes steps S10-S40:

[0061] Step S10, obtaining single-pedal climbing escape mode access information and user control information;

[0062] It should be noted that the single-pedal climbing escape mode access information is the state information of the vehicle entering the single-pedal escape mode, and the user control information is the real-time control instruction issued by the driver through the vehicle operating device after the escape mode is granted to enter.

[0063] In a specific embodiment, vehicle feature information is acquired, including escape mode switch information, brake braking time information, fault level information, escape mode vehicle speed information, vehicle gear information, driving information, throttle information, anti-sideslip activation information, and lock vehicle power information; an escape mode entry and exit state is identified using predefined escape rules and the vehicle feature information, and single-pedal climbing escape mode access information is obtained. That is, by real-time collection and analysis of vehicle state by vehicle sensors and controllers, when the driver actively presses the escape mode switch, steps on the brake and effectively brakes for 3 seconds, the system detects that the BMS, MCU and VCU fault levels of the vehicle are all less than level 2, there is no power limitation, the vehicle speed is lower than the preset threshold of 3 km / h to prevent high speed mis-triggering, the current gear is D, the driving Ready signal is valid, there is no throttle operation, the VCU has not received the ABS activation signal to avoid interference with the anti-sideslip system, and the vehicle is in a non-locking and non-power taking mode, excluding speed limitation due to locking or power taking state, the system confirms entry into the escape mode, ensuring safe and effective control of the vehicle during the escape process. When any of the following conditions is met, the system will immediately exit the single-pedal climbing escape mode: the driver actively closes the escape mode switch; steps on the brake pedal and maintains effective braking; the fault level of the vehicle's key controllers (BMS, MCU, VCU) is raised to level 3 or above, or there is a serious power limitation; the vehicle speed is lower than the preset threshold of 3 km / h (this condition is a mode maintenance condition, and its inverse logic is to exit when the vehicle speed exceeds the threshold. Here, according to the original text logic, it is corrected as: when the system monitors that the vehicle speed is not lower than 3 km / h, to avoid high speed mis-triggering, the system will forcibly exit the mode); the current gear is switched to non-D; the driving Ready signal is invalid; the VCU receives the activation signal of the ABS anti-sideslip system to prevent it from interfering with the escape control strategy; or the vehicle enters a locked state and a power taking mode, so that such conditions will trigger system speed limitation, directly affecting the power freedom required for "vehicle escape", thereby obtaining single-pedal climbing escape mode access information.

[0064] At the same time, the driver's operation behavior on the throttle and brake pedals is monitored and recorded in real time, and user control information including throttle opening change, throttle duration and brake duration is extracted, and user control information is obtained.

[0065] In a feasible implementation, step S10 can include steps A11-A12:

[0066] Step A11, vehicle feature information is acquired, including escape mode switch information, brake braking time information, fault level information, escape mode vehicle speed information, vehicle gear information, driving information, throttle information, anti-sideslip activation information, and lock vehicle power information;

[0067] It should be noted that the vehicle feature information is a set of multi-dimensional state parameters collected in real time from various sensors and control units of the vehicle.

[0068] It can be understood that the vehicle feature information can include escape mode switch information, brake braking time information, fault level information, escape mode vehicle speed information, vehicle gear information, driving information, throttle information, anti-skid activation information, and lock vehicle power take-off information, wherein the escape mode switch information indicates whether the driver has the intention to actively activate the escape mode, the brake braking time information indicates whether the brake pedal is effectively stepped down and the duration of stepping down, for example, it needs to be continuously stepped down for 3 seconds to confirm the entry mode to prevent false touch, the fault level information is the current fault level of the vehicle core controller, such as BMS battery management system, MCU motor controller, VCU vehicle controller, which is usually required to be less than level 2 to ensure that the system has no serious fault, the escape mode vehicle speed information is the current driving speed of the vehicle, which must be less than a preset safety threshold, such as 3 km / h, to avoid false triggering of dangerous operation at high vehicle speed, the vehicle gear information is the current gear of the gearbox, which is usually required to be in forward gear, i.e. D gear, to ensure that the power transmission direction is correct, the driving information indicates whether the vehicle is in driving Ready state, i.e. the high-voltage system is powered on and has driving conditions, the throttle information indicates whether the throttle pedal is stepped down, which is required to have no throttle operation when the mode access is judged to prevent command conflict, the anti-skid activation information indicates whether the VCU receives an activation signal of the ABS / ESP system, which is required to be not activated to avoid the tire slip of the vehicle body stabilization system when the vehicle is escaping, and the lock vehicle power take-off information indicates whether the vehicle is in the lock vehicle state or the power take-off mode, such as the PTO function is turned on, which is required to be not locked and not power taken off, because these states usually limit the vehicle speed or power output, which affects the vehicle escape effect.

[0069] Step A12, identifying the escape mode entry and exit state by using the predefined escape rule and the vehicle feature information, to obtain single-pedal climbing escape mode access information.

[0070] It can be understood that the single-pedal climbing escape mode access information is used to judge whether the vehicle has the condition of safely and controllably starting the escape function to avoid false triggering or starting in inappropriate working conditions, and the user control information is used to judge whether the driver performs escape in which mode, for example, stepping on the throttle and brake pedals to enter the vehicle autonomous control escape mode, otherwise, entering the throttle control escape mode.

[0071] Step S20, identifying the vehicle mode information based on the single-pedal escape mode access information and the user control information;

[0072] It should be noted that the vehicle mode information is an identifier of a specific escape execution strategy or control attribution determined by the system according to user operation information after the system meets the access condition of the single-pedal hill climb escape mode.

[0073] It can be understood that the vehicle mode information can include a vehicle autonomous control escape mode and a throttle control escape mode, wherein the vehicle autonomous control escape mode is activated when the system detects that the driver simultaneously steps on the accelerator and the brake for a long time, that is, the accelerator duration and the brake duration both exceed a preset time threshold, for example, both exceed 2 seconds, after the vehicle autonomous control escape mode is activated, the vehicle ignores the accelerator opening input of the driver and automatically calculates and executes the required torque and movement direction of the front and rear vehicle according to a preset algorithm, and controls the vehicle to automatically escape, and the throttle control escape mode is that when the system detects that the driver does not simultaneously step on the accelerator and the brake for a long time, that is, the duration of one of the accelerator and the brake does not reach the preset threshold, in the throttle control escape mode, the control system VCU fuses the accelerator opening input of the driver, the system still calculates the movement torque and direction, but the final torque output is associated with the accelerator opening, allowing the driver to intervene or guide the escape to a certain extent through the accelerator pedal, which is equivalent to realizing the auxiliary vehicle escape of man-machine co-pilot.

[0074] In specific embodiments, when the single-pedal escape mode access information is the access escape mode, the driving torque can be autonomously adjusted for forward and reverse hill climbing through accelerator and brake operations and EBP switches, and the driver does not need to operate during the whole vehicle cruising process, and the driver can turn off the escape mode switch or step on the brake after the vehicle has escaped from the slope, or the vehicle is in a stationary state for 10 s to autonomously determine that the vehicle has escaped, and the escape mode is turned off.

[0075] Based on the user operation information, the accelerator duration information and the brake duration information are determined, and when the single-pedal escape mode access information is the access escape mode, if the accelerator duration information and the brake duration information both exceed a predefined time threshold, the vehicle mode information is the vehicle autonomous control escape mode, that is, after entering the escape mode, the driver does not want to control the accelerator and wants to autonomously control the cruising escape through the controller, and only needs to simultaneously step on the accelerator and the brake for 3 s to confirm the vehicle autonomous control escape mode.

[0076] When the single-pedal escape mode access information is the access escape mode, if the accelerator duration information does not exceed the predefined time threshold or the brake duration information does not exceed the predefined time threshold, the vehicle mode information is the throttle control escape mode, that is, when entering the escape mode, the accelerator and the brake are not simultaneously stepped on, and the autonomous control escape mode is not entered, and the throttle control escape mode is confirmed.

[0077] In one possible implementation, step S20 can include steps B11-B13:

[0078] Step B11, determining accelerator duration information and brake duration information based on the user operation information;

[0079] It should be noted that the accelerator duration information is the cumulative time that the accelerator pedal is continuously depressed and its opening exceeds a certain preset effective threshold value within the time window in which the system determines the access to the escape mode, for example, greater than 5% of the preset effective threshold value, which is used to quantify the driver's intention to drive through the accelerator. The brake duration information is the cumulative time that the brake pedal is effectively depressed within the same time window, i.e., the brake signal is effective, which is used to confirm the driver's intention to keep the vehicle in a braking state.

[0080] It can be understood that the use of the accelerator duration information and the brake duration information can trigger different control modes. When the durations of both are greater than a predefined time threshold value, for example, 2 seconds, the vehicle autonomous control escape mode can be entered. If the duration of either information does not reach the threshold value, the accelerator control escape mode is entered, and the system will assist in escape control according to the real-time accelerator opening.

[0081] Step B12, when the single-pedal escape mode access information is the access escape mode, if the accelerator duration information and the brake duration information both exceed the predefined time threshold value, the vehicle mode information is the vehicle autonomous control escape mode.

[0082] It can be understood that when the single-pedal escape mode access information is the access escape mode, if the control system subsequently monitors that both the accelerator duration information and the brake duration information exceed the predefined time threshold value, the control right of the vehicle for escape is transferred to the automatic driving system, and the vehicle autonomous control escape mode is entered. In this mode, the vehicle controller VCU will take over the vehicle, automatically control the torque output and direction of the motor, and perform standardized forward and backward vehicle actions without responding to the real-time operation of the accelerator pedal by the driver.

[0083] Step B13, when the single-pedal escape mode access information is the access escape mode, if the accelerator duration information does not exceed the predefined time threshold value or the brake duration information does not exceed the predefined time threshold value, the vehicle mode information is the accelerator control escape mode.

[0084] It can be understood that when the single-pedal escape mode access information is the access escape mode, if it is monitored that the accelerator duration information does not exceed the predefined time threshold or the brake duration information does not exceed the threshold, the accelerator control escape mode is entered, in which the control system does not completely take over the vehicle, but enters a man-machine cooperative state, the system still controls the torque output and direction of the motor to drive the vehicle, but the final driving torque size is associated with the accelerator opening degree that the driver steps in real time, allowing the driver to actively adjust the power output of the escape through the accelerator pedal, so as to be more in line with the personal intention of the auxiliary escape control.

[0085] In step S30, the torque motion direction corresponding to the speed limit point and the vehicle motion torque are determined based on the vehicle mode information.

[0086] It should be noted that the torque motion direction is an instruction signal for controlling the direction of longitudinal movement of the vehicle, directly determining the rotation direction of the motor output, thereby controlling whether the vehicle is forward impact or backward power accumulation, and the vehicle motion torque is a quantitative value for controlling the size of the output torque in the torque motion direction.

[0087] In specific embodiments, target mode switch information and accelerator opening degree information are obtained, i.e., EBP can be selected according to the pit slope. EBP is mainly used to save switches, which are existing. If finer torque levels are required, multiple levels of switches can be set to obtain target mode switch information, select the torque corresponding to the power mode based on the target mode switch information, and determine the power mode torque information. That is, different power modes can be selected by using the target mode switch information, the highest torque allowed to be executed in different modes is different, and different climbing slopes can be corresponded. After setting the EBP power mode, the accelerator and brake are released, and the vehicle autonomous control torque is started. At the beginning, the highest torque request driving in the mode is requested. If the current torque cannot drive the vehicle forward due to too large slope, the vehicle speed is detected to be less than 1 for 10s, the instrument prompts that the slope is too steep to start the escape, and it is suggested to replace a stronger power mode. When the appropriate power mode is selected, the maximum torque request driving in the current mode is started, the vehicle gradually accelerates, and the highest vehicle speed of the escape mode is 10. The higher the vehicle speed, the smaller the requested torque, which ensures that the vehicle can slowly drive to escape and also ensures that the vehicle speed is not too fast to rush out of the pit, which causes uncontrollable safety problems.

[0088] Determine the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information and the power mode torque information, determine the autonomous escape torque motion information, that is, drive with the current maximum torque request, the vehicle drives forward, the vehicle gradually accelerates to the highest 10, and if it can directly rush out of the tunnel, it can escape, and if it accelerates first, the vehicle cannot overcome the current maximum torque due to the gradually increasing slope, and the vehicle needs to be used. The vehicle repeatedly advances and retreats, uses the vehicle inertia to rush out of the pit, the vehicle speed gradually decreases, and when the vehicle speed gradually decreases to 1 or the speed decreases to 100 rpm, the speed is converted to the corresponding vehicle speed, and the vehicle speed can be calibrated to confirm that it reaches the highest position. Keep the gear unchanged, do not perform gear shifting, control the vehicle acceleration with the accelerator to keep the direction consistent, the vehicle speed is greater than or equal to 1 or the motor speed is greater than or equal to 100 rpm, and the vehicle is determined to be in the forward direction. Step on the accelerator to accelerate forward, and the requested torque is a forward positive torque; When the vehicle reaches the highest position, the vehicle retreats under the action of gravity, the vehicle speed is less than or equal to -1 or the motor speed is less than or equal to -100 rpm, and the driver needs to release the accelerator once and then step on it again to confirm that it is the driver's actual intention to control the vehicle to accelerate in reverse. The driving demand is determined to be in the reverse direction. Step on the accelerator to accelerate in reverse, and the requested torque is a forward reverse torque; and the autonomous control requests the maximum torque, and the positive and negative torque changes too quickly, which easily leads to rapid acceleration and deceleration. In order to ensure the driving experience, a step size setting is added, which needs to be calibrated. At this time, the requested reverse maximum torque needs to change through the step size from the positive maximum torque to the reverse maximum torque to avoid too fast changes in a short time, which produces a sudden braking experience. The time for the vehicle to advance to a speed of 1 gradually changes to -1 is reserved for torque reversal, which needs to be completed through calibration. When the speed is less than 0 or the vehicle speed is less than 0, the current torque needs to be immediately cleared to 0, and according to the subsequent vehicle speed less than or equal to -1 or the motor speed less than or equal to -100 rpm, gradually increase to the maximum reverse torque to avoid the vehicle torque opposite to the direction of travel, which causes the vehicle inertia to hinder deceleration, which is not conducive to escape. The vehicle accelerates downhill under the action of gravity and the reverse maximum torque, reaches the lowest point of the pit when the vehicle speed is maximum, and retreats to the opposite side of the slope under the action of gravity. The gear reaches the highest point, the vehicle speed decreases to 0, gradually increases to greater than or equal to 1 or the speed is greater than or equal to 100, the gear remains unchanged, the torque changes from the reverse maximum torque to the positive maximum torque, and reaches the highest position on the other side. Under the action of gravity and the positive maximum torque, accelerate and repeatedly idle the vehicle, and the highest position of each rise becomes larger and larger, gradually escaping from the pit, and obtaining the autonomous escape torque motion information.

[0089] Based on the vehicle mode information, the power mode torque information and the throttle opening degree information, the torque motion direction and the vehicle motion torque of the corresponding speed limit point are determined, the throttle escape torque motion information is determined, that is, different torque is requested according to different throttle opening degrees, the torque and the power of the driver's autonomous control escape can be controlled, and the EBP is associated, the driver can overall process adjust the torque power mode, after entering the single pedal escape mode, the throttle and the brake are released, the vehicle is prohibited, different driving forward torques are requested according to the depth of the driver's stepping on the throttle, for example, if the deepest throttle is stepped on in the parking state, if the current torque cannot drive the vehicle to advance due to too large slope, the speed is continuously less than 1 for 10s, the instrument prompts that the slope is too steep to start the escape, and it is suggested to replace a stronger power mode; when the appropriate throttle opening degree is stepped on, the vehicle gradually accelerates, in order to avoid that the vehicle rapidly rushes out, the maximum speed of the escape mode is 10, the higher the speed is, the smaller the requested torque is, which not only ensures that the vehicle can slowly drive to escape, but also ensures that the vehicle will not rush out of the pit at too high speed, and a safety problem that is not easy to control is generated.If the appropriate accelerator pedal is depressed, the vehicle can directly accelerate out of the pit, and if the vehicle is accelerated first, the vehicle cannot overcome the current torque corresponding to the accelerator pedal due to the gradually increasing slope, and the vehicle needs to be accelerated. The vehicle repeatedly advances and retreats, uses the vehicle inertia to rush out of the pit, and the vehicle speed gradually decreases. When the vehicle speed gradually decreases to 1 or the speed decreases to 100 rpm, the speed is converted to the corresponding vehicle speed. The speed can be calibrated to confirm that the highest position is reached. In order to achieve the escape mode, the accelerator pedal controls the vehicle acceleration to keep the direction consistent, and the vehicle speed is greater than or equal to 1 or the motor speed is greater than or equal to 100 rpm. The vehicle is determined to be in the forward direction, the accelerator pedal is depressed for forward acceleration, and the requested torque is a forward positive torque. When the vehicle reaches the highest position, the vehicle retreats under the action of gravity, and the vehicle speed is less than or equal to -1 or the motor speed is less than or equal to -100 rpm. The driver needs to release the accelerator pedal once and then depress the accelerator pedal to confirm that the driver actually wants to control the vehicle to accelerate in reverse. The vehicle is determined to be in the reverse direction, the accelerator pedal is depressed for reverse acceleration, and the requested torque is a forward reverse torque. The positive and negative torque changes are obtained through a step size to avoid adverse driving experience caused by too fast torque change. The step size needs to be calibrated, and the value is relatively small in autonomous control. The gear position is kept unchanged, that is, no gear shifting is performed. According to the driver's request for different reverse torques by depressing the accelerator pedal opening, the direction of the torque is adjusted to ensure that the vehicle is in an acceleration state, and to avoid the vehicle torque being opposite to the direction of travel, which causes the vehicle inertia to hinder deceleration, which is not conducive to escape. If the vehicle accelerates downhill under the action of gravity and reverse torque, the vehicle speed is maximum when it reaches the bottom of the pit, and the vehicle retreats to the other side of the slope and gradually decelerates under the action of gravity. When the vehicle reaches the highest point, the vehicle speed gradually changes from reverse to 0, and then accelerates in the forward direction. The vehicle speed gradually increases to greater than or equal to 1 or the speed is greater than or equal to 100, the gear position is kept unchanged, the torque corresponding to the accelerator pedal changes from reverse to positive, and the vehicle is kept in an acceleration state. After passing through the bottom of the pit, the vehicle gradually reaches the highest position of the other side in the forward direction and reverses, so as to obtain the accelerator escape torque motion information. Under the action of gravity and positive maximum torque, the vehicle is accelerated and repeatedly accelerated. The highest position of each rise is larger and larger, and the vehicle gradually escapes from the pit.

[0090] Based on the autonomous escape torque motion information and the accelerator escape torque motion information, the torque motion direction of the corresponding speed limit point and the vehicle motion torque are obtained.

[0091] In step S40, the vehicle is controlled based on the vehicle motion torque to advance and retreat in the torque motion direction, and the single-pedal climbing escape control is completed.

[0092] It can be understood that all torque outputs of the vehicle motion torque follow the motor external characteristic curve, and the minimum value of the MCU limit value and the BMS charging power is executed to guarantee system safety. For example, when the vehicle speed exceeds 90 km / h, the system will prohibit energy recovery but maintain single-pedal mode, and in terms of operation, stepping on the accelerator means forward movement, and releasing the accelerator means backward movement, and the pedal depth corresponds to the required torque according to the conventional logic, thereby providing the driver with an intuitive control experience.

[0093] In a specific embodiment, vehicle escape information is obtained, that is, when the vehicle mode information is in the vehicle autonomous control escape mode, it is determined whether the brake is stepped on or the escape mode switch is turned off, and it is confirmed that the driver actively closes it, or other vehicle faults or do not meet the escape mode condition stop, and when the vehicle mode information is in the accelerator control escape mode, if the vehicle is identified as having no accelerator and no brake and the vehicle speed is 0 after executing the vehicle control, it is considered that the vehicle has completed the escape, or it is determined whether the brake is stepped on or the escape mode switch is turned off, and it is confirmed that the driver actively closes it, or other vehicle faults or do not meet the escape mode condition stop, thereby obtaining the vehicle escape information.

[0094] Based on the vehicle escape information and the vehicle motion torque, the vehicle is controlled to move forward and backward to complete single-pedal climbing escape control, that is, for the vehicle tire trapped in the pit, it cannot be accelerated to climb out at one time, and it needs to be shaken forward and backward to escape the pit, so the vehicle speed is low and the forward and backward shaking distance is small, and the vehicle escape information and the vehicle motion torque are used for torque control, for example, different torques are requested according to the accelerator opening degree, the vehicle is controlled to move forward to climb the slope, the full accelerator corresponds to the maximum torque, after the switch enters the mode, the accelerator is stepped on for the first time, different torques are requested according to the accelerator opening degree, and forward acceleration is performed, if it is identified that the vehicle speed reaches the highest point, the vehicle torque cannot support the vehicle to continuously accelerate, the accelerator is released, and when the accelerator is less than 3%, a fixed negative torque is continuously given, the vehicle reverses and accelerates in the reverse direction, if it is identified that the vehicle accelerates to the highest point in the reverse direction, different torques are requested according to the accelerator opening degree, and forward acceleration is performed, and the forward acceleration and reverse acceleration are continuously performed until the vehicle escapes the pit, thereby completing the single-pedal climbing escape control.

[0095] In a feasible implementation, step S40 can include steps C11-C12:

[0096] Step C11, obtaining vehicle escape information;

[0097] It should be noted that the vehicle escape information is a state feedback signal used to determine whether the escape target has been achieved in real time during the escape control process of the system performing forward and backward vehicle movement, so as to decide whether the escape mode should be exited.

[0098] It can be understood that the vehicle escape information can be a set of judgment basis for dynamically evaluating whether the vehicle has successfully escaped from the trapped state. For example, when the system monitors that the vehicle can continuously maintain forward low-speed driving, i.e., the vehicle speed is stable and exceeds 3 km / h for a certain time, or the vehicle displacement indicates that it has successfully crossed the slope top or pit, it is determined that the vehicle has successfully escaped. When the system detects that the driver executes an exit instruction, such as switching gears, turning off the escape switch, or the vehicle state no longer meets the access requirements, such as a new high-level fault, or the vehicle cannot achieve effective displacement within a preset time or after multiple idle driving, it is determined that the current automatic escape process needs to be interrupted.

[0099] In step C12, the vehicle is controlled to move forward and backward in the torque movement direction based on the vehicle escape information and the vehicle movement torque, and single-pedal climbing escape control is completed.

[0100] It can be understood that, in order to ensure the safety and efficiency of the single-pedal climbing escape control process, the motor speed can be controlled by controlling the vehicle movement torque to limit the maximum vehicle speed, for example, the maximum vehicle speed is limited to 10 km / h, to ensure controllable idle driving at low speed. If the system requests the vehicle movement torque and the motor has current, but the vehicle is in D gear and zero speed is detected, i.e., there is a risk of stalling, the escape mode is immediately exited to protect the motor. After entering the escape mode, the system automatically turns off the crawling function and forces the gear to be locked to avoid power interruption.

[0101] The single-pedal climbing escape control method provided in the embodiment includes obtaining single-pedal climbing escape mode access information and user control information; identifying vehicle mode information based on the single-pedal escape mode access information and the user control information; determining a torque movement direction corresponding to a speed limit point and a vehicle movement torque based on the vehicle mode information; and controlling the vehicle to move forward and backward in the torque movement direction based on the vehicle movement torque, to complete single-pedal climbing escape control. The technical problem of how to more efficiently and accurately perform single-pedal climbing escape control is solved. Compared with the prior art, the application automatically identifies and enters the corresponding intelligent escape mode, determines the torque direction and size of the speed limit point corresponding to each stage of the vehicle during idle driving, accurately controls the motor output to a predetermined torque, drives the vehicle to automatically complete efficient and controllable forward and backward idle driving, realizes the intelligentization and automation of the escape process, significantly reduces the difficulty of driving operation, improves the escape efficiency and success rate, effectively avoids vehicle loss of control or component damage caused by human error, and comprehensively enhances the safety and reliability of the vehicle in extreme conditions.

[0102] Based on the first embodiment of the application, in the second embodiment of the application, the same or similar contents as the above-mentioned first embodiment can be referred to the above introduction, and will not be described in detail.

[0103] In this embodiment, reference is made to Figure 2 , Figure 2 The flowchart provided in this embodiment of the single-pedal hill climbing escape control method specifically includes steps S31-S35:

[0104] Step S31, obtaining target mode switch information and throttle opening degree information;

[0105] It should be noted that the target mode switch information is a global power mode selected or activated by the driver through the vehicle-mounted interface in advance, for example, an economy mode, a standard mode, or an off-road mode, which does not directly activate the escape function itself, but provides a power reference for the escape control system. The system will select and call the corresponding torque based on this mode.

[0106] It can be understood that the throttle opening degree information is the actual position or angle of the accelerator pedal during the escape process, which can be represented by a percentage of 0%-100%, directly representing the driver's real-time power demand intention during the escape process. The system will map the throttle opening degree to an adjustment coefficient of the power mode torque, realizing intuitive control of deeper pedal and greater torque.

[0107] In specific embodiments, the global power mode instruction selected by the driver can be read from the vehicle body controller or human-machine interaction system through the vehicle CAN network, and parsed into the basic power characteristics of the vehicle, thereby obtaining the target mode switch information. At the same time, the voltage or position signal of the accelerator pedal sensor is collected in real time, which is converted to throttle opening degree information in percentage form through a pre-set pedal MAP, so as to accurately obtain the real-time demand of the driver for driving torque, thereby obtaining the throttle opening degree information.

[0108] Step S32, selecting the torque in the corresponding power mode based on the target mode switch information to determine the power mode torque information;

[0109] It should be noted that the power mode torque information is a theoretical torque output capability curve or limit value set corresponding to the global power mode selected by the driver.

[0110] It can be understood that the power mode torque information can be a reference torque map or torque upper limit value obtained by querying an internal pre-set database according to the target mode switch information. Neither system autonomous control nor throttle control can exceed the torque range allowed by the power mode, thereby ensuring that the power response characteristics of the vehicle are consistent with the global mode selected by the driver, and playing a safety protection role.

[0111] In specific embodiments, the vehicle controller can identify the specific power mode selected by the driver by analyzing the instruction signal sent by the target mode switch, and call the reference torque curve, torque limit value and external characteristic parameter that exactly match the mode from the database preset in the controller, so as to determine the power mode torque information that meets the power characteristics of the mode and can be used by the escape function under the current state.

[0112] Step S33, determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information and the power mode torque information, and determining the autonomous escape torque motion information;

[0113] It should be noted that the autonomous escape torque motion information is an automatic control signal set containing torque size and torque direction, without the need for driver intervention.

[0114] In specific embodiments, based on the vehicle mode information and the power mode torque information, the torque motion direction of the corresponding positive speed limit point and the vehicle positive motion torque are accelerated to go forward, and the first autonomous escape torque motion information is determined, i.e., the vehicle is driven forward with the current maximum torque request of the vehicle mode information, the vehicle travels forward, and the vehicle gradually accelerates to 10, if it can directly rush out of the pit, it can escape, and if it accelerates first, the vehicle cannot overcome the current maximum torque due to the gradually increasing slope, and needs to use the vehicle, which repeatedly advances and retreats, uses the vehicle inertia to rush out of the pit, and the vehicle speed gradually decreases to 1 or the rotation speed decreases to 100 rpm, the rotation speed is converted to the corresponding vehicle speed, and the vehicle speed can be calibrated to confirm that it reaches the highest position. Without changing the gear, the throttle controls the vehicle acceleration to keep the direction consistent, the vehicle speed is greater than or equal to 1, or the motor rotation speed is greater than or equal to 100 rpm, the vehicle is determined to be in the forward direction, the throttle is stepped down for forward acceleration, and the request torque is forward positive torque. At this time, the first autonomous escape torque motion information is obtained.

[0115] Based on the first vehicle torque motion information, the torque motion direction of the corresponding reverse speed limit point, and the vehicle reverse motion torque acceleration after a predefined step, the second autonomous escape torque motion information is determined, that is, when the vehicle reaches the highest position, the vehicle reverses under the action of gravity, the vehicle speed is less than or equal to -1 or the motor speed is less than or equal to -100 rpm, and the driver needs to release the accelerator once and then press the accelerator again to confirm that the driver actually wants to control the vehicle to accelerate in reverse, it is judged that the vehicle is in the reverse direction, the accelerator is pressed to accelerate in reverse, and the request torque is the forward reverse torque; and the autonomous control is in the maximum torque request, and the positive and negative torque changes too fast, which easily leads to rapid acceleration and rapid deceleration, so the step size is set to improve the driving experience, and the step size needs to be calibrated. At this time, the reverse maximum torque is requested, and the step size needs to be changed from the forward maximum torque to the reverse maximum torque to avoid rapid changes in a short time and produce a sudden braking experience. The time for the vehicle to gradually change from 1 to -1 is reserved for torque reversal, which needs to be calibrated and completed. When the speed is less than 0 or the vehicle speed is less than 0, the current torque needs to be immediately cleared to 0, and gradually increased to the maximum reverse torque according to the subsequent vehicle speed less than or equal to -1 or the motor speed less than or equal to -100 rpm to avoid the vehicle torque opposite to the direction of travel, which leads to the inertia of the vehicle hindering deceleration, which is not conducive to escape. The vehicle accelerates downhill under the action of gravity and the reverse maximum torque, reaches the maximum speed when the vehicle reverses and climbs the slope on the reverse side, gradually decelerates under the action of gravity, the gear reaches the highest point, the vehicle speed decreases to 0, gradually increases to greater than or equal to 1 or the speed is greater than or equal to 100, the gear position remains unchanged, the torque changes from the reverse maximum torque to the forward maximum torque, and reaches the highest position on the other side. At this time, the second autonomous escape torque motion information is obtained.

[0116] Based on the first autonomous escape torque motion information and the second autonomous escape torque motion information, the autonomous escape torque motion information is obtained, that is, the vehicle accelerates under the action of gravity and the forward maximum torque, and repeatedly accelerates, and the highest position of each time increases, which gradually escapes from the tunnel to obtain the autonomous escape torque motion information.

[0117] In a possible implementation, the step S33 can include steps D11-D13.

[0118] Step D11, based on the vehicle mode information and the power mode torque information, the torque motion direction of the corresponding forward speed limit point, and the vehicle forward motion torque acceleration forward, the first autonomous escape torque motion information is determined.

[0119] It should be noted that the first autonomous escape torque motion information refers to the vehicle forward motion torque output by the vehicle with the forward speed limit point as the target, which drives the vehicle to accelerate forward.

[0120] It can be understood that the first autonomous escape torque motion information can drive the vehicle to accelerate forward to break through the resistance and create a kinetic energy basis for the reverse power action, and the stable and controllable autonomous escape control is realized through the alternating cycle of forward and reverse torques.

[0121] In step D12, based on the first vehicle torque motion information, the torque motion direction of the corresponding reverse speed limit point and the vehicle reverse motion torque under the predefined step length are determined after acceleration, and the second autonomous escape torque motion information is determined.

[0122] It should be noted that the second autonomous escape torque motion information means that the vehicle is instructed to output the vehicle reverse motion torque with the reverse speed limit point as the target and with the predefined step length, to drive the vehicle to accelerate backward to accumulate the inertia for the next forward movement.

[0123] It can be understood that the second autonomous escape torque motion information can output a specific reverse motion torque to drive the vehicle to accelerate backward, take the reverse speed limit point as the control target, and accurately control the backward amplitude through the predefined step length, accumulate kinetic energy by using reverse inertia, and create more effective action space and potential energy basis for the subsequent forward impact, that is, the continuous escape function is realized through the cyclic alternation of forward and reverse torque instructions.

[0124] In addition, it should be noted that the predefined step length is a core control parameter adopted by the system when automatically performing the reverse idle car action, which is a preset displacement increment or torque gradient, and the amplitude and intensity of single reverse acceleration are quantified to realize accurate control of the escape process.

[0125] In step D13, the autonomous escape torque motion information is obtained based on the first autonomous escape torque motion information and the second autonomous escape torque motion information.

[0126] It can be understood that the autonomous escape torque motion information can also be a set of timing torque control instruction sequences automatically generated by the controller for executing standardized idle car actions, wherein the timing torque control instruction sequence is a set of ordered torque commands automatically generated by the controller according to strict time logic to realize standardized idle car escape, and the sequence is executed in a fixed cycle, and through the preset amplitude, time length and phase relationship, a continuous and effective inertia swing is formed, and finally the systematic escape control is realized.

[0127] In step S34, based on the vehicle mode information, the power mode torque information and the throttle opening degree information, the torque motion direction of the corresponding speed limit point and the vehicle motion torque are determined, and the throttle escape torque motion information is determined.

[0128] It should be noted that the accelerator escape torque motion information is a dynamic torque control instruction set generated by the system by fusing the real-time accelerator operation of the driver and the preset escape strategy.

[0129] It can be understood that the accelerator escape torque motion information can include positive and negative control sequences, retain the direct control of the driver on the core driving opportunity, and ensure the effectiveness and safety of the swing action through system standardization, forming a rhythmic escape control of man-machine cooperation.

[0130] In specific embodiments, based on the vehicle mode information, the power mode torque information and the accelerator opening degree information, the torque motion direction of the corresponding positive speed limit point and the vehicle forward motion torque acceleration, the first accelerator escape torque motion information is determined, that is, different torque is requested according to different accelerator opening degrees, the torque and power of the driver can be controlled autonomously to escape, and the EBP is associated, the driver can adjust the torque power mode in the overall process, after entering the single pedal escape mode, the accelerator and brake are released, the vehicle is prohibited, different driving forward torque is requested according to the depth of the accelerator stepped down by the driver, such as the deepest accelerator stepped down in the parking state, if the current torque cannot drive the vehicle forward due to too large slope, the vehicle speed is detected to be less than 1 for 10s, the instrument prompts that the slope is too steep to start the escape, and it is suggested to replace a stronger power mode; when the accelerator opening degree is stepped down appropriately, the vehicle gradually accelerates, to avoid the vehicle rushing out quickly, the maximum vehicle speed in the escape mode is 10, the higher the vehicle speed, the smaller the requested torque, which ensures that the vehicle can drive slowly to escape and also ensures that the vehicle speed will not be too fast to rush out of the pit, causing uncontrollable safety problems. If the accelerator is stepped down appropriately, the vehicle can directly rush out of the pit to escape, but if it is accelerated first, the vehicle cannot overcome the current torque corresponding to the accelerator due to the gradually increasing slope, and needs to be used. The vehicle repeatedly advances and retreats, uses the vehicle inertia to rush out of the pit, and the vehicle speed gradually decreases, when the vehicle speed gradually decreases to 1 or the speed decreases to 100 rpm, the speed is converted to the corresponding vehicle speed, the vehicle speed can be calibrated to confirm that it reaches the highest position, and in the escape mode, the accelerator controls the vehicle acceleration to keep the same direction, the vehicle speed is greater than or equal to 1 or the motor speed is greater than or equal to 100 rpm, the vehicle is determined to be in the forward direction, the accelerator is stepped down for forward acceleration, and the requested torque is forward positive torque, thereby obtaining the first accelerator escape torque motion information.

[0131] The vehicle is driven to retreat at a torque motion direction corresponding to a reverse speed limit point and a vehicle reverse motion torque with a predefined step length based on the first accelerator escape torque motion information, second accelerator escape torque motion information is determined, that is, when the vehicle reaches the highest position, the vehicle retreats under the action of gravity, the vehicle speed is less than or equal to -1 or the motor speed is less than or equal to -100 rpm, and the driver needs to release the accelerator once and then step on the accelerator to confirm that the driver actually wants to control the vehicle to accelerate in reverse, it is judged that the vehicle is in the reverse direction, the accelerator is stepped on to accelerate in reverse, and the request torque is the forward reverse torque. The positive and negative torque changes are obtained through the step length, which avoids the adverse driving experience caused by too fast torque change, the step length needs to be calibrated, and the value is relatively small in the autonomous control, and the gear position is kept unchanged, that is, no gear shifting is performed, different reverse torques are requested according to the accelerator opening degree stepped on by the driver, and the direction of the torque is adjusted to ensure that the vehicle is in an accelerating state, avoid the vehicle torque opposite to the direction of travel to cause the vehicle inertia to hinder deceleration, and be not conducive to escape. If the vehicle accelerates downhill under the action of gravity and reverse torque, the vehicle speed is maximum when reaching the bottom of the pit, the vehicle retreats to the other side of the slope, gradually decelerates under the action of gravity, the vehicle speed gradually changes from reverse to 0 after reaching the highest point, and then accelerates in the forward direction, the vehicle speed gradually increases to be greater than or equal to 1 or the speed is greater than or equal to 100, the gear position is kept unchanged, the torque corresponding to the accelerator changes from reverse to forward, and the vehicle is ensured to be in an accelerating state. After passing through the bottom low point, the vehicle gradually reaches the highest position in the forward direction of the other side due to the deceleration under the action of gravity, and is reversed, thereby obtaining the second accelerator escape torque motion information.

[0132] The first accelerator escape torque motion information is obtained based on the first accelerator escape torque motion information and the second accelerator escape torque motion information, that is, the vehicle is accelerated under the action of gravity and the maximum positive torque, and the vehicle is repeatedly accelerated, and the highest position of each time increases gradually, and the vehicle is gradually escaped from the pit.

[0133] In a possible implementation, the step S34 can include steps E11-E13.

[0134] The first accelerator escape torque motion information is determined based on the vehicle mode information, the power mode torque information and the accelerator opening degree information, a torque motion direction corresponding to a positive speed limit point, and vehicle forward motion torque acceleration.

[0135] It can be understood that the system can calculate the control instruction required for the vehicle to accelerate forward to escape from the pit according to the maximum torque reference allowed by the power mode and the depth of the accelerator stepped on by the driver, and specifically, the system sets a positive speed limit point as a target, controls the motor to output a corresponding positive torque in the forward direction, and makes the vehicle accelerate and rush up the slope.

[0136] Step E12, driving the vehicle to accelerate backward at a torque movement direction corresponding to a reverse speed limit point and a vehicle reverse movement torque at a predefined step based on the first accelerator escape torque movement information to obtain second accelerator escape torque movement information;

[0137] It can be understood that the system can control the vehicle to enter the reverse escape stage by using the state reached by the first accelerator escape torque movement information, at this time, the system sets a reverse speed limit point as a target, controls the motor to output torque in the backward direction, and in order to ensure smoothness and avoid discomfort caused by sudden stop and rapid rotation, the switching of the torque direction is not instantaneous, but is smoothly transitioned from the forward torque to the specific vehicle reverse movement torque at a predefined step, that is, a gradual rate, so that the vehicle accelerates backward smoothly.

[0138] Step E13, obtaining the first accelerator escape torque movement information based on the first accelerator escape torque movement information and the second accelerator escape torque movement information.

[0139] It can be understood that the system can combine the two instruction groups of forward and backward respectively controlled by the first accelerator escape torque movement information and the second accelerator escape torque movement information together to form a recyclable accelerator escape control strategy to control the vehicle to realize repeated rocking motion and finally escape from the predicament.

[0140] Step S35, obtaining a torque movement direction corresponding to a speed limit point and a vehicle movement torque based on the autonomous escape torque movement information and the accelerator escape torque movement information.

[0141] It can be understood that the speed limit point is a control reference point or target point, which is a temporary target speed window or critical speed threshold corresponding to each power mode according to the vehicle mode information under a specific escape working condition. The control system outputs the corresponding vehicle movement torque and torque movement direction with this point as a target to drive the vehicle to accelerate quickly and controllably to obtain sufficient inertia near this speed point to overcome resistance, ensure that each forward and backward swing can effectively utilize kinetic energy, prevent loss of control, skidding or energy waste caused by excessive speed, and realize safe and efficient automatic escape.

[0142] In specific embodiments, the system can integrate the autonomous escape torque motion information and the throttle escape torque motion information according to the specific mode in which the vehicle is currently located, if in the autonomous escape mode, directly adopt the periodic instructions of alternating maximum torque in the autonomous escape torque motion information, if in the throttle escape mode, adopt the throttle escape torque motion information to map the real-time throttle opening degree of the driver to the adjustment coefficient of the basic power mode torque, so as to adjust the size of the torque, so as to analyze the torque motion direction and the accurate vehicle motion torque value of the speed limit point corresponding to each motion stage, so as to output a stable and controlled vehicle escape action to drive the vehicle to escape.

[0143] The single-pedal climbing escape control method provided in the embodiment acquires target mode switch information and throttle opening degree information; selects torque in a corresponding power mode based on the target mode switch information to determine power mode torque information; determines the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information and the power mode torque information to determine autonomous escape torque motion information; determines the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information, the power mode torque information and the throttle opening degree information to determine throttle escape torque motion information; and obtains the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the autonomous escape torque motion information and the throttle escape torque motion information. The technical problem of how to more efficiently and accurately control single-pedal climbing escape is solved. Compared with the prior art, the torque reference of the current power mode is determined by the power mode switch signal and the throttle opening degree information, so as to generate the torque motion direction of the corresponding speed limit point and the vehicle motion torque in different modes, realize seamless switching between the two escape modes of full automation and throttle intervention, guarantee the maximum escape efficiency under extreme working conditions, and give the driver precise control, so that the system has the convenience of automatic control and the delicacy of manual operation at the same time, and the flexibility, adaptability and overall efficiency of escape control are significantly improved.

[0144] Exemplarily, in order to help understand the implementation process of the single-pedal climbing escape control method obtained after the above embodiment one, please refer to Figure 3 , Figure 3 A brief flowchart of a single-pedal climbing escape control method is provided, specifically:

[0145] Referring to Example 1, the single-pedal hill climbing escape mode access information and the user control information are acquired; the vehicle mode information is identified based on the single-pedal escape mode access information and the user control information; the torque motion direction of the corresponding speed limit point and the vehicle motion torque are determined based on the vehicle mode information; the vehicle is controlled to move forward and backward in the torque motion direction based on the vehicle motion torque, and the single-pedal hill climbing escape control is completed. Referring to Example 2, the target mode switch information and the throttle opening degree information are acquired; the torque in the corresponding power mode is selected based on the target mode switch information, and the power mode torque information is determined; the torque motion direction of the corresponding speed limit point and the vehicle motion torque are determined based on the vehicle mode information and the power mode torque information, and the autonomous escape torque motion information is determined; the torque motion direction of the corresponding speed limit point and the vehicle motion torque are determined based on the vehicle mode information, the power mode torque information and the throttle opening degree information, and the throttle escape torque motion information is determined; the torque motion direction of the corresponding speed limit point and the vehicle motion torque are obtained based on the autonomous escape torque motion information and the throttle escape torque motion information. After starting, it is judged whether it belongs to Ready D gear and other escape mode entering conditions, whether the escape switch is turned on, and whether the brake is confirmed, the corresponding power mode EBP of the corresponding gear is selected after entering the escape mode, the throttle is stepped down to drive forward, the forward highest point is identified, the throttle is released to drive backward, the backward highest point is identified, and whether the vehicle successfully escapes is identified by using the escape mode condition.

[0146] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the single-pedal hill climbing escape control method of the present application. More forms of simple changes based on this technical concept are within the protection scope of the present application.

[0147] The present application also provides a single-pedal hill climbing escape control device, please refer to Figure 4 , the single-pedal hill climbing escape control device comprises:

[0148] The acquisition module 10 is used for acquiring single-pedal hill climbing escape mode access information and user control information;

[0149] The processing module 20 is used for identifying vehicle mode information based on the single-pedal escape mode access information and the user control information;

[0150] The processing module 20 is also used for determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information;

[0151] The execution module 30 is used for controlling the vehicle to move forward and backward in the torque motion direction based on the vehicle motion torque, and completing the single-pedal hill climbing escape control.

[0152] The acquisition module 10 is further configured to acquire vehicle feature information, the vehicle feature information including escape mode switch information, brake braking time information, fault level information, escape mode vehicle speed information, vehicle gear information, driving information, throttle information, anti-sideslip activation information, and lock vehicle power information.

[0153] An escape mode entry and exit state is identified by using predefined escape rules and the vehicle feature information, and single-pedal climbing escape mode access information is obtained.

[0154] The processing module 20 is further configured to determine throttle duration information and brake duration information based on the user control information.

[0155] When the single-pedal escape mode access information is access escape mode, if the throttle duration information and the brake duration information both exceed a predefined time threshold, the vehicle mode information is vehicle autonomous control escape mode.

[0156] When the single-pedal escape mode access information is access escape mode, if the throttle duration information does not exceed a predefined time threshold or the brake duration information does not exceed a predefined time threshold, the vehicle mode information is throttle control escape mode.

[0157] The processing module 20 is further configured to acquire target mode switch information and throttle opening degree information.

[0158] The torque in the corresponding power mode is selected based on the target mode switch information to determine power mode torque information.

[0159] The torque movement direction of the corresponding speed limit point and the vehicle movement torque are determined based on the vehicle mode information and the power mode torque information to determine autonomous escape torque movement information.

[0160] The torque movement direction of the corresponding speed limit point and the vehicle movement torque are determined based on the vehicle mode information, the power mode torque information, and the throttle opening degree information to determine throttle escape torque movement information.

[0161] The torque movement direction of the corresponding speed limit point and the vehicle movement torque are determined based on the autonomous escape torque movement information and the throttle escape torque movement information.

[0162] The processing module 20 is further configured to determine first autonomous escape torque movement information based on the vehicle mode information and the power mode torque information to accelerate forward with the torque movement direction of the corresponding positive speed limit point and the vehicle forward movement torque.

[0163] determine second autonomous escape torque motion information based on the first autonomous escape torque motion information and the second autonomous escape torque motion information.

[0164] determine second autonomous escape torque motion information based on the first autonomous escape torque motion information and the second autonomous escape torque motion information.

[0165] The processing module 20 is further configured to determine first throttle escape torque motion information based on the vehicle mode information, the power mode torque information, and the throttle opening information, and accelerate forward in a torque motion direction corresponding to a positive speed limit point.

[0166] determine second autonomous escape torque motion information based on the first autonomous escape torque motion information and the second autonomous escape torque motion information.

[0167] determine second autonomous escape torque motion information based on the first autonomous escape torque motion information and the second autonomous escape torque motion information.

[0168] The execution module 30 is further configured to obtain vehicle escape information.

[0169] based on the vehicle escape information and the vehicle motion torque control vehicle in a torque motion direction to move forward and backward, complete single pedal climbing escape control.

[0170] The single pedal climbing escape control device provided by the application adopts the single pedal climbing escape control method in the above embodiments, and can solve the technical problem of how to more efficiently and accurately perform single pedal climbing escape control. Compared with the prior art, the single pedal climbing escape control device provided by the application has the same beneficial effects as the single pedal climbing escape control method provided by the above embodiments, and other technical features in the single pedal climbing escape control device are the same as the features disclosed in the above embodiments, which will not be repeated here.

[0171] The application provides a single pedal climbing escape control device, which comprises at least one processor and a memory in communication connection with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the single pedal climbing escape control method in the above embodiment one.

[0172] Reference will be made to the following description of the embodiments of the application. Figure 5The diagram illustrates a structural schematic suitable for implementing the single-pedal hill-climbing and obstacle-avoidance control device in the embodiments of this application. The single-pedal hill-climbing and obstacle-avoidance control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), vehicle terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The single-pedal hill climbing and escape control device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0173] like Figure 5 As shown, the single-pedal hill-climbing and obstacle-avoidance control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in ROM (Read Only Memory) 1002 or a program loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the single-pedal hill-climbing and obstacle-avoidance control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the single-pedal hill-climbing and escaping control device to exchange data with other devices wirelessly or via wired communication. Although a single-pedal hill-climbing and escaping control device with various systems is shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0174] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program codes for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiments disclosed in the present application are executed.

[0175] The single-pedal climbing and getting-out-of-trouble control device provided by the present application adopts the single-pedal climbing and getting-out-of-trouble control method in the above-mentioned embodiments, and can solve the technical problem of how to more efficiently and accurately perform single-pedal climbing and getting-out-of-trouble control. Compared with the prior art, the single-pedal climbing and getting-out-of-trouble control device provided by the present application has the same beneficial effects as the single-pedal climbing and getting-out-of-trouble control method provided by the above-mentioned embodiments, and other technical features in the single-pedal climbing and getting-out-of-trouble control device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0176] It should be understood that various parts of the present application can be realized by hardware, software, firmware or a combination thereof. In the description of the above-mentioned embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0177] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0178] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e. computer program) for executing the single-pedal climbing and getting-out-of-trouble control method in the above-mentioned embodiments.

[0179] The computer readable storage medium provided in the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), etc., or any suitable combination of the above.

[0180] The above computer readable storage medium can be included in the single-pedal hill-start escape control device, or can exist separately without being assembled into the single-pedal hill-start escape control device.

[0181] The above computer readable storage medium carries one or more programs, which, when executed by the single-pedal hill-start escape control device, cause the single-pedal hill-start escape control device to: acquire single-pedal hill-start escape mode access information and user control information; identify vehicle mode information based on the single-pedal escape mode access information and the user control information; determine a torque motion direction of a corresponding speed limit point and a vehicle motion torque based on the vehicle mode information; control the vehicle to move forward and backward in the torque motion direction based on the vehicle motion torque, and complete single-pedal hill-start escape control.

[0182] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0183] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0184] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0185] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e., a computer program) for executing the single-pedal climbing escape control method described above, and can solve the technical problem of how to more efficiently and accurately perform single-pedal climbing escape control. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the single-pedal climbing escape control method provided by the above-mentioned embodiments, and will not be described here.

[0186] The above merely describes some embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like, which is made based on the technical concept of the present application and the content of the specification and drawings, is included in the patent protection scope of the present application.

Claims

1. A single-pedal hill-start escape control method, characterized by, The method comprises: acquiring single-pedal hill climbing escape mode access information and user operation information; identifying vehicle mode information based on the single-pedal escape mode access information and the user operation information; determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information; controlling the vehicle to move forward and backward in the torque motion direction based on the vehicle motion torque, to complete single-pedal hill climbing escape control.

2. The method of claim 1, wherein, The step of acquiring single-pedal hill climbing escape mode access information comprises: acquiring vehicle feature information, which includes escape mode switch information, brake braking time information, fault level information, escape mode vehicle speed information, vehicle gear information, driving information, throttle information, anti-sideslip activation information, and lock car power information; identifying escape mode entry and exit states using predefined escape rules and the vehicle feature information to obtain single-pedal hill climbing escape mode access information.

3. The method of claim 1, wherein, The step of identifying vehicle mode information based on the single-pedal escape mode access information and the user operation information comprises: determining throttle duration information and brake duration information based on the user operation information; when the single-pedal escape mode access information is an access escape mode, if the throttle duration information and the brake duration information both exceed a predefined time threshold, the vehicle mode information is a vehicle autonomous control escape mode; when the single-pedal escape mode access information is an access escape mode, if the throttle duration information does not exceed a predefined time threshold or the brake duration information does not exceed a predefined time threshold, the vehicle mode information is a throttle control escape mode.

4. The method of claim 1, wherein, The step of determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information comprises: acquiring target mode switch information and throttle opening degree information; selecting torque in the corresponding power mode based on the target mode switch information to determine power mode torque information; determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information and the power mode torque information to determine autonomous escape torque motion information; determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information, the power mode torque information, and the throttle opening degree information to determine throttle escape torque motion information; determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the autonomous escape torque motion information and the throttle escape torque motion information.

5. The method of claim 4, wherein, The step of determining the torque motion direction of the corresponding speed limit point and the vehicle motion torque based on the vehicle mode information and the power mode torque information to determine autonomous escape torque motion information comprises: accelerating forward based on the vehicle mode information and the power mode torque information to determine first autonomous escape torque motion information in the torque motion direction of the corresponding positive speed limit point and the vehicle forward motion torque; determining second autonomous escape torque motion information in the torque motion direction of the corresponding negative speed limit point and the vehicle reverse motion torque based on the vehicle mode information and the power mode torque information. determining second autonomous escape torque motion information based on the first autonomous escape torque motion information and the second autonomous escape torque motion information. determining autonomous escape torque motion information based on the first autonomous escape torque motion information and the second autonomous escape torque motion information.

6. The method of claim 4, wherein, The step of determining the torque motion direction corresponding to the speed limit point and the vehicle motion torque based on the vehicle mode information, the power mode torque information and the throttle opening information comprises: determining first throttle escape torque motion information based on the vehicle mode information, the power mode torque information and the throttle opening information to accelerate forward with the torque motion direction corresponding to the positive speed limit point and the vehicle forward motion torque at a predefined step length; determining second throttle escape torque motion information based on the first throttle escape torque motion information to accelerate backward with the torque motion direction corresponding to the reverse speed limit point and the vehicle reverse motion torque at a predefined step length; determining first throttle escape torque motion information based on the first throttle escape torque motion information and the second throttle escape torque motion information.

7. The method of claim 1, wherein, The step of controlling the vehicle to move forward and backward with the torque motion direction based on the vehicle motion torque to complete the single-pedal hill climbing escape control comprises: obtaining vehicle escape information; controlling the vehicle to move forward and backward with the torque motion direction based on the vehicle motion torque to complete the single-pedal hill climbing escape control based on the vehicle escape information.

8. A single pedal hill hold control apparatus characterized by, The device comprises: an obtaining module configured to obtain single-pedal hill climbing escape mode access information and user control information; a processing module configured to identify vehicle mode information based on the single-pedal escape mode access information and the user control information; the processing module is further configured to determine the torque motion direction corresponding to the speed limit point and the vehicle motion torque based on the vehicle mode information; an executing module configured to control the vehicle to move forward and backward with the torque motion direction based on the vehicle motion torque to complete the single-pedal hill climbing escape control.

9. A single pedal hill start escape control apparatus characterized by, The device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the single-pedal hill climbing escape control method according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the single-pedal hill climbing escape control method according to any one of claims 1 to 7.

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