A vehicle creep control method, system, device, and medium

Abstract

The application provides a vehicle crawling control method, system, device and medium, relates to the technical field of vehicle control, and the method comprises the following steps: acquiring a first state of a vehicle; if the first state of the vehicle meets a preset first condition, the vehicle enters a crawling inhibition mode; the first state of the vehicle comprises a whole vehicle low-voltage power supply state, a whole vehicle high-voltage connection state, gear information and a mechanical handbrake state; acquiring a second state of the vehicle; if the second state of the vehicle meets a preset second condition, the vehicle enters a crawling non-inhibition mode; the second state of the vehicle comprises the whole vehicle low-voltage power supply state, the whole vehicle high-voltage connection state, the gear information, the mechanical handbrake state, a brake pedal state and an accelerator pedal state; after the vehicle enters the crawling non-inhibition mode, it is judged whether the vehicle meets a crawling enabling condition; if yes, a crawling torque is output. According to the scheme, the safety risk caused by illegal operation of a commercial vehicle is reduced, the crawling torque is controlled under the premise of safety, and the safety of the vehicle is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle creep control method, system, device and medium. Background Technology

[0002] For new energy commercial vehicles equipped with mechanical handbrakes, engaging the handbrake is an effective way to ensure stable parking. Drivers will engage the handbrake while waiting at traffic lights for extended periods, making temporary stops, or leaving the vehicle, and will release it before driving again. However, commercial vehicles equipped with self-locking gear shifting mechanisms will not automatically return to neutral after responding to the driver's gear shifting operation.

[0003] As the market share of electric commercial vehicles increases, many drivers are switching from gasoline-powered vehicles to electric vehicles, but their familiarity with the operating procedures of electric vehicles needs improvement. At the same time, commercial vehicles used for commercial purposes often experience driver changes, leading to differences in driving habits. When driving commercial vehicles equipped with a self-locking shift mechanism, some drivers engage the handbrake while in D / R gear and leave the vehicle, or engage the handbrake while in D / R gear and immediately turn the key to turn off the ignition. When they re-enter the vehicle and release the handbrake, if they do not press the brake pedal, the vehicle will be in drive gear, and the creep function will be activated, potentially causing collisions with pedestrians, vehicles, or obstacles around the vehicle, resulting in unexpected acceleration and seriously endangering the safety of the vehicle and its occupants. Commercial vehicles equipped with a self-locking shift mechanism only provide a "Please shift to N" text prompt on the instrument panel when the driver engages drive gear and engages the handbrake. However, drivers are not sensitive to this text prompt when leaving the vehicle and may easily ignore it, leading to unexpected acceleration when they re-enter and release the handbrake. Summary of the Invention

[0004] The present invention aims to at least solve the aforementioned technical problems existing in the prior art. To this end, the first aspect of the present invention proposes a vehicle creep control method, the method comprising:

[0005] The vehicle first state is obtained. If the vehicle first state meets the preset first condition, the vehicle enters the creep suppression mode. The creep suppression mode is the creep lock state. The vehicle first state includes the vehicle low voltage power supply state, the vehicle high voltage connection state, gear information, and mechanical handbrake state. The preset first condition includes the vehicle low voltage power supply being ON, the vehicle high voltage being connected, the gear being D / R, and the mechanical handbrake being engaged.

[0006] The vehicle's second state is obtained. If the vehicle's second state meets the preset second condition, the vehicle enters the creep non-suppression mode. The vehicle's second state includes the vehicle's low-voltage power supply state, the vehicle's high-voltage connection state, gear information, mechanical handbrake state, brake pedal state, and accelerator pedal state.

[0007] After the vehicle enters the uninhibited creep mode, it is determined whether the vehicle meets the creep driving conditions. If it does, the creep torque is output.

[0008] Optionally, the preset second condition includes:

[0009] The vehicle's low-voltage power supply is OFF; or

[0010] The vehicle's high voltage is disconnected; or

[0011] The gear is N; or

[0012] The mechanical handbrake is released and the brake pedal is depressed; or

[0013] The mechanical handbrake is released, the accelerator pedal is depressed, and the vehicle speed is greater than the preset first speed threshold.

[0014] Optionally, after the vehicle enters the creep suppression mode, the following further includes:

[0015] The instrument panel displays the first operation prompt, and a buzzer sounds a warning; the first operation prompt includes shifting to neutral (N) or pressing the pedal.

[0016] Optionally, after the vehicle enters the creep suppression mode, the following further includes:

[0017] If the system detects that the driver has left their seat and the driver's side door has been opened, a second operation prompt will be sent to the user via a mobile app; the second operation prompt includes shifting to neutral (N).

[0018] A second aspect of the present invention provides a vehicle crawl control system, the system comprising:

[0019] The mechanical handbrake acquisition unit is used to acquire the mechanical handbrake status and send the mechanical handbrake status to the vehicle domain control unit;

[0020] Accelerator pedal acquisition unit, used to acquire accelerator pedal status and send the accelerator pedal status to the vehicle domain control unit;

[0021] Brake pedal acquisition unit, used to acquire brake pedal status and send the brake pedal status to vehicle domain control unit;

[0022] The vehicle domain control unit is used to acquire the vehicle's first state. If the vehicle's first state meets a preset first condition, the vehicle enters a creep suppression mode. The creep suppression mode is a creep-locked state. The vehicle's first state includes the vehicle's low-voltage power supply state, the vehicle's high-voltage connection state, gear information, and mechanical handbrake state. The preset first condition includes the vehicle's low-voltage power supply being ON, the vehicle's high-voltage power supply being connected, the gear being D / R, and the mechanical handbrake being engaged. The unit acquires the vehicle's second state. If the vehicle's second state meets a preset second condition, the vehicle enters a creep non-suppression mode. The vehicle's second state includes the vehicle's low-voltage power supply state, the vehicle's high-voltage connection state, gear information, mechanical handbrake state, brake pedal state, and accelerator pedal state. After the vehicle enters the creep non-suppression mode, the unit determines whether the vehicle meets the creep driving conditions. If it does, the unit sends creep torque to the motor drive control unit.

[0023] A motor drive control unit is used to control the operation of the motor according to the creeping torque.

[0024] A third aspect of the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the vehicle crawl control method as proposed in the first aspect.

[0025] A fourth aspect of the present invention provides a computer-readable storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle crawl control method as proposed in the first aspect.

[0026] The beneficial effects of a vehicle creep control method, system, device, and medium are as follows: This solution adds a creep suppression mode. By checking whether the vehicle's first state meets a preset first condition, it is determined whether the vehicle has entered the creep suppression mode. This avoids unexpected driving caused by the driver pulling the handbrake and leaving the vehicle while in driving mode, then releasing the handbrake upon re-entering the vehicle. The creep suppression function reduces the safety risks caused by non-compliant operation of commercial vehicles. By checking whether the vehicle's second state meets a preset second condition, it is determined whether the vehicle has entered a creep non-suppression mode. In the creep non-suppression mode, if the vehicle meets the creep driving conditions, creep torque can be output. This solution controls the output creep torque under the premise of safety, thus improving vehicle safety. Attached Figure Description

[0027] Figure 1 A flowchart of a vehicle creep control method provided in an embodiment of the present invention;

[0028] Figure 2This is a logic diagram of the creep suppression function of the vehicle creep control system in an embodiment of the present invention. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more. Furthermore, the use of "based on" or "according to" implies openness and inclusiveness, because processes, steps, calculations, or other actions "based on" or "according to" one or more of the stated conditions or values ​​may in practice be based on additional conditions or beyond the stated values.

[0031] This invention provides a vehicle creep control method, such as... Figure 1 As shown, the method may include the following steps:

[0032] Step 101: Obtain the vehicle's first state. If the vehicle's first state meets the preset first condition, the vehicle enters the creep suppression mode. The creep suppression mode is a creep lock state. The vehicle's first state includes the vehicle's low-voltage power supply state, the vehicle's high-voltage connection state, gear information, and the mechanical handbrake state. The preset first condition includes the vehicle's low-voltage power supply being ON, the vehicle's high-voltage power supply being connected, the gear being D / R, and the mechanical handbrake being engaged.

[0033] Specifically, this invention provides a creep suppression mode, also known as a creep suppression function. When the vehicle's low-voltage power supply is ON, the high-voltage power supply is connected, the gear is D / R, and the mechanical handbrake is engaged, the vehicle enters the creep suppression mode, and the creep suppression flag is in the suppressed state. Here, D represents forward gear, R represents reverse gear, and the mechanical handbrake is used for stable parking. When the creep suppression flag is in the suppressed state, even if the creep function meets the enabling conditions, the creep function remains inactive and will not output creep torque, thus avoiding unintended acceleration. For example, when the creep suppression flag is in the suppressed state, releasing the handbrake will not cause the vehicle to move directly.

[0034] Step 102: Obtain the second state of the vehicle. If the second state of the vehicle meets the preset second condition, the vehicle enters the creep non-suppression mode. The second state of the vehicle includes the low-voltage power supply state of the whole vehicle, the high-voltage connection state of the whole vehicle, gear information, mechanical handbrake state, brake pedal state, and accelerator pedal state.

[0035] In one possible implementation, the preset second condition includes:

[0036] The vehicle's low-voltage power supply is OFF; or

[0037] The vehicle's high voltage is disconnected; or

[0038] The gear is N; or

[0039] The mechanical handbrake is released and the brake pedal is depressed; or

[0040] The mechanical handbrake is released, the accelerator pedal is depressed, and the vehicle speed is greater than the preset first speed threshold.

[0041] Specifically, when the aforementioned preset second condition is met, the vehicle enters the creep non-suppression mode, meaning the vehicle exits the creep suppression mode. Here, the brake pedal transmits the driver's braking intention, the accelerator pedal transmits the driver's driving intention, N represents neutral, and the preset first speed threshold is the creep speed; for example, the first speed threshold can be set to 5 km / h. When the vehicle enters the creep suppression mode, i.e., the creep suppression function is activated, to release the suppression via the accelerator pedal, the handbrake must be released and the accelerator pedal pressed to a certain speed threshold. This prevents the driver from unconsciously touching the accelerator pedal after releasing the handbrake, thus avoiding unexpected driving risks.

[0042] Step 103: After the vehicle enters the creep non-inhibition mode, determine whether the vehicle meets the creep driving conditions. If it does, output the creep torque.

[0043] Specifically, when a vehicle enters the unsuppressed creep mode, creep torque output is permitted. In other words, if the vehicle meets the creep dynamism conditions after entering the unsuppressed creep mode, creep torque can be output. However, when the vehicle is in creep suppression mode, even if the creep dynamism conditions are met, creep torque cannot be output. The creep dynamism conditions in this embodiment include: the vehicle's high voltage is connected, the vehicle has no serious faults, the gear is D / R, the accelerator pedal is not depressed, the vehicle speed is less than or equal to a first vehicle speed threshold, the mechanical handbrake is released, and the vehicle is in unsuppressed creep mode. Here, a serious fault refers to a fault that prevents the vehicle from moving, and no serious fault means the vehicle can output power.

[0044] In summary, in this embodiment of the invention, a creep suppression mode is added. The vehicle enters the creep suppression mode by determining whether its first state meets a preset first condition. This prevents unexpected driving caused by the driver pulling the handbrake and leaving the vehicle while in driving mode, then releasing the handbrake upon re-entering. The creep suppression function reduces the safety risks caused by non-compliant operation of commercial vehicles. Furthermore, the vehicle enters the creep non-suppression mode by determining whether its second state meets a preset second condition. In the creep non-suppression mode, if the vehicle meets the creep capability conditions, creep torque can be output. This embodiment of the invention controls the output creep torque under safe conditions, improving vehicle safety.

[0045] In one possible implementation, after the vehicle enters the creep suppression mode, the method further includes:

[0046] The instrument panel displays the first operation prompt, and a buzzer sounds a warning; the first operation prompt includes shifting to neutral (N) or pressing the pedal.

[0047] Specifically, after the vehicle enters the crawl suppression mode, the system displays the message "Please shift to N before leaving the vehicle, and press the pedals while driving" on the instrument panel, accompanied by three beeping sounds.

[0048] In one possible implementation, after the vehicle enters the creep suppression mode, the method further includes:

[0049] If the system detects that the driver has left their seat and the driver's side door has been opened, a second operation prompt will be sent to the user via a mobile app; the second operation prompt includes shifting to neutral (N).

[0050] Specifically, the remote control unit determines that the driver has left the seat and the driver's door has been opened based on enterprise standard data, and then prompts the user via mobile phone software to "ensure that the gear is N when leaving the vehicle".

[0051] In the above embodiment, when the vehicle enters the crawl suppression mode, intelligent prompts are provided to the user through instrument panel text and mobile software, thereby avoiding safety risks caused by non-compliant operations and guiding the driver to operate in a standardized manner.

[0052] This invention also provides a vehicle crawling control system, the system comprising:

[0053] The mechanical handbrake acquisition unit is used to acquire the mechanical handbrake status and send the mechanical handbrake status to the vehicle domain control unit;

[0054] Accelerator pedal acquisition unit, used to acquire accelerator pedal status and send the accelerator pedal status to the vehicle domain control unit;

[0055] Brake pedal acquisition unit, used to acquire brake pedal status and send the brake pedal status to vehicle domain control unit;

[0056] The vehicle domain control unit is used to acquire the vehicle's first state. If the vehicle's first state meets a preset first condition, the vehicle enters a creep suppression mode. The creep suppression mode is a creep-locked state. The vehicle's first state includes the vehicle's low-voltage power supply state, the vehicle's high-voltage connection state, gear information, and mechanical handbrake state. The preset first condition includes the vehicle's low-voltage power supply being ON, the vehicle's high-voltage power supply being connected, the gear being D / R, and the mechanical handbrake being engaged. The unit acquires the vehicle's second state. If the vehicle's second state meets a preset second condition, the vehicle enters a creep non-suppression mode. The vehicle's second state includes the vehicle's low-voltage power supply state, the vehicle's high-voltage connection state, gear information, mechanical handbrake state, brake pedal state, and accelerator pedal state. After the vehicle enters the creep non-suppression mode, the unit determines whether the vehicle meets the creep driving conditions. If it does, the unit sends creep torque to the motor drive control unit.

[0057] A motor drive control unit is used to control the operation of the motor according to the creeping torque.

[0058] Reference Figure 2 The system also includes a cockpit domain control unit and a remote control unit. Specifically, the vehicle domain control unit is the main control unit for the creep suppression function. The system sends the mechanical handbrake status collected by the mechanical handbrake acquisition unit, the accelerator pedal status collected by the accelerator pedal acquisition unit, and the brake pedal status collected by the brake pedal acquisition unit to the vehicle domain control unit. The vehicle domain control unit directly obtains the vehicle's low-voltage power supply status, high-voltage connection status, and gear information. After obtaining the above information, the vehicle domain control unit determines whether to enter the creep suppression mode. If the preset first condition is met, the creep suppression mode is entered. In this mode, the creep function is prohibited, and the creep suppression flag is 0x1, i.e., suppressed. The vehicle domain control unit sends the information indicating that the creep suppression flag is suppressed to both the cockpit domain control unit and the remote control unit. The cockpit domain control unit prompts the user through the instrument panel, and the remote control unit provides remote prompts to the user, either through a mobile phone app or through the fleet operation platform. In addition, the cockpit domain control unit is also responsible for displaying gear information.

[0059] The vehicle domain control unit is also responsible for determining whether the vehicle has entered the unsuppressed crawl mode, i.e., the crawl suppression mode exit judgment. If the preset second condition is met, crawl suppression is canceled, and the crawl suppression flag is 0x0, indicating normal operation. The vehicle domain control unit sends the information that the crawl suppression flag is normal to the remote control unit. The vehicle domain control unit is also responsible for calculating the drive torque and sending a torque request to the motor drive control unit, which responds to the torque request and controls the motor to run. It should be noted that when the crawl suppression flag is normal, the cabin domain control unit and the remote control unit do not provide any prompts related to the crawl suppression function.

[0060] In another embodiment of the present invention, an electronic device is also provided, the electronic device including a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the vehicle crawl control method proposed in the embodiment of the present invention.

[0061] In another embodiment of the present invention, a computer-readable storage medium is also provided, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle crawl control method proposed in the embodiment of the present invention.

[0062] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle creep control method, characterized in that, include: The vehicle first state is obtained. If the vehicle first state meets the preset first condition, the vehicle enters the creep suppression mode. The creep suppression mode is the creep lock state. The vehicle first state includes the vehicle low voltage power supply state, the vehicle high voltage connection state, gear information, and mechanical handbrake state. The preset first condition includes the vehicle low voltage power supply being ON, the vehicle high voltage being connected, the gear being D / R, and the mechanical handbrake being engaged. The vehicle's second state is obtained. If the vehicle's second state meets the preset second condition, the vehicle enters the creep non-suppression mode. The vehicle's second state includes the vehicle's low-voltage power supply state, the vehicle's high-voltage connection state, gear information, mechanical handbrake state, brake pedal state, and accelerator pedal state. After the vehicle enters the uninhibited creep mode, it is determined whether the vehicle meets the creep driving conditions. If it does, the creep torque is output. The preset second condition includes: the mechanical handbrake is in the released state and the brake pedal is in the depressed state; or the mechanical handbrake is in the released state, the accelerator pedal is in the depressed state and the vehicle speed is greater than the preset first vehicle speed threshold. After the vehicle enters the crawl suppression mode, the system further includes: displaying a first operation prompt on the instrument panel and simultaneously issuing a buzzer prompt; the first operation prompt includes shifting to neutral (N) or pressing the pedal.

2. The vehicle creep control method according to claim 1, characterized in that, After the vehicle enters the creep suppression mode, the following is also included: If the driver is detected to have left their seat and the driver's side door is opened, a second operation prompt is sent to the user via a mobile phone app; the second operation prompt includes shifting to neutral (N).

3. A vehicle crawl control system, characterized in that, The system includes: The mechanical handbrake acquisition unit is used to acquire the mechanical handbrake status and send the mechanical handbrake status to the vehicle domain control unit; Accelerator pedal acquisition unit, used to acquire accelerator pedal status and send the accelerator pedal status to the vehicle domain control unit; Brake pedal acquisition unit, used to acquire brake pedal status and send the brake pedal status to vehicle domain control unit; The vehicle domain control unit is used to acquire a first vehicle state. If the first vehicle state meets a preset first condition, the vehicle enters a creep suppression mode; the creep suppression mode is a creep-locked state; the first vehicle state includes the vehicle low-voltage power supply state, the vehicle high-voltage connection state, gear information, and the mechanical handbrake state; the preset first condition includes the vehicle low-voltage power supply being ON, the vehicle high-voltage power supply being connected, the gear being D / R, and the mechanical handbrake being engaged; and to acquire a second vehicle state. If the second vehicle state meets a preset second condition, the vehicle enters a creep non-suppression mode; the second vehicle state includes... The system monitors the vehicle's low-voltage power supply status, high-voltage connection status, gear position information, mechanical handbrake status, brake pedal status, and accelerator pedal status. After the vehicle enters the unsuppressed crawl mode, it determines whether the vehicle meets the crawling capability conditions. If so, it sends crawling torque to the motor drive control unit. A first operation prompt is displayed on the instrument panel, along with a buzzer warning. The first operation prompt includes shifting to neutral (N) or pressing the accelerator pedal. The preset second condition includes: the mechanical handbrake is released and the brake pedal is pressed; or the mechanical handbrake is released, the accelerator pedal is pressed, and the vehicle speed is greater than a preset first vehicle speed threshold. A motor drive control unit is used to control the operation of the motor according to the creeping torque.

4. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the vehicle crawl control method as described in claim 1 or 2.

5. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the vehicle crawl control method as described in claim 1 or 2.

Images