Hill boost gradient adaptive parking control method, system, device and medium

Abstract

The present application belongs to the technical field of parking control, and relates to a ramp boost gradient adaptive parking control method, system, device and medium, comprising: acquiring a ramp active boost pressure and a torque compensation active boost pressure; obtaining a ramp parking boost slope according to the slope of the vehicle stop moment; obtaining a pressure compensation boost slope based on the current driving force and the previous period driving force; limiting the ramp active boost pressure according to the ramp parking boost slope to obtain the limited ramp parking boost pressure; limiting the torque compensation active boost pressure based on the pressure compensation boost slope to obtain the limited torque compensation boost pressure; and obtaining the arbitrated target boost pressure. The present application solves the problems of strong stop pitch and jerk and poor driving experience of the existing ramp parking control scheme through the ramp parking boost slope and the pressure compensation boost slope.

Description

Technical Field

[0001] This invention relates to the field of parking control technology, and specifically discloses a slope boost gradient adaptive parking control method, system, equipment and medium. Background Technology

[0002] With the popularization of intelligent driving and driver assistance technologies, hill start assist and hill stop anti-rollover functions have become essential vehicle features. When a vehicle brakes to a stop on a slope, it needs to overcome the component of the vehicle's weight along the slope to prevent it from rolling back. On the other hand, if there is a driving torque assist parking system during the braking process, as the driving torque gradually decreases or dissipates, it is also necessary to promptly supplement the braking force to keep the vehicle stationary.

[0003] Currently, existing slope parking control schemes, such as: Application No. CN202511082928.3, determine whether the vehicle is rolling back based on the direction of the motor's rotation speed, and then use the motor torque to increase the parking force for parking; Application No. CN202110989801.5, based on human driving scenarios, uses brake pedal signals and slope signals collected by sensors to control the clutch output torque for starting and parking to prevent rolling back; Application No. CN202610152499.0 mainly calculates the target boost pressure based on information such as slope, without constraining or adjusting the calculation of the boost slope. These schemes either increase the drive torque based on the consequence of rolling back or use a closed-loop system based on the driver's braking to keep the vehicle stationary; or, for intelligent driving conditions, to meet the requirement of not rolling back, they can only rapidly boost pressure indiscriminately, which may lead to strong braking pitch and jerkiness, resulting in a poor driving experience. Summary of the Invention

[0004] The technical problem to be solved by this invention is that existing hill-start parking control schemes have strong braking pitch and jerking, resulting in a poor driving experience.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: An adaptive parking control method for ramp boost gradient includes: Obtain the ramp boost pressure and torque compensation boost pressure; Based on the gradient at the moment the vehicle comes to a stop, the ramp parking boost slope is obtained. Based on the current driving force and the driving force of the previous cycle, the pressure compensation boost slope is obtained. Based on the ramp parking pressurization slope, the active pressurization pressure of the ramp is limited to obtain the limited ramp parking pressurization pressure. Based on the pressure compensation boost slope, the torque compensation active boost pressure is limited to obtain the limited torque compensation boost pressure. The target boost pressure after arbitration is obtained based on the limited ramp parking boost pressure and the limited torque compensation boost pressure.

[0006] Furthermore, based on the gradient obtained at the moment the vehicle comes to a stop, the ramp parking boost slope is obtained, including: Based on the slope at the moment the vehicle comes to a stop, the slope is obtained by querying the preset slope and ramp parking boost slope table using linear interpolation.

[0007] Furthermore, the formula for calculating the pressure compensation boost slope is: dFdrive=(FxPTDrive_T1-FxPTDrive_T0) / dT, Where dFdrive is the pressure compensation boost slope, FxPTDrive_T0 is the current driving force, FxPTDrive_T1 is the driving force of the previous cycle, and dT is the calculation cycle.

[0008] Furthermore, the formula for calculating the boost pressure on the restricted ramp parking area is as follows: Froad_Out=Froad_Out_T1+min(dFroad*dT,(Froad-Froad_Out_T1)), Where Froad_Out is the limited ramp parking boost pressure, dFroad is the ramp parking boost slope, dT is the calculation cycle, and Froad_Out_T1 is the limited ramp parking boost pressure of the previous cycle.

[0009] Furthermore, the formula for calculating the limited torque compensation boost pressure is as follows: , Where Fdrive_Out is the torque compensation boost pressure after limitation, dFdrive is the pressure compensation boost slope, dT is the calculation cycle, and Fdrive_Out_T1 is the torque compensation boost pressure after limitation in the previous cycle.

[0010] Furthermore, the operation cycle is 0.02s.

[0011] Furthermore, the formula for calculating the target boost pressure is: FxIncTar=Froad_Out+Fdrive_Out, Where FxIncTar is the target boost pressure, Froad_Out is the limited hill-start boost pressure, and Fdrive_Out is the limited torque compensation boost pressure.

[0012] This invention also relates to a ramp boost gradient adaptive parking control system, used in the aforementioned ramp boost gradient adaptive parking control method, comprising: The pressure target calculation module is used to obtain the ramp active boost pressure and torque compensation active boost pressure; The boost slope calculation module is used to obtain the ramp parking boost slope based on the slope at the moment the vehicle comes to a stop; and to obtain the pressure compensation boost slope based on the current driving force and the driving force of the previous cycle. The boost pressure limiting module is used to limit the active boost pressure on the ramp parking based on the ramp parking boost slope to obtain the limited ramp parking boost pressure; and to limit the torque compensation active boost pressure based on the pressure compensation boost slope to obtain the limited torque compensation boost pressure. The target boost pressure arbitration module is used to obtain the arbitrated target boost pressure based on the limited ramp parking boost pressure and the limited torque compensation boost pressure.

[0013] The present invention also relates to an electronic device comprising: a processor and a memory; the memory for storing executable instructions of the processor, the processor being configured to execute the above-described slope boost gradient adaptive parking control method by executing the executable instructions.

[0014] The present invention also relates to a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described slope boost gradient adaptive parking control method.

[0015] The beneficial effects of this invention are: This invention dynamically adjusts the boost slope based on the slope and the actual stress state of the vehicle, enabling the braking boost slope to adaptively compensate for changes in power torque and adapt to different slopes for parking boost. While ensuring the vehicle doesn't roll back, it avoids additional boost fluctuations, thus guaranteeing vehicle braking comfort and preventing pitching and jerking caused by excessively rapid or large boost during braking. By separately calculating the slope parking boost slope and the pressure compensation boost slope, the speed of slope parking boost and the speed of pressure compensation boost are adjusted separately. This allows the vehicle to meet the anti-rollback and comfort calibrations for different slopes while timely compensating for the withdrawal of parking torque during braking. This avoids the additional boost fluctuations that might result from uniform slope adjustments, and also avoids vehicle pitching and jerking during braking caused by excessively rapid or large boost. By calculating the pressure compensation boost slope in real time, and adjusting the pressure compensation boost in real time according to the changes in the vehicle's braking power parking torque, the system can compensate for the impact of power torque withdrawal on vehicle dynamics without creating additional boost pressure or providing an extra boost sensation. This also does not affect the calibration of the slope boost, thereby improving the robustness of the control. The control parameters after calibration for different slope parking conditions can adapt to the effects of different power torque changes, resulting in a wide range of applications and high operational stability. Attached Figure Description

[0016] Figure 1 This is a flowchart of an adaptive parking control method for ramp boosting gradient in an embodiment of the present invention; Figure 2 This is a schematic diagram of the gravity component in an embodiment of the present invention; Figure 3 This is a block diagram of a slope boost gradient adaptive parking control system according to an embodiment of the present invention. Detailed Implementation

[0017] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0018] An adaptive parking control method based on ramp boost gradient, such as Figure 1 As shown, it includes the following steps: When the vehicle enters the intelligent driving ramp braking and parking mode, the ramp boost gradient adaptive parking control method is activated.

[0019] S1. Obtain the ramp boost pressure and torque compensation boost pressure; In intelligent driving scenarios, due to the actual force applied to the vehicle, the vehicle may experience torque-assisted parking before coming to a complete stop (such as in uphill conditions). Therefore, the stop may not be achieved through a single braking action. With a single braking action, maintaining braking force after stopping and appropriately increasing braking pressure according to the slope is sufficient to prevent rolling. However, in driving torque-assisted parking scenarios, additional braking pressure is needed to compensate for the decrease in driving torque after stopping. Therefore, the active parking force after stopping consists of two main parts: one part is to overcome the vehicle's weight on the slope by increasing braking pressure according to the slope to prevent rolling; this part is the hill-start assist pressure (Froad); the other part is needed for situations requiring power-assisted braking, compensating for the reduction or withdrawal of power torque by increasing braking pressure to prevent rolling; this part is the torque-compensated active boost pressure (Fdrive).

[0020] The active boost pressure of the ramp and the active boost pressure of torque compensation are obtained through the pressure target calculation module.

[0021] S2. Based on the slope at the moment the vehicle comes to a stop, obtain the ramp parking boost slope. Based on the slope at the moment the vehicle comes to a stop, the slope is obtained by querying the preset slope and ramp parking boost slope table using linear interpolation.

[0022] like Figure 2 As shown, the gravitational component (G is the vehicle weight, The slope angle (i.e., gradient) affects the vehicle's ability to overcome gravity. A steeper slope requires the same vehicle to withstand a greater component of gravity within the same timeframe, necessitating greater pressure to overcome this force. Therefore, a steeper parking boost slope (dFroad) is required. Consequently, the parking boost slope (dFroad) is positively correlated with the slope; a steeper slope results in a greater dFroad.

[0023] Taking into account the direction of the slope (downhill), (Negative), the ramp parking boost slope is minimum when the slope is close to 0, so the larger the absolute value of the slope, the larger the required ramp parking boost slope.

[0024] Table 1 shows some default parameters for the slope and ramp parking boost incline table: At different slopes The ramp parking boost slope dFroad can be obtained by linear interpolation based on the slope and the ramp parking boost slope table.

[0025] S3. Based on the current driving force and the driving force of the previous cycle, the pressure compensation boost slope is obtained. This invention calculates the pressure compensation boost slope in real time and adjusts the pressure compensation boost in real time according to the change in the vehicle's braking torque during parking. This allows it to compensate for the impact of the power torque withdrawal on the vehicle's dynamics without creating additional boost pressure or providing an extra boost sensation. It also does not affect the calibration of the hill boost, thereby improving the robustness of the control. The control parameters after calibration for parking on different hills can adapt to the effects of different power torque changes, making it widely applicable and highly stable in operation.

[0026] For power-assisted braking, when the power braking torque decreases or drops before and after the vehicle comes to a complete stop, the brakes actively establish hydraulic pressure to compensate for the torque reduction. This compensation pressure should, in principle, not affect the braking pressure sensation at different inclines.

[0027] If no distinction is made and the boost slope is uniformly adjusted based on the need to compensate for the rapid loss of torque, the increased boost slope when parking on a slope may cause the active boost pressure to increase too quickly or too much, thereby exacerbating the pitch and jerking of the vehicle when braking and bringing an unexpected driving experience.

[0028] Therefore, a separate pressure compensation boost slope dFdrive calculation is required for the torque-compensated active boost pressure Fdrive. Since the reduction and withdrawal of power torque changes in real time, the pressure compensation boost slope dFdrive also needs to be updated in real time according to the changes in power torque.

[0029] The formula for calculating the pressure compensation boost slope is: dFdrive=(FxPTDrive_T1-FxPTDrive_T0) / dT, Where dFdrive is the pressure compensation boost slope; FxPTDrive_T0 is the driving force of the vehicle at the current moment, i.e. the current driving force; FxPTDrive_T1 is the driving force of the vehicle one cycle ago, i.e. the driving force of the previous cycle; dT is the calculation cycle, with a default value of 0.02s.

[0030] This invention calculates the ramp parking boost slope and the pressure compensation boost slope separately, thereby adjusting the boost speed and the pressure compensation boost speed separately. This allows the vehicle to meet the anti-rollover and comfort calibration requirements for different ramp stops, while also providing timely compensation for the withdrawal of parking torque during braking. This avoids the additional boost fluctuations that may result from uniform slope adjustments, and also avoids vehicle pitching and jerking during braking caused by additional rapid or excessive boost.

[0031] S4. Based on the ramp parking boost slope, limit the ramp active boost pressure to obtain the limited ramp parking boost pressure. The formula for calculating the boost pressure on a restricted ramp parking spot is: Froad_Out=Froad_Out_T1+min(dFroad*dT,(Froad-Froad_Out_T1)), Where Froad_Out is the limited ramp parking boost pressure; dFroad is the ramp parking boost slope; dT is the calculation cycle, with a default value of 0.02s; and Froad_Out_T1 is the limited ramp parking boost pressure of the previous cycle.

[0032] S5. Based on the pressure compensation boost slope, the torque compensation active boost pressure is limited to obtain the limited torque compensation boost pressure. The formula for calculating the torque-compensated boost pressure after limitation is as follows: , Where Fdrive_Out is the torque compensation boost pressure after being limited; dFdrive is the pressure compensation boost slope; dT is the calculation period, with a default value of 0.02s; and Fdrive_Out_T1 is the torque compensation boost pressure after being limited in the previous period.

[0033] S6. Based on the limited ramp parking boost pressure and the limited torque compensation boost pressure, obtain the target boost pressure after arbitration.

[0034] The formula for calculating the target boost pressure is: FxIncTar=Froad_Out+Fdrive_Out, Where FxIncTar is the target boost pressure, Froad_Out is the limited hill-start boost pressure, and Fdrive_Out is the limited torque compensation boost pressure.

[0035] This invention dynamically adjusts the boost slope based on the slope and the actual stress state of the vehicle, so that the boost slope at braking can adaptively compensate for changes in power torque and adapt to different slopes for parking boost. Without causing additional boost fluctuations while ensuring that the vehicle does not roll back, it ensures the comfort of the vehicle at braking and avoids pitching and jerking caused by excessively fast or large boost at braking.

[0036] This invention also relates to a ramp boost gradient adaptive parking control system, such as... Figure 3 As shown, it includes: The pressure target calculation module is used to obtain the ramp active boost pressure and torque compensation active boost pressure; The boost slope calculation module is used to obtain the ramp parking boost slope based on the slope at the moment the vehicle comes to a stop; and to obtain the pressure compensation boost slope based on the current driving force and the driving force of the previous cycle. The boost pressure limiting module is used to limit the active boost pressure on the ramp parking based on the ramp parking boost slope to obtain the limited ramp parking boost pressure; and to limit the torque compensation active boost pressure based on the pressure compensation boost slope to obtain the limited torque compensation boost pressure. The target boost pressure arbitration module is used to obtain the arbitrated target boost pressure based on the limited ramp parking boost pressure and the limited torque compensation boost pressure.

[0037] The present invention also relates to an electronic device comprising: a processor and a memory; the memory for storing executable instructions of the processor, the processor being configured to execute the above-described slope boost gradient adaptive parking control method by executing the executable instructions.

[0038] The present invention also relates to a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described slope boost gradient adaptive parking control method.

[0039] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A slope boost gradient adaptive parking control method, characterized in that, include: Obtain the ramp boost pressure and torque compensation boost pressure; Based on the gradient at the moment the vehicle comes to a stop, the ramp parking boost slope is obtained. Based on the current driving force and the driving force of the previous cycle, the pressure compensation boost slope is obtained. Based on the ramp parking pressurization slope, the active pressurization pressure of the ramp is limited to obtain the limited ramp parking pressurization pressure. Based on the pressure compensation boost slope, the torque compensation active boost pressure is limited to obtain the limited torque compensation boost pressure. The target boost pressure after arbitration is obtained based on the limited ramp parking boost pressure and the limited torque compensation boost pressure.

2. The slope boosting gradient adaptive parking control method according to claim 1, characterized in that, The step of obtaining the ramp parking boost slope based on the gradient at the moment the vehicle comes to a stop includes: Based on the slope at the moment the vehicle comes to a stop, the slope is obtained by querying the preset slope and ramp parking boost slope table using linear interpolation.

3. The slope boosting gradient adaptive parking control method according to claim 1, characterized in that, The formula for calculating the pressure compensation boost slope is: dFdrive=(FxPTDrive_T1-FxPTDrive_T0) / dT, Where dFdrive is the pressure compensation boost slope, FxPTDrive_T0 is the current driving force, FxPTDrive_T1 is the driving force of the previous cycle, and dT is the calculation cycle.

4. The slope boosting gradient adaptive parking control method according to claim 1, characterized in that, The formula for calculating the boost pressure on a restricted ramp parking spot is: Froad_Out=Froad_Out_T1+min(dFroad*dT,(Froad-Froad_Out_T1)), Where Froad_Out is the limited ramp parking boost pressure, dFroad is the ramp parking boost slope, dT is the calculation cycle, and Froad_Out_T1 is the limited ramp parking boost pressure of the previous cycle.

5. The slope boosting gradient adaptive parking control method according to claim 1, characterized in that, The formula for calculating the torque-compensated boost pressure after limitation is as follows: ， Where Fdrive_Out is the torque compensation boost pressure after limitation, dFdrive is the pressure compensation boost slope, dT is the calculation cycle, and Fdrive_Out_T1 is the torque compensation boost pressure after limitation in the previous cycle.

6. A slope boost gradient adaptive parking control method according to any one of claims 3-5, characterized in that, The calculation cycle is 0.02s.

7. The slope boost gradient adaptive parking control method according to claim 1, characterized in that, The formula for calculating the target boost pressure is: FxIncTar=Froad_Out+Fdrive_Out, Where FxIncTar is the target boost pressure, Froad_Out is the limited hill-start boost pressure, and Fdrive_Out is the limited torque compensation boost pressure.

8. A slope boost gradient adaptive parking control system, characterized in that, A slope boost gradient adaptive parking control method for any one of claims 1-7 includes: The pressure target calculation module is used to obtain the ramp active boost pressure and torque compensation active boost pressure; The boost slope calculation module is used to obtain the ramp parking boost slope based on the slope at the moment the vehicle comes to a stop; and to obtain the pressure compensation boost slope based on the current driving force and the driving force of the previous cycle. The boost pressure limiting module is used to limit the active boost pressure on the ramp parking based on the ramp parking boost slope to obtain the limited ramp parking boost pressure; and to limit the torque compensation active boost pressure based on the pressure compensation boost slope to obtain the limited torque compensation boost pressure. The target boost pressure arbitration module is used to obtain the arbitrated target boost pressure based on the limited ramp parking boost pressure and the limited torque compensation boost pressure.

9. An electronic device, characterized in that, include: Processor and memory; The memory is used to store executable instructions of the processor, which is configured to execute the ramp boost gradient adaptive parking control method according to any one of claims 1-7 by executing the executable instructions.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements a ramp boost gradient adaptive parking control method according to any one of claims 1-7.

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