Hill descent control method and apparatus, electronic device, vehicle, and storage medium

Abstract

The embodiments of the present application relate to the technical field of vehicle control, and provide a hill descent control method and apparatus, an electronic device, a vehicle, and a storage medium. The method comprises: acquiring a driving parameter of a target vehicle driving in a slope environment (S101); when the driving parameter meets a preset starting condition for a hill descent control function, starting the hill descent control function of the target vehicle (S102); acquiring an actual vehicle speed of the target vehicle on the basis of the driving parameter (S103); performing a periodic vehicle speed calculation on the basis of a preset vehicle speed adjustment period to obtain an updated vehicle speed for the vehicle speed adjustment period (S104), wherein the vehicle speed adjustment period comprises a first period and a second period, and the second period is the next vehicle speed adjustment period after the first period; and using an original braking force to control the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period, and control the target vehicle to adjust from the updated vehicle speed to a target vehicle speed in the second period (S105).

Description

Hill descent control method and device, electronic equipment, vehicle and storage medium

[0001] Cross Reference to Related Applications

[0002] The present application claims priority to the Chinese patent application No. 202411011711.9, filed on July 26, 2024, and entitled "Hill descent control method and device, electronic equipment, vehicle and storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of vehicle control, and in particular to a hill descent control method and device, electronic equipment, vehicle and storage medium. BACKGROUND

[0004] Hill descent control (HDC) is an automotive electronic system designed to provide safe downhill driving on steep slopes. It automatically controls the speed and braking force of the vehicle, allowing the driver to safely descend the slope at a steady speed without the need to use the brakes frequently. During the hill descent control process, the driver does not need to operate the accelerator and brake pedals, reducing the difficulty of the driver's operation on steep slopes.

[0005] Currently, when the driver wants to adjust the driving speed of the vehicle in a steep slope environment, it is difficult to adjust it to the ideal target speed, and there may be a safety problem of speed adjustment too fast, therefore, how to stably adjust the driving speed of the vehicle in a steep slope environment has become a technical problem to be solved. SUMMARY

[0006] The present application provides a hill descent control method and device, electronic equipment, vehicle and storage medium, which at least partially improves the stability of adjusting the driving speed in a steep slope environment.

[0007] The first aspect of the present application provides a hill descent control method, comprising:

[0008] obtaining a driving parameter of a target vehicle driving in a slope environment; wherein the target vehicle is provided with a braking system for providing an original braking force;

[0009] when the driving parameter meets a preset hill descent control function starting condition, starting the hill descent control function of the target vehicle; wherein the hill descent control function is used to control the original braking force of the braking system to keep the target vehicle at a stable driving speed;

[0010] obtaining an actual vehicle speed of the target vehicle based on the driving parameter;

[0011] performing periodical speed calculation based on the preset speed adjustment period to obtain an updated speed of the speed adjustment period; wherein the speed adjustment period comprises a first period and a second period, and the second period is the next speed adjustment period of the first period;

[0012] controlling the target vehicle to adjust from the actual speed to the updated speed in the first period and to adjust from the updated speed to a target speed in the second period by using the original braking force.

[0013] In some embodiments, a preset previous speed and a preset previous acceleration are obtained before performing periodical speed calculation.

[0014] The performing periodical speed calculation based on the preset speed adjustment period to obtain an updated speed of the speed adjustment period comprises:

[0015] In each of the speed adjustment periods, performing periodical speed calculation based on the previous speed, the previous acceleration and the target speed to obtain the updated speed and an updated acceleration; wherein the previous speed and the previous acceleration are data of the last speed adjustment period of the updated speed and the updated acceleration.

[0016] The controlling the target vehicle to adjust from the actual speed to the updated speed in the first period and to adjust from the updated speed to a target speed in the second period by using the original braking force comprises:

[0017] In each of the speed adjustment periods, adjusting the actual speed according to the updated speed and the updated acceleration by using the original braking force.

[0018] updating the previous speed according to the updated speed and updating the previous acceleration according to the updated acceleration.

[0019] performing periodical speed calculation of the next speed adjustment period based on the updated previous speed and the updated previous acceleration until the actual speed adjusts to the target speed.

[0020] In some embodiments, the performing periodical speed calculation based on the previous speed, the previous acceleration and the target speed to obtain the updated speed and the updated acceleration in each of the speed adjustment periods comprises:

[0021] In each of the speed adjustment periods, performing difference calculation processing based on the target speed and the previous speed to obtain a periodical speed difference.

[0022] performing acceleration calculation according to the period speed difference based on the vehicle speed adjustment period, to obtain a first acceleration;

[0023] performing acceleration limit processing on the first acceleration, to obtain a second acceleration;

[0024] performing difference calculation processing based on the second acceleration and the previous acceleration, to obtain a period acceleration difference;

[0025] performing acceleration change calculation on the period acceleration difference based on the vehicle speed adjustment period, to obtain a first jerk;

[0026] performing jerk limit processing on the first jerk, to obtain a second jerk;

[0027] calculating the updated acceleration according to the second jerk;

[0028] calculating the updated vehicle speed according to the updated acceleration.

[0029] In some embodiments, the method further comprises, before performing the period vehicle speed calculation, obtaining a preset previous vehicle speed and a preset previous acceleration, including:

[0030] obtaining vehicle weight of the target vehicle and environment information data of a slope environment;

[0031] performing speed change evaluation processing based on the vehicle weight and the environment information data, to preset the previous vehicle speed;

[0032] performing acceleration change evaluation processing based on the vehicle weight and the environment information data, to preset the previous acceleration.

[0033] In some embodiments, the target vehicle comprises an electronic parking brake system, and after the steep slope slow descent control function of the target vehicle is started when the travel parameter meets the preset steep slope slow descent control function starting condition, the method further comprises:

[0034] when an abnormal exit signal of the steep slope slow descent control function of the target vehicle is received, controlling the brake system of the target vehicle by the electronic parking brake system, to maintain the actual vehicle speed of the target vehicle;

[0035] sending a function exit notification, wherein the function exit notification is used to indicate that the target vehicle exits the steep slope slow descent control function.

[0036] In some embodiments, the method further comprises, before controlling the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period and controlling the target vehicle to adjust from the updated vehicle speed to the target vehicle speed in the second period, using the original braking force to control the target vehicle, including:

[0037] obtaining front vehicle information of the target vehicle;

[0038] when front vehicle distance information represented by the front vehicle information meets a preset two-vehicle distance condition, performing relative speed processing according to the front vehicle distance information to obtain a front vehicle driving speed;

[0039] controlling the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period and to adjust from the updated vehicle speed to a target vehicle speed in the second period by using the original braking force, includes:

[0040] controlling the target vehicle to update the target vehicle speed according to the front vehicle driving speed in the first period and to adjust the updated vehicle speed by period vehicle speed calculation by using the original braking force;

[0041] adjusting the actual vehicle speed based on the adjusted updated vehicle speed and controlling the target vehicle to adjust the updated vehicle speed to the target vehicle speed in the second period.

[0042] In some embodiments, the target vehicle includes an accelerator pedal and a brake pedal, and the controlling the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period and to adjust from the updated vehicle speed to a target vehicle speed in the second period by using the original braking force further includes:

[0043] obtaining a trigger signal of the accelerator pedal and the brake pedal;

[0044] adjusting a braking force provided by the braking system to obtain a target braking force according to the trigger signal;

[0045] controlling the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period and to adjust from the updated vehicle speed to a target vehicle speed in the second period by using the target braking force.

[0046] In some embodiments, the controlling the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period and to adjust from the updated vehicle speed to a target vehicle speed in the second period by using the original braking force includes:

[0047] obtaining front road corner information;

[0048] when the front road corner information meets the preset vehicle corner threshold, performing corner speed conversion processing according to the actual vehicle speed to obtain the target vehicle speed;

[0049] obtaining a number of speed adjustment periods required for the actual speed to reach the target speed by period speed calculation of the actual speed to reach the target speed;

[0050] decelerate based on the deceleration time before entering a road corner by using the original braking force, so that the actual speed is adjusted to the target speed within the deceleration time.

[0051] A second aspect of the embodiments of the present application provides a steep slope slow descent control device, the device comprising:

[0052] a parameter acquisition module configured to acquire a driving parameter of a target vehicle driving in a slope environment; wherein the target vehicle is provided with a braking system configured to provide an original braking force;

[0053] a function starting module configured to start a steep slope slow descent control function of the target vehicle when the driving parameter meets a preset steep slope slow descent control function starting condition; wherein the steep slope slow descent control function is configured to control the original braking force of the braking system to keep a stable driving speed of the target vehicle;

[0054] a speed acquisition module configured to acquire an actual speed of the target vehicle based on the driving parameter;

[0055] a speed calculation module configured to perform period speed calculation based on a preset speed adjustment period to obtain an updated speed of the speed adjustment period; wherein the speed adjustment period comprises a first period and a second period, and the second period is a next period of the first period;

[0056] a speed adjustment module configured to control the target vehicle to adjust from the actual speed to the updated speed in the first period and to adjust from the updated speed to a target speed in the second period by using the original braking force.

[0057] A third aspect of the embodiments of the present application provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steep slope slow descent control method of the first aspect described above when executing the computer program.

[0058] A fourth aspect of the embodiments of the present application provides a vehicle, the vehicle comprising a steep slope slow descent control device as described above, or an electronic device as described above.

[0059] A fifth aspect of the embodiments of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, and the computer program implementing the steep slope slow descent control method of the first aspect described above when executed by a processor.

[0060] The steep slope slow descent control method, device, electronic equipment, vehicle and storage medium provided by the present application obtain the driving parameter of the target vehicle driving in the slope environment, and when the driving parameter meets the preset steep slope slow descent control function starting condition, the target vehicle starts the steep slope slow descent control function. The braking system of the target vehicle provides the original braking force to control the target vehicle to maintain a stable driving speed. Then, the actual vehicle speed of the target vehicle is obtained based on the driving parameter, and the updated vehicle speed of each vehicle speed adjustment period is obtained through periodic vehicle speed calculation based on the preset vehicle speed adjustment period. Finally, the original braking force is used to control the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period, and to adjust from the updated vehicle speed to the target vehicle speed in the second period. As can be seen, the present application sets the vehicle speed adjustment period, obtains the updated vehicle speed of each vehicle speed adjustment period through periodic vehicle speed calculation, thereby calculating the updated vehicle speed with reasonable speed value variation, and adjusts the actual vehicle speed to the updated vehicle speed by using the original braking force, thereby stably changing the actual vehicle speed through the original braking force in multiple periods, and improving the stability of adjusting the driving speed of the target vehicle in the steep slope environment. BRIEF DESCRIPTION OF DRAWINGS

[0061] FIG. 1 is a flowchart of the steep slope slow descent control method provided by the present application;

[0062] FIG. 2 is a flowchart of steps S104 and S105 in FIG. 1;

[0063] FIG. 3 is a flowchart of step S201 in FIG. 2;

[0064] FIG. 4 is a flowchart before step S201 in FIG. 2;

[0065] FIG. 5 is a flowchart after step S102 in FIG. 1;

[0066] FIG. 6 is a flowchart before and after step S105 in FIG. 1;

[0067] FIG. 7 is another flowchart of step S105 in FIG. 1;

[0068] FIG. 8 is another flowchart of step S105 in FIG. 1;

[0069] FIG. 9 is a structural schematic diagram of the steep slope slow descent control device provided by the present application;

[0070] FIG. 10 is a hardware structural schematic diagram of the electronic equipment provided by the present application. DETAILED DESCRIPTION

[0071] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application and not to limit the present application.

[0072] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be performed in a manner different from the module division in the device or the sequence in the flowchart. The terms "first", "second", and the like in the description and claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0073] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to limit the present application.

[0074] In the case of starting the steep slope slow descent control function, the brake pipe pressure is normally operated to make the target vehicle travel at a constant speed. The driver can temporarily stop controlling the brake pipe pressure by stepping on the accelerator pedal or the brake pedal, so that the target vehicle freely accelerates, and can restore the control of the brake pipe pressure by releasing the accelerator pedal and the brake pedal, so that the target vehicle travels at the speed after free acceleration. However, when stepping on the accelerator pedal or the brake pedal, the acceleration of the target vehicle may increase instantaneously due to the disappearance of the brake pipe pressure, which causes the travel speed of the target vehicle to change rapidly, resulting in an adverse experience for the driver and possible vehicle accidents. Therefore, how to stably adjust the travel speed of the vehicle in the steep slope environment in the case of starting the steep slope slow descent control function has become a technical problem to be solved.

[0075] Based on this, the embodiments of the present application provide a steep slope slow descent control method, device, electronic equipment, vehicle and storage medium, aiming to improve the stability of adjusting the travel speed in the steep slope environment.

[0076] The steep slope slow descent control method, device, electronic equipment, vehicle and storage medium provided by the embodiments of the present application are specifically described by the following embodiments. First, the steep slope slow descent control method in the embodiments of the present application is described.

[0077] FIG. 1 is an optional flowchart of the steep slope slow descent control method provided by the embodiments of the present application. The method in FIG. 1 can include but is not limited to steps S101 to S105.

[0078] In step S101, a driving parameter of a target vehicle driving in a slope environment is acquired; wherein the target vehicle is provided with a braking system, and the braking system is configured to provide an original braking force;

[0079] In step S102, when the driving parameter meets a preset steep slope slow descent control function starting condition, a steep slope slow descent control function of the target vehicle is started; wherein the steep slope slow descent control function is configured to control the original braking force of the braking system to keep a stable driving speed of the target vehicle.

[0080] In step S103, an actual vehicle speed of the target vehicle is acquired based on the driving parameter.

[0081] In step S104, a periodic vehicle speed calculation is performed based on a preset vehicle speed adjustment period to obtain an updated vehicle speed of the vehicle speed adjustment period; wherein the vehicle speed adjustment period includes a first period and a second period, and the second period is a next vehicle speed adjustment period of the first period.

[0082] In step S105, the original braking force is used to control the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period, and to adjust from the updated vehicle speed to a target vehicle speed in the second period.

[0083] The steps S101 to S105 shown in the embodiments of the present application are as follows: the driving parameter of the target vehicle driving in the slope environment is acquired, when the driving parameter meets the preset steep slope slow descent control function starting condition, the target vehicle starts the steep slope slow descent control function, the braking system of the target vehicle provides the original braking force to control the target vehicle to keep the stable driving speed, then the actual vehicle speed of the target vehicle is acquired based on the driving parameter, the periodic vehicle speed calculation is performed based on the preset vehicle speed adjustment period to obtain the updated vehicle speed of each vehicle speed adjustment period, and finally the original braking force is used to control the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period, and to adjust from the updated vehicle speed to the target vehicle speed in the second period. It can be known that, by setting the vehicle speed adjustment period, the updated vehicle speed of each vehicle speed adjustment period is obtained through the periodic vehicle speed calculation, so that the updated vehicle speed with reasonable speed value variation is calculated, and the actual vehicle speed is adjusted to the updated vehicle speed by using the original braking force, so that the actual vehicle speed is stably changed through the original braking force in multiple periods, and the stability of adjusting the driving speed of the target vehicle in the steep slope environment is improved.

[0084] In step S101 of some embodiments, the driving parameters of the target vehicle driving in the slope environment are acquired. The driving parameters of the target vehicle are acquired by collecting data through various sensors when the target vehicle is driving in the slope environment. The driving parameters are various collectable sensor data generated by the target vehicle when driving. The target vehicle is provided with a braking system for providing original braking force. The braking system includes an integrated brake control (IBC) integrating an anti-lock braking system (ABS) and an electronic stability program (ESP), which can provide efficient and accurate brake control and provide original braking force. The original braking force refers to the braking force applied by the target vehicle based on its own algorithm, which is different from the braking force adjusted and controlled by the driver.

[0085] In step S102 of some embodiments, the steep slope slow descent control function of the target vehicle is started when the driving parameters meet the preset steep slope slow descent control function starting conditions. The steep slope slow descent control function starting conditions include detecting that the driving speed of the target vehicle is not higher than 35 km / h, the temperature of the friction plate in the braking system of the vehicle is lower than 450℃, the target vehicle is not in a stationary state, and the throttle opening degree of the throttle pedal of the target vehicle is lower than 20%. It can be understood that when the driving parameters of the target vehicle all meet the various conditions of the steep slope slow descent control function starting conditions, the target vehicle can enter the steep slope slow descent control function. Similarly, when the target vehicle meets one of the conditions, the target vehicle needs to exit the steep slope slow descent control function. The steep slope slow descent control function exit conditions include that the driving speed of the target vehicle is greater than 40 km / h, the temperature of the friction plate in the braking system of the vehicle is not lower than 450℃, the target vehicle is in a stationary state, or the throttle opening degree of the throttle pedal of the target vehicle is higher than 20%. After the steep slope slow descent control function of the target vehicle is started, the braking system of the target vehicle will be controlled to provide original braking force to control the target vehicle to maintain a stable driving speed, so that the driving speed of the target vehicle will not change randomly due to the gravity component borne by the target vehicle.

[0086] In step S104 of some embodiments, based on a preset vehicle speed adjustment period, a period vehicle speed calculation is performed to obtain an updated vehicle speed in each vehicle speed adjustment period. The vehicle speed adjustment period represents a time period for adjusting the driving speed of the target vehicle, and the skilled person can reasonably set the vehicle speed adjustment period. The vehicle speed adjustment period can be relatively short, so that the updated vehicle speed can be calculated as many times as possible in a short period of time, and the actual vehicle speed can be adjusted many times by adjusting the braking force provided by the braking system, so as to more accurately control the change of the actual vehicle speed. The updated vehicle speed represents the driving speed that the target vehicle needs to adjust in each vehicle speed adjustment period. The vehicle speed adjustment period includes a first period and a second period, and the second period is the next vehicle speed adjustment period of the first period.

[0087] In step S105 of some embodiments, the original braking force is used to control the target vehicle to adjust the actual vehicle speed to the updated vehicle speed in the first period. Then the second period is taken as the first period, and the actual vehicle speed is adjusted to the updated vehicle speed again. Through multiple vehicle speed adjustment periods, the actual vehicle speed is continuously adjusted to the updated vehicle speed until the actual vehicle speed is adjusted to the target vehicle speed. The target vehicle speed is the final driving speed that needs to be adjusted.

[0088] Please refer to FIG. 2. In some embodiments, before step S104, a preset previous vehicle speed and a preset previous acceleration are obtained; and step S104 can include but is not limited to including step S201:

[0089] In step S201, in each vehicle speed adjustment period, based on the previous vehicle speed, the previous acceleration and the target vehicle speed, a period vehicle speed calculation is performed to obtain an updated vehicle speed and an updated acceleration; wherein the previous vehicle speed and the previous acceleration are data of the last vehicle speed adjustment period of the updated vehicle speed and the updated acceleration.

[0090] Step S105 can include but is not limited to including steps S202 to S204:

[0091] In step S202, in each vehicle speed adjustment period, the actual vehicle speed is adjusted according to the updated vehicle speed and the updated acceleration by using the original braking force.

[0092] In step S203, the previous vehicle speed is updated according to the updated vehicle speed, and the previous acceleration is updated according to the updated acceleration.

[0093] In step S204, based on the updated previous vehicle speed and the updated previous acceleration, a period vehicle speed calculation of the next vehicle speed adjustment period is performed until the actual vehicle speed is adjusted to the target vehicle speed.

[0094] In step S201 of some embodiments, in each vehicle speed adjustment period, a period speed calculation is performed based on a previous vehicle speed, a previous acceleration and a target vehicle speed, to obtain an updated vehicle speed and an updated acceleration, the updated acceleration being used to represent a vehicle acceleration that the target vehicle needs to adjust to in each vehicle speed adjustment period. The previous vehicle speed and the previous acceleration are data of a previous vehicle speed adjustment period of the updated vehicle speed and the updated acceleration. The previous vehicle speed is used to represent a driving speed reached by the target vehicle in the previous vehicle speed adjustment period, and the previous acceleration is used to represent an acceleration of the target vehicle in the previous vehicle speed adjustment period.

[0095] In steps S202 and S204 of some embodiments, in each vehicle speed adjustment period, an actual vehicle speed is adjusted according to the updated vehicle speed and the updated acceleration by using an original braking force of a braking system. The original braking force provided by the braking system can affect the updated acceleration of the target vehicle. After the actual vehicle speed is adjusted, the vehicle speed adjustment period is completed, the previous vehicle speed is updated according to the updated vehicle speed, the previous acceleration is updated according to the updated acceleration, and a period speed calculation of a next vehicle speed adjustment period is performed based on the updated previous vehicle speed and the updated previous acceleration. In this way, in each vehicle speed adjustment period, the updated vehicle speed and the updated acceleration of the period are calculated based on the previous vehicle speed and the previous acceleration of a previous vehicle speed adjustment period, so that the change of the actual speed of the target vehicle in each vehicle speed adjustment period can be based on something, and unreasonable speed change can be avoided. In each vehicle speed adjustment period, the actual vehicle speed is adjusted to a corresponding current stage speed, so that the actual vehicle speed changes stably with the vehicle speed adjustment period, and finally adjusts to the target vehicle speed.

[0096] Referring to FIG. 3, in some embodiments, step S201 can include but is not limited to steps S301 to S308:

[0097] Step S301, in each vehicle speed adjustment period, a period speed difference is obtained by performing a difference calculation based on the target vehicle speed and the previous vehicle speed;

[0098] Step S302, based on the vehicle speed adjustment period, a first acceleration is obtained by performing an acceleration calculation according to the period speed difference;

[0099] Step S303, a second acceleration is obtained by performing an acceleration limit processing on the first acceleration;

[0100] Step S304, a period acceleration difference is obtained by performing a difference calculation based on the second acceleration and the previous acceleration;

[0101] Step S305, a first jerk is obtained by performing an acceleration change calculation on the period acceleration difference based on the vehicle speed adjustment period;

[0102] Step S306, the first step size is subjected to step size limit processing to obtain a second step size;

[0103] Step S307, the second step size is used to calculate an updated acceleration;

[0104] Step S308, the updated acceleration is used to calculate an updated vehicle speed.

[0105] In step S301 of some embodiments, a period speed difference is obtained by calculating the difference between the target vehicle speed and the previous vehicle speed in each vehicle speed adjustment period. It can be understood that, according to steps S202 to S204, the actual vehicle speed is adjusted to the updated vehicle speed in each vehicle speed adjustment period, and then the updated vehicle speed is updated as the previous vehicle speed and used for calculating the period vehicle speed in the next vehicle speed adjustment period. Therefore, the period speed difference in step S301 is essentially the speed difference between the actual vehicle speed and the target vehicle speed.

[0106] In step S302 of some embodiments, the period speed difference is converted into an acceleration value based on the length of the vehicle speed adjustment period, i.e., the period speed difference is subjected to acceleration calculation to obtain a first acceleration. It can be understood that the first acceleration represents the acceleration value required to adjust the actual vehicle speed to the target vehicle speed within the vehicle speed adjustment period. However, if the actual vehicle speed and the target vehicle speed differ greatly, the acceleration will become very large, resulting in an unreasonable acceleration value.

[0107] In step S303 of some embodiments, the first acceleration is subjected to acceleration limit processing, in which an upper acceleration limit value and a lower acceleration limit value are set. The greater acceleration value is obtained by taking the greater value between the first acceleration and the lower acceleration limit value, and the second acceleration is obtained by taking the smaller value between the greater acceleration value and the upper acceleration limit value. It can be understood that the first acceleration is subjected to range constraint processing to obtain a second acceleration with a reasonable value, which does not cause discomfort to the driver and can ensure the safety of vehicle driving on a slope.

[0108] In step S304 of some embodiments, a period acceleration difference is obtained by calculating the difference between the second acceleration and the previous acceleration, which is used to represent the difference between the second acceleration and the acceleration of the target vehicle in the previous vehicle speed adjustment period.

[0109] In step S305 of some embodiments, based on the length of the vehicle speed adjustment period, the rate of change of acceleration, i.e., jerk, can be calculated from the period acceleration difference. Jerk is a physical quantity that describes the rate of change of acceleration of an object, i.e., the speed at which acceleration changes over time. Jerk is the derivative of acceleration and is an important parameter in kinematics, and is often used to analyze and describe the smoothness and comfort of object motion. Based on the vehicle speed adjustment period, the period acceleration difference is calculated to obtain the first jerk. The first jerk is used to represent the rate of change of acceleration of the second acceleration and the previous acceleration within the vehicle speed adjustment period.

[0110] In step S306 of some embodiments, the first jerk is subjected to jerk limit processing to obtain the second jerk. The data processing method of the jerk limit processing in this step is similar to the acceleration limit processing in step S303, except that the object of the jerk limit processing in this step is the first jerk. By range-constraining the first jerk, a second jerk with reasonable numerical value is obtained, so that the driver will not feel abrupt acceleration changes, ensuring the comfort of the driver and the safety of the vehicle driving on a slope.

[0111] In steps S307 to S308 of some embodiments, based on the vehicle speed adjustment period, the second jerk is subjected to reverse calculation by derivation, i.e., integral calculation, to obtain the target acceleration difference within the vehicle speed adjustment period. The previous acceleration is adjusted according to the target acceleration difference, and the updated acceleration is obtained. Similarly, based on the vehicle speed adjustment period, the updated acceleration is subjected to integral calculation to obtain the target speed difference within the vehicle speed adjustment period. The previous vehicle speed is adjusted according to the target speed difference, and the updated vehicle speed is obtained. Through steps S307 to S308, after the second jerk with reasonable numerical value is calculated, the second jerk is converted into the target acceleration difference, the previous acceleration is adjusted to obtain the updated acceleration, the target acceleration difference is converted into the target speed difference, and the previous vehicle speed is adjusted to obtain the updated vehicle speed. Thus, based on the previous vehicle speed and the previous acceleration of the previous vehicle speed adjustment period, reasonable vehicle speed adjustment and acceleration adjustment can be made to obtain the updated vehicle speed and the updated acceleration, which ensure the comfort of the driver and the safety of the vehicle driving on a slope.

[0112] In some exemplary embodiments, the actual vehicle speed, i.e., the previous vehicle speed, is 10 m / s, and the previous acceleration is -1 m / s 2, the target vehicle speed is 8 m / s, and the preset vehicle speed adjustment period is 1 s. The process of one period of vehicle speed calculation is as follows: based on the target vehicle speed and the previous vehicle speed, a difference value is calculated to obtain a period speed difference value, 8-10=-2 m / s; based on the vehicle speed adjustment period, an acceleration is calculated according to the period speed difference value to obtain a first acceleration, -2 m / s ÷ 1 s=-2 m / s 2 ; the first acceleration is subjected to acceleration limit processing to obtain a second acceleration, wherein the acceleration lower limit value is -1.6 m / s 2 , and the acceleration upper limit value is 3 m / s 2 . Since the first acceleration is less than the acceleration lower limit value, the second acceleration can only be determined as the acceleration lower limit value -1.6 m / s 2 ; based on the second acceleration and the previous acceleration, a difference value is calculated to obtain a period acceleration difference value, -1.6-(-1)=-0.6 m / s 2 ; based on the vehicle speed adjustment period, an acceleration change is calculated according to the period acceleration difference value to obtain a first jerk, -0.6 m / s 2 ÷ 1 s=-0.6 m / s 3 ; the first jerk is subjected to jerk limit processing to obtain a second jerk, wherein the jerk lower limit value is -0.5 m / s 3 , and the jerk upper limit value is 1 m / s 3 . Since the first jerk is less than the jerk lower limit value, the second jerk is determined as the jerk lower limit value -0.5 m / s 3 ; an updated acceleration is calculated according to the second jerk, -1 m / s 2 +(-0.5 m / s 3 × 1 s)=-1.5 m / s 2 ; an updated vehicle speed is calculated according to the updated acceleration, 10 m / s+(-1.5 m / s 2 × 1 s)=8.5 m / s. The above numerical operation is only a demonstration example of the period vehicle speed calculation proposed in the present application, and the purpose is to clarify but not to limit the specific implementation details of the technical scheme of the present application.

[0113] Referring to FIG. 4, in some embodiments, before step S201, the step of obtaining a preset previous vehicle speed and a preset previous acceleration can include but is not limited to steps S401 to S403:

[0114] Step S401, obtaining vehicle weight of a target vehicle and environment information data of a slope environment;

[0115] Step S402, performing speed change evaluation processing based on the vehicle weight and the environment information data to preset a previous vehicle speed;

[0116] In step S403, acceleration change evaluation processing is performed based on the vehicle weight and the environmental information data, and a preset previous acceleration is preset.

[0117] In step S401 of some embodiments, the vehicle weight of the target vehicle and the environmental information data of the slope environment are acquired, wherein the vehicle weight refers to the total weight including the load and the driver. The environmental information data includes the road slope, the road humidity, and the traffic condition of the slope environment.

[0118] It can be understood that the total weight of the target vehicle can be measured by a sensor of the suspension system, calculated by fuel consumption, or obtained by mechanical calculation. The specific way of acquiring the vehicle weight is not limited thereto.

[0119] In steps S402 to S403 of some embodiments, speed change evaluation processing is performed based on the vehicle weight and the environmental information data, and a preset previous speed is preset, and acceleration change evaluation processing is performed based on the vehicle weight and the environmental information data, and a preset previous acceleration is preset. When the periodic speed is calculated based on the speed adjustment period, the previous speed and the previous acceleration are required, so the preset previous speed and the preset previous acceleration are provided when the periodic speed is calculated for the first time. The preset of these two data must also ensure the comfort of the driver and the safety of the vehicle driving in the slope environment, so the previous speed and the previous acceleration can be preset based on the vehicle weight and the environmental information data. It can be understood that in some embodiments, according to the road slope represented by the environmental information data, if the road slope is large, a smaller previous acceleration is preset, and if the environmental information data represents that the road humidity is large, the tire friction will be affected, so a smaller previous speed and a smaller previous acceleration are preset. Those skilled in the art can reasonably preset the previous speed and the previous acceleration based on the vehicle weight and the environmental information data.

[0120] In some embodiments, the vehicle weight and the environmental information data can also be used in the acceleration limit processing in step S303, and the acceleration upper limit value and the acceleration lower limit value are used in the acceleration limit processing, and the jerk upper limit value and the jerk lower limit value are used in the jerk limit processing in step S306. Those skilled in the art can reasonably set these values based on the vehicle weight and the environmental information data. In addition to the vehicle weight and the environmental information data, the vehicle performance parameters, including the brake force parameter of the brake system, the brake pad quality, and the engine power, can also be used.

[0121] Through the steps S401 to S403, by acquiring the vehicle weight of the target vehicle and the environment information data of the slope environment, and presetting the previous vehicle speed and the previous acceleration based on the vehicle weight and the environment information data, when the periodical vehicle speed calculation is performed in the first vehicle speed adjustment period, the calculation can be performed based on reasonable data, so that the obtained updated vehicle speed and updated acceleration can guarantee the comfort of the driver and the safety of the vehicle driving in the slope environment, and the vehicle driving speed in the slope environment can be stably adjusted.

[0122] Please refer to FIG. 5, in some embodiments, the target vehicle comprises an electronic parking brake system, and after the step S102, the method can further comprise but not limited to comprising steps S501 to S502:

[0123] Step S501, when the abnormal exit signal of the steep slope slow descent control function of the target vehicle is received, the braking system of the target vehicle is controlled by the electronic parking brake system, and the actual vehicle speed of the target vehicle is maintained;

[0124] Step S502, a function exit notification is sent, wherein the function exit notification is used to indicate that the target vehicle exits the steep slope slow descent control function.

[0125] In steps S501-S502 of some embodiments, after the target vehicle starts the steep slope environment control function, in some special cases, the steep slope environment control function of the target vehicle is abnormal and exits the steep slope environment control function. At this time, the steep slope environment control function no longer controls the braking system of the target vehicle, and the target vehicle loses the original braking force control. In the slope environment, the vehicle will suddenly accelerate due to the driving of the vehicle power or the influence of the gravity component borne by the vehicle. The steep slope environment control function abnormally exits, and the driver cannot react in time, which can easily cause traffic accidents. Therefore, when the steep slope environment control function abnormally exits, an abnormal exit signal is sent. The target vehicle or the electronic parking brake system can receive the abnormal exit signal, control the braking system of the target vehicle through the electronic parking brake system, and continue to provide the original braking force to maintain the actual speed of the target vehicle. The electronic parking brake system (EPB) is a different electronic system module from the steep slope environment control system, and the safety and reliability of the electronic parking brake system is very high. When the steep slope environment control function has a problem, the electronic parking brake system can be used to control the braking system to continue to provide the original braking force, so as to ensure that the target vehicle will not lose control and suddenly accelerate. At the same time, after the steep slope descent control function sends the abnormal exit signal, a function exit notification is sent, which is used to indicate that the target vehicle exits the steep slope descent control function and reminds the driver to control the target vehicle in time. It can be understood that the electronic parking brake system is used for parking or emergency braking and does not have the precise adjustment capability of the running speed in the steep slope descent control function. Therefore, after the target vehicle exits the steep slope environment control function, it only temporarily maintains the actual speed of the target vehicle unchanged, and the driver needs to be reminded to control the target vehicle in time. Through steps S501-S502, it can be ensured that after the steep slope descent control function abnormally exits, the target vehicle can still control the braking system of the target vehicle through the electronic parking brake system, maintain the actual speed of the target vehicle, and send a function exit notification to avoid sudden acceleration of the vehicle, thereby ensuring the safety of the vehicle in the slope environment.

[0126] Referring to FIG. 6, in some embodiments, step S105 includes but is not limited to steps S601-S602:

[0127] Step S601: Obtain the front vehicle information of the target vehicle.

[0128] Step S602: When the front vehicle distance information represented by the front vehicle information meets the preset two-vehicle distance condition, perform relative speed processing according to the front vehicle distance information to obtain the front vehicle running speed.

[0129] Step S105 includes but is not limited to steps S603-S604:

[0130] In step S603, the target vehicle is controlled in the first period according to the front vehicle speed to update the target vehicle speed, and the updated speed is adjusted by the period speed calculation.

[0131] In step S604, the actual speed is adjusted based on the adjusted updated speed, and the target vehicle is controlled in the second period to adjust the updated speed to the target speed.

[0132] In step S601 of some embodiments, front vehicle information of the target vehicle is obtained, the front vehicle information is used to represent driving information of the front vehicle, and includes front vehicle distance information of the front vehicle. The front vehicle distance information can be captured by a front camera to capture an image of a front road, and the front vehicle information can be recognized by an image processing algorithm. The camera can be a binocular camera, so that the front vehicle distance information between the front vehicle and the target vehicle can be calculated by stereo vision. The front vehicle distance information can also be determined by a laser radar module to release a laser pulse. The position information of the front vehicle can also be located by a GPS and high-precision map data, and the front vehicle distance information can be obtained by the high-precision map data, which is not limited thereto.

[0133] In step S602 of some embodiments, when the front vehicle distance information represented by the front vehicle information satisfies a preset two-vehicle distance condition, the front vehicle driving speed of the front vehicle is obtained by relative speed processing according to the front vehicle distance information. The two-vehicle distance condition is a distance range interval. When the front vehicle distance information indicates that the front vehicle is too close to the target vehicle and is below the range interval, the target speed of the target vehicle can be reduced, and the updated speed can be adjusted in the next speed adjustment period to adjust the original braking force of the braking system of the target vehicle to separate the two vehicles. When the front vehicle distance information indicates that the front vehicle is higher than the range interval, the state of the target vehicle does not need to be changed. When the front vehicle distance information indicates that the front vehicle is within the range interval of the two-vehicle distance condition, the target vehicle can follow the front vehicle downhill to maintain a consistent speed, thereby maintaining the relative distance between the two vehicles. The front vehicle driving speed can be calculated by a laser radar module, or can be calculated by an image processing algorithm, which is not limited thereto.

[0134] In steps S603 to S604 of some embodiments, the original braking force control target vehicle in the first period is updated according to the front vehicle speed, and the updated speed is adjusted by the period speed calculation. The actual speed is adjusted based on the updated speed, and the target vehicle is controlled in the second period to adjust the updated speed to the target speed, so that the target speed is consistent with the front vehicle speed. It can be understood that the front vehicle speed may change constantly, and the target speed needs to be adjusted constantly, and the updated speed is adjusted by the period speed calculation, so that the actual speed is adjusted based on the adjusted updated speed, so that the target vehicle follows the front vehicle downhill, keeps the same speed and maintains the relative distance between the two vehicles.

[0135] Referring to FIG. 7, in some embodiments, step S105 can further include but is not limited to steps S701 to S703:

[0136] Step S701, obtaining the trigger signal of the accelerator pedal and the brake pedal;

[0137] Step S702, adjusting the braking force provided by the braking system according to the trigger signal to obtain the target braking force;

[0138] Step S703, using the target braking force to control the target vehicle to adjust from the actual speed to the updated speed in the first period, and to control the target vehicle to adjust from the updated speed to the target speed in the second period.

[0139] In steps S701-S703 of some embodiments, a trigger signal of the accelerator pedal and the brake pedal is acquired, the trigger signal is generated by the driver stepping on the accelerator pedal and the brake pedal, the brake force provided by the brake system is adjusted to obtain a target brake force. The target brake force is the brake force adjusted by the driver, which is different from the brake force applied based on the target vehicle algorithm only. By using the target brake force, the period speed calculation in each speed adjustment period will be changed to some extent. In the period speed calculation steps S303 or S306, the calculation will be performed with the limit value, or the acceleration upper limit value, the acceleration lower limit value, the jerk upper limit value and / or the jerk lower limit value in the adjustment. In the period speed calculation step S306, the first jerk is no longer subjected to the jerk limit processing, and in the period speed calculation step S303, the first acceleration is no longer subjected to the acceleration limit processing, and in the period speed calculation steps S303 and S306, the first jerk is no longer subjected to the jerk limit processing and the first acceleration is no longer subjected to the acceleration limit processing. Thus, the driver can adjust the updated speed in each speed adjustment period to some extent, and then adjust the target speed, but will not completely lose the limitation of the target brake force, and ensure the safety of the target vehicle speed adjustment in the slope environment. In addition, when the driver steps on the accelerator pedal, the power system of the target vehicle will be adjusted to generate additional power, and if the running speed of the vehicle reaches the steep slope slow-down control function exit condition at this time, the target vehicle will exit the steep slope slow-down control function. It should be noted that the driver will not lose the control right of emergency brake and other emergency safety measures.

[0140] Referring to FIG. 8, in some embodiments, step S105 can further include but is not limited to steps S801-S804:

[0141] Step S801, acquiring front road corner information;

[0142] Step S802, when the front road corner information meets the preset vehicle corner threshold, performing corner speed conversion processing according to the actual speed to obtain a target speed;

[0143] Step S803, accumulating the number of speed adjustment periods required for the actual speed to reach the target speed by period speed calculation to obtain a deceleration time;

[0144] Step S804, using the original brake force to decelerate based on the deceleration time before entering the road corner, so that the actual speed is adjusted to the target speed within the deceleration time.

[0145] In steps S801-S802 of some embodiments, the front road corner information is acquired, which is used to represent the corner of the front road, or the angle data of the corner, including the radius of curvature, the length of the curve, the slope and the turning angle, which can be acquired through GPS and high-precision map data. Then it is determined whether the front road corner information meets the preset vehicle corner threshold, which is a limit condition of a curve feature data, and is used to distinguish whether the next curve needs the driver to exit the steep slope slow descent control function and manually operate to turn. It can be understood that some curves have large turning difficulty, and the driver needs to manually drive the target vehicle to turn, while some curves have small turning difficulty, and the turning can be completed under the steep slope slow descent control function. The vehicle corner threshold can be used to determine the turning difficulty of the curve through each data of the front road corner information, so as to determine whether the driver needs to manually drive. When the front road corner information meets the preset vehicle corner threshold, the corner speed conversion processing is performed according to the actual vehicle speed to obtain the target vehicle speed. The vehicle needs to be decelerated when turning, so the corner speed conversion processing is performed to obtain the target vehicle speed.

[0146] In steps S803-S804 of some embodiments, after the target vehicle speed is determined, the number of vehicle speed adjustment periods required for the actual vehicle speed to reach the target vehicle speed is obtained through periodic vehicle speed calculation, so as to determine the deceleration time. The original braking force is used to decelerate before entering the road corner based on the deceleration time, so that the actual vehicle speed is adjusted to the target vehicle speed within the deceleration time, so that the target vehicle speed required by the target vehicle is reached before entering the curve, and the driving speed of the vehicle is stably adjusted and the curve is safely passed in the slope environment.

[0147] In some embodiments, the target vehicle speed can also be set according to other actual conditions, and periodic vehicle speed calculation is performed to obtain the number of vehicle speed adjustment periods required for the actual vehicle speed to reach the target vehicle speed, so as to determine the buffer time required for acceleration or deceleration, so as to stably adjust the driving speed of the vehicle.

[0148] The embodiment of the present application obtains the driving parameter of the target vehicle driving in the slope environment, and when the driving parameter meets the preset steep slope slow descent control function starting condition, the target vehicle starts the steep slope slow descent control function. The braking system of the target vehicle provides the original braking force to control the target vehicle to maintain a stable driving speed. Then, the actual vehicle speed of the target vehicle is obtained based on the driving parameter, and the updated vehicle speed of each vehicle speed adjustment period is obtained through periodic vehicle speed calculation based on the preset vehicle speed adjustment period. Finally, the original braking force is used to control the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period, and to adjust from the updated vehicle speed to the target vehicle speed in the second period. Therefore, the embodiment of the present application sets the vehicle speed adjustment period, obtains the updated vehicle speed of each vehicle speed adjustment period through periodic vehicle speed calculation, thereby calculating the updated vehicle speed with reasonable speed value change, and adjusting the actual vehicle speed to the updated vehicle speed by using the original braking force, so as to stably change the actual vehicle speed through the original braking force in multiple periods, thereby improving the stability of adjusting the driving speed of the target vehicle in the steep slope environment.

[0149] Please refer to FIG. 9, the embodiment of the present application also provides a steep slope slow descent control device, which can realize the above steep slope slow descent control method. The device comprises:

[0150] a parameter obtaining module, configured to obtain the driving parameter of the target vehicle driving in the slope environment; wherein the target vehicle is provided with a braking system, and the braking system is configured to provide the original braking force;

[0151] a function starting module, configured to start the steep slope slow descent control function of the target vehicle when the driving parameter meets the preset steep slope slow descent control function starting condition; wherein the steep slope slow descent control function is configured to control the original braking force of the braking system to make the target vehicle maintain a stable driving speed;

[0152] a vehicle speed obtaining module, configured to obtain the actual vehicle speed of the target vehicle based on the driving parameter;

[0153] a vehicle speed calculation module, configured to perform periodic vehicle speed calculation based on the preset vehicle speed adjustment period to obtain the updated vehicle speed of the vehicle speed adjustment period; wherein the vehicle speed adjustment period comprises a first period and a second period, and the second period is the next period of the first period;

[0154] a vehicle speed adjusting module, configured to control the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period by using the original braking force, and to control the target vehicle to adjust from the updated vehicle speed to the target vehicle speed in the second period.

[0155] The specific implementation of the steep slope slow descent control device is basically the same as the specific embodiment of the above steep slope slow descent control method, and will not be repeated here.

[0156] The embodiment of the present application further provides an electronic device, which comprises a memory and a processor. The memory stores a computer program, and the processor executes the computer program to realize the steep slope slow descent control method. The electronic device can be any intelligent terminal, such as a tablet computer or a vehicle-mounted computer.

[0157] Referring to FIG. 10, FIG. 10 shows a hardware structure of an electronic device according to another embodiment, which comprises:

[0158] The processor 1001 can be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is used to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0159] The memory 1002 can be implemented in the form of a ROM (Read Only Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory). The memory 1002 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 1002 and are called and executed by the processor 1001 to implement the steep slope slow descent control method according to the embodiments of the present application.

[0160] The input / output interface 1003 is used to realize information input and output.

[0161] The communication interface 1004 is used to realize the communication interaction between the device and other devices. The communication can be realized by a wired manner (for example, a USB, a network cable, etc.) or a wireless manner (for example, a mobile network, WIFI, Bluetooth, etc.).

[0162] The bus 1005 is used to transmit information between various components (for example, the processor 1001, the memory 1002, the input / output interface 1003, and the communication interface 1004) of the device.

[0163] The processor 1001, the memory 1002, the input / output interface 1003, and the communication interface 1004 are connected to each other through the bus 1005 to realize the communication connection between them in the device.

[0164] The embodiment of the present application also provides a vehicle comprising the steep slope slow descending control device or the electronic device.

[0165] The embodiment of the present application also provides a computer readable storage medium storing a computer program, which is executed by a processor to implement the steep slope slow descending control method.

[0166] The memory, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory disposed remotely relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0167] The steep slope slow descending control method, device, electronic device, vehicle and storage medium provided by the embodiment of the present application can obtain the driving parameter of the target vehicle driving in a slope environment, start the steep slope slow descending control function of the target vehicle when the driving parameter meets the preset steep slope slow descending control function starting condition, provide the original braking force of the braking system of the target vehicle to control the target vehicle to maintain a stable driving speed, then obtain the actual vehicle speed of the target vehicle based on the driving parameter, perform periodic vehicle speed calculation based on the preset vehicle speed adjustment period to obtain the updated vehicle speed of each vehicle speed adjustment period, and finally control the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in a first period and adjust from the updated vehicle speed to the target vehicle speed in a second period by using the original braking force. Therefore, the embodiment of the present application sets the vehicle speed adjustment period, obtains the updated vehicle speed of each vehicle speed adjustment period through periodic vehicle speed calculation, thereby calculating the updated vehicle speed with a reasonable speed value change, and adjusting the actual vehicle speed to the updated vehicle speed by using the original braking force, so as to stably change the actual vehicle speed through the original braking force in multiple periods, thereby improving the stability of adjusting the driving speed of the target vehicle in the steep slope environment.

[0168] The embodiments described in the specification are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0169] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and can include more or fewer steps than shown in the figures, or combine certain steps, or different steps.

[0170] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0171] Those skilled in the art can understand that all or some of the steps in the above disclosed method, the functional modules / units in the system and the device can be implemented as software, firmware, hardware and their appropriate combinations.

[0172] The terms "first", "second", "third", "fourth" and the like (if any) in the specification of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0173] It should be understood that, in the application, "at least one" refers to one or more, and "multiple" refers to two or more. "And / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases of only A, only B and A and B existing at the same time, wherein A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can represent a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b and c can be single or multiple.

[0174] In several embodiments provided in the application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the above units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0175] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0176] In addition, each functional unit in each embodiment of the application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0177] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program storage media.

[0178] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, and are not limited to the scope of the embodiments of the present application. Any modifications, equivalent replacements and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the embodiments of the present application.

Claims

1. A steep slope descent control method, the method comprising: obtaining a driving parameter of a target vehicle driving in a slope environment; wherein the target vehicle is provided with a braking system for providing an original braking force; starting a steep slope descent control function of the target vehicle when the driving parameter meets a preset steep slope descent control function starting condition; wherein the steep slope descent control function is used to control the original braking force of the braking system to keep the target vehicle at a stable driving speed; obtaining an actual vehicle speed of the target vehicle based on the driving parameter; performing periodic vehicle speed calculation based on a preset vehicle speed adjustment period to obtain an updated vehicle speed of the vehicle speed adjustment period; wherein the vehicle speed adjustment period comprises a first period and a second period, and the second period is the next vehicle speed adjustment period of the first period; controlling the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period and to adjust from the updated vehicle speed to a target vehicle speed in the second period by using the original braking force.

2. The method of claim 1, wherein, obtaining a preset previous vehicle speed and a preset previous acceleration before performing periodic vehicle speed calculation; the periodic vehicle speed calculation based on the preset vehicle speed adjustment period to obtain the updated vehicle speed of the vehicle speed adjustment period comprises: in each vehicle speed adjustment period, performing periodic vehicle speed calculation based on the previous vehicle speed, the previous acceleration and the target vehicle speed to obtain the updated vehicle speed and an updated acceleration; wherein the previous vehicle speed and the previous acceleration are data of the last vehicle speed adjustment period of the updated vehicle speed and the updated acceleration; the controlling the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period and to adjust from the updated vehicle speed to a target vehicle speed in the second period by using the original braking force comprises: in each vehicle speed adjustment period, adjusting the actual vehicle speed according to the updated vehicle speed and the updated acceleration by using the original braking force; updating the previous vehicle speed according to the updated vehicle speed and updating the previous acceleration according to the updated acceleration; performing periodic vehicle speed calculation of the next vehicle speed adjustment period based on the updated previous vehicle speed and the updated previous acceleration until the actual vehicle speed is adjusted to the target vehicle speed.

3. The method of claim 2, wherein, the periodic vehicle speed calculation based on the previous vehicle speed, the previous acceleration and the target vehicle speed to obtain the updated vehicle speed and the updated acceleration in each vehicle speed adjustment period comprises: in each vehicle speed adjustment period, performing difference calculation processing based on the target vehicle speed and the previous vehicle speed to obtain a periodic speed difference; performing acceleration calculation according to the periodic speed difference based on the vehicle speed adjustment period to obtain a first acceleration; performing acceleration limit processing on the first acceleration to obtain a second acceleration; performing difference calculation processing based on the second acceleration and the previous acceleration to obtain a periodic acceleration difference; performing acceleration change calculation on the periodic acceleration difference based on the vehicle speed adjustment period to obtain a first jerk; The first step is processed by step limit processing to obtain a second step; The update acceleration is calculated based on the second step; The update vehicle speed is calculated based on the update acceleration.

4. The method of claim 2, wherein, Before the periodic vehicle speed calculation, a preset previous vehicle speed and a preset previous acceleration are obtained, including: Obtain the vehicle weight of the target vehicle and the environmental information data of the slope environment; Based on the vehicle weight and the environmental information data, the previous vehicle speed is preset by speed change evaluation processing; Based on the vehicle weight and the environmental information data, the previous acceleration is preset by acceleration change evaluation processing.

5. The method of claim 1, wherein, The target vehicle includes an electronic parking brake system, wherein after the steep slope slow descent control function of the target vehicle is started when the running parameters meet the preset steep slope slow descent control function starting condition, the method further comprises: When the abnormal exit signal of the steep slope slow descent control function of the target vehicle is received, the actual vehicle speed of the target vehicle is maintained by the electronic parking brake system controlling the brake system of the target vehicle; Send a function exit notification, wherein the function exit notification indicates that the target vehicle exits the steep slope slow descent control function.

6. The method of any one of claims 1 or 3, wherein, Before the target vehicle is controlled to adjust from the actual vehicle speed to the update vehicle speed in the first period and to adjust from the update vehicle speed to the target vehicle speed in the second period by using the original braking force, including: Obtain the front vehicle information of the target vehicle; When the front vehicle distance information represented by the front vehicle information meets the preset two-vehicle distance condition, the front vehicle running speed is obtained by relative speed processing according to the front vehicle distance information. Before the target vehicle is controlled to adjust from the actual vehicle speed to the update vehicle speed in the first period and to adjust from the update vehicle speed to the target vehicle speed in the second period by using the original braking force, including: In the first period, the target vehicle is controlled by using the original braking force, the target vehicle speed is updated according to the front vehicle running speed, and the update vehicle speed is adjusted by periodic vehicle speed calculation; Based on the adjusted update vehicle speed, the actual vehicle speed is adjusted, and the target vehicle is controlled to adjust the update vehicle speed to the target vehicle speed in the second period.

7. The method of claim 3, wherein, The target vehicle includes an accelerator pedal and a brake pedal, wherein the target vehicle is controlled to adjust from the actual vehicle speed to the update vehicle speed in the first period and to adjust from the update vehicle speed to the target vehicle speed in the second period by using the original braking force, further comprising: Obtain the trigger signal of the accelerator pedal and the brake pedal; According to the trigger signal, the brake force provided by the brake system is adjusted to obtain a target brake force; The target vehicle is controlled to adjust from the actual vehicle speed to the update vehicle speed in the first period and to adjust from the update vehicle speed to the target vehicle speed in the second period by using the target brake force.

8. The method of any one of claims 1 or 3, wherein, The controlling the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period and to adjust from the updated vehicle speed to a target vehicle speed in the second period by using the original braking force comprises: obtaining front road corner information; when the front road corner information meets the preset vehicle corner threshold, performing cornering speed conversion processing according to the actual vehicle speed to obtain the target vehicle speed; accumulating the number of vehicle speed adjustment periods required for the actual vehicle speed to reach the target vehicle speed through periodical vehicle speed calculation to obtain a deceleration time; decelerating based on the deceleration time before entering the road corner by using the original braking force, so that the actual vehicle speed is adjusted to the target vehicle speed within the deceleration time.

9. A steep slope slow descent control device, the device comprising: a parameter acquisition module configured to acquire a driving parameter of a target vehicle driving in a slope environment, wherein the target vehicle is provided with a braking system configured to provide an original braking force; a function starting module configured to start a steep slope slow descent control function of the target vehicle when the driving parameter meets a preset steep slope slow descent control function starting condition, wherein the steep slope slow descent control function is configured to control the original braking force of the braking system to maintain a stable driving speed of the target vehicle; a vehicle speed acquisition module configured to acquire an actual vehicle speed of the target vehicle based on the driving parameter; a vehicle speed calculation module configured to perform periodical vehicle speed calculation based on a preset vehicle speed adjustment period to obtain an updated vehicle speed of the vehicle speed adjustment period, wherein the vehicle speed adjustment period comprises a first period and a second period, and the second period is a next period of the first period; a vehicle speed adjustment module configured to control the target vehicle to adjust from the actual vehicle speed to the updated vehicle speed in the first period and to adjust from the updated vehicle speed to a target vehicle speed in the second period by using the original braking force.

10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steep slope slow descent control method of any one of claims 1 to 8 when executing the computer program.

11. A vehicle comprising the steep slope slow descent control device of claim 9 or the electronic device of claim 10.

12. A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the steep slope slow descent control method of any one of claims 1 to 8.

Images