CN114179621A - Steep-slope slow-descending control method and device for vehicle - Google Patents
Steep-slope slow-descending control method and device for vehicle Download PDFInfo
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- CN114179621A CN114179621A CN202111588283.2A CN202111588283A CN114179621A CN 114179621 A CN114179621 A CN 114179621A CN 202111588283 A CN202111588283 A CN 202111588283A CN 114179621 A CN114179621 A CN 114179621A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
- B60L15/2027—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope whilst maintaining constant speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
The application discloses a steep descent control method and device for a vehicle, wherein the method comprises the following steps: when the current gradient is greater than the preset gradient and the current driving intention is a steep descent intention, judging whether the vehicle meets a condition of steep landslide; and when the vehicle meets the condition of landslide and steep descent, controlling the vehicle to enter a steep descent mode, acquiring the energy recovery torque of the vehicle, and controlling the actual speed of the vehicle to be the steep descent speed according to the energy recovery torque. The embodiment of this application when the vehicle gets into the abrupt slope slow descent mode, according to the actual speed control of energy recuperation moment of torsion with the vehicle at the abrupt slope slow descent speed of a motor vehicle, improved the economic nature and the security of vehicle, and carry out speed control according to the energy moment of torsion, control mode is more accurate. Therefore, the technical problems that when the hydraulic braking system fails to work in case of steep slope descent control, the safety of the vehicle is low and the like are solved.
Description
Technical Field
The application relates to the technical field of vehicle intelligent control, in particular to a steep slope slow descending control method and device for a vehicle.
Background
Along with the upgrading of electric control and intelligent degree of the electric automobile, people pay more attention to the safety and comfort of the automobile. The steep descent control function is an important component of an automobile active safety system, and when a vehicle descends a steep slope, the vehicle can safely and stably pass through the steep slope by applying braking force to the vehicle, so that the driving safety and the comfort of the vehicle are improved.
In the related technology, the function of gradual descent of the pure electric vehicle on a steep slope is mainly realized through repeated pressure application and braking of a hydraulic pump.
However, the hydraulic braking system applies braking force to perform steep descent control, so that the economy of the vehicle is poor, the energy utilization rate is low, and the safety of the vehicle is low when the steep descent control function fails due to the failure of the hydraulic braking system, so that a solution is needed.
Disclosure of Invention
The application provides a steep slope slow descending control method and device of a vehicle, and aims to solve the problems that in the prior art, braking force is applied through hydraulic pressure to control steep slope slow descending, the economical efficiency of the vehicle is poor, the energy utilization rate is low, and once a hydraulic braking system fails, the steep slope slow descending function is invalid, the safety of the vehicle is low, and the like.
An embodiment of a first aspect of the present application provides a steep descent control method for a vehicle, including the following steps: detecting the current gradient of a slope on which the vehicle is located, and identifying the current driving intention of a driver; when the current gradient is larger than a preset gradient and the current driving intention is a steep descent intention, judging whether the vehicle meets a condition of landslide and steep descent; and if the vehicle meets the condition of landslide and steep descent, controlling the vehicle to enter a steep hill and slow descent mode, acquiring the energy recovery torque of the vehicle, and controlling the actual speed of the vehicle to be the steep hill and slow descent speed according to the energy recovery torque.
Optionally, in an embodiment of the present application, the method further includes: detecting an accelerator pedal signal or a brake signal of the vehicle; and controlling the vehicle to exit the steep descent mode when the accelerator pedal signal or the brake signal is detected.
Optionally, in an embodiment of the present application, before controlling the vehicle to enter the steep descent mode, the method further includes: judging whether the vehicle is in a crawling working condition or not; and if the crawling working condition exists, directly controlling the vehicle to enter a steep slope slow descending mode, and increasing the actual vehicle speed of the vehicle from the crawling vehicle speed to the steep slope slow descending vehicle speed.
Optionally, in an embodiment of the present application, the landslide steepness condition includes: and whether the change value of the speed of the vehicle and the change value of the acceleration meet the mode condition and whether the brake signal of the driver exists or not is judged.
Optionally, in an embodiment of the present application, before controlling the actual vehicle speed of the vehicle to the steep descent vehicle speed according to the energy recovery torque, the method further includes: acquiring a current vehicle speed corresponding to the brake signal of the driver; and determining the steep descent speed according to the current speed.
An embodiment of a second aspect of the present application provides a steep descent control device for a vehicle, including: the first detection module is used for detecting the current gradient of a slope on which the vehicle is positioned and identifying the current driving intention of a driver; the first judgment module is used for judging whether the vehicle meets a landslide and steep descent condition or not when the current gradient is greater than a preset gradient and the current driving intention is a steep descent intention; the first control module is used for controlling the vehicle to enter a steep descent mode when the vehicle meets the condition of the steep descent of the landslide, acquiring the energy recovery torque of the vehicle, and controlling the actual vehicle speed of the vehicle to be at the steep descent speed according to the energy recovery torque.
Optionally, in an embodiment of the present application, the method further includes: the second detection module is used for detecting an accelerator pedal signal or a brake signal of the vehicle; and the second control module is used for controlling the vehicle to exit the steep descent mode when the accelerator pedal signal or the brake signal is detected.
Optionally, in an embodiment of the present application, the method further includes: the second judgment module is used for judging whether the vehicle is in a creeping working condition before controlling the vehicle to enter the steep descent mode; and the third control module is used for directly controlling the vehicle to enter a steep slope slow descent mode when the vehicle is in the crawling working condition, and increasing the actual vehicle speed of the vehicle from the crawling vehicle speed to the steep slope slow descent vehicle speed.
An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the steep descent control method of the vehicle as described in the above embodiments.
A fourth aspect of the present invention provides a computer-readable storage medium, having a computer program stored thereon, where the computer program is executed by a processor to implement the steep descent control method for a vehicle as described in the above embodiments.
Therefore, when the current gradient of the slope on which the vehicle is located is larger than a certain gradient value and the current driving intention is a steep descent intention, if the vehicle meets a condition of steep descent, the vehicle is controlled to enter a steep descent mode, the energy recovery torque of the vehicle is obtained, and the actual speed of the vehicle is controlled to be the steep descent speed according to the energy recovery torque. The economy and the safety of the vehicle are improved, the vehicle speed is controlled according to the energy torque, and the control mode is more accurate. Therefore, the problems that in the prior art, the economy of the vehicle is poor, the energy utilization rate is low due to the fact that braking force is applied through hydraulic pressure to perform steep slope slow descending control, and in case of failure of a hydraulic braking system, the safety of the vehicle is low when a steep slope slow descending function fails are solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flowchart of a method for controlling a steep descent of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a steep descent control architecture of a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a diagram of a simulink model provided in accordance with an embodiment of the present application;
FIG. 4 is a schematic diagram of a data simulation result provided according to an embodiment of the present application;
FIG. 5 is an exemplary diagram of a steep descent control device of a vehicle according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Reference numerals: 100-first detection module, 200-first judgment module, 300-first control module, 601-memory, 602-processor and 603-communication interface.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A steep descent control method and apparatus for a vehicle according to an embodiment of the present application will be described with reference to the drawings. In the method, when the current gradient of a slope where the vehicle is located is larger than a certain gradient value and the current driving intention is the steep descent intention, if the vehicle meets the condition of the steep descent of a landslide, the vehicle is controlled to enter a steep descent mode to obtain the energy recovery torque of the vehicle, and the actual speed of the vehicle is controlled to be the steep descent speed according to the energy recovery torque. The economy and the safety of the vehicle are improved, the vehicle speed is controlled according to the energy torque, and the control mode is more accurate. Therefore, the problems that in the prior art, the economy of the vehicle is poor, the energy utilization rate is low due to the fact that braking force is applied through hydraulic pressure to perform steep slope slow descending control, and in case of failure of a hydraulic braking system, the safety of the vehicle is low when a steep slope slow descending function fails are solved.
Specifically, fig. 1 is a flowchart of a steep descent control method for a vehicle according to an embodiment of the present application.
As shown in fig. 1, the steep descent control method for a vehicle includes the steps of:
in step S101, the current gradient of the slope on which the vehicle is located is detected, and the current driving intention of the driver is recognized.
It can be understood that the steep descent control is that the auxiliary braking is carried out when the vehicle descends the slope so as to control the speed of the vehicle in the process of descending the slope, and the driving safety is ensured. Therefore, the method of the embodiment of the application firstly detects the gradient of the slope on which the vehicle is currently located, so as to determine whether to control the vehicle to enter the steep descent mode according to the gradient information.
As a possible implementation manner, in the embodiment of the present application, a camera may be disposed on a vehicle to acquire a road image in front of a current position of the vehicle, and the current road image is analyzed to obtain a current gradient of a slope on which the vehicle is located, for example, a reference object and a horizontal marking are set in the road image, and the slope gradient of the slope is determined according to a position relationship between a road surface and the reference object and the horizontal marking.
As another possible implementation manner, the map information of the current position of the vehicle can be directly called, and the gradient of the slope where the vehicle is located can be obtained from the map information. For example, the current position of the vehicle is located through a satellite positioning system, and the road condition information of the current position of the vehicle is extracted from a map, so that the gradient information of the current slope is obtained.
As still another possible implementation manner, the embodiment of the present application may also detect the gradient information of the current road by using a gradient sensor. For example, a gradient sensor is arranged at the front part of the vehicle, and gradient information is directly obtained through the gradient sensor during the running process of the vehicle.
On the basis of the above embodiment, the method of the embodiment of the application can also detect the current driving intention of the driver, so as to determine whether to control the vehicle to enter the steep descent mode according to the current driving intention of the driver, thereby improving the accuracy of vehicle control and ensuring the user experience. In an embodiment of the application, the intention of the driver may be whether to decelerate on a steep descent.
As a possible implementation manner, the current driving intention of the driver may be determined by detecting the opening and closing degree of the brake pedal or the accelerator pedal, for example, when the brake pedal is pressed for a certain distance, the driver may be determined to decelerate on a steep slope, and if the brake pedal is not pressed or the pressing distance is too small or the accelerator pedal is pressed, the driver may be determined not to decelerate on the steep slope.
As another possible implementation, the driver's current driving intention may be identified by receiving a driver's steep descent intention signal. For example, the driver starts the steep descent control function of the vehicle through the vehicle-mounted display screen, and the current intention of the driver can be determined to be the steep descent control intention. Therefore, the vehicle is controlled to enter a vehicle steep descent mode according to the requirements of the driver, and the driving experience is improved.
In step S102, when the current gradient is greater than the preset gradient and the current driving intention is a steep descent intention, it is determined whether the vehicle satisfies a condition of a steep descent of a landslide.
It will be appreciated that when the current grade of the slope on which the vehicle is located is too small, the steep descent function of the vehicle need not be used to control the vehicle. When the current gradient is larger than a certain value and the intention of the driver is a steep descent intention, it can be determined that the vehicle needs to be controlled to enter a steep descent mode. In order to ensure the safety of the vehicle and improve the driving experience, the embodiment of the application needs to judge whether the current state of the vehicle meets the condition of landslide and steep descent, wherein the condition of steep descent can be a condition that the vehicle is allowed to enter a steep descent mode. And when the current state of the vehicle does not meet the landslide and steep descent condition, forbidding to control the vehicle to enter a steep descent mode so as to avoid danger.
Optionally, in an embodiment of the present application, the landslide steepness condition includes: whether the change value of the vehicle speed and the change value of the acceleration both meet the mode condition and whether a brake signal of a driver exists or not.
It will be appreciated that during downhill descent, the vehicle will still accelerate at a certain acceleration without depressing the accelerator pedal, due to gravity and inertia. As a specific implementation manner, the embodiment of the present application uses the speed variation value and the acceleration variation value of the vehicle and the brake signal of the driver as the condition of the steep slope, for example, when it is detected that the acceleration or the speed variation value of the vehicle is greater than the preset threshold value within a certain time period, and the opening and closing degree of the brake pedal is greater than a certain angle, the embodiment of the present application may determine that the vehicle satisfies the condition of the steep slope. Whether the vehicle can enter a steep descent mode or not is judged according to the slope steep descent condition, the accuracy of vehicle control is improved, and the safety performance and the driving experience of the vehicle are improved.
On the basis of the above embodiment, the embodiment of the application can also take the brake torque recovery power satisfying the motor rated allowable feedback power as the condition of steep slope drop when the accelerator pedal signal is not provided, the state of charge is less than 90%, the fault of energy recovery is not forbidden, the vehicle speed is not in fault. In this regard, those skilled in the art may set the setting according to actual situations, and are not particularly limited.
In step S103, if the vehicle meets the condition of landslide and steep descent, the vehicle is controlled to enter a steep descent mode, the energy recovery torque of the vehicle is obtained, and the actual vehicle speed of the vehicle is controlled to be the steep descent speed according to the energy recovery torque.
Specifically, the steep-slope slow-falling speed can be the speed kept when the vehicle goes down a slope in a steep-slope slow-falling mode, and when the vehicle is judged to meet the slope steep-falling condition through the process, the vehicle is controlled to enter the steep-slope slow-falling mode, the speed of the vehicle is adjusted, and the speed of the vehicle is kept at the steep-slope slow-falling speed, so that the vehicle goes down the slope safely and stably. It can be understood that in the process of descending a slope of a vehicle, kinetic energy or potential energy can be converted into electric energy for the vehicle to use, in order to improve the economic performance of the vehicle, the embodiment of the application calculates the braking torque required to be output by combining with the energy recovery torque, and controls the vehicle speed to be in a steep slope and slowly reduced by sending the request torque to the motor to act on the wheel end.
Optionally, in an embodiment of the present application, before controlling the actual vehicle speed of the vehicle to the steep descent vehicle speed according to the energy recovery torque, the method further includes: acquiring a current vehicle speed corresponding to a brake signal of a driver; and determining the steep descent speed according to the current speed.
It can be understood that, before the vehicle descends the steep slope and the vehicle does not enter the steep slope slow descent mode, the driver tramples the brake pedal to control the vehicle to decelerate, as a possible implementation mode, the current vehicle speed when the driver tramples the brake pedal is taken as the steep slope slow descent vehicle speed in the embodiment of the application, after the vehicle enters the steep slope slow descent mode, the vehicle is controlled to keep the steep slope slow descent vehicle speed, and then the current vehicle speed is in line with the expectation of the driver, under the condition of ensuring the safety of the downhill, the driving experience is improved.
In some embodiments, the steep descent speed may also be determined by a driver's setting, for example, the driver inputs a desired speed when descending a slope through an on-board display screen, matches the torque applied to the wheel end according to the desired speed, and determines the output torque of the generator by combining the torque of the wheel end and the energy recovery torque, thereby keeping the vehicle at the speed set by the driver.
It should be noted that, those skilled in the art may set the magnitude of the steep descent speed according to actual situations, and this is not particularly limited.
Optionally, in an embodiment of the present application, before controlling the vehicle to enter the steep descent mode, the method further includes: judging whether the vehicle is in a creeping working condition or not; and if the crawling working condition is met, directly controlling the vehicle to enter a steep slope slow-falling mode, and increasing the actual vehicle speed of the vehicle from the crawling vehicle speed to the steep slope slow-falling vehicle speed.
It can be understood that the crawling operation condition can be the condition when the vehicle just starts, when the vehicle starts, the speed is low, the change condition of the current vehicle speed does not meet the condition of landslide and steep drop, and in order to speed up the vehicle, if the accelerator pedal is stepped on a downhill section, the vehicle speed may be suddenly increased and a danger occurs.
For example, when the vehicle is in a creeping working condition, the requirement on the speed of steep descent is not met, and the creeping torque and the braking torque of steep descent on a landslide have no influence.
Optionally, in an embodiment of the present application, the method further includes: detecting an accelerator pedal signal or a brake signal of a vehicle; and when an accelerator pedal signal or a brake signal is detected, controlling the vehicle to exit a steep descent mode.
It can be understood that after controlling the vehicle to enter the steep descent mode, the driver does not need to step on the brake pedal, and the vehicle can keep a certain speed to descend the slope. And if the vehicle needs to accelerate after the downhill or the vehicle needs to decelerate due to an emergency situation in front, controlling the vehicle to exit the steep descent mode. In the embodiment of the application, the accelerator pedal signal and the brake signal of the vehicle are detected, if the opening degree of the accelerator pedal and the brake pedal is detected, when the opening degree of the accelerator pedal and the brake pedal reaches a certain value, the method controls the vehicle to exit from the steep slope slow descending mode, and a driver takes over the vehicle to ensure the driving safety and improve the driving experience of the user.
Furthermore, after the vehicle enters the steep descent mode, the embodiment of the application detects the vehicle, for example, detects whether the steep descent function of the vehicle is normal or whether the vehicle has a fault, and controls the vehicle to exit the current steep descent mode if any fault signal is detected, so as to avoid danger.
The principle of the method for controlling a steep descent of a vehicle according to an embodiment of the present application will be described in detail with reference to an exemplary embodiment of the accompanying drawings.
As shown in fig. 2, a steep descent control architecture of a vehicle according to an embodiment of the present application is shown. On the basis of the functions which can be realized by a fuel Vehicle steep descent system, the embodiment of the application carries the functions on the electric Vehicle in a software mode, and the Vehicle Control Units (VCUs) are mainly used for controlling the torque of the motor according to the energy recovery torque through executing response instructions, so that the steep descent function is realized.
Specifically, the intention of the driver on the steep descent function is analyzed, for example, the driver driving intention is judged by receiving a steep descent hard line signal. When the VCU receives a steep Descent enable signal, the VCU judges whether a condition of entering a landslide and a steep Descent is met by judging the change of the speed, the change of the acceleration and a brake signal of a driver at the moment and combining with a steep Descent Control (HDC), if the condition is judged to enter, an instrument displays that a steep Descent mode is entered at the moment, and a request torque is sent to a motor to act on a wheel end according to an energy recovery torque, so that the vehicle speed is controlled within a target vehicle speed, namely the steep Descent vehicle speed. Under the working condition mode, if the accelerator pedal signal or the brake signal is received again, the landslide and steep descent mode is automatically exited.
Fig. 3 shows a steep descent function simulink model diagram of the embodiment of the present application, and fig. 4 shows experimental data simulation results. As shown in fig. 3 and 4, the steep descent control architecture of the vehicle of the present application may be implemented by three modules, including an enable module, a gradient determination module, and a torque output module. The enabling module can judge whether the condition of entering a steep slope and slowly descending is met or not; the gradient judging module can judge whether the vehicle enters a steep slope working condition or not through the speed change, the acceleration change and the brake signal at the moment, and the gradient judging module is used as a supplementary module of the enabling module; a torque output module: the system judges that a steep descent function is started by receiving an enabling signal of the enabling module, sends out energy recovery torque to limit the vehicle speed, and limits the vehicle speed to a target vehicle speed.
According to the steep slope slow descending control method of the vehicle, when the current slope of the slope where the vehicle is located is larger than a certain slope value and the current driving intention is the steep slope slow descending intention, if the vehicle meets the condition of the steep slope and the steep descending, the vehicle is controlled to enter a steep slope slow descending mode, the energy recovery torque of the vehicle is obtained, and the actual vehicle speed of the vehicle is controlled to be the steep slope slow descending vehicle speed according to the energy recovery torque. The economy and the safety of the vehicle are improved, the vehicle speed is controlled according to the energy torque, and the control mode is more accurate. Therefore, the problems that in the prior art, the economy of the vehicle is poor, the energy utilization rate is low due to the fact that braking force is applied through hydraulic pressure to perform steep slope slow descending control, and in case of failure of a hydraulic braking system, the safety of the vehicle is low when a steep slope slow descending function fails are solved.
Next, a steep descent control device for a vehicle according to an embodiment of the present application will be described with reference to the drawings.
Fig. 5 is a block diagram schematically illustrating a steep descent control device of a vehicle according to an embodiment of the present application.
As shown in fig. 5, the steep descent control device 10 for a vehicle includes: the device comprises a first detection module 100, a first judgment module 200 and a first control module 300.
The first detection module 100 is used for detecting the current gradient of a slope on which the vehicle is located and identifying the current driving intention of the driver. The first judgment module 200 is configured to judge whether the vehicle meets a landslide and steep descent condition when the current gradient is greater than a preset gradient and the current driving intention is a steep descent intention. The first control module 300 is configured to control the vehicle to enter a steep descent mode when the vehicle meets a condition of a steep descent of a landslide, acquire an energy recovery torque of the vehicle, and control an actual vehicle speed of the vehicle at a steep descent speed according to the energy recovery torque.
Optionally, in an embodiment of the present application, the steep descent control device 10 of the vehicle further includes: the second detection module is used for detecting an accelerator pedal signal or a brake signal of the vehicle; and the second control module is used for controlling the vehicle to exit the steep descent mode when detecting an accelerator pedal signal or a brake signal.
Optionally, in an embodiment of the present application, the steep descent control device 10 of the vehicle further includes: the second judgment module is used for judging whether the vehicle is in a creeping working condition before controlling the vehicle to enter a steep descent mode; and the third control module is used for directly controlling the vehicle to enter a steep slope slow-falling mode when the vehicle creeps, and increasing the actual vehicle speed of the vehicle from the crawling vehicle speed to the steep slope slow-falling vehicle speed.
Optionally, in an embodiment of the present application, the landslide steepness condition includes: whether the change value of the speed and the change value of the acceleration of the vehicle both meet the mode condition and whether a brake signal of a driver exists or not.
Optionally, in an embodiment of the present application, the steep descent control device 10 of the vehicle further includes: the method comprises the steps of obtaining the current vehicle speed corresponding to a brake signal of a driver before controlling the actual vehicle speed of a vehicle to be the steep-slope slow-falling vehicle speed according to the energy recovery torque, and determining the steep-slope slow-falling vehicle speed according to the current vehicle speed.
It should be noted that the foregoing explanation of the embodiment of the method for controlling slow steep descent in a steep slope of a vehicle is also applicable to the device for controlling slow steep descent in a steep slope of a vehicle in this embodiment, and will not be described herein again.
According to the steep slope slow descending control device of the vehicle, when the current gradient of the slope where the vehicle is located is larger than a certain gradient value and the current driving intention is the steep slope slow descending intention, if the vehicle meets the condition of the steep slope and the steep descending, the vehicle is controlled to enter a steep slope slow descending mode, the energy recovery torque of the vehicle is obtained, and the actual vehicle speed of the vehicle is controlled to be the steep slope slow descending vehicle speed according to the energy recovery torque. The economy and the safety of the vehicle are improved, the vehicle speed is controlled according to the energy torque, and the control mode is more accurate. Therefore, the problems that in the prior art, the economy of the vehicle is poor, the energy utilization rate is low due to the fact that braking force is applied through hydraulic pressure to perform steep slope slow descending control, and in case of failure of a hydraulic braking system, the safety of the vehicle is low when a steep slope slow descending function fails are solved.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.
The processor 602, when executing the program, implements the steep descent control method of the vehicle provided in the above-described embodiment.
Further, the vehicle further includes:
a communication interface 603 for communication between the memory 601 and the processor 602.
The memory 601 is used for storing computer programs that can be run on the processor 602.
If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may complete mutual communication through an internal interface.
The processor 602 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program characterized in that the program, when executed by a processor, implements the steep descent control method of a vehicle as above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
Claims (10)
1. A steep descent control method for a vehicle, characterized by comprising the steps of:
detecting the current gradient of a slope on which the vehicle is located, and identifying the current driving intention of a driver;
when the current gradient is larger than a preset gradient and the current driving intention is a steep descent intention, judging whether the vehicle meets a condition of landslide and steep descent; and
and if the vehicle meets the condition of landslide and steep descent, controlling the vehicle to enter a steep hill and slow descent mode, acquiring the energy recovery torque of the vehicle, and controlling the actual speed of the vehicle to be the steep hill and slow descent speed according to the energy recovery torque.
2. The method of claim 1, further comprising:
detecting an accelerator pedal signal or a brake signal of the vehicle;
and controlling the vehicle to exit the steep descent mode when the accelerator pedal signal or the brake signal is detected.
3. The method of claim 1, further comprising, prior to controlling the vehicle into the steep descent mode:
judging whether the vehicle is in a crawling working condition or not;
and if the crawling working condition exists, directly controlling the vehicle to enter a steep slope slow descending mode, and increasing the actual vehicle speed of the vehicle from the crawling vehicle speed to the steep slope slow descending vehicle speed.
4. A method according to any one of claims 1-3, wherein the landslide steeply falling condition comprises: and whether the change value of the speed of the vehicle and the change value of the acceleration meet the mode condition and whether the brake signal of the driver exists or not is judged.
5. The method of claim 4, wherein controlling the actual vehicle speed of the vehicle to the steep descent speed in accordance with the energy recovery torque further comprises:
acquiring a current vehicle speed corresponding to the brake signal of the driver;
and determining the steep descent speed according to the current speed.
6. A steep descent control device for a vehicle, comprising:
the first detection module is used for detecting the current gradient of a slope on which the vehicle is positioned and identifying the current driving intention of a driver;
the first judgment module is used for judging whether the vehicle meets a landslide and steep descent condition or not when the current gradient is greater than a preset gradient and the current driving intention is a steep descent intention; and
the first control module is used for controlling the vehicle to enter a steep descent mode when the vehicle meets the condition of the steep descent of the landslide, acquiring the energy recovery torque of the vehicle, and controlling the actual vehicle speed of the vehicle to be at the steep descent speed according to the energy recovery torque.
7. The apparatus of claim 6, further comprising:
the second detection module is used for detecting an accelerator pedal signal or a brake signal of the vehicle;
and the second control module is used for controlling the vehicle to exit the steep descent mode when the accelerator pedal signal or the brake signal is detected.
8. The apparatus of claim 6, further comprising:
the second judgment module is used for judging whether the vehicle is in a creeping working condition before controlling the vehicle to enter the steep descent mode;
and the third control module is used for directly controlling the vehicle to enter a steep slope slow descent mode when the vehicle is in the crawling working condition, and increasing the actual vehicle speed of the vehicle from the crawling vehicle speed to the steep slope slow descent vehicle speed.
9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a steep descent control method of a vehicle as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a steep descent control method of a vehicle according to any one of claims 1 to 5.
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| CN202111588283.2A CN114179621B (en) | 2021-12-23 | 2021-12-23 | Method and device for controlling descent control of abrupt slope of vehicle |
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| CN114179621B (en) | 2023-04-28 |
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