CN108944931A - Hill start assistance method and device under snow field mode - Google Patents
Hill start assistance method and device under snow field mode Download PDFInfo
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- CN108944931A CN108944931A CN201710379472.6A CN201710379472A CN108944931A CN 108944931 A CN108944931 A CN 108944931A CN 201710379472 A CN201710379472 A CN 201710379472A CN 108944931 A CN108944931 A CN 108944931A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
Abstract
This disclosure relates to hill start assistance method and device under a kind of snow field mode, when for solving snowfield uphill starting the technical issues of vehicle anti-slide.The described method includes: being snow field mode in the steer mode for detecting vehicle gear box, and when the vehicle is on ramp, obtain the operation for controlling the vehicle start；Whether the pressure of wheel braking cylinder for detecting the non-driving wheel of the vehicle is enough to enable the stationary vehicle on the ramp；It is enough to enable the stationary vehicle when on the ramp in the pressure of wheel braking cylinder of the non-driving wheel, discharges the pressure of wheel braking cylinder of the driving wheel of the vehicle；Tractive effort torque is exported to the driving wheel；The pressure of wheel braking cylinder of the non-driving wheel is discharged, to drive the vehicle start.
Description
Technical field
This disclosure relates to automotive field, and in particular, to hill start assistance method and device under a kind of snow field mode.
Background technique
Currently, most of big automobile brands are all equipped with automatic shift transmission, and automatic shift transmission automobile is nearly all matched
Driving mode control system is set, this control system can help the driver of not rich experiences, be unfamiliar with Special Road
Under quality event, driver is helped to be precisely controlled vehicle, to improve the driver comfort and passability of vehicle.
Currently, driving mode it is most popular configuration mainly include " economic model (ECO) ", " motor pattern (SPORT) ",
" snow field mode (SNOW) " and " mode standard (STANDARD) ".
" snow field mode (SNOW) " therein is relatively specific for city with water, sposh, grass, loose grit or relatively thin sand
The road surface of layer covering, while being also used in special ice and snow environment.In the starting of snowfield level road, if vehicle configuration snowfield mould
Formula function can allow vehicle to block up step with second gear or three, and monitor driving wheel slip rate in real time, when slip rate reaches certain control
When thresholding, body electronics systems stabilisation (Electronic Stability Program, ESP) passes through control polling power controlling system
It unites (Traction Control System, TCS), sends dynamic torque control or braking torque control instruction, go to reduce and drive
The torque of moving axis slip wheel reduces wheel-slip, so as to realize that vehicle is started to walk in snowfield level road or separation road surface.
However, if vehicle helps vehicle start in snowfield uphill starting, in spite of the above snow field mode control logic,
But vehicle may also will appear following two situation:
(1) if the vehicle motor torque that is applied to drive shaft is excessive, although ESP can be responded, to reduce drive shaft torsion
Square, but the response time is with wheel slip thresholding for reference, that is to say, that trigger threshold must be reached, just triggered, therefore
Snow field mode control system can have a time difference.
Within this time difference, drive shaft wheel and snowfield slope pavement are it is possible that the case where skidding, even
Will appear the preceding road surface original of wheel starting is snowfield road surface (such as surface attachment coefficient μ=0.3), by driving wheel and road several times
After face idle running or skidding, road surface is being not snowfield road surface at this time, but like the non-snowfield of snowfield, like the mixing ice of the non-ice face of ice face
It avenges road surface (such as surface attachment coefficient μ=0.1), causes the step of vehicle recurrence at this time can be more difficult, or even be unable to complete snowfield
The starting of ramp road surface.
(2) if the vehicle motor torque that is applied to drive shaft is too small, although snowfield ramp road surface is not made to become ice
Road surface is avenged, but a possibility that drive shaft torque does not provide vehicle start torque demand, and there are vehicle anti-slides at this time, causes traffic
The fortuitous events such as accident, property loss, casualties.
As it can be seen that there are problems that vehicle possibly can not normally start to walk from snowfield ramp under current " snow field mode ".
Summary of the invention
Purpose of this disclosure is to provide the hill start assistance methods and device under a kind of snow field mode, for solving snowfield
When uphill starting the technical issues of vehicle anti-slide.
According to a first aspect of the embodiments of the present invention, the hill start assistance method under a kind of snow field mode is provided, comprising:
It is snow field mode in the steer mode for detecting vehicle gear box, and when the vehicle be on ramp, obtains use
In the operation for controlling the vehicle start；
Whether the pressure of wheel braking cylinder for detecting the non-driving wheel of the vehicle is enough to enable the stationary vehicle on the ramp；
It is enough to enable the stationary vehicle when on the ramp in the pressure of wheel braking cylinder of the non-driving wheel, discharges the vehicle
Driving wheel pressure of wheel braking cylinder；
Tractive effort torque is exported to the driving wheel；
The pressure of wheel braking cylinder of the non-driving wheel is discharged, to drive the vehicle start.
Optionally, the method also includes:
Monitor the status information of the vehicle, wherein the status information include speed, wheel speed, gear, pressure of wheel braking cylinder,
At least one of wheel acceleration and the inclined degree on ramp；
Whether it is enough to enable the stationary vehicle on the ramp in the pressure of wheel braking cylinder for the non-driving wheel for detecting the vehicle
Later, further includes:
If the pressure of wheel braking cylinder of the non-driving wheel is not enough to enable the stationary vehicle on the ramp, it is based on the shape
State information establishes pressure of wheel braking cylinder to the non-driving wheel, so that the pressure of wheel braking cylinder of the non-driving wheel is enough to enable the stationary vehicle
On the ramp.
Optionally, after obtaining the operation for controlling the vehicle start, further includes:
Detect the state of the parking brake of the vehicle；
When detecting that the parking brake is in release conditions, pass through the first prompt of instrument board output of the vehicle
Information, to prompt the uphill starting miscellaneous function under driver's snow field mode to have been turned on；Or,
When detecting that the parking brake is in on-position, pass through the second prompt of instrument board output of the vehicle
Information, to prompt driver to discharge parking brake.
Optionally, tractive effort torque is exported to the driving wheel, comprising:
According to the tread-on quantity of the gas pedal of the vehicle and predetermined torque gradient, it is smoothly output to the driving wheel
Tractive effort torque.
Optionally, the pressure of wheel braking cylinder of the driving wheel of the vehicle is discharged, comprising:
The pressure of wheel braking cylinder of the driving wheel of the vehicle is discharged by the body electronics systems stabilisation ESP of the vehicle；
Tractive effort torque is exported to the driving wheel, comprising:
Tractive effort torque is exported to the driving wheel by the traction control system TCS of the vehicle；
Discharge the pressure of wheel braking cylinder of the non-driving wheel, comprising:
The pressure of wheel braking cylinder of the non-driving wheel is discharged by the ESP.
According to a second aspect of the embodiments of the present invention, a kind of road starting auxiliary device is provided, comprising:
Module is obtained, for being snow field mode in the steer mode for detecting vehicle gear box, and the vehicle is in slope
When on road, the operation for controlling the vehicle start is obtained；
First detection module, for detecting whether the pressure of wheel braking cylinder of non-driving wheel of the vehicle is enough to enable the vehicle quiet
Only on the ramp；
First release module enables the stationary vehicle in the ramp for being enough in the pressure of wheel braking cylinder of the non-driving wheel
When upper, the pressure of wheel braking cylinder of the driving wheel of the vehicle was discharged；
First output module, for exporting tractive effort torque to the driving wheel；
Second release module, for discharging the pressure of wheel braking cylinder of the non-driving wheel, to drive the vehicle start.
Optionally, described device further include:
Monitoring modular, for monitoring the status information of the vehicle, wherein the status information includes speed, wheel speed, gear
At least one of position, pressure of wheel braking cylinder, wheel acceleration and inclined degree on ramp；
Module is established, for whether being enough to enable the stationary vehicle in the pressure of wheel braking cylinder for the non-driving wheel for detecting the vehicle
After on the ramp, if the pressure of wheel braking cylinder of the non-driving wheel is not enough to enable the stationary vehicle on the ramp,
Pressure of wheel braking cylinder is established to the non-driving wheel based on the status information, so that the pressure of wheel braking cylinder of the non-driving wheel is enough to enable institute
Stationary vehicle is stated on the ramp.
Optionally, described device further include:
Second detection module, the state of the parking brake for detecting the vehicle；
Second output module, for passing through the vehicle when detecting that the parking brake is in on-position
Instrument board exports the first prompt information, to prompt driver to discharge parking brake；
Third output module, for passing through the vehicle when detecting that the parking brake is in release conditions
Instrument board exports the second prompt information, to prompt the uphill starting miscellaneous function under driver's snow field mode to have been turned on.
Optionally, first output module is used for:
According to the tread-on quantity of the gas pedal of the vehicle and predetermined torque gradient, it is smoothly output to the driving wheel
Tractive effort torque.
Optionally, first release module is used for:
The pressure of wheel braking cylinder of the driving wheel of the vehicle is discharged by the body electronics systems stabilisation ESP of the vehicle；
First output module is used for:
Tractive effort torque is exported to the driving wheel by the traction control system TCS of the vehicle；
Second release module is used for:
The pressure of wheel braking cylinder of the non-driving wheel is discharged by the ESP.
In the embodiment of the present disclosure, driver, when starting to walk on the ramp on snowfield road surface, can detecte vehicle using snow field mode
The pressure of wheel braking cylinder of non-driving wheel whether be enough to support stationary vehicle on ramp, if the pressure of wheel braking cylinder of non-driving wheel is enough
It supports stationary vehicle on ramp, the pressure of wheel braking cylinder of the driving wheel of vehicle can be discharged, vehicle will not come down at this time, then to drive
Driving wheel exports tractive effort torque, and discharges the pressure of wheel braking cylinder of non-driving wheel, and then drives vehicle start.Pass through the above technical side
Case can assist driver or the insufficient driver of driving experience smoothly to start to walk on snowfield ramp, avoid vehicle anti-slide situation
Generation, reduce traffic accident incidence, and ensure occupant safety, improve the safety of vehicle.Meanwhile it is above-mentioned
Method in the logic control framework of existing snow field mode, can be can be realized as by directly by the improvement on software,
Without the investment of other extra costs, development cost is saved.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the process of the hill start assistance method under a kind of snow field mode shown according to an exemplary embodiment
Figure.
Fig. 2 is the integral frame schematic diagram of driving mode control system shown according to an exemplary embodiment.
Fig. 3 is that driver shown according to an exemplary embodiment operates vehicle in the operation timing of snowfield uphill starting
Figure.
Fig. 4 is instrument board prompt control strategy schematic diagram shown according to an exemplary embodiment.
Fig. 5 is snowfield uphill starting control strategy logical schematic shown according to an exemplary embodiment.
Fig. 6 is the block diagram of the ramp starting aid under a kind of snow field mode shown according to an exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Fig. 1 is the process of the hill start assistance method under a kind of snow field mode shown according to an exemplary embodiment
Figure, as shown in Figure 1, the hill start assistance method under the snow field mode can be applied in vehicle, includes the following steps.
Step S11: it is snow field mode in the steer mode for detecting vehicle gear box, and when vehicle is on ramp, obtains
It takes in the operation of control vehicle start；
Step S12: whether the pressure of wheel braking cylinder for detecting the non-driving wheel of vehicle is enough to enable stationary vehicle on ramp；
Step S13: it is enough to enable stationary vehicle when on ramp in the pressure of wheel braking cylinder of non-driving wheel, discharges the driving wheel of vehicle
Pressure of wheel braking cylinder；
Step S14: tractive effort torque is exported to driving wheel；
Step S15: discharging the pressure of wheel braking cylinder of non-driving wheel, to drive vehicle start.
Vehicle in the embodiment of the present disclosure can be the vehicle of the automatic transmission of two drives (forerunner or rear-guard), for example, can
To be the forerunner's fluid drive vehicle, etc. for including two drivings front-wheels and two non-driven rear-wheels.
The hill start assistance method under snow field mode in the embodiment of the present disclosure can be patrols in original snow field mode
It collects in control framework, is realized by increasing snowfield uphill starting control logic, such as referred to as snowfield uphill starting auxiliary strategy,
Policy module is assisted to realize its function by the snowfield uphill starting increased in snow field mode.It below will be to addition snowfield slope
The integral frame of driving mode control system after road starting auxiliary strategy is illustrated, and Fig. 2 is referred to, when driver passes through vehicle
When drive mode switch selection snow field mode, signal instruction just passes through local interconnect network (Local Interconnect
Network, LIN) line is transmitted to car body control module (Body Control Module, BCM), and signal is passed through CAN again by BCM
Bus is sent to ESP, and last ESP is entered in driving mode control strategy module after receiving instruction, and mutual with subsystem
Response check is entered after verifying successfully in snow field mode policy module.Then snowfield uphill starting auxiliary strategy is in standby
State, and being operated according to current vehicle condition and driver, judge snowfield uphill starting strategy whether can successful activation, if
Successful activation advances in snowfield uphill starting auxiliary strategy, coordinates ESP, engine management system (Engine
Management System, EMS), the systems such as speed changer electronic control unit (Transmission Control Unit, TCU) it is complete
It starts to walk at car ramp.
So in the case where vehicle is in snow field mode, snowfield uphill starting auxiliary strategy is in standby, when detecting vehicle
On the ramp, and obtains driver and just to be triggered in the operation to start to walk on ramp.It is for how to detect vehicle
No the embodiment of the present disclosure is not construed as limiting on ramp, for example can be obtained by the gravity sensor detection being installed on vehicle
Take, etc..The driveaway operation of driver such as can be the operation of release brake pedal.For example, detecting vehicle gear box
Steer mode is snow field mode, and vehicle is on the ramp that the gradient is 15%, and speed 0 is released then getting driver at this time
Put the operation of brake pedal, it is believed that driver prepares starting, then snowfield uphill starting auxiliary strategy can be triggered.
When being parked on ramp due to vehicle, pressure of wheel braking cylinder can be applied with to each wheel, and then allow entire vehicle can
It is still on ramp without gliding.After snowfield uphill starting auxiliary strategy is triggered, the non-driving wheel of vehicle can detecte
The pressure of wheel braking cylinder of upper application whether can support vehicle, for the mode of detection, the embodiment of the present disclosure is not construed as limiting, for example,
The wheel of the upper application of non-driving wheel can be determined by parameters such as acquisition vehicle current wheel speed, wheel acceleration, pressure of wheel braking cylinder
Whether cylinder pressure can support vehicle not come down.
If detecting to have been able to be enough to enable stationary vehicle on current slope with the pressure of wheel braking cylinder applied on non-driving wheel
It does not come down on road, can directly carry out next step, and if being not enough to enable vehicle with the pressure of wheel braking cylinder applied on non-driving wheel
It is still on current ramp and not to come down, then first non-driving wheel can be given to increase pressure of wheel braking cylinder, until the wheel of non-driving wheel
Cylinder pressure can support vehicle not come down, then carry out next step.
Optionally, the status information of vehicle can be monitored, wherein status information includes speed, wheel speed, gear, wheel cylinder pressure
At least one of power, wheel acceleration and inclined degree on ramp；It is in the pressure of wheel braking cylinder of the non-driving wheel of detection vehicle
It is no be enough to enable stationary vehicle on ramp after, if the pressure of wheel braking cylinder of non-driving wheel is not enough to enable stationary vehicle on ramp,
Pressure of wheel braking cylinder can be established to non-driving wheel based on status information, so that the pressure of wheel braking cylinder of non-driving wheel is enough that stationary vehicle is enabled to exist
On ramp.
That is, in snowfield uphill starting auxiliary strategy the status information of vehicle can be monitored in real time, in non-drive
The pressure of wheel braking cylinder of driving wheel is not enough to enable stationary vehicle when on ramp, can be determined according to the status information of the vehicle monitored
How many pressure of wheel braking cylinder, which can support vehicle, is established to non-driving wheel, and then establishes pressure of wheel braking cylinder to non-driving wheel, to non-driven
Wheel, which is established after pressure of wheel braking cylinder, can allow the left and right wheel cylinder of non-driving wheel to carry out pressure maintaining, and this pressure maintaining value allows stationary vehicle enough
On snowfield ramp.Pressure of wheel braking cylinder can be established to non-driving wheel by the ESP system of vehicle in practical applications.In this way,
Vehicle can be helped to maintain enough tractions by non-driving wheel, to slip after preventing vehicle.
It is enough to enable stationary vehicle when on ramp in the pressure of wheel braking cylinder of the non-driving wheel of vehicle, the driving of vehicle can be discharged
The pressure of wheel braking cylinder of wheel, after release, vehicle can be still still on ramp, then export tractive effort torque to driving wheel, then
The pressure of wheel braking cylinder for discharging non-driving wheel, by the matching between driving wheel and non-driving wheel and is connected, can be so that vehicle exists
Gentle start under the operating condition of snowfield ramp.The tractive effort torque of output, which can be, tramples gas pedal according to driver to export
, it is also possible to after driver carries out the operation (such as operation of release brake pedal) of control vehicle start, vehicle is automatic
It is exported to driving wheel, the embodiment of the present disclosure is not construed as limiting this.
Fig. 3 is referred to, Fig. 3 is that driver operates vehicle in the operation timing figure of snowfield uphill starting.In order to enable the vehicle to
Enough moment auxiliary drivers complete the operation of snowfield uphill starting, and the control of snowfield uphill starting must meet driver and routinely drive behaviour
Make, as shown in Figure 3:
1. driving towards snow when vehicle selects snow field mode with certain speed and certain ramp angle (10%/15%/20%)
Ground ramp road surface；
2. driver applies the brake pressure that can satisfy vehicle stopping, to stop and keep stationary vehicle；
3. the control logic of driver's release brake pedal, snowfield uphill starting identifies starting demand, logical triggering；
4. accelerator pedal, vehicle quickly, gentle start.
Certainly, snowfield uphill starting auxiliary strategy can also be applied after complete parking is on snowfield ramp, and igniting carries out
The case where starting.
Optionally, the pressure of wheel braking cylinder of the driving wheel of vehicle can be discharged by the body electronics systems stabilisation ESP of vehicle；It is logical
The traction control system TCS for crossing vehicle exports tractive effort torque to driving wheel；The wheel cylinder pressure of non-driving wheel is discharged by ESP
Power.
That is, the electric stabilizing system ESP and polling power controlling that vehicle has can be controlled by way of software
System TCS coordinates to complete to save the process of release pressure of wheel braking cylinder and output tractive effort torque without increasing additional hardware
Development cost.
Optionally, tractive effort torque is exported to driving wheel, it can be according to the tread-on quantity of the gas pedal of vehicle and default
Tractive effort torque is smoothly output to driving wheel in torque gradient.
It is excessive and cause vehicle to be rushed or generation the phenomenon that driving wheel skids that the torque to driving wheel is exported in order to prevent,
Certain torque gradient (predetermined torque gradient) can be preset, then can step on the gas with predetermined torque gradient and driver
The tread-on quantity of pedal smoothly to export tractive effort torque to driving wheel, does not generate larger cunning with road surface to reach vehicle tyre
Premised on shifting rate and destruction snowfield surface roughness, vehicle is realized in the purpose of snowfield ramp gentle start.In practical application
In, it can also go to establish left and right wheels distribution torque with the left and right wheels difference in wheel under relatively, the embodiment of the present disclosure is not construed as limiting this.
Optionally, after obtaining the operation for controlling vehicle start, the parking brake of vehicle can also be detected
State；When detecting that parking brake is in release conditions, the first prompt information is exported by the instrument board of vehicle, with prompt
Uphill starting miscellaneous function under driver's snow field mode has been turned on；Or, when detecting that parking brake is in on-position,
The second prompt information is exported by the instrument board of vehicle, to prompt driver to discharge parking brake.
Parking brake, that is, mechanical parking brake or electronics parking brake, the state for detecting parking brake, which namely detects, drives
The person of sailing whether pull-up machinery parking brake or electronics parking brake.Driver applies brake pedal and meets vehicle in the parking of certain snowfield ramp
Afterwards, according to current driver's whether pull-up machinery parking brake or electronics parking brake, two kinds of situations can be divided into and carry out prompt processing, in detail
Carefully it is described below:
The first situation: driver does not have pull-up machinery parking brake or electronics parking brake.
When driver has starting to be intended to, as gear is suspended to, " forward gear ", " pedal of stepping on the throttle ", " driver is not stepped on
Brake pedal or Brake lamp do not have bright " etc. operation after, snowfield uphill starting auxiliary policy module monitor that vehicle is now in snow
Ground ramp, and driver prepares starting, and snowfield uphill starting auxiliary policy module request ESP system is sent out to CAN network at this time
Send a standby signal to instrument board, such as prompt " snowfield uphill starting control system has been turned on " printed words, auxiliary driver's snow
Ground uphill starting vehicle operating.
Second situation: driver's pull-up machinery parking brake or electronics parking brake.
At this point, snowfield uphill starting auxiliary is tactful at this time when driver has starting to be intended to (such as the first situation describes)
Start to start, request ESP sends a standby signal to instrument board, such as prompt request driver " snowfield ramp to CAN network
Starting auxiliary system has turned on, and please discharge mechanical parking brake or electronics parking brake " printed words, to inform driver's manual releasing machinery parking brake
Or electronics parking brake.
For example, instrument prompts control strategy as shown in figure 4, ought not meet uphill starting supplementary controlled system trigger condition
When, instrument IP prompt " discharges mechanical parking brake or electronics parking brake ", and the display time is 3 seconds, to inform driver；It is risen when meeting ramp
When walking supplementary controlled system trigger condition, if speed never reaches scheduled speed (such as 5KPH), instrument can be held
Continuous text prompt " snow field mode uphill starting control system has been turned on " or " snow field mode icon flashes always ", represents snowfield slope
Road starting control system is constantly in working condition, if speed reaches 5KPH, represents vehicle and successfully starts to walk, instrument without
Any display and prompt.
In the above manner, driver is capable of the operating condition of timely learning snowfield uphill starting auxiliary policy module, have
Vehicle is preferably driven conducive to driver.
In order to be preferably illustrated to the hill start assistance method under the snow field mode of disclosure offer, will lead to below
Complete embodiment is crossed to be illustrated.
Fig. 5 is referred to, Fig. 5 is illustrative snowfield uphill starting control strategy logic chart.ESP control system can detecte
Extraneous input signal, such as wheel speed, speed, gear, pressure of wheel braking cylinder, wheel acceleration etc., after driver's parking, the driving wheel of vehicle
Parking pressure can be established with non-driving wheel, is currently on snowfield ramp if detected at this time, driver is controlled
The operation of vehicle start, then the auxiliary policy module of snowfield uphill starting is started to work, it can be according to four when driver's parking
The pressure of wheel braking cylinder value of wheel, request ESP open non-driven rear wheel or so wheel cylinder into pressure valve (EV), and to rear-wheel or so wheel cylinder after
A vertical pressure value (this value is calibration value) is continued, then allows rear-wheel or so wheel cylinder to carry out pressure maintaining, and this pressure maintaining value can be sufficient
It enough allows stationary vehicle in the trail gradient, while ESP system opens the relief valve (AV) of driving front vehicle wheel or so wheel cylinder, allows wheel cylinder
In pressure all release, to car ramp starting the moment carry out adequate preparation.
Snowfield uphill starting control system can request TCS module in ESP, establish tractive effort torque to driving wheel, to non-drive
Driving wheel establishes brake force and keeps (traction).
In snowfield uphill starting control strategy, the dynamic torque control module and braking torque of tractive effort torque control mould
Block, will not completely depend on slip rate and wheel acceleration thresholding is reference frame, go to establish tractive effort torque or left and right wheels distribution
Torque, but request engine control system is gone with certain torque gradient in initial stage tractive effort torque dynamic torque control module
Tractive effort torque is found in construction in a systematic way, or goes to establish left and right wheels distribution torque with the left and right wheels difference in wheel under relatively, to reach vehicle
Tire and road surface do not generate larger slip rate and destroy premised on snowfield surface roughness, and it is steady in snowfield ramp to realize vehicle
The purpose of starting.
After vehicle traction torque, which reaches vehicle, sails out of requirement, ESP opens non-driven rear axle or so wheel cylinder relief valve, with
Whole pressure of wheel braking cylinder are discharged, keep vehicle torque release steady, complete the starting of snowfield ramp road surface.
Fig. 6 is referred to, based on the same inventive concept, the uphill starting that the embodiment of the present invention is provided under a kind of snow field mode is auxiliary
Device 600 is helped, which may include:
Module 601 is obtained, for being snow field mode in the steer mode for detecting vehicle gear box, and vehicle is in ramp
When upper, the operation for controlling vehicle start was obtained；
First detection module 602, for detecting whether the pressure of wheel braking cylinder of non-driving wheel of vehicle is enough that stationary vehicle is enabled to exist
On ramp；
First release module 603, is enough to enable stationary vehicle when on ramp for the pressure of wheel braking cylinder in non-driving wheel, release
The pressure of wheel braking cylinder of the driving wheel of vehicle；
First output module 604, for exporting tractive effort torque to driving wheel；
Second release module 605, for discharging the pressure of wheel braking cylinder of non-driving wheel, to drive vehicle start.
Optionally, device 600 further include:
Monitoring modular, for monitoring the status information of vehicle, wherein status information includes speed, wheel speed, gear, wheel cylinder
At least one of pressure, wheel acceleration and inclined degree on ramp；
Module is established, whether the pressure of wheel braking cylinder for the non-driving wheel in detection vehicle is enough to enable stationary vehicle in ramp
Later, if the pressure of wheel braking cylinder of non-driving wheel is not enough to enable stationary vehicle on ramp, non-driving wheel is built based on status information
Vertical pressure of wheel braking cylinder, so that the pressure of wheel braking cylinder of non-driving wheel is enough to enable stationary vehicle on ramp.
Optionally, device 600 further include:
Second detection module, the state of the parking brake for detecting vehicle；
Second output module, it is defeated by the instrument board of vehicle for when detecting that parking brake is in on-position
First prompt information out, to prompt driver to discharge parking brake；
Third output module, it is defeated by the instrument board of vehicle for when detecting that parking brake is in release conditions
Second prompt information out, to prompt the uphill starting miscellaneous function under driver's snow field mode to have been turned on.
Optionally, the first output module 604 is used for:
According to the tread-on quantity of the gas pedal of vehicle and predetermined torque gradient, tractive force is smoothly output to driving wheel and turns round
Square.
Optionally, the first release module 603 is used for:
The pressure of wheel braking cylinder of the driving wheel of vehicle is discharged by the body electronics systems stabilisation ESP of vehicle；
First output module 604 is used for:
Tractive effort torque is exported to driving wheel by the traction control system TCS of vehicle；
Second release module 605 is used for:
The pressure of wheel braking cylinder of non-driving wheel is discharged by ESP.
In embodiment provided by the present invention, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the module or unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. the hill start assistance method under a kind of snow field mode characterized by comprising
It is snow field mode in the steer mode for detecting vehicle gear box, and when the vehicle be on ramp, acquisition is for controlling
Make the operation of the vehicle start；
Whether the pressure of wheel braking cylinder for detecting the non-driving wheel of the vehicle is enough to enable the stationary vehicle on the ramp；
It is enough to enable the stationary vehicle when on the ramp in the pressure of wheel braking cylinder of the non-driving wheel, discharges the drive of the vehicle
The pressure of wheel braking cylinder of driving wheel；
Tractive effort torque is exported to the driving wheel；
The pressure of wheel braking cylinder of the non-driving wheel is discharged, to drive the vehicle start.
2. the method according to claim 1, wherein the method also includes:
Monitor the status information of the vehicle, wherein the status information include speed, wheel speed, gear, pressure of wheel braking cylinder, wheel plus
At least one of speed and the inclined degree on ramp；
Detect the pressure of wheel braking cylinder of non-driving wheel of the vehicle whether be enough to enable the stationary vehicle on the ramp after,
Further include:
If the pressure of wheel braking cylinder of the non-driving wheel is not enough to enable the stationary vehicle on the ramp, believed based on the state
Breath establishes pressure of wheel braking cylinder to the non-driving wheel, so that the pressure of wheel braking cylinder of the non-driving wheel is enough to enable the stationary vehicle in institute
It states on ramp.
3. the method according to claim 1, wherein obtain for control the vehicle start operation it
Afterwards, further includes:
Detect the state of the parking brake of the vehicle；
When detecting that the parking brake is in release conditions, believed by the first prompt of instrument board output of the vehicle
Breath, to prompt the uphill starting miscellaneous function under driver's snow field mode to have been turned on；Or,
When detecting that the parking brake is in on-position, believed by the second prompt of instrument board output of the vehicle
Breath, to prompt driver to discharge parking brake.
4. the method according to claim 1, wherein exporting tractive effort torque to the driving wheel, comprising:
According to the tread-on quantity of the gas pedal of the vehicle and predetermined torque gradient, traction is smoothly output to the driving wheel
Power torque.
5. the method according to claim 1, wherein discharging the pressure of wheel braking cylinder of the driving wheel of the vehicle, comprising:
The pressure of wheel braking cylinder of the driving wheel of the vehicle is discharged by the body electronics systems stabilisation ESP of the vehicle；
Tractive effort torque is exported to the driving wheel, comprising:
Tractive effort torque is exported to the driving wheel by the traction control system TCS of the vehicle；
Discharge the pressure of wheel braking cylinder of the non-driving wheel, comprising:
The pressure of wheel braking cylinder of the non-driving wheel is discharged by the ESP.
6. the ramp starting aid under a kind of snow field mode characterized by comprising
Module is obtained, for being snow field mode in the steer mode for detecting vehicle gear box, and the vehicle is on ramp
When, obtain the operation for controlling the vehicle start；
First detection module, for detecting whether the pressure of wheel braking cylinder of non-driving wheel of the vehicle is enough that the stationary vehicle is enabled to exist
On the ramp；
First release module enables the stationary vehicle in the ramp for being enough in the pressure of wheel braking cylinder of the non-driving wheel
When, discharge the pressure of wheel braking cylinder of the driving wheel of the vehicle；
First output module, for exporting tractive effort torque to the driving wheel；
Second release module, for discharging the pressure of wheel braking cylinder of the non-driving wheel, to drive the vehicle start.
7. device according to claim 6, which is characterized in that described device further include:
Monitoring modular, for monitoring the status information of the vehicle, wherein the status information include speed, wheel speed, gear,
At least one of pressure of wheel braking cylinder, wheel acceleration and inclined degree on ramp；
Module is established, for whether being enough to enable the stationary vehicle in institute in the pressure of wheel braking cylinder for the non-driving wheel for detecting the vehicle
After stating on ramp, if the pressure of wheel braking cylinder of the non-driving wheel is not enough to enable the stationary vehicle on the ramp, it is based on
The status information establishes pressure of wheel braking cylinder to the non-driving wheel, so that the pressure of wheel braking cylinder of the non-driving wheel is enough to enable the vehicle
It is still on the ramp.
8. device according to claim 6, which is characterized in that described device further include:
Second detection module, the state of the parking brake for detecting the vehicle；
Second output module, for passing through the instrument of the vehicle when detecting that the parking brake is in on-position
Disk exports the first prompt information, to prompt driver to discharge parking brake；
Third output module, for passing through the instrument of the vehicle when detecting that the parking brake is in release conditions
Disk exports the second prompt information, to prompt the uphill starting miscellaneous function under driver's snow field mode to have been turned on.
9. device according to claim 6, which is characterized in that first output module is used for:
According to the tread-on quantity of the gas pedal of the vehicle and predetermined torque gradient, traction is smoothly output to the driving wheel
Power torque.
10. device according to claim 6, which is characterized in that first release module is used for:
The pressure of wheel braking cylinder of the driving wheel of the vehicle is discharged by the body electronics systems stabilisation ESP of the vehicle；
First output module is used for:
Tractive effort torque is exported to the driving wheel by the traction control system TCS of the vehicle；
Second release module is used for:
The pressure of wheel braking cylinder of the non-driving wheel is discharged by the ESP.
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| CN201710379472.6A CN108944931B (en) | 2017-05-25 | 2017-05-25 | Hill start assisting method and device in snowfield mode |
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| CN201710379472.6A CN108944931B (en) | 2017-05-25 | 2017-05-25 | Hill start assisting method and device in snowfield mode |
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