CN109094563A - Vehicle start auxiliary control method, system and vehicle - Google Patents
Vehicle start auxiliary control method, system and vehicle Download PDFInfo
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- CN109094563A CN109094563A CN201810805971.1A CN201810805971A CN109094563A CN 109094563 A CN109094563 A CN 109094563A CN 201810805971 A CN201810805971 A CN 201810805971A CN 109094563 A CN109094563 A CN 109094563A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000012423 maintenance Methods 0.000 claims 1
- 230000001133 acceleration Effects 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- 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
- 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
-
- 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
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of vehicle start auxiliary control method, system and vehicles, when including: in response to receiving starting instruction, obtain pressure release curve, wherein, the pressure release curve be braking system brake pressure value with the curve that changes over time according to the pressure release curve controlled braking system pressure release；The pressure release curve meets the following conditions: (1) the brake pressure value for controlling braking system first drops to p1 from p0, and can guarantee that vehicle is not started to walk under various operating conditions under p1 pressure value, wherein p0 is the pressure value for building pressure completely；(2) the brake pressure value for then controlling braking system drops to p2 from p1, and p2 is to make vehicle maintain the minimum of fixed position to maintain pressure；(3) absolute value of the slope of straight line where the absolute value of the slope of the p0 on pressure release curve and p1 two o'clock place straight line is greater than p1 and p2 two o'clock.This invention ensures that good ride comfort, safety and passenger's starting have good experience.
Description
Technical field
The invention belongs to vehicle start control technology fields, and in particular to a kind of vehicle start auxiliary control method, system
And vehicle.
Background technique
As shown in figure 3, existing vehicle start auxiliary control strategy is as follows: when in response to receiving starting instruction, with constant
Pressure release speed control braking system pressure release.But this control mode has the following problems, since pressure release excessive velocities are (referring to figure
Pressure release curve 2 in 3, the pressure release slope of a curve are larger), when vehicle is in uphill starting, especially descending is started to walk, and is existed
The inadequate problem of vehicle start ride comfort, and acceleration from rest is larger, therefore safety is not high.In order to guarantee the ride comfort of starting
And safety, it is common practice to reduce pressure release slope of a curve, pressure release curve 3 as shown in Figure 3, but this control mode adds
The start-up time for having grown vehicle leads to vehicle start overlong time, causes bad passenger and starts to walk to experience.
Therefore, it is necessary to develop a kind of new vehicle start auxiliary control method, system and vehicle.
Summary of the invention
The object of the present invention is to provide a kind of vehicle start auxiliary control method, system and vehicles, to ensure vehicle start
When have good ride comfort and safety, and guarantee passenger starting have good experience.
Vehicle start auxiliary control method of the present invention, comprising the following steps:
When in response to receiving starting instruction, pressure release curve is obtained, wherein the pressure release curve is the brake of braking system
Pressure value is with the curve that changes over time；
According to the pressure release curve controlled braking system pressure release；
The pressure release curve meets the following conditions:
(1) the brake pressure value for controlling braking system first drops to p1 from p0, and can guarantee vehicle under p1 pressure value
It does not start to walk under various operating conditions, wherein p0 is the pressure value for building pressure completely；
(2) the brake pressure value for then controlling braking system drops to p2 from p1, and p2 is fixed to maintain vehicle
The minimum of position maintain pressure；
(3) absolute value of the slope of the p0 on pressure release curve and p1 two o'clock place straight line is greater than straight line where p1 and p2 two o'clock
Slope absolute value.
Further, the pressure release curve meets the following conditions:
(1) pressure value is gradually dropped to from p0 by p1 with pressure release speed V1；
(2) pressure value is gradually dropped to by p1 by p2 with pressure release speed V2；
Wherein: V1 > V2, p1 > p2.
Further, after pressure value drops to p2, continue pressure release, so that pressure value is less than p2, until detecting this vehicle speed
When reaching preset vehicle speed V, process terminates.
Further, after pressure value drops to p2, pressure release is continued with pressure release speed V2, until detecting that this vehicle speed reaches
When preset vehicle speed V, process terminates.
Further, after pressure value drops to p2, continue pressure release and keep current pressure values constant afterwards for a period of time, Zhi Daojian
When measuring this vehicle speed and reaching preset vehicle speed V, process terminates.
Further, after pressure value drops to p2, pressure release is continued with pressure release speed V2 and keeps current pressure afterwards for a period of time
It is worth constant, when detecting that this vehicle speed reaches preset vehicle speed V, process terminates.
Further, as short as possible the time required to pressure value being dropped to p1 from p0.
Further, the pressure release speed V1 is a constant value, or the value to change between the first value and second value；
The pressure release speed V1 is a constant value, or the value to change between third value and the 4th value；
Wherein, the first value, second value, third value and the 4th value are obtained by real vehicle calibration, and the 4th value of third value <
< the first value < second value.
Vehicle start of the present invention controls ancillary equipment, including controller, the controller be programmed to perform as
Step of the present invention.
Further, the controller is APA controller, or is auto-pilot controller.
Vehicle of the present invention, including vehicle start as described in the present invention control ancillary equipment.
The invention has the following advantages that
(1) present invention is guaranteed by controlling the smaller slope of brake pressure change curve (i.e. pressure release curve) in starting
Vehicle has good ride comfort and safety in starting；
(2) present invention reaches starting critical value comparatively fast by control brake pressure change curve to guarantee that it is good that passenger's starting has
Good experience.
Detailed description of the invention
Fig. 1 is the force analysis comparison diagram that vehicle is started to walk on different roads；
Fig. 2 is the schematic diagram of the pressure release curve of embodiment one in the present invention；
Fig. 3 is the pressure release curve of embodiment one and the comparison diagram of the prior art in the present invention；
Fig. 4 is the schematic diagram of the pressure release curve of embodiment two in the present invention；
Fig. 5 is the flow chart of embodiment one in the present invention；
Fig. 6 is the flow chart of embodiment two in the present invention；
Fig. 7 is the schematic diagram of the pressure release curve of embodiment three in the present invention；
Fig. 8 is the schematic diagram of the pressure release curve of example IV in the present invention；
Fig. 9 is the schematic diagram of the pressure release curve of embodiment five in the present invention；
Figure 10 is the schematic diagram of the pressure release curve of embodiment six in the present invention；
Figure 11-Figure 13 is the schematic diagram of the pressure release curve of embodiment seven in the present invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
(1) factor of the ride comfort of vehicle is influenced:
Before vehicle start, due to fESPIt is larger, fpowertrain+fGResultant force cannot allow vehicle launch, therefore acceleration a is always
Zero；Wherein: fESPIndicate the power that braking system provides；fpowertrainThe power provided for engine；fGFor the partical gravity of vehicle,
When vehicle is started to walk on upward slope, fGIt is negative；When vehicle is started to walk on level road, fGIt is zero, when vehicle is started to walk on descending,
fGIt is positive.
(1) operating condition that vehicle is started to walk on level road
Following formula is obtained since carrying out force analysis to vehicle in Fig. 1 (a) level road vehicle start, wherein m is vehicle
Quality, a are vehicle accelerations:
Ma=fpowertrain-fESP (1.1)
fESP=ps (1.2)
Wherein: p is brake system pressure value, and s is the contact area of braking system and brake disc.
Due to fpowertrainFor fixed value, differential is carried out to formula (1.1) and is obtained:
A'=-p'(1.3).
(2) operating condition that vehicle is started to walk on descending
Following formula is obtained since carrying out force analysis to vehicle in Fig. 1 (b) descending vehicle start:
Ma=fpowertrain+fG-fESP(2.1)；
fESP=ps (2.2)；
Due to fpowertrain、fGFor fixed value, differential is carried out to formula (2.1) and is obtained:
A'=-p'(2.3).
(3) operating condition that vehicle is started to walk on upward slope
Following formula is obtained since carrying out force analysis to vehicle in Fig. 1 (c) upward slope vehicle start:
Ma=fpowertrain-fG-fESP(3.1)；
fESP=ps (3.2)；
Due to fpowertrain、fGFor fixed value, differential is carried out to formula (3.1) and is obtained:
A'=-p'(3.3).
By formula (1.3), (2.3) and formula (3.3) it is found that accelerating under the operating condition of level road, descending and starting of going up a slope
The variation of degree is positively correlated with the variation of brake system pressure.Acceleration change will affect the stress variation of longitudinal direction of car, and indulge
To directed varying forces can be transmitted to transverse direction by the suspension shock mitigation system of vehicle, acceleration change is smaller, and the ride comfort of vehicle is also got over
It is good, therefore can show that the ride comfort of vehicle depends on the variation of acceleration.
(2) factor of the safety of vehicle is influenced:
The formula of the speed v of vehicle is as follows:
By formula (4.1) it is found that car speed is the integral of acceleration.It is urgent if there is needing after vehicle start
In the case where braking, the brake force that the braking system of vehicle generates is fixed, and car speed is smaller, when hard brake stop
Between it is also shorter, corresponding safety is also higher, therefore acceleration from rest also affects the safety of vehicle.
Ride comfort and safety in order to ensure vehicle start, the present invention propose a kind of vehicle start auxiliary controlling party
Method, comprising the following steps:
When in response to receiving starting instruction, pressure release curve is obtained, wherein the pressure release curve is the brake of braking system
Pressure value is with the curve that changes over time；
According to the pressure release curve controlled braking system pressure release；
The pressure release curve meets the following conditions:
(1) the brake pressure value for controlling braking system first drops to p1 from p0, and can guarantee vehicle under p1 pressure value
It does not start to walk under various operating conditions, wherein p0 is the pressure value for building pressure completely；
(2) the brake pressure value for then controlling braking system drops to p2 from p1, and p2 is fixed to maintain vehicle
The minimum of position maintain pressure；
(3) absolute value of the slope of the p0 on pressure release curve and p1 two o'clock place straight line is greater than straight line where p1 and p2 two o'clock
Slope absolute value.
Embodiment one
As shown in Fig. 2, Fig. 3 and Fig. 5, ride comfort and safety in order to ensure vehicle start, the present embodiment propose one
Kind vehicle start auxiliary control method, comprising the following steps:
When in response to receiving starting instruction, pressure release curve is obtained, wherein the pressure release curve is the brake of braking system
Pressure value is with the curve that changes over time；
According to the pressure release curve controlled braking system pressure release；
The pressure release curve meets the following conditions:
(1) the brake pressure value of braking system is gradually dropped to from p0 by p1 with pressure release speed V1 first.
(2) the brake pressure value of braking system is gradually then dropped to by p1 by p2 with pressure release speed V2.
(3) after pressure value drops to p2, still continuing pressure release with pressure release speed V2 (also can be used other pressure release speed to continue
Pressure release), make pressure value be less than p2, until detect this vehicle speed reach preset vehicle speed V (such as: the V of a certain vehicle be 1.5m/
The V of s, different vehicles are different, are obtained according to real vehicle calibration) when, process terminates.
In the present embodiment, V1 is a constant value, and V2 is a constant value；And V1 > V2, p1 > p2.
At the time of t1 " in Fig. 2 is indicated when speed is preset vehicle speed V.
Pressure release curve described in the present embodiment, i.e. pressure release curve 1 in Fig. 3 first will with faster pressure release speed V1
For pressure value from p0 pressure release to p1, p1 is safe pressure value, and vehicle will not start to walk；Under in view of vehicle is fully loaded and different gradient
Corresponding brake system pressure value makes vehicle still not start to walk, and the selection of p1 has following feature:
(1) the various operating conditions of vehicle can guarantee that vehicle is not started to walk under p1 pressure value.
(2) braking system from build completely should be as short as possible the time required to pressure p0 drops to p1 pressure value, and the value of △ is most
Possibility is long, wherein △=t1 '-t1.
From figure 3, it can be seen that braking system pressure release is controlled using pressure release curve 1, first with biggish pressure release rate
V1 carries out pressure release, after the pressure value of braking system reaches p1 value, then with lesser pressure release speed V2 pressure release to p2 value, this scheme
It is T1, T1=t1 '-t0 from the total used time for receiving starting instruction to vehicle start.And in the prior art, if with pressure release curve 2
(referring to Fig. 3) controls braking system pressure release, from starting instruction is received to vehicle start total used time T2=t2-t0.If with letting out
Line 3 (referring to Fig. 3) buckle to control braking system pressure release, from starting instruction is received to the total used time T3=t3-t0 of vehicle start.
Due to t3 > t2 > t1 ', it can thus be concluded that going out, T3 > T2 > T1, you can get it is let out using pressure release curve 1 to control braking system
Pressure, the used time is most short, therefore ensure that passenger's starting has good experience.
As shown in Figures 2 and 3, the pressure release slope as corresponding to the pressure release curve 1 in t1 ' is smaller, by formula a'=-p'
It can show that the variation of vehicle acceleration is also smaller, therefore use this control mode of pressure release curve 1, can guarantee vehicle on ramp
The ride comfort of starting.By formulaSpeed is also smaller after integrating to it, therefore uses this controlling party of pressure release curve 1
Formula can guarantee the safety that vehicle is started to walk on ramp.
In the present embodiment, p1 value, the p2 value, t0, t1, t1 of every kind of vehicle ', t1 " and V be as obtained by real vehicle calibration.
In the present embodiment, the vehicle start controls ancillary equipment, including controller, the controller are programmed to hold
The step of capable vehicle start auxiliary control method as set forth in the present embodiment.
In the present embodiment, the controller is APA controller, or is auto-pilot controller or other controllers.
In the present embodiment, the vehicle controls ancillary equipment including vehicle start as set forth in the present embodiment.
Embodiment two
As shown in Figure 4 and Figure 6, in order to ensure the ride comfort of vehicle start and safety, one is also proposed in the present embodiment
Kind vehicle start auxiliary control method, comprising the following steps:
When in response to receiving starting instruction, pressure release curve is obtained, wherein the pressure release curve is the brake of braking system
Pressure value is with the curve that changes over time；
According to the pressure release curve controlled braking system pressure release；
The pressure release curve meets the following conditions:
(1) the brake pressure value of braking system is gradually dropped to from p0 by p1 with pressure release speed V1 first, and in p1 pressure
It can guarantee that vehicle is not started to walk under various operating conditions under value, wherein p0 is the pressure value for building pressure completely；
(2) the brake pressure value of braking system is gradually then dropped to by p1 by p2 with pressure release speed V2, p2 is to make vehicle
It maintains the minimum of fixed position and maintains pressure；
(3) after the brake pressure value of braking system drops to p2, other pressure releases speed (also still can be used with pressure release speed V2
Degree continue pressure release) continue pressure release for a period of time afterwards keep current pressure values it is constant (referring to fig. 4, after pressure release to t1a moment not followed by
Continuous pressure release), when detecting that this vehicle speed reaches preset vehicle speed V, process terminates.T1 " in Fig. 4 indicates that speed is default vehicle
At the time of when fast V.
In the present embodiment, V1 is a constant value, and V2 is a constant value；And V1 > V2, p1 > p2.
In the present embodiment, p1 value, the p2 value, t0, t1, t1 of every kind of vehicle ', t1a, t1 " and V pass through real vehicle and demarcate institute
?.
Rest part is the same as example 1.
In the present embodiment, the vehicle start controls ancillary equipment, including controller, the controller are programmed to hold
The step of capable vehicle start auxiliary control method as set forth in the present embodiment.
In the present embodiment, the controller is APA controller, or is auto-pilot controller or other controllers.
In the present embodiment, the vehicle controls ancillary equipment including vehicle start as set forth in the present embodiment.
Embodiment three
As shown in fig. 7, ride comfort and safety in order to ensure vehicle start, a kind of vehicle is also proposed in the present embodiment
Start auxiliary control method, wherein pressure release speed V1 is the value changed between the first value and second value, and pressure release speed V2 is not one not
The value of change, and the value is any value between third value and the 4th value.
Wherein, the first value, second value and pressure release speed V2 are real vehicle calibration and obtain.
Rest part is the same as example 1.
In the present embodiment, the vehicle start controls ancillary equipment, including controller, the controller are programmed to hold
The step of capable vehicle start auxiliary control method as set forth in the present embodiment.
In the present embodiment, the controller is APA controller, or is auto-pilot controller or other controllers.
In the present embodiment, the vehicle controls ancillary equipment including vehicle start as set forth in the present embodiment.
Example IV
As shown in figure 8, ride comfort and safety in order to ensure vehicle start, a kind of vehicle is also proposed in the present embodiment
Start auxiliary control method, wherein pressure release speed V1 is a constant value, and the value is any between the first value and second value
Value, pressure release speed V2 is the value changed between third value and the 4th value.
Wherein, third value, the 4th value and pressure release speed V1 are real vehicle calibration and obtain.
Rest part is identical as embodiment two.
In the present embodiment, the vehicle start controls ancillary equipment, including controller, the controller are programmed to hold
The step of capable vehicle start auxiliary control method as set forth in the present embodiment.
In the present embodiment, the controller is APA controller, or is auto-pilot controller or other controllers.
In the present embodiment, the vehicle controls ancillary equipment including vehicle start as set forth in the present embodiment.
Embodiment five
As shown in figure 9, ride comfort and safety in order to ensure vehicle start, a kind of vehicle is also proposed in the present embodiment
Start auxiliary control method, wherein pressure release speed V1 is the value changed between the first value and second value, and pressure release speed V2 is the
The value changed between three values and the 4th value.
Wherein, the first value, second value, third value and the 4th value are real vehicle calibration and obtain.
Rest part is the same as example 1.
In the present embodiment, the vehicle start controls ancillary equipment, including controller, the controller are programmed to hold
The step of capable vehicle start auxiliary control method as set forth in the present embodiment.
In the present embodiment, the controller is APA controller, or is auto-pilot controller or other controllers.
In the present embodiment, the vehicle controls ancillary equipment including vehicle start as set forth in the present embodiment.
Embodiment six
As shown in Figure 10, in order to ensure the ride comfort of vehicle start and safety, a kind of vehicle is also proposed in the present embodiment
Start auxiliary control method, wherein pressure release speed V1 is the value changed between the first value and second value, pressure release speed V2 be
The value changed between third value and the 4th value.
Wherein, the first value, second value, third value and the 4th value are real vehicle calibration and obtain.
Rest part is identical as embodiment two.
In the present embodiment, the vehicle start controls ancillary equipment, including controller, the controller are programmed to hold
The step of capable vehicle start auxiliary control method as set forth in the present embodiment.
In the present embodiment, the controller is APA controller, or is auto-pilot controller or other controllers.
In the present embodiment, the vehicle controls ancillary equipment including vehicle start as set forth in the present embodiment.
Embodiment seven
Ride comfort and safety in order to ensure vehicle start also propose a kind of vehicle start auxiliary control in the present embodiment
Method processed, comprising the following steps:
(1) the brake pressure value for controlling braking system first drops to p1 from p0.
(2) then the brake pressure value of control braking system drops to p2 from p1.
(3) absolute value of the slope of the p0 on pressure release curve and p1 two o'clock place straight line is greater than straight line where p1 and p2 two o'clock
Slope absolute value.
In the present embodiment, during the brake pressure value for controlling braking system drops to this section of p1 from p0, pressure release speed
Can first quick and back slow (referring to Figure 11), can also it is first slow after fast (referring to Figure 12), or it is for a moment fast for a moment slow for a moment fast (referring to figure again
13), as long as the absolute value of the slope of straight line where meeting p0 and p1 two o'clock is greater than the exhausted of the slope of p1 and p2 two o'clock place straight line
To value.
Rest part is the same as example 1.
In the present embodiment, the vehicle start controls ancillary equipment, including controller, the controller are programmed to hold
The step of capable vehicle start auxiliary control method as set forth in the present embodiment.
In the present embodiment, the controller is APA controller, or is auto-pilot controller or other controllers.
In the present embodiment, the vehicle controls ancillary equipment including vehicle start as set forth in the present embodiment.
Claims (10)
1. a kind of vehicle start auxiliary control method, which comprises the following steps:
When in response to receiving starting instruction, pressure release curve is obtained, wherein the pressure release curve is the brake pressure of braking system
Value is with the curve that changes over time；
According to the pressure release curve controlled braking system pressure release；
The pressure release curve meets the following conditions:
(1) the brake pressure value for controlling braking system first drops to p1 from p0, and can guarantee that vehicle exists under p1 pressure value
It does not start to walk under various operating conditions, wherein p0 is the pressure value for building pressure completely；
(2) the brake pressure value for then controlling braking system drops to p2 from p1, and p2 is that vehicle is made to maintain fixed position
The minimum maintenance pressure set；
(3) straight line is oblique where the absolute value of the slope of straight line is greater than p1 and p2 two o'clock where the p0 and p1 two o'clock on pressure release curve
The absolute value of rate.
2. vehicle start auxiliary control method according to claim 1, it is characterised in that: the pressure release curve meets following
Condition:
(1) pressure value is gradually dropped to from p0 by p1 with pressure release speed V1；
(2) pressure value is gradually dropped to by p1 by p2 with pressure release speed V2；
Wherein: V1 > V2, p1 > p2.
3. vehicle start auxiliary control method according to claim 2, it is characterised in that: after pressure value drops to p2,
Continue pressure release, so that pressure value is less than p2, when detecting that this vehicle speed reaches preset vehicle speed V, process terminates.
4. vehicle start auxiliary control method according to claim 3, it is characterised in that: after pressure value drops to p2,
Continue pressure release with pressure release speed V2, when detecting that this vehicle speed reaches preset vehicle speed V, process terminates.
5. vehicle start auxiliary control method according to claim 2, it is characterised in that: after pressure value drops to p2,
Continue pressure release keeps current pressure values constant afterwards for a period of time, when detecting that this vehicle speed reaches preset vehicle speed V, process knot
Beam.
6. vehicle start auxiliary control method according to claim 5, it is characterised in that: after pressure value drops to p2,
Continue pressure release with pressure release speed V2 keeps current pressure values constant afterwards for a period of time, until detecting that this vehicle speed reaches default vehicle
When fast V, process terminates.
7. vehicle start auxiliary control method according to any one of claims 2 to 6, it is characterised in that: the pressure release speed
V1 is a constant value, or the value to change between the first value and second value；
The pressure release speed V1 is a constant value, or the value to change between third value and the 4th value；
Wherein, the first value, second value, third value and the 4th value are by real vehicle calibration, and the 4th value < of third value < the
One value < second value.
8. a kind of vehicle start controls ancillary equipment, including controller, it is characterised in that: the controller be programmed to perform as
Any step of claim 1 to 7.
9. vehicle start according to claim 8 controls ancillary equipment, it is characterised in that: the controller is APA control
Device, or be auto-pilot controller.
10. a kind of vehicle, which is characterized in that control ancillary equipment including vehicle start as claimed in claim 8 or 9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110194170A (en) * | 2019-07-01 | 2019-09-03 | 安徽江淮汽车集团股份有限公司 | A kind of ramp parking control method, device and storage medium |
| CN112406866A (en) * | 2020-11-18 | 2021-02-26 | 东风汽车有限公司 | Starting control method in automatic parking mode, storage medium and vehicle-mounted electronic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110194170A (en) * | 2019-07-01 | 2019-09-03 | 安徽江淮汽车集团股份有限公司 | A kind of ramp parking control method, device and storage medium |
| CN112406866A (en) * | 2020-11-18 | 2021-02-26 | 东风汽车有限公司 | Starting control method in automatic parking mode, storage medium and vehicle-mounted electronic device |
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|---|---|
| CN109094563B (en) | 2020-11-03 |
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