CN109094563B - Vehicle starting auxiliary control method and system and vehicle - Google Patents

Vehicle starting auxiliary control method and system and vehicle Download PDF

Info

Publication number
CN109094563B
CN109094563B CN201810805971.1A CN201810805971A CN109094563B CN 109094563 B CN109094563 B CN 109094563B CN 201810805971 A CN201810805971 A CN 201810805971A CN 109094563 B CN109094563 B CN 109094563B
Authority
CN
China
Prior art keywords
value
vehicle
pressure
pressure relief
curve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810805971.1A
Other languages
Chinese (zh)
Other versions
CN109094563A (en
Inventor
蒲星
何潇
丁可
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Changan Automobile Co Ltd
Original Assignee
Chongqing Changan Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing Changan Automobile Co Ltd filed Critical Chongqing Changan Automobile Co Ltd
Priority to CN201810805971.1A priority Critical patent/CN109094563B/en
Publication of CN109094563A publication Critical patent/CN109094563A/en
Application granted granted Critical
Publication of CN109094563B publication Critical patent/CN109094563B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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, 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
    • 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

Abstract

The invention discloses a vehicle starting auxiliary control method, a vehicle starting auxiliary control system and a vehicle, wherein the vehicle starting auxiliary control method comprises the following steps: when a starting instruction is received, a pressure relief curve is obtained, wherein the pressure relief curve is a curve of a brake pressure value of a brake system changing along with time, and the brake system is controlled to relieve pressure according to the pressure relief curve; the pressure relief curve meets the following conditions: (1) firstly, controlling the brake pressure value of a brake system to be reduced from p0 to p1, and ensuring that the vehicle does not start under various working conditions under the pressure value of p1, wherein p0 is a pressure value under complete build-up pressure; (2) then controlling the brake pressure value of the brake system to drop from p1 to p2, wherein p2 is the minimum maintaining pressure for maintaining the vehicle at a fixed position; (3) the absolute value of the slope of a straight line formed by the two points p0 and p1 on the pressure relief curve is larger than the absolute value of the slope of a straight line formed by the two points p1 and p 2. The invention ensures good smoothness and safety and good passenger experience in starting.

Description

Vehicle starting auxiliary control method and system and vehicle
Technical Field
The invention belongs to the technical field of vehicle starting control, and particularly relates to a vehicle starting auxiliary control method, a vehicle starting auxiliary control system and a vehicle.
Background
As shown in fig. 3, the conventional vehicle start assist control strategy is as follows: and when a starting command is received, controlling the brake system to release pressure at a constant pressure release speed. However, this control method has a problem that since the pressure relief speed is too high (see the pressure relief curve 2 in fig. 3, the slope of the pressure relief curve is large), when the vehicle starts on a hill, particularly, when the vehicle starts on a downhill, the smoothness of the vehicle starts insufficiently, and the acceleration of the vehicle starts largely, so that the safety is not high. In order to ensure the smoothness and safety of starting, the slope of a pressure relief curve is reduced as shown in a pressure relief curve 3 shown in fig. 3, but the starting time of the vehicle is prolonged by the control mode, so that the starting time of the vehicle is too long, and poor passenger starting experience is caused.
Therefore, it is necessary to develop a new vehicle start assist control method, system, and vehicle.
Disclosure of Invention
The invention aims to provide a vehicle starting auxiliary control method, a vehicle starting auxiliary control system and a vehicle, so that the vehicle starting auxiliary control method, the vehicle starting auxiliary control system and the vehicle can ensure that the vehicle has good smoothness and safety when starting, and passengers can have good experience when starting.
The invention discloses a vehicle starting auxiliary control method, which comprises the following steps:
when a starting instruction is received, a pressure relief curve is obtained, wherein the pressure relief curve is a curve of a brake pressure value of a brake system changing along with time;
controlling the brake system to release pressure according to the pressure release curve;
the pressure relief curve meets the following conditions:
(1) firstly, controlling the brake pressure value of a brake system to be reduced from p0 to p1, and ensuring that the vehicle does not start under various working conditions under the pressure value of p1, wherein p0 is a pressure value under complete build-up pressure;
(2) then controlling the brake pressure value of the brake system to drop from p1 to p2, wherein p2 is the minimum maintaining pressure for maintaining the vehicle at a fixed position;
(3) the absolute value of the slope of a straight line formed by the two points p0 and p1 on the pressure relief curve is larger than the absolute value of the slope of a straight line formed by the two points p1 and p 2.
Further, the pressure relief curve satisfies the following condition:
(1) gradually reducing the pressure value from p0 to p1 at the pressure relief speed V1;
(2) gradually reducing the pressure value from p1 to p2 at the pressure relief speed V2;
wherein: v1 > V2, p1 > p 2.
Further, after the pressure value is reduced to p2, pressure relief is continued, the pressure value is made to be smaller than p2, and the process is ended until the vehicle speed reaches the preset vehicle speed V.
Further, after the pressure value is reduced to p2, the pressure is continuously released at the pressure release speed V2 until the vehicle speed reaches the preset vehicle speed V, and the process is ended.
Further, after the pressure value is reduced to p2, the pressure is continuously released for a period of time, and then the current pressure value is kept unchanged until the vehicle speed reaches the preset vehicle speed V, and the process is ended.
Further, after the pressure value is reduced to p2, continuing to release pressure for a period of time at a pressure release speed V2, and keeping the current pressure value unchanged until the vehicle speed is detected to reach the preset vehicle speed V, and ending the process.
Further, the time required to lower the pressure value from p0 to p1 was as short as possible.
Further, the pressure relief speed V1 is a constant value, or a value varying between a first value and a second value;
the pressure relief speed V1 is a constant value or a value varying between a third value and a fourth value;
the first value, the second value, the third value and the fourth value are obtained through real vehicle calibration, and the third value is smaller than the fourth value and smaller than the first value and smaller than the second value.
The vehicle launch control assist device of the present invention includes a controller programmed to perform the steps of the present invention.
Further, the controller is an APA controller or an automatic driving controller.
The vehicle comprises the vehicle starting control auxiliary device.
The invention has the following advantages:
(1) the invention ensures that the vehicle has good smoothness and safety when starting by controlling the smaller slope of the brake pressure change curve (namely the pressure relief curve) when starting;
(2) the invention ensures that passengers have good experience for starting by controlling the brake pressure change curve to reach the starting critical value quickly.
Drawings
FIG. 1 is a comparison graph of stress analysis of a vehicle starting on different roads;
FIG. 2 is a schematic view of a pressure relief curve according to a first embodiment of the present invention;
FIG. 3 is a graph comparing the pressure relief curve of the first embodiment of the present invention with that of the prior art;
FIG. 4 is a schematic view of a pressure relief curve according to a second embodiment of the present invention;
FIG. 5 is a flow chart of a first embodiment of the present invention;
FIG. 6 is a flow chart of a second embodiment of the present invention;
FIG. 7 is a schematic view of a pressure relief curve according to a third embodiment of the present invention;
FIG. 8 is a schematic view of a pressure relief curve according to a fourth embodiment of the present invention;
FIG. 9 is a schematic view of a pressure relief curve according to example five of the present disclosure;
FIG. 10 is a schematic illustration of a pressure relief curve according to a sixth embodiment of the present invention;
fig. 11-13 are schematic diagrams of pressure relief curves of a seventh embodiment of the invention.
Detailed Description
The invention will be further explained with reference to the drawings.
Factors affecting the smoothness of the vehicle:
before the vehicle starts, because fESPIs greater, fpowertrain+fGThe resultant force of the acceleration a is always zero; wherein: f. ofESPRepresenting the force provided by the braking system; f. ofpowertrainPower provided for the engine; f. ofGAs a component of gravity of the vehicle, when the vehicle is started on an uphill slope, fGIs negative; when the vehicle is taking off on a flat road, fGZero, when the vehicle is taking off on a downhill slope, fGIs positive.
(1) Working condition of vehicle starting on flat road
The force analysis of the vehicle on the flat road of fig. 1(a) from the start of the vehicle yields the following formula, where m is the vehicle mass and a is the vehicle acceleration:
ma＝fpowertrain-fESP(1.1)
fESP＝ps (1.2)
wherein: p is the pressure value of the brake system, and s is the contact area of the brake system and the brake disc.
Due to fpowertrainFor a fixed value, differentiating equation (1.1) yields:
a'＝-p' (1.3)。
(2) operating conditions for starting a vehicle on a downhill slope
The following formula is obtained by analyzing the stress of the vehicle in the downhill of fig. 1(b) from the start of the vehicle:
ma＝fpowertrain+fG-fESP(2.1)；
fESP＝ps (2.2)；
due to fpowertrain、fGFor a fixed value, differentiating equation (2.1) yields:
a'＝-p' (2.3)。
(3) working condition of vehicle starting on uphill
The force analysis of the vehicle on the uphill slope of fig. 1(c) from the start of the vehicle yields the following formula:
ma＝fpowertrain-fG-fESP(3.1)；
fESP＝ps (3.2)；
due to fpowertrain、fGFor a fixed value, differentiating equation (3.1) yields:
a'＝-p' (3.3)。
as can be seen from the formulas (1.3), (2.3) and (3.3), under the working conditions of level road, downhill and uphill starting, the change of the acceleration is positively related to the change of the pressure of the brake system. The change of the acceleration can affect the longitudinal stress change of the vehicle, the longitudinal change force can be transmitted to the transverse direction through a suspension damping system of the vehicle, the smaller the change of the acceleration is, the better the smoothness of the vehicle is, and the change of the smoothness of the vehicle depending on the acceleration can be obtained.
(2) Factors affecting the safety of the vehicle:
the formula for the speed v of the vehicle is as follows:
Figure BDA0001738173930000041
as can be seen from equation (4.1), the vehicle speed is an integral of the acceleration. After the vehicle starts, if the condition that emergency braking is needed occurs, the braking force generated by a braking system of the vehicle is fixed, the smaller the vehicle speed is, the shorter the emergency braking stopping time is, the higher the corresponding safety is, and therefore, the starting acceleration also influences the safety of the vehicle.
In order to ensure the smoothness and safety of vehicle starting, the invention provides a vehicle starting auxiliary control method, which comprises the following steps of:
when a starting instruction is received, a pressure relief curve is obtained, wherein the pressure relief curve is a curve of a brake pressure value of a brake system changing along with time;
controlling the brake system to release pressure according to the pressure release curve;
the pressure relief curve meets the following conditions:
(1) firstly, controlling the brake pressure value of a brake system to be reduced from p0 to p1, and ensuring that the vehicle does not start under various working conditions under the pressure value of p1, wherein p0 is a pressure value under complete build-up pressure;
(2) then controlling the brake pressure value of the brake system to drop from p1 to p2, wherein p2 is the minimum maintaining pressure for maintaining the vehicle at a fixed position;
(3) the absolute value of the slope of a straight line formed by the two points p0 and p1 on the pressure relief curve is larger than the absolute value of the slope of a straight line formed by the two points p1 and p 2.
Example one
As shown in fig. 2, 3 and 5, in order to ensure the smoothness and safety of vehicle starting, the present embodiment provides a vehicle starting assist control method, including the following steps:
when a starting instruction is received, a pressure relief curve is obtained, wherein the pressure relief curve is a curve of a brake pressure value of a brake system changing along with time;
controlling the brake system to release pressure according to the pressure release curve;
the pressure relief curve meets the following conditions:
(1) the braking pressure value of the braking system is gradually reduced from p0 to p1 at the pressure relief speed V1.
(2) And then gradually reducing the braking pressure value of the braking system from p1 to p2 at the pressure relief speed V2.
(3) After the pressure value is reduced to p2, the pressure is still released continuously at the pressure release speed V2 (other pressure release speeds can also be adopted for continuous pressure release), so that the pressure value is smaller than p2, and the process is ended until the vehicle speed reaches the preset vehicle speed V (for example, V of a certain vehicle type is 1.5m/s, V of different vehicle types is different, and is obtained according to actual vehicle calibration).
In this embodiment, V1 is a constant value, and V2 is a constant value; and V1 > V2, p1 > p 2.
T1 "in fig. 2 indicates the time when the vehicle speed is the preset vehicle speed V.
In the pressure relief curve described in this embodiment, that is, the pressure relief curve 1 in fig. 3, the pressure value is firstly relieved from p0 to p1 at a relatively fast pressure relief speed V1, and p1 is a safe pressure value, so that the vehicle cannot start; in order to take into account the brake system pressure values corresponding to a full vehicle and different gradients, so that the vehicle still does not start, the selection of p1 has the following characteristics:
(1) various working conditions of the vehicle under the p1 pressure value can ensure that the vehicle does not start.
(2) The time required for the brake system to drop from the full build-up pressure p0 to the p1 pressure value should be as short as possible and the value of Δ as long as possible, where Δ is t 1' -t 1.
As can be seen from fig. 3, the pressure relief curve 1 is used for controlling the pressure relief of the brake system, the pressure relief is performed at a large pressure relief rate V1, and after the pressure value of the brake system reaches a value p1, the pressure relief is performed at a small pressure relief rate V2 until the pressure value reaches a value p2, the total time from the receiving of a starting command to the starting of the vehicle is T1, and T1 is T1' -T0. In the prior art, if the pressure relief curve 2 (see fig. 3) is used for controlling the pressure relief of the brake system, the time from the receiving of a starting command to the starting of the vehicle is T2-T2-T0. If the pressure relief curve 3 (see fig. 3) is used for controlling the pressure relief of the brake system, the time T3 is T3-T0 from the time when the starting command is received to the time when the vehicle is started. Because T3 > T2 > T1', T3 > T2 > T1 can be obtained, the pressure relief curve 1 is adopted to control the pressure relief of the brake system, the time consumption is shortest, and therefore good experience of starting of passengers is guaranteed.
As shown in fig. 2 and 3, since the slope of the pressure relief corresponding to the pressure relief curve 1 is small at t1 ', and the change in the acceleration of the vehicle is also small as can be obtained from the formula a ' ═ p ', the control method of the pressure relief curve 1 can ensure the smoothness of the vehicle starting on the slope. By the formula
Figure BDA0001738173930000061
The speed after the integral is small, so that the safety of starting the vehicle on a slope can be ensured by adopting the control mode of the pressure relief curve 1.
In the embodiment, the p1 value, the p2 value, t0, t1, t1 ', t 1' and V of each vehicle type are obtained by actual vehicle calibration.
In this embodiment, the vehicle start control assistance device includes a controller programmed to execute the steps of the vehicle start assistance control method according to this embodiment.
In this embodiment, the controller is an APA controller, or an autopilot controller or other controller.
In this embodiment, the vehicle includes the vehicle start control auxiliary device as described in this embodiment.
Example two
As shown in fig. 4 and fig. 6, in order to ensure the smoothness and safety of vehicle starting, the present embodiment further provides a vehicle starting assist control method, including the following steps:
when a starting instruction is received, a pressure relief curve is obtained, wherein the pressure relief curve is a curve of a brake pressure value of a brake system changing along with time;
controlling the brake system to release pressure according to the pressure release curve;
the pressure relief curve meets the following conditions:
(1) firstly, gradually reducing the brake pressure value of a brake system from p0 to p1 at a pressure relief speed V1, and ensuring that the vehicle does not start under various working conditions under the pressure value of p1, wherein p0 is a pressure value under full build-up pressure;
(2) then gradually reducing the braking pressure value of the braking system from p1 to p2 at a pressure relief speed V2, wherein p2 is the minimum maintaining pressure for maintaining the vehicle in a fixed position;
(3) after the braking pressure value of the braking system is reduced to p2, the current pressure value is kept unchanged after pressure is continuously released for a period of time at a pressure release speed V2 (other pressure release speeds can also be adopted for continuously releasing pressure) (see fig. 4, the pressure is not continuously released after the pressure is released to the moment of t1 a), and the process is ended until the vehicle speed of the vehicle is detected to reach the preset vehicle speed V. T1 "in fig. 4 indicates the time when the vehicle speed is the preset vehicle speed V.
In this embodiment, V1 is a constant value, and V2 is a constant value; and V1 > V2, p1 > p 2.
In the embodiment, the p1 value, the p2 value, t0, t1, t1 ', t1a, t 1' and V of each vehicle type are obtained by actual vehicle calibration.
The rest is the same as the first embodiment.
In this embodiment, the vehicle start control assistance device includes a controller programmed to execute the steps of the vehicle start assistance control method according to this embodiment.
In this embodiment, the controller is an APA controller, or an autopilot controller or other controller.
In this embodiment, the vehicle includes the vehicle start control auxiliary device as described in this embodiment.
EXAMPLE III
As shown in fig. 7, in order to ensure the smoothness and safety of vehicle starting, the present embodiment further provides a vehicle starting auxiliary control method, wherein the pressure relief speed V1 is a value varying between a first value and a second value, the pressure relief speed V2 is a constant value, and the value is any value between a third value and a fourth value.
The first value, the second value and the pressure relief speed V2 are all obtained by real vehicle calibration.
The rest is the same as the first embodiment.
In this embodiment, the vehicle start control assistance device includes a controller programmed to execute the steps of the vehicle start assistance control method according to this embodiment.
In this embodiment, the controller is an APA controller, or an autopilot controller or other controller.
In this embodiment, the vehicle includes the vehicle start control auxiliary device as described in this embodiment.
Example four
As shown in fig. 8, in order to ensure the smoothness and safety of vehicle starting, the present embodiment further provides a vehicle starting auxiliary control method, wherein the pressure relief speed V1 is a constant value and is any value between a first value and a second value, and the pressure relief speed V2 is a value varying between a third value and a fourth value.
And the third value, the fourth value and the pressure relief speed V1 are obtained by real vehicle calibration.
The rest is the same as the embodiment.
In this embodiment, the vehicle start control assistance device includes a controller programmed to execute the steps of the vehicle start assistance control method according to this embodiment.
In this embodiment, the controller is an APA controller, or an autopilot controller or other controller.
In this embodiment, the vehicle includes the vehicle start control auxiliary device as described in this embodiment.
EXAMPLE five
As shown in fig. 9, in order to ensure the smoothness and safety of vehicle starting, the present embodiment further proposes a vehicle starting assist control method, wherein the pressure relief speed V1 is a value varying between a first value and a second value, and the pressure relief speed V2 is a value varying between a third value and a fourth value.
And the first value, the second value, the third value and the fourth value are obtained by real vehicle calibration.
The rest is the same as the first embodiment.
In this embodiment, the vehicle start control assistance device includes a controller programmed to execute the steps of the vehicle start assistance control method according to this embodiment.
In this embodiment, the controller is an APA controller, or an autopilot controller or other controller.
In this embodiment, the vehicle includes the vehicle start control auxiliary device as described in this embodiment.
EXAMPLE six
As shown in fig. 10, in order to ensure the smoothness and safety of vehicle starting, the present embodiment further proposes a vehicle starting assist control method, wherein the pressure relief speed V1 is a value varying between a first value and a second value, and the pressure relief speed V2 is a value varying between a third value and a fourth value.
And the first value, the second value, the third value and the fourth value are obtained by real vehicle calibration.
The rest is the same as the embodiment.
In this embodiment, the vehicle start control assistance device includes a controller programmed to execute the steps of the vehicle start assistance control method according to this embodiment.
In this embodiment, the controller is an APA controller, or an autopilot controller or other controller.
In this embodiment, the vehicle includes the vehicle start control auxiliary device as described in this embodiment.
EXAMPLE seven
In order to ensure the smoothness and safety of vehicle starting, the present embodiment further provides a vehicle starting auxiliary control method, including the following steps:
(1) the brake pressure value of the brake system is controlled to drop from p0 to p1 firstly.
(2) The brake pressure value of the control brake system then drops from p1 to p 2.
(3) The absolute value of the slope of a straight line formed by the two points p0 and p1 on the pressure relief curve is larger than the absolute value of the slope of a straight line formed by the two points p1 and p 2.
In this embodiment, during the period when the braking pressure value of the braking system is controlled to decrease from p0 to p1, the pressure relief speed may be first fast and then slow (see fig. 11), or may be first slow and then fast (see fig. 12), or may be faster, slower, and then faster (see fig. 13), as long as the absolute value of the slope of the straight line where the two points p0 and p1 are located is greater than the absolute value of the slope of the straight line where the two points p1 and p2 are located.
The rest is the same as the first embodiment.
In this embodiment, the vehicle start control assistance device includes a controller programmed to execute the steps of the vehicle start assistance control method according to this embodiment.
In this embodiment, the controller is an APA controller, or an autopilot controller or other controller.
In this embodiment, the vehicle includes the vehicle start control auxiliary device as described in this embodiment.

Claims (5)

1. A vehicle starting auxiliary control method is characterized by comprising the following steps:
when a starting instruction is received, a pressure relief curve is obtained, wherein the pressure relief curve is a curve of a brake pressure value of a brake system changing along with time;
controlling the brake system to release pressure according to the pressure release curve;
the pressure relief curve meets the following conditions:
(1) firstly, controlling the brake pressure value of a brake system to be reduced from p0 to p1, and ensuring that the vehicle does not start under various working conditions under the pressure value of p1, wherein p0 is a pressure value under complete build-up pressure;
(2) then controlling the brake pressure value of the brake system to drop from p1 to p2, wherein p2 is the minimum maintaining pressure for maintaining the vehicle at a fixed position;
(3) the absolute value of the slope of a straight line formed by the two points p0 and p1 on the pressure relief curve is larger than the absolute value of the slope of a straight line formed by the two points p1 and p 2;
the pressure relief curve also satisfies the following conditions:
(1) gradually reducing the pressure value from p0 to p1 at the pressure relief speed V1;
(2) gradually reducing the pressure value from p1 to p2 at the pressure relief speed V2;
wherein: v1 > V2, p1 > p 2;
after the pressure value is reduced to p2, continuing to relieve pressure at a pressure relief speed V2 until the vehicle speed reaches a preset vehicle speed V, and ending the process;
or after the pressure value is reduced to p2, continuing to release the pressure for a period of time at the pressure release speed V2, and keeping the current pressure value unchanged until the vehicle speed reaches the preset vehicle speed V, wherein the process is ended.
2. The vehicle startup assist control method according to claim 1, characterized in that: the pressure relief speed V1 is a constant value or a value varying between a first value and a second value;
the pressure relief speed V1 is a constant value or a value varying between a third value and a fourth value;
the first value, the second value, the third value and the fourth value are obtained through real vehicle calibration, and the third value is smaller than the fourth value and smaller than the first value and smaller than the second value.
3. A vehicle start control assist device comprising a controller characterized in that: the controller is programmed to execute the steps of the vehicle take-off assistance control method according to claim 1 or 2.
4. The vehicle take-off control assistance apparatus according to claim 3, characterized in that: the controller is an APA controller or an automatic driving controller.
5. A vehicle characterized by comprising the vehicle start control assistance apparatus according to claim 3 or 4.
CN201810805971.1A 2018-07-20 2018-07-20 Vehicle starting auxiliary control method and system and vehicle Active CN109094563B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810805971.1A CN109094563B (en) 2018-07-20 2018-07-20 Vehicle starting auxiliary control method and system and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810805971.1A CN109094563B (en) 2018-07-20 2018-07-20 Vehicle starting auxiliary control method and system and vehicle

Publications (2)

Publication Number Publication Date
CN109094563A CN109094563A (en) 2018-12-28
CN109094563B true CN109094563B (en) 2020-11-03

Family

ID=64847058

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810805971.1A Active CN109094563B (en) 2018-07-20 2018-07-20 Vehicle starting auxiliary control method and system and vehicle

Country Status (1)

Country Link
CN (1) CN109094563B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
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
CN112406866B (en) * 2020-11-18 2022-08-30 东风汽车有限公司 Starting control method in automatic parking mode, storage medium and vehicle-mounted electronic device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10004502A1 (en) * 2000-02-02 2001-08-16 Bayerische Motoren Werke Ag Brake installation for cars has devices by which auxiliary brake system is activated so vehicle comes to standstill corresponding to given brake force control
CN101678818A (en) * 2007-05-23 2010-03-24 卢卡斯汽车股份有限公司 Method for starting a motor vehicle on an inclined route
CN103038107A (en) * 2010-08-04 2013-04-10 沃易斯专利有限公司 Method for controlling a starting aid of a motor vehicle
CN107010069A (en) * 2015-12-14 2017-08-04 马自达汽车株式会社 The stopping of vehicle maintains device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4961857B2 (en) * 2006-06-23 2012-06-27 株式会社アドヴィックス Automatic braking force control device for vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10004502A1 (en) * 2000-02-02 2001-08-16 Bayerische Motoren Werke Ag Brake installation for cars has devices by which auxiliary brake system is activated so vehicle comes to standstill corresponding to given brake force control
CN101678818A (en) * 2007-05-23 2010-03-24 卢卡斯汽车股份有限公司 Method for starting a motor vehicle on an inclined route
CN103038107A (en) * 2010-08-04 2013-04-10 沃易斯专利有限公司 Method for controlling a starting aid of a motor vehicle
CN107010069A (en) * 2015-12-14 2017-08-04 马自达汽车株式会社 The stopping of vehicle maintains device

Also Published As

Publication number Publication date
CN109094563A (en) 2018-12-28

Similar Documents

Publication Publication Date Title
US8688328B2 (en) Apparatus and method for movement control of a vehicle
JP4713408B2 (en) Vehicle control device
CN106414203B (en) Apparatus and method for cruise control braking in a vehicle
CN106553650B (en) Automatic slowdown control apparatus
CN109334656A (en) A kind of control method for vehicle and device
CN110371117B (en) Vehicle braking deceleration determining method and device and automobile
CN106553632B (en) Method for controlling vehicle to start from rest
CN109094563B (en) Vehicle starting auxiliary control method and system and vehicle
CN110371128A (en) The slow drop control method in abrupt slope, device and readable storage medium storing program for executing
CN102959211B (en) Controller of vehicle
CN110382924B (en) Transmission control device for vehicle
US20170120921A1 (en) Method for control of a gear step change
EP3160810B1 (en) An arrangement and method for supporting a cruise control brake in a vehicle
US9682702B2 (en) Vehicle control including control over a rate of torque decrease
JP2010023565A (en) Descending road traveling speed controlling device and method
CN110121452B (en) Method for controlling the coasting operation of a vehicle having an automated clutch
WO2019151918A1 (en) A method and an apparatus for controlling shifting of a transmission in a motor vehicle
US11345345B2 (en) Method for operating a motor vehicle, and corresponding motor vehicle
CN107725769B (en) Wet dual-clutch automatic transmission P keeps off parking control method
GB2570874A (en) Motor Vehicle Controller, Control System Vehicle and Method
KR102416764B1 (en) Method for changing the abs control mode using analysis of driving pattern
CN115158315A (en) New energy automobile mountain road cruise control method
CN107128308A (en) Increase the method and system of engine braking
CN110626348A (en) Pure electric commercial vehicle hill start control method based on real-time quality identification
US20190023275A1 (en) Controlling the automatic starting of a motor vehicle uphill in a mu split situation

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20181228

Assignee: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd.

Assignor: Chongqing Changan Automobile Co.,Ltd.

Contract record no.: X2021500000014

Denomination of invention: Vehicle starting auxiliary control method, system and vehicle

Granted publication date: 20201103

License type: Common License

Record date: 20211014