CN110466525B - Uphill auxiliary control method, device, equipment and storage medium - Google Patents
Uphill auxiliary control method, device, equipment and storage medium Download PDFInfo
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- CN110466525B CN110466525B CN201910903146.XA CN201910903146A CN110466525B CN 110466525 B CN110466525 B CN 110466525B CN 201910903146 A CN201910903146 A CN 201910903146A CN 110466525 B CN110466525 B CN 110466525B
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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Abstract
The invention relates to the technical field of automobile control, and discloses an uphill auxiliary control method, a device, equipment and a storage medium, wherein the method comprises the following steps: when a vehicle to be controlled is parked on a slope, vehicle state information of the vehicle to be controlled and a slope angle of the slope are obtained, when the slope angle is larger than a preset angle threshold value and an engine of the vehicle to be controlled is restarted, whether the vehicle state information meets a preset uphill auxiliary condition or not is judged, when the vehicle state information meets the preset uphill auxiliary condition, a brake of the vehicle to be controlled is pressed, pressure is maintained within preset time, the vehicle to be controlled does not slide on the slope, the brake is decompressed when the current output torque is larger than the glide torque, the vehicle to be controlled runs forwards, the slope angle and the vehicle state information are judged, whether the uphill auxiliary control vehicle is triggered to start or not is determined according to the judgment result, and the technical problems that how to avoid the vehicle sliding on the slope and the uphill auxiliary are prone to failure are solved.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to an uphill auxiliary control method, device, equipment and storage medium.
Background
With the development of the automobile industry, an uphill assist function is applied to more and more vehicle types, the configuration can avoid the problems of slope slipping, flameout and the like during hill starting, the vehicle has an uphill assist function and an Engine start-stop function, but the Engine start function is controlled by an Engine Management System (EMS), the uphill assist is controlled by a vehicle body Stability Control (ESC), and the interaction between the Engine start function and the Engine start-stop function does not have a uniform regulation or protocol at present, so that the problem of failure of the uphill assist of the vehicle on a slope often occurs due to poor interaction Control logic of the EMS and the ESC.
Therefore, the technical problem of how to avoid the vehicle from slipping down the slope and the upslope assistance is easy to fail exists in essence.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an uphill auxiliary control method, device, equipment and storage medium, aiming at solving the technical problems of how to avoid vehicle sliding and easy failure of uphill auxiliary.
In order to achieve the above object, the present invention provides an uphill assist control method, including the steps of:
when a vehicle to be controlled is parked on a ramp, acquiring vehicle state information of the vehicle to be controlled and a ramp angle of the ramp;
when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition;
when the vehicle state information meets the preset uphill auxiliary condition, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so that the vehicle to be controlled does not slide down a slope;
acquiring a glide torque and a current output torque of the engine;
and when the current output torque is larger than the gliding torque, the brake is decompressed, so that the vehicle to be controlled runs forwards.
Preferably, before determining whether the vehicle state information satisfies a preset uphill assist condition when the ramp angle is greater than a preset angle threshold and the engine of the vehicle to be controlled is restarted, the method further includes:
receiving a first working signal sent by an engine management system;
and when the first working signal is not a preset first target working signal, executing the step of judging whether the vehicle state information meets a preset uphill auxiliary condition or not when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted.
Preferably, when the ramp angle is greater than a preset angle threshold and the engine of the vehicle to be controlled is restarted, determining whether the vehicle state information meets a preset uphill assist condition includes:
when the ramp angle is larger than a preset angle threshold value, detecting whether an engine of the vehicle to be controlled restarts;
and when the engine is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition or not.
Preferably, when the ramp angle is greater than a preset angle threshold, detecting whether an engine of the vehicle to be controlled restarts specifically includes:
when the ramp angle is larger than a preset angle threshold value, detecting whether an engine of the vehicle to be controlled is in a stop state;
detecting whether the engine restarts while the engine is in a stopped state.
Preferably, when the ramp angle is greater than a preset angle threshold, detecting whether an engine of the vehicle to be controlled is in a stop state specifically includes:
when the ramp angle is larger than a preset angle threshold value, receiving a second working signal sent by an engine management system;
and judging whether the engine of the vehicle to be controlled is in a stop state or not through the second working signal.
Preferably, when the engine is in a stop state, detecting whether the engine is restarted specifically includes:
receiving a third working signal sent by the engine management system when the engine is in a stop state;
and judging whether the engine is restarted or not through the third working signal.
Preferably, the vehicle state information includes a gear state, an accelerator pedal state and a handbrake state;
when the vehicle state information meets the preset uphill auxiliary condition, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so that the vehicle to be controlled does not slide down a slope, specifically comprising:
and when the gear state is not P gear, the accelerator pedal state is not stepped and the hand brake state is not pulled up, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so as to prevent the vehicle to be controlled from sliding down a slope.
In addition, in order to achieve the above object, the present invention also provides an uphill assist control device including:
the information acquisition module is used for acquiring the vehicle state information of the vehicle to be controlled and the ramp angle of the ramp when the vehicle to be controlled is parked on the ramp;
the condition judging module is used for judging whether the vehicle state information meets a preset uphill auxiliary condition or not when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted;
the auxiliary triggering module is used for building pressure on a brake of the vehicle to be controlled and maintaining the pressure within a preset time so as to prevent the vehicle to be controlled from sliding down a slope when the vehicle state information meets the preset uphill auxiliary condition;
the torque acquisition module is used for acquiring the glide torque and the current output torque of the engine;
and the vehicle running module is used for relieving the pressure of the brake when the current output torque is greater than the gliding torque so as to enable the vehicle to be controlled to run forwards.
Further, to achieve the above object, the present invention also proposes an uphill assist control apparatus including: the system comprises a memory, a processor and an uphill assist control program stored on the memory and operable on the processor, wherein the uphill assist control program is configured with steps for implementing the uphill assist control method as described above.
Furthermore, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon an uphill assist control program which, when executed by a processor, implements the steps of the uphill assist control method as described above.
The uphill auxiliary control method provided by the invention obtains the vehicle state information of the vehicle to be controlled and the ramp angle of the ramp when the vehicle to be controlled is parked on the ramp, when the ramp angle is larger than a preset angle threshold value and an engine of the vehicle to be controlled is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition or not, and when the vehicle state information meets the preset uphill auxiliary condition, the brake of the vehicle to be controlled is pressurized and is kept for a preset time so that the vehicle to be controlled does not slide down a slope, the glide torque and the current output torque of the engine are obtained, when the current output torque is larger than the gliding torque, the brake is decompressed to ensure that the vehicle to be controlled runs forwards, so that the angle of the ramp and the state information of the vehicle are judged, and determining whether to trigger the uphill auxiliary control vehicle to start according to the judgment result, so that the technical problems of how to avoid vehicle sliding on the uphill and easy failure of the uphill auxiliary are solved.
Drawings
FIG. 1 is a schematic structural diagram of an uphill auxiliary control device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first exemplary embodiment of an uphill assist control method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of an uphill assist control method according to the present invention;
FIG. 4 is a flowchart illustrating a third exemplary embodiment of an uphill assist control method according to the present invention;
fig. 5 is a functional block diagram of the first embodiment of the uphill assist control apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an uphill auxiliary control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the uphill assist control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may comprise a Display screen (Display), an input unit such as keys, and the optional user interface 1003 may also comprise a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a non-volatile Memory (e.g., a magnetic disk Memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 does not constitute a limitation of the uphill assist control apparatus and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an uphill assist control program.
In the uphill assist control device shown in fig. 1, the network interface 1004 is mainly used for connecting an external network and performing data communication with other network devices; the user interface 1003 is mainly used for connecting to a user equipment and performing data communication with the user equipment; the apparatus of the present invention calls, by the processor 1001, the uphill assist control program stored in the memory 1005, and performs the following operations:
when a vehicle to be controlled is parked on a ramp, acquiring vehicle state information of the vehicle to be controlled and a ramp angle of the ramp;
when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition;
when the vehicle state information meets the preset uphill auxiliary condition, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so that the vehicle to be controlled does not slide down a slope;
acquiring a glide torque and a current output torque of the engine;
and when the current output torque is larger than the gliding torque, the brake is decompressed, so that the vehicle to be controlled runs forwards.
Further, the processor 1001 may call the uphill assist control program stored in the memory 1005, and also perform the following operations:
receiving a first working signal sent by an engine management system;
and when the first working signal is not a preset first target working signal, executing the step of judging whether the vehicle state information meets a preset uphill auxiliary condition or not when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted.
Further, the processor 1001 may call the uphill assist control program stored in the memory 1005, and also perform the following operations:
when the ramp angle is larger than a preset angle threshold value, detecting whether an engine of the vehicle to be controlled restarts;
and when the engine is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition or not.
Further, the processor 1001 may call the uphill assist control program stored in the memory 1005, and also perform the following operations:
when the ramp angle is larger than a preset angle threshold value, detecting whether an engine of the vehicle to be controlled is in a stop state;
detecting whether the engine restarts while the engine is in a stopped state.
Further, the processor 1001 may call the uphill assist control program stored in the memory 1005, and also perform the following operations:
when the ramp angle is larger than a preset angle threshold value, receiving a second working signal sent by an engine management system;
and judging whether the engine of the vehicle to be controlled is in a stop state or not through the second working signal.
Further, the processor 1001 may call the uphill assist control program stored in the memory 1005, and also perform the following operations:
receiving a third working signal sent by the engine management system when the engine is in a stop state;
and judging whether the engine is restarted or not through the third working signal.
Further, the processor 1001 may call the uphill assist control program stored in the memory 1005, and also perform the following operations:
and when the gear state is not P gear, the accelerator pedal state is not stepped and the hand brake state is not pulled up, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so as to prevent the vehicle to be controlled from sliding down a slope.
In the embodiment, when the vehicle to be controlled is parked on the ramp, the vehicle state information of the vehicle to be controlled and the ramp angle of the ramp are acquired, when the ramp angle is larger than a preset angle threshold value and an engine of the vehicle to be controlled is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition or not, and when the vehicle state information meets the preset uphill auxiliary condition, the brake of the vehicle to be controlled is pressurized and is kept for a preset time so that the vehicle to be controlled does not slide down a slope, the glide torque and the current output torque of the engine are obtained, when the current output torque is larger than the gliding torque, the brake is decompressed to ensure that the vehicle to be controlled runs forwards, so that the angle of the ramp and the state information of the vehicle are judged, and determining whether to trigger the uphill auxiliary control vehicle to start according to the judgment result, so that the technical problems of how to avoid vehicle sliding on the uphill and easy failure of the uphill auxiliary are solved.
Based on the hardware structure, the embodiment of the uphill auxiliary control method is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of an uphill assist control method according to the present invention.
In the first embodiment, the uphill assist control method includes the steps of:
step S10, when the vehicle to be controlled is parked on a slope, the vehicle state information of the vehicle to be controlled and the slope angle of the slope are acquired.
It should be noted that the execution main body of the embodiment may be an uphill auxiliary control device, an ESC, or another device capable of implementing the same or similar functions.
It can be understood that when a vehicle to be controlled is parked on a slope, vehicle state information of the vehicle to be controlled and a slope angle of the slope are obtained, the vehicle state information includes a gear state, an accelerator pedal state and a hand brake state, the gear state includes a D gear, a P gear, an R gear and an N gear, the gear state of the manual vehicle further includes a 1 gear, a 2 gear, a 3 gear, a 4 gear and a 5 gear, which are not limited in this embodiment, the accelerator pedal state may be a pressed state and a non-pressed state, the hand brake state may be a pulled state and a non-pulled state, the slope angle may be represented by degrees or may be represented by percentages, which are not limited in this embodiment, the present embodiment takes an example of representing the slope angle by percentages, that is percentage slopes, the percentage slopes are percentages of height differences between two points and their routes, and its calculation formula is that the slope angle is (height difference/route) 100%, for example, the slope of 3% refers to the slope angle of 3 meters of elevation difference every 100 meters of the journey, namely 3 meters of vertical ascending (descending); 1% means that the distance is every 100 m, the height difference is 1 m, namely the distance rises (falls) 1 m in the vertical direction, and so on.
And step S20, when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition.
It should be noted that the preset angle threshold may be set according to an actual situation, which is not limited in this embodiment, and the preset angle threshold may be set to 5% or may be set to other values, and this embodiment takes the preset angle threshold as 5% as an example for description.
It should be understood that the condition for triggering the uphill assist function is that the hill angle is greater than the predetermined angle threshold and the engine of the vehicle to be controlled is restarted, it being understood that the uphill assist function is only required when the engine is restarted, and that the uphill assist function is neither required nor activated if the engine is not shut down or is not restarted after shut down.
It can be understood that after the triggering precondition of the uphill assist function is satisfied, it is further required to determine whether the vehicle state information satisfies a preset uphill assist condition, where the preset uphill assist condition may be that the gear state is not a P-gear, the accelerator pedal state is not stepped on, and the hand brake state is not pulled up.
And step S30, when the vehicle state information meets the preset uphill auxiliary condition, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so that the vehicle to be controlled does not slide on a slope.
It should be noted that when the vehicle state information meets the preset uphill assist condition, that is, the gear state is not the P gear, the accelerator pedal state is not pressed, and the hand brake state is not pulled, the uphill assist function is triggered, that is, the brake of the vehicle to be controlled is pressurized, and the pressure is maintained within the preset time, so that the engine is braked to control the vehicle not to slide down the slope, where the preset time may be 2 seconds or other times, which is not limited in this embodiment, and the embodiment takes the preset time of 2 seconds as an example, that is, the pressure is maintained within 2 seconds.
And step S40, acquiring the glide torque and the current output torque of the engine.
It should be noted that when the brake is pressurized and pressure is maintained, the glide torque and the current output torque of the engine are obtained, and whether pressure is released or not is judged according to the glide torque and the current output torque of the engine, so that the vehicle to be controlled runs forwards.
It will be appreciated that the glide-down torque is the torque required to overcome gravity and the hill-slip force when the vehicle to be controlled is on a hill, and the current output torque is the torque generated when the engine of the vehicle to be controlled is running.
And step S50, when the current output torque is larger than the glide torque, releasing pressure of the brake so that the vehicle to be controlled runs forwards.
It can be understood that when the current output torque is larger than the glide torque, which represents that the output power of the engine of the automobile to be controlled is enough to overcome the glide torque, the brake is released, so that the automobile to be controlled runs forwards.
In the embodiment, when the vehicle to be controlled is parked on the ramp, the vehicle state information of the vehicle to be controlled and the ramp angle of the ramp are acquired, when the ramp angle is larger than a preset angle threshold value and an engine of the vehicle to be controlled is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition or not, and when the vehicle state information meets the preset uphill auxiliary condition, the brake of the vehicle to be controlled is pressurized and is kept for a preset time so that the vehicle to be controlled does not slide down a slope, the glide torque and the current output torque of the engine are obtained, when the current output torque is larger than the gliding torque, the brake is decompressed to ensure that the vehicle to be controlled runs forwards, so that the angle of the ramp and the state information of the vehicle are judged, and determining whether to trigger the uphill auxiliary control vehicle to start according to the judgment result, so that the technical problems of how to avoid vehicle sliding on the uphill and easy failure of the uphill auxiliary are solved.
In an embodiment, as shown in fig. 3, a second embodiment of the uphill assist control method according to the present invention is proposed based on the first embodiment, and the step S20 includes:
step S201, when the ramp angle is larger than a preset angle threshold value, detecting whether an engine of the vehicle to be controlled restarts.
It should be noted that, before determining whether the uphill assist function is triggered, it is necessary to detect whether the ramp angle is greater than a preset angle threshold and whether the engine of the vehicle to be controlled is restarted, and when the condition is met, that is, the ramp angle is greater than the preset angle threshold, then subsequent determination is performed whether the preset uphill assist condition is met.
In a specific implementation, for example, if the preset angle threshold is 5% and the ramp angle is 7%, and the ramp angle is greater than the preset angle threshold, it is detected whether the engine of the vehicle to be controlled is restarted.
Step S202, when the engine is restarted, judging whether the vehicle state information meets the preset uphill auxiliary condition.
It can be understood that when the restart of the engine is detected, that is, the precondition of the uphill assist is satisfied at this time, it is determined whether the vehicle state information satisfies the preset uphill assist condition, and the uphill assist function is triggered when the vehicle state information satisfies the preset uphill assist condition.
Correspondingly, before the step S20, the method further includes:
receiving a first working signal sent by an engine management system;
and when the first working signal is not a preset first target working signal, executing the step of judging whether the vehicle state information meets a preset uphill auxiliary condition or not when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted.
It should be noted that there are 9 operating states for starting and stopping the engine at present, which are respectively: 0X 0: the start-stop system is closed, 0 x 1: the start-stop system is started and in a standby state, 0 multiplied by 2: starter start, 0 × 3: in normal operation, 0 × 4: pre-shutdown, 0 × 5: during engine stop, 0 × 6: shutdown, 0 × 7 pre-start, 0 × 8: the engine is started automatically.
It should be appreciated that the present invention improves the operational state of the start-up and shutdown, removing the confusing 0 x 2: starting the starter, namely only remaining other 8 working states, wherein the preset first target working signal is 0 × 0: and closing the start-stop system.
It can be understood that a first working signal sent by the EMS is received, when the first working signal is a preset first working signal, it represents that the vehicle to be controlled does not have a start-stop function or the start-stop function is not opened, at this time, it can be determined that the start-stop function of the vehicle to be controlled is not normal, so that hill start assist is not triggered, when the first working signal is not the preset first working signal, it represents that the start-stop function of the vehicle to be controlled is normal, and the step of determining whether the vehicle state information meets the preset hill-climbing assist condition is performed when the ramp angle is greater than the preset angle threshold and the engine of the vehicle to be controlled is restarted.
In this embodiment, whether the engine of the vehicle to be controlled restarts is detected when the ramp angle is greater than the preset angle threshold, and whether the vehicle state information meets the preset uphill assist condition is determined when the engine restarts, so that whether the uphill assist condition is met is determined on the premise that the vehicle to be controlled meets the uphill assist function.
In an embodiment, as shown in fig. 4, a third embodiment of the uphill assist control method according to the present invention is proposed based on the first embodiment or the second embodiment, and in this embodiment, the step S201 includes:
and step S2011, when the ramp angle is greater than a preset angle threshold, detecting whether an engine of the vehicle to be controlled is in a stop state.
Specifically, the step is to receive a second working signal sent by an engine management system when the ramp angle is greater than a preset angle threshold, and judge whether the engine of the vehicle to be controlled is in a stop state according to the second working signal.
It should be understood that, when the second operation signal transmitted by the EMS is received, the ratio of the second operation signal to the first operation signal is 0 × 4: pre-shutdown, 0 × 5: during engine stop, 0 × 6: when the three working states are stopped, the engine of the vehicle to be controlled is in a stop state.
Step S2012, when the engine is in a stop state, detects whether the engine is restarted.
Specifically, the step is to receive a third operating signal sent by the engine management system when the engine is in a stop state, and determine whether the engine is restarted according to the third operating signal.
It should be understood that, when the third operation signal sent by the EMS is pre-activated at 0 × 7, the ratio of 0 × 8: when the engine is in the process of self-starting, the engine is restarted.
In this embodiment, when the ramp angle is greater than a preset angle threshold, a second operating signal sent by an engine management system is received, whether an engine of the vehicle to be controlled is in a stop state is determined through the second operating signal, when the engine is in the stop state, a third operating signal sent by the engine management system is received, whether the engine is restarted is determined through the third operating signal, and therefore whether the engine is restarted is determined through receiving a signal initiated by EMS.
Furthermore, an embodiment of the present invention further provides a storage medium, where an uphill assist control program is stored on the storage medium, and when executed by a processor, the uphill assist control program implements the following operations:
when a vehicle to be controlled is parked on a ramp, acquiring vehicle state information of the vehicle to be controlled and a ramp angle of the ramp;
when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition;
when the vehicle state information meets the preset uphill auxiliary condition, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so that the vehicle to be controlled does not slide down a slope;
acquiring a glide torque and a current output torque of the engine;
and when the current output torque is larger than the gliding torque, the brake is decompressed, so that the vehicle to be controlled runs forwards.
Further, the uphill assist control program when executed by the processor further performs the following operations:
receiving a first working signal sent by an engine management system;
and when the first working signal is not a preset first target working signal, executing the step of judging whether the vehicle state information meets a preset uphill auxiliary condition or not when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted.
Further, the uphill assist control program when executed by the processor further performs the following operations:
when the ramp angle is larger than a preset angle threshold value, detecting whether an engine of the vehicle to be controlled restarts;
and when the engine is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition or not.
Further, the uphill assist control program when executed by the processor further performs the following operations:
when the ramp angle is larger than a preset angle threshold value, detecting whether an engine of the vehicle to be controlled is in a stop state;
detecting whether the engine restarts while the engine is in a stopped state.
Further, the uphill assist control program when executed by the processor further performs the following operations:
when the ramp angle is larger than a preset angle threshold value, receiving a second working signal sent by an engine management system;
and judging whether the engine of the vehicle to be controlled is in a stop state or not through the second working signal.
Further, the uphill assist control program when executed by the processor further performs the following operations:
receiving a third working signal sent by the engine management system when the engine is in a stop state;
and judging whether the engine is restarted or not through the third working signal.
Further, the uphill assist control program when executed by the processor further performs the following operations:
and when the gear state is not P gear, the accelerator pedal state is not stepped and the hand brake state is not pulled up, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so as to prevent the vehicle to be controlled from sliding down a slope.
In the embodiment, when the vehicle to be controlled is parked on the ramp, the vehicle state information of the vehicle to be controlled and the ramp angle of the ramp are acquired, when the ramp angle is larger than a preset angle threshold value and an engine of the vehicle to be controlled is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition or not, and when the vehicle state information meets the preset uphill auxiliary condition, the brake of the vehicle to be controlled is pressurized and is kept for a preset time so that the vehicle to be controlled does not slide down a slope, the glide torque and the current output torque of the engine are obtained, when the current output torque is larger than the gliding torque, the brake is decompressed to ensure that the vehicle to be controlled runs forwards, so that the angle of the ramp and the state information of the vehicle are judged, and determining whether to trigger the uphill auxiliary control vehicle to start according to the judgment result, so that the technical problems of how to avoid vehicle sliding on the uphill and easy failure of the uphill auxiliary are solved.
Further, referring to fig. 5, an uphill assist control device according to an embodiment of the present invention includes:
the information acquisition module 10 is used for acquiring vehicle state information of a vehicle to be controlled and a ramp angle of a ramp when the vehicle to be controlled is parked on the ramp.
It can be understood that when a vehicle to be controlled is parked on a slope, vehicle state information of the vehicle to be controlled and a slope angle of the slope are obtained, the vehicle state information includes a gear state, an accelerator pedal state and a hand brake state, the gear state includes a D gear, a P gear, an R gear and an N gear, the gear state of the manual vehicle further includes a 1 gear, a 2 gear, a 3 gear, a 4 gear and a 5 gear, which are not limited in this embodiment, the accelerator pedal state may be a pressed state and a non-pressed state, the hand brake state may be a pulled state and a non-pulled state, the slope angle may be represented by degrees or may be represented by percentages, which are not limited in this embodiment, the present embodiment takes an example of representing the slope angle by percentages, that is percentage slopes, the percentage slopes are percentages of height differences between two points and their routes, and its calculation formula is that the slope angle is (height difference/route) 100%, for example, the slope of 3% refers to the slope angle of 3 meters of elevation difference every 100 meters of the journey, namely 3 meters of vertical ascending (descending); 1% means that the distance is every 100 m, the height difference is 1 m, namely the distance rises (falls) 1 m in the vertical direction, and so on.
And the condition judging module 20 is configured to judge whether the vehicle state information meets a preset uphill assisting condition when the ramp angle is larger than a preset angle threshold and the engine of the vehicle to be controlled is restarted.
It should be noted that the preset angle threshold may be set according to an actual situation, which is not limited in this embodiment, and the preset angle threshold may be set to 5% or may be set to other values, and this embodiment takes the preset angle threshold as 5% as an example for description.
It should be understood that the condition for triggering the uphill assist function is that the hill angle is greater than the predetermined angle threshold and the engine of the vehicle to be controlled is restarted, it being understood that the uphill assist function is only required when the engine is restarted, and that the uphill assist function is neither required nor activated if the engine is not shut down or is not restarted after shut down.
It can be understood that after the triggering precondition of the uphill assist function is satisfied, it is further required to determine whether the vehicle state information satisfies a preset uphill assist condition, where the preset uphill assist condition may be that the gear state is not a P-gear, the accelerator pedal state is not stepped on, and the hand brake state is not pulled up.
And the auxiliary triggering module 30 is configured to build pressure on a brake of the vehicle to be controlled when the vehicle state information meets the preset uphill auxiliary condition, and maintain the pressure within a preset time, so that the vehicle to be controlled does not slide down a slope.
It should be noted that when the vehicle state information meets the preset uphill assist condition, that is, the gear state is not the P gear, the accelerator pedal state is not pressed, and the hand brake state is not pulled, the uphill assist function is triggered, that is, the brake of the vehicle to be controlled is pressurized, and the pressure is maintained within the preset time, so that the engine is braked to control the vehicle not to slide down the slope, where the preset time may be 2 seconds or other times, which is not limited in this embodiment, and the embodiment takes the preset time of 2 seconds as an example, that is, the pressure is maintained within 2 seconds.
The torque acquisition module 40 is used for acquiring the glide torque and the current output torque of the engine.
It should be noted that when the brake is pressurized and pressure is maintained, the glide torque and the current output torque of the engine are obtained, and whether pressure is released or not is judged according to the glide torque and the current output torque of the engine, so that the vehicle to be controlled runs forwards.
And the vehicle running module 50 is used for relieving the pressure of the brake when the current output torque is greater than the glide torque so as to enable the vehicle to be controlled to run forwards.
It can be understood that when the current output torque is larger than the glide torque, which represents that the output power of the engine of the automobile to be controlled is enough to overcome the glide torque, the brake is released, so that the automobile to be controlled runs forwards.
In the embodiment, when the vehicle to be controlled is parked on the ramp, the vehicle state information of the vehicle to be controlled and the ramp angle of the ramp are acquired, when the ramp angle is larger than a preset angle threshold value and an engine of the vehicle to be controlled is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition or not, and when the vehicle state information meets the preset uphill auxiliary condition, the brake of the vehicle to be controlled is pressurized and is kept for a preset time so that the vehicle to be controlled does not slide down a slope, the glide torque and the current output torque of the engine are obtained, when the current output torque is larger than the gliding torque, the brake is decompressed to ensure that the vehicle to be controlled runs forwards, so that the angle of the ramp and the state information of the vehicle are judged, and determining whether to trigger the uphill auxiliary control vehicle to start according to the judgment result, so that the technical problems of how to avoid vehicle sliding on the uphill and easy failure of the uphill auxiliary are solved.
In one embodiment, the condition determining module 20 is further configured to detect whether an engine of the vehicle to be controlled restarts when the ramp angle is greater than a preset angle threshold; and when the engine is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition or not.
In an embodiment, the condition determining module 20 is further configured to detect whether an engine of the vehicle to be controlled is in a stop state when the ramp angle is greater than a preset angle threshold; detecting whether the engine restarts while the engine is in a stopped state.
In an embodiment, the condition determining module 20 is further configured to receive a second working signal sent by an engine management system when the ramp angle is greater than a preset angle threshold; and judging whether the engine of the vehicle to be controlled is in a stop state or not through the second working signal.
In an embodiment, the condition determining module 20 is further configured to receive a third operating signal sent by the engine management system when the engine is in a stop state; and judging whether the engine is restarted or not through the third working signal.
In an embodiment, the auxiliary triggering module 30 is further configured to build pressure on a brake of the vehicle to be controlled when the gear state is not the P gear, the accelerator pedal state is not pressed, and the handbrake state is not pulled up, and maintain the pressure for a preset time, so that the vehicle to be controlled does not slide down a slope.
In one embodiment, the system further comprises an auxiliary judgment module for receiving a first working signal sent by the engine management system; and when the first working signal is not a preset first target working signal, executing the step of judging whether the vehicle state information meets a preset uphill auxiliary condition or not when the ramp angle is larger than a preset angle threshold value and the engine of the vehicle to be controlled is restarted.
For other embodiments or specific implementation methods of the uphill assist control device according to the present invention, reference may be made to the above method embodiments, and details are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, and includes several instructions for enabling an intelligent terminal (which may be a mobile phone, a computer, a terminal, an air conditioner, or a network terminal) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (4)
1. An uphill assist control method, characterized by comprising:
when a vehicle to be controlled is parked on a ramp, a vehicle body stability control system acquires vehicle state information of the vehicle to be controlled and a ramp angle of the ramp;
when the ramp angle is larger than a preset angle threshold value, receiving a second working signal sent by an engine management system;
judging whether an engine of the vehicle to be controlled is in a stop state or not according to the second working signal;
when the second working signal is 0 × 4: pre-shutdown, 0 × 5: engine off, and 0 × 6: when the engine is stopped, judging that the engine is in a stopped state;
receiving a third working signal sent by the engine management system when the engine is in a stop state;
judging whether the engine is restarted or not according to the third working signal;
when the third operating signal is 0 × 7: pre-start, and 0 × 8: when the engine is in the process of self-starting, determining that the engine is restarted;
when the engine is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition;
when the vehicle state information meets the preset uphill auxiliary condition, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so that the vehicle to be controlled does not slide down a slope;
acquiring a glide torque and a current output torque of the engine;
when the current output torque is larger than the gliding torque, the brake is decompressed, so that the vehicle to be controlled runs forwards;
the vehicle state information comprises a gear state, an accelerator pedal state and a hand brake state;
when the vehicle state information meets the preset uphill auxiliary condition, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within preset time so that the vehicle to be controlled does not slide down a slope, specifically comprising:
when the gear state is not P gear, the accelerator pedal state is not stepped, and the hand brake state is not pulled up, building pressure on a brake of the vehicle to be controlled, and maintaining the pressure within a preset time so that the vehicle to be controlled does not slide down a slope;
when the ramp angle is greater than the preset angle threshold and the engine of the vehicle to be controlled is restarted, before judging whether the vehicle state information meets a preset uphill auxiliary condition, the method further comprises the following steps:
receiving a first working signal sent by an engine management system;
when the first working signal is a preset first target working signal, judging that the vehicle to be controlled does not have a start-stop function, and does not trigger hill start assistance, wherein the preset first target working signal is 0 x 0: closing the start-stop system;
and when the first working signal is not a preset first target working signal, judging that the vehicle to be controlled has a start-stop function, triggering hill start assistance, and executing the step of judging whether the vehicle state information meets a preset hill start assistance condition or not when the slope angle is greater than a preset angle threshold value and the engine of the vehicle to be controlled is restarted.
2. An uphill assist control device, comprising:
the information acquisition module is used for acquiring the vehicle state information of the vehicle to be controlled and the ramp angle of the ramp when the vehicle to be controlled is parked on the ramp;
the condition judgment module is used for receiving a second working signal sent by the engine management system when the ramp angle is larger than a preset angle threshold; judging whether an engine of the vehicle to be controlled is in a stop state or not according to the second working signal; when the second working signal is 0 × 4: pre-shutdown, 0 × 5: engine off, and 0 × 6: when the engine is stopped, judging that the engine is in a stopped state; receiving a third working signal sent by the engine management system when the engine is in a stop state; judging whether the engine is restarted or not according to the third working signal; when the third operating signal is 0 × 7: pre-start, and 0 × 8: when the engine is in the process of self-starting, determining that the engine is restarted; when the engine is restarted, judging whether the vehicle state information meets a preset uphill auxiliary condition;
the auxiliary triggering module is used for building pressure on a brake of the vehicle to be controlled and maintaining the pressure within a preset time so as to prevent the vehicle to be controlled from sliding down a slope when the vehicle state information meets the preset uphill auxiliary condition;
the torque acquisition module is used for acquiring the glide torque and the current output torque of the engine;
the vehicle running module is used for relieving pressure of the brake when the current output torque is larger than the gliding torque so as to enable the vehicle to be controlled to run forwards;
the vehicle state information comprises a gear state, an accelerator pedal state and a hand brake state;
the auxiliary triggering module is further used for building pressure on a brake of the vehicle to be controlled and maintaining the pressure within a preset time so that the vehicle to be controlled does not slide down when the gear state is not P gear, the accelerator pedal state is not stepped on, and the hand brake state is not pulled up;
the auxiliary triggering module is also used for receiving a first working signal sent by an engine management system; when the first working signal is a preset first target working signal, judging that the vehicle to be controlled does not have a start-stop function, and does not trigger hill start assistance, wherein the preset first target working signal is 0 x 0: closing the start-stop system; and when the first working signal is not a preset first target working signal, judging that the vehicle to be controlled has a start-stop function, triggering hill start assistance, and executing the step of judging whether the vehicle state information meets a preset hill start assistance condition or not when the slope angle is greater than a preset angle threshold value and the engine of the vehicle to be controlled is restarted.
3. An uphill assist control apparatus, characterized by comprising: a memory, a processor and an uphill assist control program stored on the memory and executable on the processor, the uphill assist control program configured to implement the steps of the uphill assist control method as claimed in claim 1.
4. A storage medium having stored thereon an uphill assist control program which, when executed by a processor, implements the steps of the uphill assist control method as claimed in claim 1.
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| CN110936935B (en) * | 2019-12-13 | 2021-04-06 | 深圳市元征科技股份有限公司 | Brake assisting method and device for gradient starting, vehicle-mounted equipment and medium |
| CN111779829B (en) * | 2020-07-01 | 2021-08-17 | 中国第一汽车股份有限公司 | Method and system for detecting pressure building capability of mechanical pump of transmission and storage medium |
| CN114000561B (en) * | 2021-11-08 | 2023-05-02 | 潍柴动力股份有限公司 | Loader control method and device, electronic equipment and computer storage medium |
| CN115009239B (en) * | 2022-07-07 | 2023-11-07 | 浙江极氪智能科技有限公司 | Parking method, device, equipment and storage medium for vehicle |
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