CN112455240A - Slope-retaining method, device, equipment and storage medium for automobile - Google Patents

Slope-retaining method, device, equipment and storage medium for automobile Download PDF

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Publication number
CN112455240A
CN112455240A CN202011426011.8A CN202011426011A CN112455240A CN 112455240 A CN112455240 A CN 112455240A CN 202011426011 A CN202011426011 A CN 202011426011A CN 112455240 A CN112455240 A CN 112455240A
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Prior art keywords
torque
rotating speed
vehicle
parking
change rate
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Granted
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CN202011426011.8A
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CN112455240B (en
Inventor
鹿徐伟
邵善敏
陶冉
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention belongs to the technical field of automobiles, and discloses an automobile slope-parking method, device, equipment and storage medium. The method comprises the following steps: when a vehicle enters a hill-holding mode, obtaining current motor rotating speed information, and determining motor rotating speed change rate information according to the current motor rotating speed information; generating a torque adjusting instruction according to the motor rotating speed change rate information; and sending the torque adjusting instruction to a motor control system so that the motor control system adjusts the driving torque of the vehicle to the ramp resisting torque according to the torque adjusting instruction to realize the ramp parking. According to the invention, the information of the change rate of the motor rotating speed is obtained by obtaining the information of the motor rotating speed, and the driving torque of the vehicle is adjusted to the ramp resisting torque according to the information of the change rate of the motor rotating speed, so that the vehicle is gradually stopped and stabilized on a ramp, and a brake pedal is not needed to be stepped on in the parking process, thereby reducing the impact feeling and improving the driving comfort.

Description

Slope-retaining method, device, equipment and storage medium for automobile
Technical Field
The invention relates to the technical field of automobiles, in particular to an automobile slope-parking method, device, equipment and storage medium.
Background
Along with the development of economy, the living standard of people is higher and higher, automobiles become into thousands of households and become living necessities of people, people also pay more and more attention to the comfort of automobile driving, and the impact feeling generated in the process of driving and parking on a ramp has great influence on the comfort of automobile driving. Therefore, what parking mode is adopted by the automobile in the process of driving on the ramp to reduce the impact feeling and improve the driving comfort becomes a hot spot of automobile production research.
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 a method, a device, equipment and a storage medium for slope parking of an automobile, and aims to solve the technical problem that impact is generated in the slope parking process in the prior art.
In order to achieve the above object, the present invention provides an automobile hill-holding method, comprising the steps of:
when a vehicle enters a hill-holding mode, obtaining current motor rotating speed information, and determining motor rotating speed change rate information according to the current motor rotating speed information;
generating a torque adjusting instruction according to the motor rotating speed change rate information;
and sending the torque adjusting instruction to a motor control system so that the motor control system adjusts the driving torque of the vehicle to the ramp resisting torque according to the torque adjusting instruction to realize the ramp parking.
Preferably, after the step of sending the torque adjustment command to the motor control system to cause the motor control system to adjust the driving torque of the vehicle to the hill hold torque according to the torque adjustment command to achieve the hill hold, the method further comprises:
sending a parking control command to a vehicle parking system within preset time so that the vehicle parking system starts a parking take-over according to the parking control command;
generating a torque unloading control instruction when receiving the takeover completion information fed back by the parking control system;
and sending the torque unloading control instruction to the motor control system so that the motor control system unloads the torque according to the torque unloading control instruction.
Preferably, before the step of acquiring current motor speed information and determining the motor speed change rate information according to the current motor speed information when the vehicle enters the hill-holding mode, the method further includes:
acquiring the change rate of the rotating speed of the motor in real time, and determining the absolute value of the change rate of the rotating speed according to the change rate of the rotating speed of the motor;
and acquiring the gradient of the current slope, and judging whether the vehicle enters a slope parking mode according to the absolute value of the rotating speed change rate and the gradient.
Preferably, the generating a torque adjustment command according to the information of the rate of change of the motor speed specifically includes:
acquiring the opening degree of an accelerator pedal in real time;
when the opening of the accelerator pedal is a natural opening, judging that the vehicle is in a creeping slope-retaining mode, and acquiring the current motor rotating speed change rate in the motor rotating speed change rate information;
and determining a target parking torque of the crawling parking mode according to the current motor rotating speed change rate, and generating a torque adjusting instruction according to the target parking torque of the crawling parking mode.
Preferably, after the step of acquiring the opening degree of the accelerator pedal in real time, the method further includes:
when the opening degree of the accelerator pedal is an unnatural opening degree and the opening degree of the accelerator pedal is kept unchanged within a preset time, judging that the vehicle is in an accelerator pedal stepping slope-stopping mode, and acquiring the current motor rotating speed change rate in the motor change rate information;
and determining a target parking torque of an accelerator pedal parking mode according to the current motor rotating speed change rate, and generating a torque adjusting instruction according to the target parking torque of the accelerator pedal parking mode.
Preferably, the obtaining a gradient of the current slope, and determining whether the vehicle enters the hill-holding mode according to the absolute value of the rotation speed change rate and the gradient specifically include:
judging whether the gradient is greater than a preset gradient or not, and whether a first absolute value of the rotating speed change rate in a high rotating speed interval is greater than a second absolute value in a low rotating speed interval or not;
and when the gradient is greater than a preset gradient and the first absolute value of the rotating speed change rate in the high rotating speed interval is greater than the second absolute value in the low rotating speed interval, judging that the vehicle enters a slope parking mode.
Preferably, before the step of sending the torque-off control instruction to the motor control system so that the motor control system performs torque-off according to the torque-off control instruction, the method further includes:
generating an early warning instruction when the takeover completion information fed back by the parking control system is not received within a preset time;
and sending the early warning instruction to a vehicle-mounted terminal so that the vehicle-mounted terminal outputs an early warning signal according to the early warning instruction.
In addition, in order to achieve the above object, the present invention further provides an apparatus for parking a vehicle in a slope, the apparatus comprising:
the determining module is used for acquiring current motor rotating speed information when the vehicle enters a slope parking mode and determining the information of the change rate of the motor rotating speed according to the current motor rotating speed information;
the generating module is used for generating a torque adjusting instruction according to the information of the change rate of the rotating speed of the motor;
and the sending module is used for sending the torque adjusting instruction to a motor control system so that the motor control system adjusts the driving torque of the vehicle to the ramp resisting torque according to the torque adjusting instruction to realize the ramp parking.
In addition, to achieve the above object, the present invention further provides an apparatus for parking a vehicle on a slope, the apparatus including: a memory, a processor and a vehicle hill-holding program stored on the memory and executable on the processor, the vehicle hill-holding program configured to implement the steps of the vehicle hill-holding method as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having a car hill-holding program stored thereon, where the car hill-holding program, when executed by a processor, implements the steps of the car hill-holding method as described above.
The invention provides an automobile slope-parking method, which comprises the steps of obtaining current motor rotating speed information when a vehicle enters a slope-parking mode, and determining the information of the change rate of the motor rotating speed according to the current motor rotating speed information; generating a torque adjusting instruction according to the motor rotating speed change rate information; and sending the torque adjusting instruction to a motor control system so that the motor control system adjusts the driving torque of the vehicle to the ramp resisting torque according to the torque adjusting instruction to realize the ramp parking. The invention obtains the information of the change rate of the motor rotating speed by obtaining the information of the motor rotating speed, and adjusts the driving torque of the vehicle to the ramp resisting torque according to the information of the change rate of the motor rotating speed, so that the vehicle can be gradually stopped and stabilized on the ramp, and the brake pedal is not needed to be stepped on in the parking process, thereby reducing the impact feeling when the vehicle is parked and improving the driving comfort.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle hill-holding device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a hill-holding method for a vehicle according to the present invention;
FIG. 3 is a schematic flow chart of a hill-holding method for a vehicle according to a second embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a third embodiment of the method for hill-holding of a vehicle according to the present invention;
fig. 5 is a block diagram of the first embodiment of the hill-holding device for an automobile 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 automobile hill-holding device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the automobile hill-holding device 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 include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a 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 shown in fig. 1 does not constitute a limitation of the vehicle hill-holding device and may include more or fewer components than those shown, or some components may be combined, 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 data storage module, a network communication module, a user interface module, and a car hill-holding program.
In the automobile hill-holding device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the vehicle hill-holding device of the present invention may be disposed in the vehicle hill-holding device, and the vehicle hill-holding device calls the vehicle hill-holding program stored in the memory 1005 through the processor 1001 and executes the vehicle hill-holding method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for parking an automobile on a slope, referring to fig. 2, and fig. 2 is a schematic flow diagram of a first embodiment of the method for parking an automobile on a slope.
In this embodiment, the method for parking an automobile includes the following steps:
step S10: when a vehicle enters a hill-holding mode, obtaining current motor rotating speed information, and determining motor rotating speed change rate information according to the current motor rotating speed information;
it should be noted that the execution subject of the embodiment is a vehicle controller, such as an ECU, a vehicle-mounted computer, and the like, and the vehicle controller may be a vehicle controller of an electric vehicle, a hybrid electric vehicle, a fuel vehicle, or another vehicle, which is not limited in this embodiment.
It can be understood that the hill-holding mode is a vehicle braking mode in which the vehicle control unit controls the vehicle to park on the driving hill. For example: after the vehicle enters the ramp, the vehicle receives a control command for parking on the ramp, and at the moment, the vehicle executes corresponding brake operation to finish parking.
It should be understood that the motor speed information may include information such as a motor speed, a motor rotation direction, and the like, and the motor speed change rate information may include information such as a magnitude of a motor speed change rate, a direction of a motor speed change rate, and the like, which is not limited in this embodiment.
In the concrete implementation, the vehicle controller controls the vehicle to enter a hill-holding mode, and meanwhile, the vehicle controller acquires information such as the current motor rotating speed and the motor rotating direction, and determines information such as the size of the change rate of the motor rotating speed and the direction of the change rate of the motor rotating speed according to the information such as the motor rotating speed and the motor rotating direction.
Step S20: generating a torque adjusting instruction according to the motor rotating speed change rate information;
the control method can obtain the change rate of the motor rotating speed from the information of the change rate of the motor rotating speed, and the vehicle control unit can generate a torque adjusting instruction according to the change rate of the motor rotating speed.
Further, in order to achieve parking completion in different parking modes, step S20 in this embodiment may include:
step S201: acquiring the opening degree of an accelerator pedal in real time;
step S202: when the opening of the accelerator pedal is a natural opening, judging that the vehicle is in a creeping slope-retaining mode, and acquiring the current motor rotating speed change rate in the motor rotating speed change rate information;
step S203: and determining a target parking torque of the crawling parking mode according to the current motor rotating speed change rate, and generating a torque adjusting instruction according to the target parking torque of the crawling parking mode.
It can be understood that the accelerator pedal is a device that is disposed on the vehicle and controls the power output of the vehicle, and the opening degree of the accelerator pedal may be an angle formed by the magnitude of the external force applied to the accelerator pedal and a horizontal plane, or an angle formed by the magnitude of the external force applied to the accelerator pedal and other reference planes, which is not limited in this embodiment.
It should be understood that, no external force is applied to the accelerator pedal, the accelerator pedal is in a natural opening degree, at this time, the vehicle controller determines that the vehicle is in a creeping hill-holding mode, the creeping hill-holding mode is a hill-holding mode in which the vehicle slowly moves under the condition that no external force is applied to the accelerator pedal, and the vehicle controller obtains the change rate of the rotating speed of the motor from the information of the change rate of the rotating speed of the motor.
It will be appreciated that in creep mode, the target parking torque may be determined according to the following equation:
FZ＝Fd+k×Q
wherein, FZThe hill-holding torque value is a torque value required by the vehicle to achieve hill-holding, and is determined by adding a vehicle creep torque value and a vehicle adjusting torque value. FdIn order to obtain the creep torque value, manufacturers generally set the creep torque when the vehicle leaves a factory, and the vehicle can generate torque output power under the condition that no external force is applied to an accelerator pedal. k multiplied by Q is an adjusting torque value, wherein k is a corresponding coefficient, a first mapping relation table is stored in a vehicle controller when the vehicle leaves a factory, the first mapping relation table has a corresponding relation between a rotating speed interval and a k value, the corresponding relation is calibrated by technicians of a vehicle manufacturer according to different vehicles and different rotating speed intervals, and the vehicle controller calls the k value corresponding to the corresponding rotating speed interval according to the rotating speed of the current vehicle; q is the value of the correction torque, a second mapping relation table is stored in the vehicle controller of the vehicle when the vehicle leaves a factory, the second mapping relation table has the corresponding relation between the interval of the values of the rotating speed change rate and the value of the correction torque, the corresponding relation is calibrated by technicians of vehicle manufacturers according to different vehicles and the interval of the values of the different rotating speed change rates, and the whole vehicle is calibrated by technicians of vehicle manufacturersAnd the controller calls the Q value corresponding to the corresponding rotating speed change rate interval according to the absolute value of the rotating speed change rate of the current vehicle. Other algorithms may be used to determine the target parking torque, and the embodiment is not limited thereto.
In the concrete implementation, the vehicle enters a creeping slope-retaining mode, a vehicle controller of the vehicle calls a creeping torque value, a corresponding coefficient k is determined according to the current rotating speed of the vehicle, and a corresponding correction torque value Q is determined according to the current rotating speed change rate of the vehicle. For example: interval of rotation speed [0, 10]The corresponding k value is k1The rotational speed interval corresponds to a rotational speed interval (10, 70)]The corresponding k value is k2Interval of rotation speeds (70, 120)]The corresponding k value is k3Interval of rotation speed (120, 150)]The corresponding k value is k4(ii) a Interval of absolute value of rate of change of rotation speed [0, 0.5 ]]The corresponding Q value is Q1Interval of absolute value of rate of change of rotation speed (0.5, 1)]The corresponding Q value is Q2Interval (1, 2) of absolute value of rate of change of rotation speed]The corresponding Q value is Q3If the absolute value of the current vehicle speed 20 and the speed change rate is 0.6, the current hill-holding torque is Fz＝Fd+k2×Q2。
Further, in order to achieve parking completion when the accelerator pedal is at the unnatural opening degree, step S201 may be followed by:
step S202': when the opening degree of the accelerator pedal is an unnatural opening degree and the opening degree of the accelerator pedal is kept unchanged within a preset time, judging that the vehicle is in an accelerator pedal stepping slope-stopping mode, and acquiring the current motor rotating speed change rate in the motor change rate information;
step S203': determining a target parking torque of an accelerator pedal-stepping parking mode according to the current motor rotating speed change rate, and generating a torque adjusting instruction according to the target parking torque of the accelerator pedal-stepping parking mode.
It should be understood that, when an external force is applied to the accelerator pedal, the state of the accelerator pedal is an unnatural opening degree, and the opening degree of the accelerator pedal remains unchanged within a preset time, and the vehicle controller determines that the vehicle is in an accelerator pedal hill-holding mode, for example: and if the preset time is 10 seconds, the opening degree of an accelerator pedal is kept unchanged within 10 seconds, and the vehicle controller judges that the vehicle enters an accelerator pedal stepping parking mode.
It will be appreciated that in creep mode, the target parking torque may be determined according to the following equation:
FZ＝Fj+M×R
wherein, FZThe hill-holding torque value is a torque value required by the vehicle to achieve hill-holding, and is determined by adding a vehicle accelerator pedal torque value and a vehicle regulating torque value. FjFor the torque value of the accelerator pedal, when the vehicle leaves the factory, a manufacturer generally calibrates the torque value corresponding to the opening of the accelerator pedal. M multiplied by R is an adjusting torque value, wherein M is a corresponding coefficient, a third mapping relation table is stored in a vehicle controller when the vehicle leaves a factory, the third mapping relation table has a corresponding relation between a rotating speed interval and an M value, the corresponding relation is calibrated by technicians of a vehicle manufacturer according to different vehicles and different rotating speed intervals, and the vehicle controller calls the M value corresponding to the corresponding rotating speed interval according to the rotating speed of the current vehicle; and R is a value of the correction torque, a fourth mapping relation table is stored in the vehicle controller when the vehicle leaves a factory, the fourth mapping relation table has a corresponding relation between the interval of the values of the rotating speed change rate and the value of the correction torque, the corresponding relation is calibrated by technicians of vehicle manufacturers according to different vehicles and the interval of the values of the different rotating speed change rates, and the vehicle controller calls the R value corresponding to the corresponding rotating speed change rate interval according to the absolute value of the rotating speed change rate of the current vehicle. Other algorithms may be used to determine the target parking torque, and the embodiment is not limited thereto.
In the concrete implementation, the vehicle enters an accelerator pedal stepping slope-stopping mode, a vehicle controller of the vehicle calls an accelerator pedal torque value, a corresponding coefficient M is determined according to the current rotating speed of the vehicle, and a corresponding correction torque value R is determined according to the current rotating speed change rate of the vehicle. For example: interval of rotation speed [100, 200]]Corresponding M value is M1The rotation speed interval corresponds to the rotation speed interval (200, 350)]Corresponding M value is M2Interval of rotation speeds (350, 550)]Corresponding M value is M3Interval of rotation speeds (550, 800)]Corresponding M value ofM4(ii) a Interval of absolute value of rate of change of rotation speed [0, 0.5 ]]The corresponding R value is R1Interval of absolute value of rate of change of rotation speed (0.5, 1)]The corresponding R value is R2Interval (1, 2) of absolute value of rate of change of rotation speed]The corresponding R value is R3If the absolute value of the rotation speed change rate of the current vehicle rotation speed 200 is 0.6, the current hill-holding torque is Fz＝Fj+M1×R2。
Step S30: and sending the torque adjusting instruction to a motor control system so that the motor control system adjusts the driving torque of the vehicle to the ramp resisting torque according to the torque adjusting instruction to realize the ramp parking.
It should be understood that the hill hold-up torque is the component force of the vehicle weight along the hill after the vehicle enters the hill, and can be determined by the vehicle weight and the angle formed by the vehicle driving direction and the horizontal plane, which can be measured by a level meter, and when the driving torque of the vehicle driving motor and the hill hold-up torque want to be balanced, the vehicle stops and the hill holding is completed.
According to the embodiment, the information of the change rate of the motor rotating speed is obtained by obtaining the information of the motor rotating speed, the driving torque of the vehicle is adjusted to the ramp resisting torque according to the information of the change rate of the motor rotating speed, so that the vehicle is gradually parked and stabilized on a ramp, a brake pedal is not needed to be stepped on in the parking process, the impact feeling of the vehicle during parking on the ramp is reduced, and the driving comfort is improved.
Referring to fig. 3, fig. 3 is a schematic flow chart of a hill-holding method for a vehicle according to a second embodiment of the present invention.
Based on the first embodiment, in this embodiment, after step S30, the method further includes:
step S40: sending a parking control command to a vehicle parking system within preset time so that the vehicle parking system starts a parking take-over according to the parking control command;
it should be noted that the vehicle Parking system may be an Electronic Stability Program (ESP) system, an Electronic Stability Controller (ESC) system, or an Electronic Parking system (EPB), and the embodiment is not limited thereto.
It should be understood that the parking system of the vehicle may receive a parking control command sent by the vehicle controller, and after receiving the parking control command, may take over the parking of the vehicle according to the command.
Step S50: generating a torque unloading control instruction when receiving the takeover completion information fed back by the parking control system;
it can be understood that the takeover completion information is information that the vehicle parking control system feeds back the parking takeover to the vehicle controller when the parking control system of the vehicle takes over the parking of the vehicle according to the instruction.
It should be understood that the torque-off control command is a command sent by the vehicle control unit to the motor control system that does not require continued loading of drive torque.
Step S60: and sending the torque unloading control instruction to the motor control system so that the motor control system unloads the torque according to the torque unloading control instruction.
It should be understood that after the vehicle motor control system receives a torque unloading command sent by the vehicle controller, the motor control system does not load the driving torque any more, and the torque unloading is completed.
In particular implementations, for example: the preset time is 3 seconds, the vehicle controller sends a parking control instruction to the vehicle parking control system within 3 seconds after the vehicle finishes parking on the slope, the vehicle parking control system feeds back parking takeover completion information to the vehicle controller after parking is finished according to the instruction, and the vehicle controller sends a torque-off control instruction to the vehicle motor control system after receiving the feedback information so as to finish vehicle torque-off. The preset time may be set according to different vehicles, and the embodiment is not limited thereto.
Further, in order to timely send out warning information when the parking control system of the vehicle is not in charge of parking, in this embodiment, the step S50 may be replaced by:
generating an early warning instruction when the takeover completion information fed back by the parking control system is not received within a preset time; and sending the early warning instruction to a vehicle-mounted terminal so that the vehicle-mounted terminal outputs an early warning signal according to the early warning instruction.
It can be understood that the vehicle-mounted terminal can be composed of various external devices such as a vehicle-mounted video server, an LCD touch screen, an external camera, a call handle, an automobile burglar alarm and the like, and the vehicle-mounted terminal can output information such as video, audio and the like.
In particular implementations, for example: the preset time is 3 seconds, within 3 seconds, the vehicle controller of the vehicle does not receive the takeover completion information fed back by the parking control system, at the moment, the vehicle controller of the vehicle can send an early warning control instruction to the vehicle-mounted terminal, and the vehicle-mounted terminal receives the early warning control instruction and outputs early warning information such as videos and audios.
In the embodiment, a parking control instruction is sent to a vehicle parking control system by a vehicle control unit within a preset time, after parking is finished according to the instruction, the vehicle parking control system feeds back parking takeover finishing information to the vehicle control unit, and after receiving the feedback information, the vehicle control unit sends a torque unloading control instruction to a vehicle motor control system so as to finish vehicle torque unloading; and meanwhile, when the takeover completion information fed back by the parking control system is not received within the preset time, generating an early warning instruction, and sending the early warning instruction to the vehicle-mounted terminal so that the vehicle-mounted terminal outputs an early warning signal according to the early warning instruction. Because this embodiment takes over the parking through vehicle parking control system, it makes the vehicle park on the ramp to have solved driving motor, there is great load to driving motor, cause the motor excess temperature and then unload and turn round, cause the technical problem of incident, this embodiment reminds the navigating mate in time to make the reply through controlling on-vehicle terminal output early warning information in the time of predetermineeing simultaneously, it does not accomplish the takeover parking to have solved vehicle parking control system, driving motor makes the vehicle park on the ramp, there is great load to driving motor, cause the motor excess temperature and then unload and turn round, cause the technical problem of vehicle swift current slope.
Referring to fig. 4, fig. 4 is a schematic flow chart of a hill-holding method for a vehicle according to a third embodiment of the present invention.
Based on the foregoing embodiments, in this embodiment, before the step S10, the method further includes:
step S101: acquiring the change rate of the rotating speed of the motor in real time, and determining the absolute value of the change rate of the rotating speed according to the change rate of the rotating speed of the motor;
it should be understood that the rate of change of the motor speed includes both the value and the direction of the rate of change of the motor speed, and the absolute value of the rate of change of the motor speed can be derived from the value of the rate of change of the motor speed.
Step S102: and acquiring the gradient of the current slope, and judging whether the vehicle enters a slope parking mode according to the absolute value of the rotating speed change rate and the gradient.
It should be understood that whether the vehicle enters the hill-holding mode may be determined based on the comparison result of the absolute value of the rotation speed change rate between the high rotation speed section and the low rotation speed section and the comparison result of the current slope gradient and the preset gradient.
Further, in order to accurately determine whether the vehicle enters the hill-holding mode, in this embodiment, the step S102 may include:
judging whether the gradient is greater than a preset gradient or not, and whether a first absolute value of the rotating speed change rate in a high rotating speed interval is greater than a second absolute value in a low rotating speed interval or not; and when the gradient is greater than a preset gradient and the first absolute value of the rotating speed change rate in the high rotating speed interval is greater than the second absolute value in the low rotating speed interval, judging that the vehicle enters a slope parking mode.
In particular implementations, for example: the value of the preset gradient is 10, the gradient of a slope on which the vehicle runs is 12, the absolute value of the rate of change of the rotation speed in the rotation speed section [550, 800] is 2, and the absolute value of the rate of change of the rotation speed in the rotation speed section [100, 200] is 0.5, and since the gradient 12 of the slope on which the vehicle runs is larger than the preset gradient 10, the first absolute value 2 of the rate of change of the rotation speed in the high rotation speed section is larger than the second absolute value 0.5 in the low rotation speed section, it is determined that the vehicle enters the hill-holding mode.
According to the method and the device, whether the vehicle enters the hill-holding mode is judged by judging whether the gradient of the vehicle entering the hill-holding mode is larger than the preset gradient and judging whether the first absolute value of the change rate of the motor rotating speed in the high rotating speed interval is larger than the second absolute value in the low rotating speed interval, so that the technical problem that the vehicle enters the hill-holding mode by mistake due to braking when the vehicle runs on a flat road is solved.
In addition, an embodiment of the present invention further provides a storage medium, where an automobile hill-holding program is stored on the storage medium, and the automobile hill-holding program, when executed by a processor, implements the steps of the automobile hill-holding method described above.
Referring to fig. 5, fig. 5 is a block diagram illustrating a first embodiment of the hill-holding device for a vehicle according to the present invention.
As shown in fig. 5, the vehicle hill-holding device according to the embodiment of the present invention includes: the device comprises a determining module 10, a generating module 20 and a sending module 30.
The determining module 10 is configured to obtain current motor speed information when a vehicle enters a hill-holding mode, and determine motor speed change rate information according to the current motor speed information;
the generating module 20 is configured to generate a torque adjustment instruction according to the information of the rate of change of the motor speed;
and the sending module 30 is configured to send the torque adjustment instruction to a motor control system, so that the motor control system adjusts the driving torque of the vehicle to the ramp resisting torque according to the torque adjustment instruction, so as to implement the ramp parking.
Because this embodiment obtains motor speed rate of change information through obtaining motor speed information, adjusts the drive torque to the ramp moment of resistance of vehicle according to motor speed rate of change information, makes the vehicle stop gradually and steady on the ramp, and in the parking process, need not step on the brake pedal, has reduced the impact and has felt, has improved driving comfort.
Further, the determining module 10 is further configured to obtain a change rate of the motor rotation speed in real time, and determine an absolute value of the change rate of the rotation speed according to the change rate of the motor rotation speed; and acquiring the gradient of the current slope, and judging whether the vehicle enters a slope parking mode according to the absolute value of the rotating speed change rate and the gradient.
Further, the determining module 10 is further configured to determine whether the gradient is greater than a preset gradient, and whether a first absolute value of the rotation speed change rate in a high rotation speed interval is greater than a second absolute value in a low rotation speed interval; and when the gradient is greater than a preset gradient and the first absolute value of the rotating speed change rate in the high rotating speed interval is greater than the second absolute value in the low rotating speed interval, judging that the vehicle enters a slope parking mode.
Further, the generating module 20 is further configured to obtain an accelerator pedal opening in real time; when the opening of the accelerator pedal is a natural opening, judging that the vehicle is in a creeping slope-retaining mode, and acquiring the current motor rotating speed change rate in the motor rotating speed change rate information; and determining a target parking torque of the crawling parking mode according to the current motor rotating speed change rate, and generating a torque adjusting instruction according to the target parking torque of the crawling parking mode.
Further, the generating module 20 is further configured to determine that the vehicle is in an accelerator pedal hill-holding mode when the accelerator pedal opening is an unnatural opening and the accelerator pedal opening remains unchanged within a preset time, and acquire a current motor rotation speed change rate in the motor change rate information; and determining a target parking torque of an accelerator pedal parking mode according to the current motor rotating speed change rate, and generating a torque adjusting instruction according to the target parking torque of the accelerator pedal parking mode.
Further, the sending module 30 is further configured to send a parking control instruction to a vehicle parking system within a preset time, so that the vehicle parking system starts a parking take-over according to the parking control instruction; generating a torque unloading control instruction when receiving the takeover completion information fed back by the parking control system; and sending the torque unloading control instruction to the motor control system so that the motor control system unloads the torque according to the torque unloading control instruction.
Further, the sending module 30 is further configured to generate an early warning instruction when the takeover completion information fed back by the parking control system is not received within a preset time; and sending the early warning instruction to a vehicle-mounted terminal so that the vehicle-mounted terminal outputs an early warning signal according to the early warning instruction.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
In the embodiment, when a vehicle enters a hill-holding mode, a determining module 10 acquires current motor rotation speed information, and determines motor rotation speed change rate information according to the current motor rotation speed information; the generation module 20 generates a torque adjustment instruction according to the motor rotating speed change rate information; the sending module 30 sends the torque adjustment instruction to a motor control system, so that the motor control system adjusts the driving torque of the vehicle to the ramp resisting torque according to the torque adjustment instruction, and the ramp parking is achieved. Because this embodiment obtains motor speed rate of change information through obtaining motor speed information, adjusts the drive torque to the ramp moment of resistance of vehicle according to motor speed rate of change information, makes the vehicle stop gradually and steady on the ramp, and in the parking process, need not step on the brake pedal, has reduced the impact sense when the vehicle is parked, has improved driving comfort.
Other embodiments or specific implementation manners of the slope-parking device of the invention can refer to the above method embodiments, and 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 system 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 system. 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 system 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 solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., a rom/ram, a magnetic disk, an optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) 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 (10)

1. A method for hill-holding of a vehicle, the method comprising:
when a vehicle enters a hill-holding mode, obtaining current motor rotating speed information, and determining motor rotating speed change rate information according to the current motor rotating speed information;
generating a torque adjusting instruction according to the motor rotating speed change rate information;
and sending the torque adjusting instruction to a motor control system so that the motor control system adjusts the driving torque of the vehicle to the ramp resisting torque according to the torque adjusting instruction to realize the ramp parking.
2. The method of claim 1, wherein after the step of sending the torque adjustment command to a motor control system to cause the motor control system to adjust a drive torque of the vehicle to a resistive hill torque to effect hill-hold in accordance with the torque adjustment command, the method further comprises:
sending a parking control command to a vehicle parking system within preset time so that the vehicle parking system starts a parking take-over according to the parking control command;
generating a torque unloading control instruction when receiving the takeover completion information fed back by the parking control system;
and sending the torque unloading control instruction to the motor control system so that the motor control system unloads the torque according to the torque unloading control instruction.
3. The method of claim 1, wherein said step of obtaining current motor speed information when the vehicle enters the hill-holding mode and determining the rate of change of motor speed information based on said current motor speed information is preceded by the step of:
acquiring the change rate of the rotating speed of the motor in real time, and determining the absolute value of the change rate of the rotating speed according to the change rate of the rotating speed of the motor;
and acquiring the gradient of the current slope, and judging whether the vehicle enters a slope parking mode according to the absolute value of the rotating speed change rate and the gradient.
4. The method according to claim 1, wherein generating a torque adjustment command based on the motor speed rate of change information comprises:
acquiring the opening degree of an accelerator pedal in real time;
when the opening of the accelerator pedal is a natural opening, judging that the vehicle is in a creeping slope-retaining mode, and acquiring the current motor rotating speed change rate in the motor rotating speed change rate information;
and determining a target parking torque of the crawling parking mode according to the current motor rotating speed change rate, and generating a torque adjusting instruction according to the target parking torque of the crawling parking mode.
5. The method of claim 4, wherein after the step of obtaining accelerator pedal opening in real time, the method further comprises:
when the opening degree of the accelerator pedal is an unnatural opening degree and the opening degree of the accelerator pedal is kept unchanged within a preset time, judging that the vehicle is in an accelerator pedal stepping slope-stopping mode, and acquiring the current motor rotating speed change rate in the motor change rate information;
and determining a target parking torque of an accelerator pedal parking mode according to the current motor rotating speed change rate, and generating a torque adjusting instruction according to the target parking torque of the accelerator pedal parking mode.
6. The method according to claim 3, wherein the obtaining of the gradient of the current slope and the determining of whether the vehicle enters the hill-holding mode based on the absolute value of the rotation speed change rate and the gradient comprise:
judging whether the gradient is greater than a preset gradient or not, and whether a first absolute value of the rotating speed change rate in a high rotating speed interval is greater than a second absolute value in a low rotating speed interval or not;
and when the gradient is greater than a preset gradient and the first absolute value of the rotating speed change rate in the high rotating speed interval is greater than the second absolute value in the low rotating speed interval, judging that the vehicle enters a slope parking mode.
7. The method of claim 2, wherein prior to the step of sending the torque-off control command to the motor control system to cause the motor control system to perform torque-off in accordance with the torque-off control command, the method further comprises:
generating an early warning instruction when the takeover completion information fed back by the parking control system is not received within a preset time;
and sending the early warning instruction to a vehicle-mounted terminal so that the vehicle-mounted terminal outputs an early warning signal according to the early warning instruction.
8. An automobile hill-holding device, characterized in that the device comprises:
the determining module is used for acquiring current motor rotating speed information when the vehicle enters a slope parking mode and determining the information of the change rate of the motor rotating speed according to the current motor rotating speed information;
the generating module is used for generating a torque adjusting instruction according to the information of the change rate of the rotating speed of the motor;
and the sending module is used for sending the torque adjusting instruction to a motor control system so that the motor control system adjusts the driving torque of the vehicle to the ramp resisting torque according to the torque adjusting instruction to realize the ramp parking.
9. An automobile hill-holding device, characterized in that the device comprises: memory, a processor and a car hill-holding program stored on the memory and executable on the processor, the car hill-holding program being configured to implement the steps of the car hill-holding method according to any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a car hill-holding program which, when executed by a processor, implements the steps of the car hill-holding method according to any one of claims 1 to 7.
CN202011426011.8A 2020-12-07 2020-12-07 Slope-retaining method, device, equipment and storage medium for automobile Active CN112455240B (en)

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