CN112776807B

CN112776807B - Multi-gradient starting accelerator control method, device, equipment and storage medium

Info

Publication number: CN112776807B
Application number: CN202110020707.9A
Authority: CN
Inventors: 罗永官; 潘文军; 黄真; 何育敏; 秦方艳; 李占凡; 周文雄; 庞冬生
Original assignee: Dongfeng Liuzhou Motor Co Ltd
Current assignee: Dongfeng Liuzhou Motor Co Ltd
Priority date: 2021-01-07
Filing date: 2021-01-07
Publication date: 2022-08-26
Anticipated expiration: 2041-01-07
Also published as: CN112776807A

Abstract

The invention belongs to the technical field of automobiles, and discloses a multi-gradient starting accelerator control method, device, equipment and storage medium. Determining a hill hold torque and a slip critical torque according to current gradient curve information; determining an output throttle threshold value according to the ramp maintenance torque and the slip critical torque through a preset throttle algorithm; determining a hill-starting accelerator curve according to the hill holding torque and the current slope starting torque through a preset accelerator algorithm; determining target throttle curve information according to the output throttle threshold value and the uphill throttle curve; and performing multi-gradient starting accelerator control according to the target accelerator curve information. In the invention, when the vehicle anti-skid control of hill starting is carried out, the hill maintaining torque, the skid critical torque and the current slope starting torque are considered, and a plurality of slope torques are combined, so that the finally obtained target accelerator curve information is suitable for the road condition with a complex slope, and the limitation problem that the control is only carried out on a certain slope in the prior art is overcome.

Description

Multi-gradient starting accelerator control method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of automobiles, in particular to a multi-gradient starting accelerator control method, device, equipment and storage medium.

Background

At present, the vehicle control unit that market is current is under the hill starting operating mode, generally is: controlling the torque output of the motor according to the stepping depth of an accelerator pedal of a driver to respond to the torque demand of the driver; if the output torque is too large, the driving wheel can slip, and no protection and avoidance measures are taken; although the electronic stability control system of the automobile also has a protection measure for wheel slip, the protection measure is simple, for example, the torque of the motor is directly reduced to be very low or even zero, and the dynamic performance and the driving requirement of the automobile cannot be met. When the electric automobile runs to a slope and needs to stop, the electronic parking system collects sensor signals, judges the slope of the slope, and controls the parking system to hold wheels tightly according to instructions so that the automobile stops on the slope; when the vehicle is started again, namely hill starting is carried out, a driver steps on an accelerator, and when the driving torque exceeds a calibration threshold value, the electronic parking system automatically releases the parking system, so that the vehicle is started to run under the action of the driving force of the motor. In the process, if the ramp is steep and the accelerator of a driver is stepped on deeply, the driving torque calculated by the control algorithm of the conventional vehicle controller is large; after the parking system is loosened, the resistance is changed from static friction into dynamic friction at the moment of wheel rotation, and the resistance is suddenly reduced, so that the relative driving torque is too large, the wheel is slipped, and even the direction is unstable, the vehicle sideslips and other dangers.

However, in the conventional vehicle control technology, when starting on a hill, the vehicle control antiskid technology generally controls only a certain hill, and has limitations in complex road conditions in practical application.

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 multi-gradient starting accelerator control method, a multi-gradient starting accelerator control device, multi-gradient starting accelerator control equipment and a storage medium, and aims to solve the technical problem that the existing vehicle anti-skid control technology has limitation in the complex road conditions of practical application.

In order to achieve the aim, the invention provides a multi-gradient starting accelerator control method, which comprises the following steps:

acquiring current gradient curve information, and determining ramp maintaining torque and slip critical torque according to the current gradient curve information;

determining an output throttle threshold value according to the ramp maintaining torque and the slip critical torque through a preset throttle algorithm;

acquiring a current gradient starting torque, and determining a hill-starting accelerator curve according to the hill maintaining torque and the current gradient starting torque through the preset accelerator algorithm;

determining target throttle curve information according to the output throttle threshold value and the uphill throttle curve;

and performing multi-gradient starting accelerator control according to the target accelerator curve information.

Optionally, before the step of obtaining the current gradient curve information and determining the hill-hold torque and the slip critical torque according to the current gradient curve information, the method further includes:

acquiring on-off relay state information, acquiring torque verification information when the on-off relay state information is closed state information, and judging whether the torque verification information meets a preset verification condition or not;

and when the torque verification information meets a preset verification condition, executing the steps of obtaining the current gradient curve information and determining the ramp maintaining torque and the slip critical torque according to the current gradient curve information.

Optionally, after the step of obtaining the torque verification information and determining whether the torque verification information meets the preset verification condition, the method further includes:

and when the torque verification information does not meet the preset verification condition, generating a preset accelerator algorithm abnormal signal, and stopping executing the multi-gradient starting accelerator control according to the preset accelerator algorithm abnormal signal.

Optionally, the step of performing multi-gradient starting throttle control according to the target throttle curve information includes:

acquiring current road environment information, and determining a corresponding throttle relation table according to the current road environment information;

and optimizing the limit value of the target accelerator curve information according to the accelerator relation table, and controlling the torque of the vehicle according to the optimized limit value so as to realize multi-gradient starting accelerator control.

Optionally, before the step of obtaining the current road environment information and determining the corresponding throttle relationship table according to the current road environment information, the method further includes:

acquiring state information of a driving camera and state information of a driving radar;

and when the state information of the driving camera and the state information of the driving radar are preset state information, executing the steps of acquiring the current road environment information and determining a corresponding accelerator relation table according to the current road environment information.

Optionally, the step of optimizing the limit of the target throttle curve information according to the throttle relationship table and controlling the torque of the vehicle according to the optimized limit includes:

acquiring the type information of an accelerator relation table, and determining a corresponding accelerator relation table according to the type information of the accelerator relation table;

and acquiring an accelerator depth curve, optimizing the limit value of the target accelerator curve information according to the accelerator relation table and the accelerator depth curve, and controlling the torque of the vehicle according to the optimized limit value.

acquiring current state information of a vehicle, and judging whether a preset anti-skid starting condition is met or not according to the current state information;

and when the current state information meets the preset anti-skid starting condition, executing the steps of obtaining the current gradient curve information and determining the ramp maintaining torque and the slip critical torque according to the current gradient curve information.

In addition, in order to achieve the above object, the present invention further provides a multi-gradient starting accelerator control device, including:

the acquisition module is used for acquiring current gradient curve information and determining ramp maintaining torque and slip critical torque according to the current gradient curve information;

the output determining module is used for determining an output throttle threshold value according to the ramp maintaining torque and the slip critical torque through a preset throttle algorithm;

the output determining module is further used for acquiring a current gradient starting torque, and determining a hill-start throttle curve according to the hill maintaining torque and the current gradient starting torque through the preset throttle algorithm;

the target determining module is used for determining target throttle curve information according to the output throttle threshold value and the uphill throttle curve;

and the control module is used for carrying out multi-gradient starting accelerator control according to the target accelerator curve information.

In addition, in order to achieve the above object, the present invention also provides a multi-gradient starting accelerator control apparatus, including: the multi-gradient starting throttle control method comprises a memory, a processor and a multi-gradient starting throttle control program stored on the memory and capable of running on the processor, wherein the multi-gradient starting throttle control program is configured to realize the steps of the multi-gradient starting throttle control method.

In addition, in order to achieve the above object, the present invention further provides a storage medium, wherein the storage medium stores a multi-gradient starting accelerator control program, and the multi-gradient starting accelerator control program realizes the steps of the multi-gradient starting accelerator control method as described above when being executed by a processor.

According to the method, the current gradient curve information is obtained, and the ramp maintaining torque and the slip critical torque are determined according to the current gradient curve information; determining an output throttle threshold value according to the ramp maintaining torque and the slip critical torque through a preset throttle algorithm; acquiring a current gradient starting torque, and determining a hill-starting accelerator curve according to the hill maintaining torque and the current gradient starting torque through the preset accelerator algorithm; determining target throttle curve information according to the output throttle threshold value and the uphill throttle curve; and performing multi-gradient starting accelerator control according to the target accelerator curve information. In the invention, when the vehicle anti-skid control of hill starting is carried out, the hill maintaining torque, the slip critical torque and the current slope starting torque are considered, and a plurality of slope torques are combined, so that the finally obtained target accelerator curve information is adapted to the road condition with a complex slope, the limitation problem that the control is only carried out on a certain slope in the prior art is overcome, the method is suitable for the complex road condition in practical application, and the technical problem that the anti-skid control technology of the prior vehicle has limitation in the complex road condition in practical application is solved.

Drawings

FIG. 1 is a schematic structural diagram of a multi-gradient starting accelerator control device in a hardware operating environment according to an embodiment of the invention;

FIG. 2 is a schematic flow chart of a multi-gradient starting accelerator control method according to a first embodiment of the invention;

FIG. 3 is a schematic interface definition diagram of a throttle control algorithm of the anti-skid torque calculation module in accordance with an embodiment of the present invention;

FIG. 4 is a flowchart illustrating a multi-gradient starting accelerator control method according to a second embodiment of the present invention;

FIG. 5 is a flowchart illustrating a multi-slope starting accelerator control method according to a third embodiment of the present invention;

fig. 6 is a structural block diagram of the multi-gradient starting accelerator control device according to the first embodiment of the 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 a multi-gradient starting accelerator control device in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the multi-gradient take-off throttle 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. The communication bus 1002 is used to implement connection communication among 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 a multi-grade take-off throttle control device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

As shown in fig. 1, the memory 1005, which is a storage medium, may include an operating system, a network communication module, a user interface module, and a multi-grade take-off throttle control program.

In the multi-gradient starting throttle control apparatus 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 in the multi-gradient starting accelerator control device of the invention can be arranged in the multi-gradient starting accelerator control device, and the multi-gradient starting accelerator control device calls the multi-gradient starting accelerator control program stored in the memory 1005 through the processor 1001 and executes the multi-gradient starting accelerator control method provided by the embodiment of the invention.

The embodiment of the invention provides a multi-gradient starting accelerator control method, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the multi-gradient starting accelerator control method.

In this embodiment, the multi-gradient starting accelerator control method includes the following steps:

step S10: and acquiring current gradient curve information, and determining the ramp maintaining torque and the slip critical torque according to the current gradient curve information.

It should be noted that the execution main body of this embodiment is the multi-gradient starting accelerator control device, and the multi-gradient starting accelerator control device may be a device such as a personal computer or an in-vehicle server, which is not limited in this embodiment. For convenience of description, in the present embodiment, the multi-gradient starting accelerator Control device is described as an Electronic Control Unit (ECU), and the ECU is also called a "traveling computer", an "on-board computer", and the like.

It should be appreciated that one way to determine the target throttle curve information may be: determining a hill holding torque and a slip critical torque according to the current gradient curve information; and determining target throttle curve information according to the ramp maintaining torque and the slip critical torque through a preset throttle algorithm. Specifically, current gradient curve information is obtained, and a ramp maintaining torque and a slip critical torque are determined according to the current gradient curve information; determining an output throttle threshold value according to the ramp maintaining torque and the slip critical torque through a preset throttle algorithm; acquiring a current gradient starting torque, and determining a hill-starting accelerator curve according to the hill maintaining torque and the current gradient starting torque through the preset accelerator algorithm; and determining target throttle curve information according to the output throttle threshold value and the uphill throttle curve.

Referring to fig. 3, fig. 3 is a schematic interface definition diagram of a throttle control algorithm of the anti-skid torque calculation module according to an embodiment of the present invention; the ECU may also include a ramp torque calculation module. The ramp torque calculation module obtains current grade curve information. For example, the ramp torque calculation module builds a slope curve and a ramp maintenance torque curve according to the current slope curve information within a preset time. The method comprises the steps that a ramp torque calculation module obtains ramp-up torque information in a rotating speed control model of a vehicle power domain controller, a ramp-up torque curve is built according to the ramp-up torque information within preset time, and the ramp-up torque curve is stored in a memory card preset module of an ECU; the ramp torque calculation module acquires actual adhesion curve information and front adhesion curve information in the road surface state model, builds an actual adhesion curve according to the actual adhesion curve information, builds a front adhesion curve according to the front adhesion curve information, and stores the front adhesion curve into the memory card presetting module. The current gradient profile information may include: a slope curve, a ramp maintenance torque curve, actual adhesion curve information, and front adhesion curve information.

Specifically, determining the hill-hold torque and the slip critical torque based on the current gradient profile information includes: determining a slip critical torque Tq1 through a traction force algorithm according to the actual traction force curve information and the front traction force curve information; the hill hold torque Tq2 is determined by a hill torque algorithm based on the grade curve and the hill hold torque curve.

Step S20: and determining an output throttle threshold value according to the ramp maintaining torque and the slip critical torque through a preset throttle algorithm.

Specifically, determining the hill-hold torque and the slip critical torque based on the current gradient profile information includes: determining a slip critical torque Tq1 through a traction force algorithm according to the actual traction force curve information and the front traction force curve information; the hill hold torque Tq2 is determined by a hill torque algorithm based on the grade curve and the hill hold torque curve. An output throttle threshold MAX is determined by a preset throttle algorithm according to the hill-hold torque Tq2 and the slip critical torque Tq1, wherein the output throttle threshold MAX is the maximum output throttle value, Tq2+ Tq1 is MAX.

In order to intelligently determine the driver's hill start assist request, it is necessary to determine the driver's intention before determining the target accelerator curve information, for example: acquiring driver intention information, and judging whether the driver intention information meets corresponding preset conditions or not; when the driver intention information meets corresponding preset conditions, obtaining braking pressure maintaining state information and accelerator depth information; and when the braking pressure maintaining state information and the accelerator depth information meet the preset threshold value condition, executing a step of determining an output accelerator threshold value according to the ramp maintaining torque and the slip critical torque through a preset accelerator algorithm.

It is easy to understand that the brake pressure maintaining state information is the pressure state information of the electronic parking brake system ESP, and the ECU may retrieve the pressure state information ESPSts36 of the electronic parking brake system ESP, where the pressure state information ESPSts36 is Keep indicating pressure maintaining, and the pressure state information ESPSts36 is Not Keep indicating pressure Not maintaining. The accelerator depth information is built according to the accelerator depth and is stored in a memory card presetting module, a preset accelerator depth trigger curve set in the memory card presetting module in advance can be set as follows: the throttle value of the throttle depth information is greater than or equal to the throttle value of the preset throttle depth trigger curve, and the throttle values of the throttle depth information and the throttle value of the preset throttle depth trigger curve are greater than or equal to 0.

Step S30: and acquiring the current gradient starting torque, and determining a hill-starting accelerator curve according to the hill maintaining torque and the current gradient starting torque through the preset accelerator algorithm.

It is easy to understand that the current slope starting torque Tq3 is obtained, and a slope starting throttle curve Slop is determined according to the slope maintaining torque Tq2 and the current slope starting torque Tq3 through a preset throttle algorithm, wherein Tq2+ Tq3 is Slop.

Step S40: and determining target accelerator curve information according to the output accelerator threshold value and the uphill accelerator curve.

It should be understood that the target throttle curve information is determined from the output throttle threshold MAX and the hill start throttle curve Slop. The target throttle curve information is recommended throttle curve information required by steady starting, and the target throttle curve information may include an output throttle threshold value MAX, a hill-starting throttle curve Slop, preset throttle algorithm state information and the like.

Step S50: and performing multi-gradient starting accelerator control according to the target accelerator curve information.

In the present embodiment, the manner of performing the multi-gradient start accelerator control may be: acquiring current road environment information, and determining a corresponding accelerator relation table according to the current road environment information; and optimizing the limit value of the target accelerator curve information according to the accelerator relation table, and controlling the torque of the vehicle according to the optimized limit value so as to realize multi-gradient starting accelerator control.

It is easy to understand that, in order to improve the climbing safety of the vehicle, the current road environment information is considered comprehensively, and the target accelerator curve information is optimized according to the accelerator relation table determined by the current road environment information. Specifically, current road environment information is acquired; when the current road environment information accords with a first barrier state, acquiring an upper limit throttle relation table, and taking the upper limit throttle relation table as a throttle relation table; and when the current road environment information accords with a second barrier state, acquiring an upper limit and lower limit accelerator relation table, and taking the upper limit and lower limit accelerator relation table as an accelerator relation table.

It should be understood that the type information of the throttle relationship table is obtained, and the corresponding throttle relationship table is determined according to the type information of the throttle relationship table; and acquiring an accelerator depth curve, optimizing the limit value of the target accelerator curve information according to the accelerator relation table and the accelerator depth curve, and controlling the torque of the vehicle according to the optimized limit value so as to realize multi-gradient starting accelerator control. The target accelerator curve information may include an output accelerator threshold MAX, a hill start accelerator curve Slop, preset accelerator algorithm state information, and the like, and the input and output accelerator threshold MAX may be used to optimize an upper limit of a driver accelerator curve in an upper limit accelerator relationship table and an upper limit accelerator relationship table; the hill start throttle curve Slop may be used to optimize the upper and lower limits of the driver's throttle curve in the upper and lower limit throttle relationship table.

In the embodiment, the ramp maintaining torque and the slip critical torque are determined according to the current gradient curve information by acquiring the current gradient curve information; determining an output throttle threshold value according to the ramp maintaining torque and the slip critical torque through a preset throttle algorithm; acquiring a current slope starting torque, and determining a slope starting accelerator curve according to the slope maintaining torque and the current slope starting torque through the preset accelerator algorithm; determining target throttle curve information according to the output throttle threshold value and the uphill throttle curve; and performing multi-gradient starting accelerator control according to the target accelerator curve information. In the embodiment, when the vehicle antiskid control of hill start is performed, the hill maintaining torque, the slip critical torque and the current slope start torque are considered, and multiple slope torques are combined, so that the finally obtained target accelerator curve information is adapted to the road condition with a complex slope, the limitation problem that the control is only performed on a certain slope in the prior art is solved, the method is suitable for the complex road condition in practical application, and the technical problem that the limitation exists in the complex road condition in practical application in the prior vehicle antiskid control technology is solved.

Referring to fig. 4, fig. 4 is a flowchart illustrating a multi-gradient starting accelerator control method according to a second embodiment of the present invention. Based on the first embodiment, before the step S10, the multi-gradient starting accelerator control method according to this embodiment further includes:

step S11: the method comprises the steps of obtaining on-off relay state information, obtaining torque verification information when the on-off relay state information is closed state information, and judging whether the torque verification information meets preset verification conditions or not.

It is easy to understand that when the current state information meets the preset anti-skid opening condition, the current state information of the vehicle can be considered to simultaneously meet three conditions of a gradient trigger condition, a road property trigger condition and a vehicle speed trigger condition, and at this moment, the opening and closing state of the anti-skid torque calculation module is switched to be opened, so that the anti-skid torque calculation needs to be executed. The ECU may also include a ramp torque calculation module. The ramp torque calculation module obtains current grade curve information. For example, the ramp torque calculation module builds a grade curve and a ramp maintenance torque curve according to the current grade curve information within a preset time. And switching the on-off state of the anti-skid torque calculation module to on, acquiring current gradient curve information when the torque verification information meets a preset verification condition, and determining the ramp maintenance torque and the slip critical torque according to the current gradient curve information.

Specifically, the ECU may retrieve the On/Off state information OrdSts21 of the anti-skid torque calculation module, where the On/Off state information OrdSts21 indicates that the anti-skid torque calculation module is turned On, and the On/Off state information OrdSts21 indicates that the anti-skid torque calculation module is turned Off. When the anti-skid torque calculation module is determined to be started according to the starting and stopping state information, torque verification information is obtained, and whether the torque verification information meets preset verification conditions or not is judged; and when the torque verification information meets the preset verification condition, acquiring the current gradient curve information. Specifically, the torque verification state information may be TqCheck _ Act22, and the ECU may retrieve torque verification state information TqCheck _ Act22 in the ramp torque calculation module, where the torque verification state information is Pass indicating that the verification is passed, that is, the torque verification information meets the preset verification condition, and the torque verification state information is Failure indicating that the verification is failed, that is, the torque verification information does not meet the preset verification condition.

Step S12: and when the torque verification information meets a preset verification condition, executing the steps of obtaining the current gradient curve information and determining the ramp maintaining torque and the slip critical torque according to the current gradient curve information.

It should be noted that the torque verification state information may be TqCheck _ Act22, and the ECU may retrieve torque verification state information TqCheck _ Act22 in the ramp torque calculation module, where the torque verification state information is Pass, which indicates that the verification is passed, that is, the torque verification information meets a preset verification condition, and when the torque verification information passes, current gradient curve information is obtained, and the ramp maintenance torque and the slip critical torque are determined according to the current gradient curve information.

In addition, the ECU can call torque check state information TqCheck _ Act22 in the ramp torque calculation module, the torque check state information is Failure, the check Failure is represented, namely the torque check information does not accord with a preset check condition, when the torque check information does not accord with the preset check condition, namely the torque check information fails, a preset accelerator algorithm abnormal signal is generated, and the multi-gradient starting accelerator control is stopped to be executed according to the preset accelerator algorithm abnormal signal.

In the embodiment, by acquiring the on-off relay state information, when the on-off relay state information is the closed state information, the torque verification information is acquired, and whether the torque verification information meets the preset verification condition is judged; and when the torque verification information accords with a preset verification condition, executing the steps of acquiring the current gradient curve information and determining the ramp maintaining torque and the slip critical torque according to the current gradient curve information. In the embodiment, when the vehicle antiskid control of hill start is performed, the hill maintaining torque, the slip critical torque and the current slope start torque are considered, and multiple slope torques are combined, so that the finally obtained target accelerator curve information is adapted to the road condition with a complex slope, the limitation problem that the control is only performed on a certain slope in the prior art is solved, the method is suitable for the complex road condition in practical application, and the technical problem that the limitation exists in the complex road condition in practical application in the prior vehicle antiskid control technology is solved.

Referring to fig. 5, fig. 5 is a schematic flowchart of a multi-gradient starting accelerator control method according to a third embodiment of the present invention. Based on the first embodiment, in the step S50, the multi-gradient starting accelerator control method according to the embodiment includes:

step S501: acquiring current road environment information, and determining a corresponding throttle relation table according to the current road environment information.

It is to be noted that the static road environment information and the dynamic road environment information are determined according to the current road environment information; and when the static road environment information is determined to have the static barrier and the dynamic road environment information is determined to have the dynamic barrier, acquiring an upper limit throttle relation table, and taking the upper limit throttle relation table as a throttle relation table. When the static road environment information is determined to be free of static obstacles and the dynamic road environment information is determined to be free of dynamic obstacles, determining front road environment information according to the current road environment information; and when the front road environment information is determined to be that no front obstacle exists, acquiring an upper limit and lower limit throttle relation table, and taking the upper limit and lower limit throttle relation table as a throttle relation table. When the front road environment information is determined to be the front obstacle, determining rear road environment information according to the current road environment information; and when the rear road environment information is determined to be that no rear barrier exists, acquiring an upper limit throttle relation table, and taking the upper limit throttle relation table as a throttle relation table. And when the rear road environment information is determined to be the existence of a rear obstacle, acquiring an upper limit and lower limit accelerator relation table, and taking the upper limit and lower limit accelerator relation table as an accelerator relation table.

It is easy to understand that, in order to ensure the accuracy of the acquired current road environment information, it is necessary to determine whether the operation state of the relevant device that acquires the current road environment information is normal before acquiring the current road environment information. For example: acquiring state information of a driving camera and state information of a driving radar; and when the state information of the driving camera and the state information of the driving radar are preset state information, executing the steps of acquiring the current road environment information and determining a corresponding accelerator relation table according to the current road environment information.

Specifically, state information of a driving camera and state information of a driving radar are obtained; when the state information of the driving camera and the state information of the driving radar are preset state information, judging whether the road identification state is a preset identification state or not; when the road identification state is the preset identification state, outputting a closing signal of the on-off relay to the on-off relay; and when the on-off relay is closed, the steps of acquiring the current road environment information and determining static road environment information and dynamic road environment information according to the current road environment information are executed. Calling driving camera state information CameraSTs41, wherein the driving camera state information is True indicating that the driving camera is normal, and the driving camera state information is Fault indicating that the driving camera is abnormal; and calling running radar state information RadarSts42, wherein the running radar state information is True to indicate that the running radar is normal, and the running radar state information is Fault to indicate that the running radar is abnormal. And judging whether the road identification state is a preset identification state, namely judging whether the current road property is an identifiable state.

Step S502: and optimizing the limit value of the target accelerator curve information according to the accelerator relation table, and controlling the torque of the vehicle according to the optimized limit value so as to realize multi-gradient starting accelerator control.

It should be understood that the type information of the throttle relationship table is obtained, and the corresponding throttle relationship table is determined according to the type information of the throttle relationship table; and acquiring an accelerator depth curve, optimizing the limit value of the target accelerator curve information according to the accelerator relation table and the accelerator depth curve, and controlling the torque of the vehicle according to the optimized limit value so as to realize multi-gradient starting accelerator control. The target throttle curve information may include an output throttle threshold MAX, a hill-start throttle curve Slop, preset throttle algorithm state information, and the like, and the input and output throttle threshold MAX may be used to optimize an upper limit of a driver throttle curve in an upper limit throttle relationship table and an upper limit throttle relationship table; the hill start throttle curve Slop may be used to optimize the upper and lower limits of the driver's throttle curve in the upper and lower limit throttle relationship table.

Specifically, when the accelerator relation table is an upper limit accelerator relation table, acquiring accelerator depth information; sending a closing signal to an upper limit relation table valid bit corresponding to the upper limit throttle relation table; sending a disconnection signal to an effective bit of an upper limit and lower limit relation table corresponding to the upper limit and lower limit throttle relation table; and when the effective position of the upper limit relation table is closed and the effective position of the upper limit lower limit relation table is opened, optimizing the upper limit value of the target throttle curve information according to the upper limit throttle relation table and the throttle depth information.

Specifically, when the accelerator relation table is an upper limit and lower limit accelerator relation table, acquiring accelerator depth information; sending a disconnection signal to an upper limit relation table valid bit corresponding to the upper limit throttle relation table; sending a closing signal to an effective bit of an upper limit and lower limit relation table corresponding to the upper limit and lower limit throttle relation table; and when the effective position of the upper limit relation table is disconnected and the effective position of the upper limit relation table is closed, optimizing the upper limit value and the lower limit value of the target throttle curve information according to the upper limit throttle relation table and the throttle depth information.

Specifically, when the throttle relationship table is not the upper limit throttle relationship table and the upper limit lower limit throttle relationship table, a disconnection signal is sent to an effective bit of the upper limit relationship table corresponding to the upper limit throttle relationship table; sending a disconnection signal to an effective bit of an upper limit and lower limit relation table corresponding to the upper limit and lower limit throttle relation table; and generating an exit signal when the effective bit of the upper limit relation table is disconnected and the effective bit of the upper limit lower limit relation table is disconnected, and stopping executing the throttle optimization algorithm control according to the exit signal.

It should be noted that, state information of the on-off relay is acquired, and when the state information of the on-off relay is closed state information, whether an accelerator acceleration control instruction is received is judged; and when the accelerator acceleration control instruction is received, executing the step of acquiring the type information of the accelerator relation table and determining the accelerator relation table according to the type information of the accelerator relation table. The anti-skid torque calculation module calls opening and closing monitoring information, the opening and closing monitoring information is information for monitoring the state of the anti-skid torque calculation module, and the anti-skid torque calculation module can maintain the original opening and closing state of the anti-skid torque calculation module according to the opening and closing monitoring information. And when the opening and closing monitoring information is opening, determining that the opening and closing state of the anti-skid torque calculation module is opening, and performing accelerator optimization after receiving an accelerator acceleration control instruction.

In the embodiment, the current road environment information is acquired, and a corresponding throttle relation table is determined according to the current road environment information; and optimizing the limit value of the target accelerator curve information according to the accelerator relation table, and controlling the torque of the vehicle according to the optimized limit value so as to realize multi-gradient starting accelerator control. In the embodiment, when the vehicle antiskid control of hill start is performed, the hill maintaining torque, the slip critical torque and the current slope start torque are considered, and multiple slope torques are combined, so that the finally obtained target accelerator curve information is adapted to the road condition with a complex slope, the limitation problem that the control is only performed on a certain slope in the prior art is solved, the method is suitable for the complex road condition in practical application, and the technical problem that the limitation exists in the complex road condition in practical application in the prior vehicle antiskid control technology is solved.

In addition, an embodiment of the present invention further provides a storage medium, where a multi-gradient starting accelerator control program is stored on the storage medium, and the multi-gradient starting accelerator control program is executed by a processor to perform the steps of the multi-gradient starting accelerator control method described above.

Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.

Referring to fig. 6, fig. 6 is a structural block diagram of the multi-gradient starting accelerator control device according to the first embodiment of the invention.

As shown in fig. 6, the multi-gradient starting accelerator control device according to the embodiment of the present invention includes:

the acquiring module 10 is configured to acquire current gradient curve information and determine a hill holding torque and a slip critical torque according to the current gradient curve information.

It should be noted that, in the present embodiment, the multi-gradient starting throttle Control device may be located in an Electronic Control Unit (ECU), where the multi-gradient starting throttle Control device may include an anti-skid torque calculation module.

Referring to fig. 3, fig. 3 is a schematic interface definition diagram of a throttle control algorithm of the anti-skid torque calculation module according to an embodiment of the present invention; the ECU may also include a ramp torque calculation module. The ramp torque calculation module obtains current grade curve information. For example, the ramp torque calculation module builds a grade curve and a ramp maintenance torque curve according to the current grade curve information within a preset time. The method comprises the steps that a ramp torque calculation module obtains ramp-up torque information in a rotating speed control model of a vehicle power domain controller, a ramp-up torque curve is built according to the ramp-up torque information within preset time, and the ramp-up torque curve is stored in a memory card preset module of an ECU; the ramp torque calculation module acquires actual adhesion curve information and front adhesion curve information in the road surface state model, builds an actual adhesion curve according to the actual adhesion curve information, builds a front adhesion curve according to the front adhesion curve information, and stores the front adhesion curve into the memory card presetting module. The current grade profile information may include: a slope curve, a ramp maintenance torque curve, actual adhesion curve information, and front adhesion curve information.

Specifically, determining the hill-hold torque and the slip critical torque based on the current gradient profile information includes: determining a slip critical torque Tq1 through a traction algorithm according to the actual traction curve information and the front traction curve information; the hill hold torque Tq2 is determined by a hill torque algorithm based on the grade curve and the hill hold torque curve.

And the output determination module 20 is used for determining an output throttle threshold value according to the ramp maintaining torque and the slip critical torque through a preset throttle algorithm.

Specifically, determining the hill-hold torque and the slip critical torque based on the current gradient profile information includes: determining a slip critical torque Tq1 through a traction force algorithm according to the actual traction force curve information and the front traction force curve information; the hill hold torque Tq2 is determined by a hill torque algorithm based on the grade curve and the hill hold torque curve. An output throttle threshold MAX is determined by a preset throttle algorithm from the hill hold torque Tq2 and the slip threshold torque Tq1, Tq2+ Tq1 being MAX, where MAX is the maximum output throttle value.

In order to intelligently determine the driver's hill start assist request, it is necessary to determine the driver's intention before determining the target accelerator curve information, for example: acquiring driver intention information, and judging whether the driver intention information meets corresponding preset conditions or not; when the driver intention information meets corresponding preset conditions, obtaining braking pressure maintaining state information and accelerator depth information; and when the braking pressure maintaining state information and the accelerator depth information are determined to meet the preset threshold value condition, executing the step of determining an output accelerator threshold value according to the ramp maintaining torque and the slip critical torque through a preset accelerator algorithm.

It is easy to understand that the brake pressure maintaining state information is the pressure state information of the electronic parking brake system ESP, and the ECU may retrieve the pressure state information ESPSts36 of the electronic parking brake system ESP, where the pressure state information ESPSts36 is Keep indicating pressure maintaining, and the pressure state information ESPSts36 is Not Keep indicating pressure Not maintaining. Accelerator depth information is built according to the accelerator depth and is stored in a memory card presetting module, a preset accelerator depth trigger curve set in the memory card presetting module in advance can be set as follows: the throttle value of the throttle depth information is greater than or equal to the throttle value of the preset throttle depth trigger curve, and the throttle values of the throttle depth information and the throttle value of the preset throttle depth trigger curve are greater than or equal to 0.

The output determining module 20 is further configured to obtain a current slope starting torque, and determine a hill-start accelerator curve according to the slope maintaining torque and the current slope starting torque through the preset accelerator algorithm.

It is easily understood that the current gradient starting torque Tq3 is obtained, and a hill-start accelerator curve Slop is determined by a preset accelerator algorithm according to the hill-hold torque Tq2 and the current gradient starting torque Tq3, where Tq2+ Tq3 is Slop.

And the target determining module 30 is configured to determine target throttle curve information according to the output throttle threshold and the uphill throttle curve.

And the control module 40 is used for performing multi-gradient starting accelerator control according to the target accelerator curve information.

In addition, in the embodiment, the manner of performing the multi-gradient start accelerator control may be: acquiring current road environment information, and determining a corresponding throttle relation table according to the current road environment information; and optimizing the limit value of the target accelerator curve information according to the accelerator relation table, and controlling the torque of the vehicle according to the optimized limit value so as to realize multi-gradient starting accelerator control.

It is easy to understand that, in order to improve the climbing safety of the vehicle, the current road environment information is considered comprehensively, and the target accelerator curve information is optimized according to the accelerator relation table determined by the current road environment information. Specifically, current road environment information is acquired; when the current road environment information accords with a first barrier state, acquiring an upper limit throttle relation table, and taking the upper limit throttle relation table as a throttle relation table; and when the current road environment information accords with the state of a second obstacle, acquiring an upper limit and lower limit throttle relation table, and taking the upper limit and lower limit throttle relation table as a throttle relation table.

The multi-slope starting accelerator control device comprises an acquisition module 10, a torque calculation module and a control module, wherein the acquisition module 10 is used for acquiring current slope curve information and determining a slope maintaining torque and a slip critical torque according to the current slope curve information; the output determination module 20 is configured to determine an output throttle threshold according to the hill-hold torque and the slip critical torque through a preset throttle algorithm; the output determining module 20 is further configured to obtain a current slope starting torque, and determine a hill starting accelerator curve according to the slope maintaining torque and the current slope starting torque through the preset accelerator algorithm; a target determining module 30, configured to determine target throttle curve information according to the output throttle threshold and the uphill throttle curve; and the control module 40 is used for performing multi-gradient starting accelerator control according to the target accelerator curve information. In the embodiment, when the vehicle anti-skidding control of hill starting is carried out, the hill maintaining torque, the skidding critical torque and the current slope starting torque are considered, and a plurality of slope torques are combined, so that the finally obtained target accelerator curve information is suitable for the road condition with a complex slope, the limitation problem that the control is only carried out on a certain slope in the prior art is solved, the method is suitable for the complex road condition in practical application, and the technical problem that the anti-skidding control technology of the prior vehicle has limitation in the complex road condition in practical application is solved.

Other embodiments or specific implementation manners of the multi-gradient starting accelerator control device provided by the invention can refer to the above-mentioned embodiments of the multi-gradient starting accelerator control method, and are not described herein again.

In one embodiment, the multi-gradient starting accelerator control device further comprises a checking module, wherein the checking module is used for acquiring the state information of the on-off relay, acquiring the torque checking information when the state information of the on-off relay is the closed state information, and judging whether the torque checking information meets the preset checking condition or not;

In an embodiment, the checking module is further configured to generate a preset accelerator algorithm abnormal signal when the torque verification information does not meet a preset verification condition, and stop executing the multi-slope starting accelerator control according to the preset accelerator algorithm abnormal signal.

In an embodiment, the control module 40 is further configured to obtain current road environment information, and determine a corresponding accelerator relationship table according to the current road environment information;

In an embodiment, the control module 40 is further configured to obtain driving camera state information and driving radar state information;

In an embodiment, the control module 40 is further configured to obtain type information of an accelerator relationship table, and determine a corresponding accelerator relationship table according to the type information of the accelerator relationship table;

In an embodiment, the control module 40 is further configured to obtain current state information of the vehicle, and determine whether a preset anti-skid starting condition is met according to the current state information;

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.

It should be noted that the above-mentioned work flows are only illustrative and do not limit the scope of the present invention, and in practical applications, those skilled in the art may select some or all of them according to actual needs to implement the purpose of the solution of the present embodiment, and the present invention is not limited herein.

In addition, the technical details that are not described in detail in this embodiment may refer to a multi-gradient starting accelerator control method provided in any embodiment of the present invention, and are not described herein again.

Furthermore, 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 solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, 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 is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.

Claims

1. The multi-gradient starting accelerator control method is characterized by comprising the following steps of:

acquiring current gradient curve information, and determining a ramp maintaining torque and a slip critical torque according to the current gradient curve information, wherein the current gradient curve information comprises: a slope curve, a ramp maintenance torque curve, actual adhesion curve information and front adhesion curve information;

performing multi-gradient starting accelerator control according to the target accelerator curve information;

the determining of the hill hold torque and the slip critical torque according to the current gradient profile information includes: determining a slip critical torque through a traction algorithm according to the actual traction curve information and the front traction curve information, and determining a hill holding torque through a hill torque algorithm according to the slope curve and the hill holding torque curve;

the step of performing multi-gradient starting accelerator control according to the target accelerator curve information comprises the following steps:

optimizing the limit value of the target accelerator curve information according to the accelerator relation table, and controlling the torque of the vehicle according to the optimized limit value so as to realize multi-gradient starting accelerator control;

wherein, the determining the corresponding throttle relationship table according to the current road environment information comprises: determining static road environment information and dynamic road environment information according to the current road environment information; when the static road environment information is determined to have a static obstacle and the dynamic road environment information is determined to have a dynamic obstacle, acquiring an upper limit throttle relation table, and taking the upper limit throttle relation table as a throttle relation table; when the static road environment information is determined to be free of static obstacles and the dynamic road environment information is determined to be free of dynamic obstacles, determining front road environment information according to the current road environment information; when the fact that the front road environment information does not have a front obstacle is determined, acquiring an upper limit and lower limit throttle relation table, and taking the upper limit and lower limit throttle relation table as a throttle relation table; when the front road environment information is determined to have a front obstacle, determining rear road environment information according to the current road environment information; and when the rear road environment information is determined to be the rear obstacle, acquiring an upper limit throttle relation table, and taking the upper limit throttle relation table as a throttle relation table, and when the rear road environment information is determined to be the rear obstacle, acquiring an upper limit lower limit throttle relation table, and taking the upper limit lower limit throttle relation table as a throttle relation table.

2. The multi-slope launch throttle control method of claim 1, wherein prior to the step of obtaining current slope profile information and determining hill hold torque and slip threshold torque based on the current slope profile information, further comprising:

3. The multi-gradient starting accelerator control method according to claim 2, wherein after the step of obtaining the torque verification information and judging whether the torque verification information meets the preset verification condition, the method further comprises the following steps:

4. The multi-gradient starting throttle control method as claimed in claim 1, wherein before the step of obtaining current road environment information and determining a corresponding throttle relationship table according to the current road environment information, the method further comprises:

5. The multi-gradient starting throttle control method as claimed in claim 1, wherein the step of optimizing the limit value of the target throttle curve information according to the throttle relationship table and controlling the torque of the vehicle according to the optimized limit value comprises:

6. The multi-gradient startup accelerator control method according to any one of claims 1 to 3, wherein the step of obtaining current gradient curve information and determining the hill-hold torque and the slip critical torque according to the current gradient curve information further comprises:

and when the current state information meets the preset anti-skid starting condition, executing the steps of acquiring the current gradient curve information and determining the ramp maintaining torque and the skid critical torque according to the current gradient curve information.

7. The utility model provides a many slopes start throttle controlling means which characterized in that, many slopes start throttle controlling means includes:

the acquiring module is used for acquiring current gradient curve information and determining a ramp maintaining torque and a slip critical torque according to the current gradient curve information, wherein the current gradient curve information comprises: a slope curve, a ramp maintenance torque curve, actual adhesion curve information and front adhesion curve information;

the control module is used for carrying out multi-gradient starting accelerator control according to the target accelerator curve information;

the acquisition module is further used for determining a slip critical torque through an adhesion algorithm according to the actual adhesion curve information and the front adhesion curve information, and determining a ramp maintenance torque through a ramp torque algorithm according to the slope curve and the ramp maintenance torque curve;

the output determining module is also used for acquiring intention information of the driver; judging whether the driver intention information meets corresponding preset conditions or not; when the driver intention information meets corresponding preset conditions, obtaining braking pressure maintaining state information and accelerator depth information; when the braking pressure maintaining state information and the accelerator depth information are determined to meet the preset threshold value condition, executing the step of determining an output accelerator threshold value according to the ramp maintaining torque and the slip critical torque through a preset accelerator algorithm;

the control module is also used for acquiring current road environment information and determining a corresponding throttle relation table according to the current road environment information; optimizing the limit value of the target accelerator curve information according to the accelerator relation table, and controlling the torque of the vehicle according to the optimized limit value so as to realize multi-gradient starting accelerator control; wherein, the determining the corresponding throttle relationship table according to the current road environment information comprises: determining static road environment information and dynamic road environment information according to the current road environment information; when the static road environment information is determined to have a static obstacle and the dynamic road environment information is determined to have a dynamic obstacle, acquiring an upper limit throttle relation table, and taking the upper limit throttle relation table as a throttle relation table; when the static road environment information is determined to be free of static obstacles and the dynamic road environment information is determined to be free of dynamic obstacles, determining front road environment information according to the current road environment information; when the fact that the front road environment information does not have a front obstacle is determined, an upper limit and lower limit throttle relation table is obtained and used as a throttle relation table; when the front road environment information is determined to be the front obstacle, determining rear road environment information according to the current road environment information; and when the rear road environment information is determined to be the rear obstacle, acquiring an upper limit throttle relation table, and taking the upper limit throttle relation table as a throttle relation table, and when the rear road environment information is determined to be the rear obstacle, acquiring an upper limit lower limit throttle relation table, and taking the upper limit lower limit throttle relation table as a throttle relation table.

8. A multi-grade starting throttle control apparatus, characterized in that the apparatus comprises: a memory, a processor and a multi-slope take-off throttle control program stored on the memory and executable on the processor, the multi-slope take-off throttle control program being configured to implement the steps of the multi-slope take-off throttle control method as claimed in any one of claims 1 to 6.

9. A storage medium having stored thereon a multi-hill start throttle control program, which when executed by a processor implements the steps of the multi-hill start throttle control method according to any one of claims 1 to 6.