CN112776809B

CN112776809B - Driver hill start assisting method, device, equipment and storage medium

Info

Publication number: CN112776809B
Application number: CN202110020757.7A
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: 2022-03-15
Anticipated expiration: 2041-01-07
Also published as: CN112776809A

Abstract

The invention belongs to the technical field of automobiles, and discloses a driver hill start assisting method, device, equipment and storage medium. The method comprises the steps of determining electronic parking brake state information, brake information and start-stop monitoring information according to intention information of a driver; when the electronic parking brake state information, the brake information and the start-stop monitoring information simultaneously meet corresponding preset conditions, obtaining brake pressure maintaining state information and accelerator depth information; and when the braking pressure maintaining state information is determined to be the pressure maintaining state and the throttle value of the throttle depth information is determined to be larger than the preset throttle value, determining target throttle curve information, and performing hill start assistance on the driver according to the target throttle curve information. When the anti-skid control is carried out on the hill starting, whether the torque of the vehicle should be started for controlling the anti-skid is judged according to the intention information of the driver, and the anti-skid control is carried out when the intention information of the driver simultaneously meets the corresponding preset conditions, so that the requirements of the driver are responded in time, and the application scene is enriched.

Description

Driver hill start assisting method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of automobiles, in particular to a driver hill start assisting 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 ramp and needs to be parked, the electronic parking system collects sensor signals, judges the gradient of the ramp, and controls the parking system to hold wheels tightly according to instructions so that the automobile is parked on the ramp; 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.

The existing vehicle control technology cannot timely judge and respond to the requirements of a driver when hill starting is carried out, and application scenes are not rich enough.

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 driver hill start assisting method, a driver hill start assisting device, driver hill start assisting equipment and a storage medium, and aims to solve the technical problems that the existing vehicle antiskid control technology cannot timely judge and respond to the requirements of a driver, and application scenes are not rich enough.

In order to achieve the above object, the present invention provides a driver hill start assist method, including the steps of:

acquiring driver intention information, and determining electronic parking brake state information, brake information and start-stop monitoring information according to the driver intention information;

judging whether the electronic parking braking state information, the braking information and the start-stop monitoring information simultaneously meet corresponding preset conditions;

when the electronic parking brake state information, the brake information and the start-stop monitoring information simultaneously meet corresponding preset conditions, obtaining brake pressure maintaining state information and accelerator depth information;

and when the braking pressure maintaining state information is determined to be a pressure maintaining state and the throttle value of the throttle depth information is determined to be larger than a preset throttle value, determining target throttle curve information, and performing hill start assistance on the driver according to the target throttle curve information.

Optionally, after the step of obtaining the brake pressure maintaining state information and the throttle depth information, the method further includes:

when the brake pressure maintaining state information is determined not to be in a pressure maintaining state or the throttle value of the throttle depth information is determined to be smaller than or equal to a preset throttle value, generating a maintaining signal, and acquiring a starting auxiliary signal of a previous period according to the maintaining signal;

and executing hill starting assistance of the driver according to the starting assistance signal of the previous period.

Optionally, after the step of determining whether the electronic parking brake state information, the brake information, and the start/stop monitoring information simultaneously satisfy the corresponding preset conditions, the method further includes:

and when any one of the electronic parking brake state information, the brake information and the start-stop monitoring information does not meet the corresponding preset condition, generating an exit signal, and stopping executing the driver hill start assistance according to the exit signal.

Optionally, the step of determining whether the electronic parking brake state information, the brake information, and the start/stop monitoring information simultaneously satisfy corresponding preset conditions includes:

judging whether the start-stop monitoring information meets a preset start condition or not;

when the starting and stopping monitoring information meets the preset starting condition, judging whether a brake value corresponding to the brake information is smaller than a preset brake threshold value or not;

and when the brake value is smaller than the preset brake threshold value, judging whether the electronic parking brake state information meets a preset electronic parking condition.

Optionally, the step of determining target accelerator curve information and assisting hill start of the driver according to the target accelerator curve information includes:

acquiring current gradient curve information, and determining target throttle curve information according to the current gradient curve information through a preset throttle algorithm;

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 the hill start assistance of the driver.

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.

In order to achieve the above object, the present invention also provides a driver hill start assist device including:

the system comprises an acquisition module, a control module and a monitoring module, wherein the acquisition module is used for acquiring driver intention information and determining electronic parking brake state information, brake information and start-stop monitoring information according to the driver intention information;

the judging module is used for judging whether the electronic parking braking state information, the braking information and the start-stop monitoring information simultaneously meet corresponding preset conditions;

the obtaining module is further configured to obtain braking pressure maintaining state information and accelerator depth information when the electronic parking braking state information, the braking information and the start-stop monitoring information simultaneously meet corresponding preset conditions;

and the determining module is used for determining target accelerator curve information when the brake pressure maintaining state information is determined to be a pressure maintaining state and the accelerator value of the accelerator depth information is determined to be greater than a preset accelerator value, and performing hill start assistance on the driver according to the target accelerator curve information.

Further, to achieve the above object, the present invention also proposes a driver hill start assisting apparatus including: a memory, a processor and a driver hill start assist program stored on the memory and executable on the processor, the driver hill start assist program being configured to implement the steps of the driver hill start assist method as described above.

In order to achieve the above object, the present invention further provides a storage medium having a driver hill start assist program stored thereon, wherein the driver hill start assist program, when executed by a processor, implements the steps of the driver hill start assist method as described above

According to the method, the intention information of a driver is obtained, and the state information, the brake information and the start and stop monitoring information of the electronic parking brake are determined according to the intention information of the driver; judging whether the electronic parking braking state information, the braking information and the start-stop monitoring information simultaneously meet corresponding preset conditions; when the electronic parking brake state information, the brake information and the start-stop monitoring information simultaneously meet corresponding preset conditions, obtaining brake pressure maintaining state information and accelerator depth information; and when the braking pressure maintaining state information is determined to be a pressure maintaining state and the throttle value of the throttle depth information is determined to be larger than a preset throttle value, determining target throttle curve information, and performing hill start assistance on the driver according to the target throttle curve information. According to the invention, when the vehicle is subjected to hill start antiskid control, whether the torque of the vehicle to be controlled should be started for antiskid is judged through the electronic parking braking state information, the braking information and the start-stop monitoring information determined by the intention information of the driver, and the antiskid control of the vehicle is carried out on the premise that the information meets the corresponding preset conditions at the same time, so that the requirements of the driver are judged and responded in time, application scenes are enriched, and the technical problems that the existing antiskid control technology of the vehicle cannot judge and respond to the requirements of the driver in time and the application scenes are not rich enough are solved.

Drawings

FIG. 1 is a schematic structural diagram of a driver hill start assistance device in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating a first exemplary embodiment of a driver hill start assist method according to the present 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 second embodiment of a driver hill start assist method according to the present invention;

FIG. 5 is a flowchart illustrating a third exemplary embodiment of a driver hill start assist method according to the present invention;

fig. 6 is a block diagram showing the construction of the first embodiment of the driver hill start assist device of 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 a driver hill start assisting device in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the driver hill start assist 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 a driver hill start assist 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, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a driver hill start assist program.

In the driver hill start assist 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 driver hill start assisting device of the present invention may be provided in the driver hill start assisting device, and the driver hill start assisting device calls the driver hill start assisting program stored in the memory 1005 through the processor 1001 and executes the driver hill start assisting method provided by the embodiment of the present invention.

An embodiment of the present invention provides a driver hill start assisting method, and referring to fig. 2, fig. 2 is a schematic flowchart of a first embodiment of the driver hill start assisting method according to the present invention.

In this embodiment, the driver hill start assist method includes the steps of:

step S10: and acquiring intention information of a driver, and determining state information, brake information and start-stop monitoring information of the electronic parking brake according to the intention information of the driver.

The execution subject of this embodiment is the driver hill start assisting device, and the driver hill start assisting 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 driver hill start assisting device is described as an Electronic Control Unit (ECU), and the ECU is also called a "driving computer" or an "on-board computer". Wherein the ECU may include an anti-skid torque calculation module. When the driver intention information meets the corresponding preset condition, determining target accelerator curve information, performing driver hill start assistance according to the target accelerator curve information, and when judging whether the corresponding preset condition is met according to the driver intention information, judging by adopting various driver intention information, taking three information of electronic parking brake state information, brake information and start-stop monitoring information as an example, naturally, the method can be realized by combining at least two information. In addition, the driver intention information may be other driver intention information according to actual needs, which is not limited in this embodiment. For example, determining electronic parking brake state information, brake information and start-stop monitoring information according to the driver intention information; and judging whether the electronic parking braking state information, the braking information and the opening and closing monitoring information simultaneously meet corresponding preset conditions.

It is easy to understand that in order to intelligently judge the driver hill start assistance requirement, the present embodiment needs to judge the driver's intention before determining the target throttle 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, determining target accelerator curve information.

Step S20: and judging whether the electronic parking braking state information, the braking information and the opening and closing monitoring information simultaneously meet corresponding preset conditions.

It should be noted that when the electronic parking brake state information, the brake information, and the start-stop monitoring information simultaneously satisfy corresponding preset conditions, the brake pressure maintaining state information and the accelerator depth information are acquired for subsequent determination, and this embodiment takes the following determination sequence as an example to determine whether the start-stop monitoring information satisfies preset start conditions; when the starting and stopping monitoring information meets the preset starting condition, judging whether a brake value corresponding to the brake information is smaller than a preset brake threshold value or not; and when the brake value is smaller than the preset brake threshold value, judging whether the electronic parking brake state information meets a preset electronic parking condition. When determining whether the electronic parking brake state information, the brake information, and the start/stop monitoring information simultaneously satisfy the corresponding preset conditions, multiple determination orders or determination manners may be adopted, which is not limited in this embodiment.

Specifically, 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 start-stop monitoring information is used for representing the start-stop state of the anti-skid torque calculation module, and the ECU can retrieve start-stop state information OrdSts21 of the anti-skid torque calculation module, wherein the start-stop state information OrdSts21 is On for indicating that the anti-skid torque calculation module is started, and the start-stop state information OrdSts21 is Off for indicating that the anti-skid torque calculation module is closed. The electronic parking brake state information refers to state information of an electronic parking brake system EPB, and the state of the electronic parking brake system EPB may be Release-Release or Locked. The brake information is the information of the brake depth curve constructed by the ECU and is stored in a memory card presetting module, and the memory card presetting module is preset with the following steps: the preset curve of the brake depth can be that the brake value corresponding to the brake information is less than or equal to a preset brake threshold value.

Step S30: and when the electronic parking braking state information, the braking information and the opening and closing monitoring information simultaneously meet corresponding preset conditions, obtaining braking pressure maintaining state information and accelerator depth information.

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.

In addition, whether the electronic parking brake state information, the brake information and the start-stop monitoring information simultaneously meet corresponding preset conditions is judged, when any one of the electronic parking brake state information, the brake information and the start-stop monitoring information does not meet the corresponding preset conditions, an exit signal is generated, and the driver hill start assistance is stopped to be executed according to the exit signal.

Step S40: and when the braking pressure maintaining state information is determined to be a pressure maintaining state and the throttle value of the throttle depth information is determined to be larger than a preset throttle value, determining target throttle curve information, and performing hill start assistance on the driver according to the target throttle curve information.

Specifically, it is determined that the brake hold pressure state information is a hold pressure state, that is, the ECU may retrieve the pressure state information ESPSts36 of the electronic parking brake system ESP, and the pressure state information ESPSts36 is Keep. And determining that the throttle value of the throttle depth information is greater than a preset throttle value, wherein the preset throttle value is 0.

It is easy to understand that, determining target throttle curve information, and performing driver hill start assistance according to the target throttle curve information may be: acquiring current gradient curve information, and determining target throttle curve information according to the current gradient curve information through a preset throttle algorithm; 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 the hill start assistance of the driver.

It should be noted 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.

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 the stable starting of the ramp. 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.

In addition, when the brake pressure maintaining state information is determined not to be in a pressure maintaining state or the throttle value of the throttle depth information is determined to be less than or equal to a preset throttle value, a maintaining signal is generated, and a starting auxiliary signal in the previous period is obtained according to the maintaining signal; and executing hill starting assistance of the driver according to the starting assistance signal of the previous period.

In the embodiment, the electronic parking brake state information, the brake information and the start and stop monitoring information are determined according to the driver intention information by acquiring the driver intention information; judging whether the electronic parking braking state information, the braking information and the start-stop monitoring information simultaneously meet corresponding preset conditions; when the electronic parking brake state information, the brake information and the start-stop monitoring information simultaneously meet corresponding preset conditions, obtaining brake pressure maintaining state information and accelerator depth information; and when the braking pressure maintaining state information is determined to be a pressure maintaining state and the throttle value of the throttle depth information is determined to be larger than a preset throttle value, determining target throttle curve information, and performing hill start assistance on the driver according to the target throttle curve information. In the embodiment, when the vehicle performs hill start anti-skid control, the electronic parking brake state information determined by the driver intention information, the brake information and the start-stop monitoring information are used for judging whether to start the torque of the vehicle to be controlled for skid prevention, the vehicle anti-skid control is performed on the premise that the information meets the corresponding preset conditions at the same time, the requirement of the driver is judged and responded in time, application scenes are enriched, the technical problem that the existing vehicle control anti-skid technology cannot judge and respond to the requirement of the driver in time is solved, and the application scenes are not rich enough.

Referring to fig. 4, fig. 4 is a flowchart illustrating a second embodiment of a driver hill start assisting method according to the present invention. Based on the first embodiment, in step S40, the method for assisting hill start of the driver in this embodiment includes:

step S41: and when the braking pressure maintaining state information is determined to be a pressure maintaining state and the throttle value of the throttle depth information is determined to be larger than a preset throttle value, acquiring current gradient curve information, and determining target throttle curve information according to the current gradient curve information through a preset throttle algorithm.

It is easy to understand that when the braking pressure maintaining state information is determined to be a pressure maintaining state and the throttle value of the throttle depth information is determined to be greater than the preset throttle value, the on-off state of the anti-skid torque calculation module is switched to on, and 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.

Specifically, the ECU may retrieve On-Off state information OrdSts21 of the anti-skid torque calculation module, where the On-Off state information OrdSts21 is On to indicate that the anti-skid torque calculation module is On, and the On-Off state information OrdSts21 is Off to indicate that the anti-skid torque calculation module is 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.

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.

Wherein the ECU may further 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 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 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. Determining an output throttle threshold MAX according to the ramp maintaining torque Tq2 and the slip critical torque Tq1 through a preset throttle algorithm, wherein the Tq2+ Tq1 is MAX, and the output throttle threshold MAX is the maximum output throttle value; acquiring a current gradient starting torque Tq3, and determining a slope starting accelerator curve Slop according to the slope maintaining torque Tq2 and the current gradient starting torque Tq3 through a preset accelerator algorithm, wherein Tq2+ Tq3 is Slop; and determining target throttle curve information according to the output throttle threshold MAX and the slope-rising 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.

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 brake pressure maintaining state information and the accelerator depth information meet the preset threshold value condition, determining target accelerator curve information according to the current gradient curve information through a preset accelerator algorithm.

Step S42: acquiring current road environment information, and determining a corresponding throttle relation table according to the current road environment information.

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.

Specifically, static road environment information and dynamic road environment information are determined according to 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 throttle relation table, and taking the upper limit and lower limit throttle relation table as a throttle relation table.

Step S43: 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 the hill start assistance of the driver.

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, when the braking pressure maintaining state information is determined to be a pressure maintaining state and the throttle value of the throttle depth information is determined to be greater than a preset throttle value, current gradient curve information is obtained, and target throttle curve information is determined according to the current gradient curve information through a preset throttle algorithm; 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 the hill start assistance of the driver. In the embodiment, when the vehicle performs hill start anti-skid control, the electronic parking brake state information determined by the driver intention information, the brake information and the start-stop monitoring information are used for judging whether to start the torque of the vehicle to be controlled for skid prevention, the vehicle anti-skid control is performed on the premise that the information meets the corresponding preset conditions at the same time, the requirement of the driver is judged and responded in time, application scenes are enriched, the technical problem that the existing vehicle control anti-skid technology cannot judge and respond to the requirement of the driver in time is solved, and the application scenes are not rich enough.

Referring to fig. 5, fig. 5 is a flowchart illustrating a method for assisting a driver in hill start according to a third embodiment of the present invention. Based on the second embodiment, in step S43, the method for assisting hill start of the driver in this embodiment includes:

step S431: acquiring the type information of the throttle relation table, and determining the corresponding throttle relation table according to the type information of the throttle relation table.

Step S432: 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.

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.

The method comprises the steps of obtaining 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. In the embodiment, when the vehicle performs hill start anti-skid control, the electronic parking brake state information determined by the driver intention information, the brake information and the start-stop monitoring information are used for judging whether to start the torque of the vehicle to be controlled for skid prevention, the vehicle anti-skid control is performed on the premise that the information meets the corresponding preset conditions at the same time, the requirement of the driver is judged and responded in time, application scenes are enriched, the technical problem that the existing vehicle control anti-skid technology cannot judge and respond to the requirement of the driver in time is solved, and the application scenes are not rich enough.

Furthermore, an embodiment of the present invention further provides a storage medium, where a driver hill start assisting program is stored on the storage medium, and the driver hill start assisting program is executed by a processor to perform the steps of the driver hill start assisting method.

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 block diagram showing the structure of the first embodiment of the driver hill start assist device according to the present invention.

As shown in fig. 6, the driver hill start assist device according to the embodiment of the present invention includes:

the acquisition module 10 is configured to acquire driver intention information, and determine electronic parking brake state information, brake information, and start/stop monitoring information according to the driver intention information.

It should be noted that, in the present embodiment, the driver hill start assisting device may be located in an Electronic Control Unit (ECU), wherein the driver hill start assisting device may include an anti-skid torque calculating module. When the driver intention information meets the corresponding preset condition, determining target accelerator curve information, performing driver hill start assistance according to the target accelerator curve information, and when judging whether the corresponding preset condition is met according to the driver intention information, judging by adopting various driver intention information, taking three information of electronic parking brake state information, brake information and start-stop monitoring information as an example, naturally, the method can be realized by combining at least two information. In addition, the driver intention information may be other driver intention information according to actual needs, which is not limited in this embodiment. For example, determining electronic parking brake state information, brake information and start-stop monitoring information according to the driver intention information; and judging whether the electronic parking braking state information, the braking information and the opening and closing monitoring information simultaneously meet corresponding preset conditions.

And the judging module 20 is configured to judge whether the electronic parking braking state information, the braking information, and the start-stop monitoring information simultaneously satisfy corresponding preset conditions.

The obtaining module 10 is further configured to obtain braking pressure maintaining state information and accelerator depth information when the electronic parking braking state information, the braking information, and the start/stop monitoring information simultaneously satisfy corresponding preset conditions.

The determining module 30 is configured to determine target accelerator curve information when it is determined that the braking pressure maintaining state information is a pressure maintaining state and it is determined that the accelerator value of the accelerator depth information is greater than a preset accelerator value, and assist hill start of the driver according to the target accelerator curve information.

The driver hill start assisting device in this embodiment includes: the system comprises an acquisition module 10, a control module and a monitoring module, wherein the acquisition module is used for acquiring driver intention information and determining electronic parking brake state information, brake information and start-stop monitoring information according to the driver intention information; the judging module 20 is configured to judge whether the electronic parking brake state information, the brake information, and the start-stop monitoring information simultaneously satisfy corresponding preset conditions; the obtaining module 10 is further configured to obtain braking pressure maintaining state information and accelerator depth information when the electronic parking braking state information, the braking information, and the start/stop monitoring information simultaneously satisfy corresponding preset conditions; the determining module 30 is configured to determine target accelerator curve information when it is determined that the braking pressure maintaining state information is a pressure maintaining state and it is determined that the accelerator value of the accelerator depth information is greater than a preset accelerator value, and assist hill start of the driver according to the target accelerator curve information. In the embodiment, when the vehicle performs hill start anti-skid control, the electronic parking brake state information determined by the driver intention information, the brake information and the start-stop monitoring information are used for judging whether to start the torque of the vehicle to be controlled for skid prevention, the vehicle anti-skid control is performed on the premise that the information meets the corresponding preset conditions at the same time, the requirement of the driver is judged and responded in time, application scenes are enriched, the technical problem that the existing vehicle control anti-skid technology cannot judge and respond to the requirement of the driver in time is solved, and the application scenes are not rich enough.

Other embodiments or specific implementation manners of the driver hill start assisting device of the invention may refer to the above embodiments of the driver hill start assisting method, and are not described herein again.

In an embodiment, the determining module 30 is further configured to generate a maintaining signal when it is determined that the braking pressure maintaining state information is not a pressure maintaining state or it is determined that the throttle value of the throttle depth information is less than or equal to a preset throttle value, and obtain a starting auxiliary signal of a previous period according to the maintaining signal;

In an embodiment, the driver hill start assisting device further includes an exit module, and the exit module is configured to generate an exit signal when any one of the electronic parking brake state information, the brake information, and the start/stop monitoring information does not satisfy a corresponding preset condition, and stop executing the driver hill start assisting according to the exit signal.

In an embodiment, the determining module 20 is further configured to determine whether the start-stop monitoring information meets a preset start condition;

In an embodiment, the determining module 30 is further configured to obtain current gradient curve information, and determine target throttle curve information according to the current gradient curve information through a preset throttle algorithm;

In an embodiment, the determining module 30 is further configured to obtain driving camera state information and driving radar state information;

In an embodiment, the determining module 30 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;

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-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.

In addition, the technical details that are not described in detail in this embodiment may be referred to a driver hill start assisting method provided by any embodiment of the present invention, and are not described herein again.

Further, it is to 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 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

1. A driver hill start assist method, characterized by comprising the steps of:

when the brake pressure maintaining state information is determined to be a pressure maintaining state and the throttle value of the throttle depth information is determined to be larger than a preset throttle value, determining target throttle curve information, and performing hill start assistance on the driver according to the target throttle curve information;

after the step of obtaining the braking pressure maintaining state information and the accelerator depth information, the method further comprises the following steps:

2. The driver hill start assist method according to claim 1, further comprising, after the step of determining whether the electronic parking brake state information, the brake information, and the start/stop monitoring information simultaneously satisfy corresponding preset conditions:

3. The driver hill start assist method according to claim 1, wherein the step of determining whether the electronic parking brake state information, the brake information, and the start-stop monitoring information simultaneously satisfy corresponding preset conditions includes:

4. The driver hill start assisting method according to any one of claims 1 to 3, wherein the step of determining target throttle curve information and performing driver hill start assistance according to the target throttle curve information includes:

5. The method for assisting hill start of a driver according to claim 4, wherein before the step of obtaining the current road environment information and determining the corresponding accelerator relationship table based on the current road environment information, the method further comprises:

6. The driver hill start assist method according to claim 4, wherein the step of optimizing the limit value of the target throttle curve information based on the throttle relationship table and controlling the torque of the vehicle based on the optimized limit value includes:

7. A driver hill start assist device characterized by comprising:

the determining module is used for determining target accelerator curve information and assisting hill start of a driver according to the target accelerator curve information when the brake pressure maintaining state information is determined to be a pressure maintaining state and the accelerator value of the accelerator depth information is determined to be larger than a preset accelerator value;

the determining module is further configured to generate a maintaining signal when it is determined that the braking pressure maintaining state information is not a pressure maintaining state or it is determined that the throttle value of the throttle depth information is less than or equal to a preset throttle value, and obtain a starting auxiliary signal of a previous period according to the maintaining signal;

8. A driver hill start assist device, characterized in that the device comprises: a memory, a processor and a driver hill start assist program stored on the memory and executable on the processor, the driver hill start assist program being configured to implement the steps of the driver hill start assist method as claimed in any one of claims 1 to 6.

9. A storage medium having a driver hill start assist program stored thereon, the driver hill start assist program when executed by a processor implementing the steps of the driver hill start assist method according to any one of claims 1 to 6.