CN113022568A

CN113022568A - Vehicle hill starting method and device and vehicle

Info

Publication number: CN113022568A
Application number: CN201911359350.6A
Authority: CN
Inventors: 左广胜
Original assignee: Beijing Treasure Car Co Ltd
Current assignee: Beijing Treasure Car Co Ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2021-06-25

Abstract

The invention relates to a vehicle hill start method, a device and a vehicle, wherein the method obtains a first output torque through a hill start torque output table according to an accelerator pedal signal and the current speed when determining to enter a hill start state; obtaining a second output torque through a low-speed torque output table according to the accelerator pedal signal and the current speed; determining the current target output torque of the vehicle according to the first output torque and the second output torque; the vehicle is controlled to start by the target output torque. Therefore, when starting on a slope, the vehicle is not in a state without torque output any more in the interval time of releasing the brake pedal and stepping on the accelerator pedal, the phenomenon of slope slipping when starting on the slope can be avoided, the safety of the vehicle can be improved, and the experience of a vehicle user is improved.

Description

Vehicle hill starting method and device and vehicle

Technical Field

The disclosure relates to the technical field of vehicles, in particular to a vehicle hill starting method and device and a vehicle.

Background

The accelerator pedal signal directly reflects the current required torque of the vehicle, and the processing of the accelerator pedal signal by the vehicle on the market at present follows the principle of brake priority, namely, when the brake pedal signal and the accelerator pedal signal are triggered simultaneously, a brake command is preferentially executed.

However, when the vehicle starts on a slope with a large gradient, due to the principle of priority of braking, a driver needs to firstly release the brake pedal and then step on the accelerator pedal in the starting process of the vehicle. Therefore, a certain time interval exists between the process of releasing the brake pedal and the process of stepping on the accelerator pedal, the vehicle is in a non-torque output state in the time interval, and the vehicle is easy to slide under the influence of self gravity due to the existence of the gradient.

Disclosure of Invention

The invention aims to provide a vehicle hill starting method and device and a vehicle, which are used for solving the technical problem that a vehicle is easy to slide when starting on a slope.

In order to achieve the above object, a first aspect of the present disclosure provides a vehicle hill start method, including:

when the hill start state is determined, obtaining a first output torque through a hill start torque output table according to an accelerator pedal signal and the current speed;

obtaining a second output torque through a low-speed torque output meter according to the accelerator pedal signal and the current speed;

determining the current target output torque of the vehicle according to the first output torque and the second output torque;

and controlling the vehicle to start through the target output torque.

Optionally, before obtaining the first output torque through the hill start torque output table according to the accelerator pedal signal and the current speed when determining to enter the hill start state, the method further comprises:

when an accelerator pedal signal and a brake pedal signal are received simultaneously, acquiring the current speed of a vehicle and the gradient of the current position of the vehicle;

determining that the hill start state is not entered when the current speed is determined to be greater than or equal to a first preset speed threshold;

when the current speed is determined to be smaller than the first preset speed threshold value, if the gradient is larger than or equal to the preset gradient threshold value, determining to enter the hill starting state; and if the gradient is smaller than the preset gradient threshold value, determining that the hill starting state is not entered.

Optionally, the determining a current target output torque of the vehicle according to the first output torque and the second output torque comprises:

determining whether the first output torque is greater than or equal to the second output torque;

determining the second output torque as the target output torque upon determining that the first output torque is greater than or equal to the second output torque;

determining the first output torque as the target output torque upon determining that the first output torque is less than the second output torque.

Optionally, after the controlling the vehicle to take off by the target output torque, the method further comprises:

acquiring a plurality of historical speeds of the vehicle within a preset historical time period;

determining whether starting is finished or not according to the plurality of historical speeds;

and if the starting is determined to be finished according to the plurality of historical speeds, determining the current output torque of the vehicle through a high-speed torque output table according to the current speed.

Optionally, the determining whether to finish the starting according to the plurality of historical speeds includes:

determining that starting is completed when determining that the plurality of historical speeds are all larger than or equal to a second speed threshold;

determining that take-off is not complete upon determining that any of the plurality of historical speeds is less than the second speed threshold.

Optionally, the method further comprises:

and when the hill starting state is determined not to be entered, setting the opening degree of an accelerator pedal to be zero, and controlling the vehicle to brake according to the brake pedal signal.

In a second aspect of the present disclosure, a vehicle hill start device includes:

the first determining module is further used for obtaining a first output torque through a hill start torque output table according to an accelerator pedal signal and the current speed when the hill start state is determined to be entered;

the first determining module is further used for obtaining a second output torque through a low-speed torque output table according to the accelerator pedal signal and the current speed;

the second determination module is used for determining the current target output torque of the vehicle according to the first output torque and the second output torque;

and the first control module is used for controlling the vehicle to start through the target output torque.

Optionally, the apparatus further comprises:

the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current speed of a vehicle and the gradient of the current position of the vehicle when an accelerator pedal signal and a brake pedal signal are received simultaneously;

accordingly, the first determining module includes:

the first determining submodule is used for determining that the hill starting state is not entered when the current speed is determined to be greater than or equal to a first preset speed threshold value;

the second determining submodule is used for determining to enter the hill starting state if the gradient is greater than or equal to the preset gradient threshold when the current speed is determined to be less than the first preset speed threshold; and if the gradient is smaller than the preset gradient threshold value, determining that the hill starting state is not entered.

Optionally, the second determining module is configured to:

determining whether the first output torque is greater than or equal to the second output torque; determining the second output torque as the target output torque upon determining that the first output torque is greater than or equal to the second output torque; determining the first output torque as the target output torque upon determining that the first output torque is less than the second output torque.

Optionally, the apparatus further comprises:

the second acquisition module is used for acquiring a plurality of historical speeds of the vehicle in a preset historical time period;

the third determining module is used for determining whether starting is finished or not according to the plurality of historical speeds;

and the third determining module is further used for determining the current output torque of the vehicle through a high-speed torque output table according to the current speed if the starting is determined to be completed according to the plurality of historical speeds.

Optionally, the third determining module is configured to:

determining that starting is completed when determining that the plurality of historical speeds are all larger than or equal to a second speed threshold; determining that take-off is not complete upon determining that any of the plurality of historical speeds is less than the second speed threshold.

Optionally, the apparatus further comprises:

and the second control module is used for setting the opening of an accelerator pedal to be zero when the vehicle does not enter the hill starting state, and controlling the vehicle to brake according to the brake pedal signal.

In a third aspect of the present disclosure there is provided a vehicle comprising a vehicle hill start device as described in the second aspect above.

By the technical scheme, when an accelerator pedal signal and a brake pedal signal are received at the same time, whether the vehicle enters a hill starting state or not is determined according to the current speed of the vehicle and the current gradient of the vehicle; and controlling the vehicle to start through the target output torque when the hill start state is determined to be entered. Therefore, when starting on a slope, the vehicle is not in a state without torque output any more in the interval time of releasing the brake pedal and stepping on the accelerator pedal, the phenomenon of slope slipping when starting on the slope can be avoided, the safety of the vehicle can be improved, and the experience of a vehicle user is improved.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a flow chart illustrating a vehicle hill start method according to an exemplary embodiment of the present disclosure;

FIG. 2 is a flow chart illustrating a vehicle hill start method according to another exemplary embodiment of the present disclosure;

FIG. 3 is a block diagram of a vehicle hill start device shown in yet another exemplary embodiment of the present disclosure;

FIG. 4 is a block diagram of a vehicle hill start device according to the embodiment of the disclosure shown in FIG. 3.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

Before describing the specific embodiments of the present disclosure in detail, first, a brief description is made on an application scenario of the present disclosure, and the present disclosure may be applied to a process of starting a vehicle on a slope, where the vehicle may be a pure electric vehicle, a hybrid vehicle, a fuel vehicle, a gas vehicle, or the like. In general, in order to improve the safety of the vehicle, the existing vehicle designs all follow the principle of brake priority, that is, when the brake pedal and the accelerator pedal are simultaneously depressed, the braking process is preferentially executed, and the acceleration signal triggered by the accelerator pedal is ignored. However, when the vehicle starts on a slope, due to the existence of the principle of priority of braking, a driver needs to firstly release the brake pedal and then step on the accelerator pedal in the starting process of the vehicle. Therefore, a certain time interval exists between the process of releasing the brake pedal and the process of stepping on the accelerator pedal, the vehicle has no torque output in the time interval, and the vehicle is easy to slide under the influence of self gravity due to the existence of the slope.

In order to solve the technical problem, the present disclosure provides a vehicle hill start method, device and vehicle, the method obtains the current speed of the vehicle and the gradient of the current position of the vehicle when an accelerator pedal signal and a brake pedal signal are received simultaneously; determining whether to enter a hill start state according to the current speed and the gradient; when the vehicle is determined to enter the hill start state, obtaining a first output torque through a hill start torque output table according to the accelerator pedal signal and the current speed; obtaining a second output torque through a low-speed torque output table according to the accelerator pedal signal and the current speed; determining the current target output torque of the vehicle according to the first output torque and the second output torque; the vehicle is controlled to start by the target output torque. Therefore, when starting on a slope, the vehicle is not in a state without torque output any more in the interval time of releasing the brake pedal and stepping on the accelerator pedal, the phenomenon of slope slipping when starting on the slope can be avoided, the safety of the vehicle can be improved, and the experience of a vehicle user is improved.

FIG. 1 is a flow chart illustrating a vehicle hill start method according to an exemplary embodiment of the present disclosure; referring to fig. 1, the method may include the steps of:

and 101, when the hill start state is determined, obtaining a first output torque through a hill start torque output table according to the accelerator pedal signal and the current speed.

In this step, if it is determined that the hill start state is not entered, the opening of the accelerator pedal is set to zero, and the vehicle braking is controlled according to the brake pedal signal.

The accelerator pedal signal can be triggered by pressing the accelerator pedal, and can also be triggered by rotating, accelerating and rotating or other accelerating modes; the brake pedal signal may be triggered by depression of a brake pedal or by a manual brake device. The hill start torque output table is a preset torque output table used when the vehicle enters a start state on a hill, and the hill start torque output table comprises a plurality of corresponding output torques at speeds smaller than the first speed threshold (for example, 1KM/H or 2KM/H) under different accelerator opening degrees.

It should be noted that, before this step, the method may further include the following steps: when an accelerator pedal signal and a brake pedal signal are received simultaneously, acquiring the current speed of a vehicle and the gradient of the current position of the vehicle; whether to enter a hill start state is determined based on the current speed and the gradient.

In addition, one possible implementation of determining whether to enter a hill start state is: when the current speed is determined to be greater than or equal to a first preset speed threshold value, determining that the hill starting state is not entered; when the current speed is determined to be smaller than the first preset speed threshold, determining whether the gradient is larger than or equal to a preset gradient threshold, and if the gradient is larger than or equal to the preset gradient threshold, determining to enter the hill starting state; and if the gradient is smaller than the preset gradient threshold value, determining that the hill starting state is not entered.

And 102, obtaining a second output torque through a low-speed torque output table according to the accelerator pedal signal and the current speed.

Wherein the low speed torque output table is a torque output table used when the vehicle speed is less than or equal to a second speed threshold (e.g., 5 KM/H). The low-speed torque output table includes a plurality of output torques at different accelerator pedal openings for speeds less than or equal to the second speed threshold.

And 103, determining the current target output torque of the vehicle according to the first output torque and the second output torque.

One possible implementation manner in this step is: determining whether the first output torque is greater than or equal to the second output torque; determining the second output torque as the target output torque upon determining that the first output torque is greater than or equal to the second output torque; determining the first output torque as the target output torque upon determining that the first output torque is less than the second output torque.

And 104, controlling the vehicle to start through the target output torque.

According to the technical scheme, when an accelerator pedal signal and a brake pedal signal are received at the same time, whether the vehicle enters a hill starting state or not is determined according to the current speed of the vehicle and the current gradient of the vehicle; and controlling the vehicle to start through the target output torque when the hill start state is determined to be entered. Therefore, when starting on a slope, the vehicle is not in a state without torque output any more in the interval time of releasing the brake pedal and stepping on the accelerator pedal, the phenomenon of slope slipping when starting on the slope can be avoided, the safety of the vehicle can be improved, and the experience of a vehicle user is improved.

FIG. 2 is a flow chart illustrating a vehicle hill start method according to another exemplary embodiment of the present disclosure; referring to fig. 2, the method may include the steps of:

in step 201, when an accelerator pedal signal and a brake pedal signal are received simultaneously, the current speed of the vehicle and the gradient of the current position of the vehicle are obtained.

The slope can be an included angle between a plane where the vehicle is located and a horizontal plane, and the slope of the current location of the vehicle can be acquired through a slope sensor.

Step 202, it is determined whether the current speed is greater than or equal to a first preset speed threshold.

In this step, when it is determined that the current speed is greater than or equal to the first preset speed threshold, it is determined that the hill start state is not entered, and step 212 is executed; upon determining that the current speed is less than the first preset speed threshold, step 203 is performed.

The first preset speed threshold may be 0.5KM/H, 1KM/H or 2KM/H, for example.

In step 203, it is determined whether the grade is greater than or equal to a preset grade threshold.

If the gradient is greater than or equal to the preset gradient threshold value, determining to enter the hill starting state, and executing step 204; if the gradient is less than the predetermined gradient threshold, it is determined that the hill start state is not entered, and step 212 is executed.

It should be noted that different preset gradient threshold values may be set according to different vehicle types, and a preset gradient threshold value according to the climbing capability of the vehicle may also be set according to the power output condition of the vehicle, for example, the preset gradient threshold value of an off-road vehicle may be 15 degrees, the preset gradient threshold value of a car may be 10 degrees, and the preset gradient threshold value of a truck may be 18 degrees, etc.

And step 204, obtaining a first output torque through a hill start torque output table according to the accelerator pedal signal and the current speed.

The hill start torque output table comprises a plurality of corresponding output torques of speeds smaller than the first speed threshold value under different accelerator opening degrees.

For example, when the first speed threshold is 2KM/H, the hill torque output table for the vehicle may be as shown in Table 1:

TABLE 1

And step 205, obtaining a second output torque through a low-speed torque output table according to the accelerator pedal signal and the current speed.

It should be noted that the low-speed torque output table is different from the semi-hill torque output table in that the speed interval of the vehicle in the semi-hill torque output table is smaller, the corresponding output torque can be clearly inquired when the speed is smaller, and the speed interval of the vehicle in the low-speed torque output table is larger, for example, in the low-speed torque output table shown in table 2, only the corresponding output torques at speeds of 0, 3 and 5KM/H are provided, and when the current speed of the vehicle is greater than 0 and less than 3KM/H, the output torque corresponding to the speed of 0 is still used. The hill torque output table (e.g., table 1) more accurately specifies the output torque during the start (relatively low speed).

TABLE 2

In step 206, it is determined whether the first output torque is greater than or equal to the second output torque.

In this step, when it is determined that the first output torque is greater than or equal to the second output torque, step 207 is performed; upon determining that the first output torque is less than the second output torque, step 208 is performed.

In step 207, the second output torque is determined as the target output torque.

In step 208, the first output torque is determined as the target output torque.

Illustratively, the current speed of the vehicle is 1.5KM/H, the accelerator opening is 20, the first output torque is 65N · m by the hill torque output table (table 1), the second output torque is 70N · m by the low speed torque output table (table 2), and the first output torque 65N · m is determined as the target output torque since the first output torque 65N · m is smaller than the second output torque 70N · m.

In step 209, the vehicle is controlled to start by the target output torque.

And step 210, acquiring a plurality of historical speeds of the vehicle in a preset historical time period, and determining whether starting is finished according to the plurality of historical speeds.

In this step, if it is determined that the start is completed according to the plurality of historical speeds, step 211 is executed; if it is determined that the starting is not completed according to the plurality of historical speeds, step 209 is executed.

It should be noted that, one possible implementation manner in this step is: determining that starting is completed when determining that the plurality of historical speeds are all larger than or equal to a second speed threshold; determining that take-off is not complete upon determining that any of the plurality of historical speeds is less than the second speed threshold.

Illustratively, the preset historical time period may be within 5 seconds or within 10 seconds before the current time, or the like. If the preset historical time period is within 2 seconds before the current time, the speed sensor obtains the speed 20 times per second, the speed is collected for 40 times within 2 seconds, and if the speeds collected for 40 times are all larger than a second speed threshold value, starting is determined to be completed, wherein the second speed threshold value can be 5KM/H, 5.5KM/H, 6KM/H and the like.

And step 211, determining the current output torque of the vehicle through a high-speed torque output table according to the current speed.

Wherein the high speed torque output table is a torque output table used when the speed is greater than the second speed threshold. The high speed torque output table includes a plurality of output torques at different accelerator pedal openings for speeds greater than the second speed threshold.

For example, when the second speed threshold is 5KM/H, the high-speed torque output table may specify output torques at different accelerator pedal opening degrees for speeds greater than 5KM/H as shown in Table 3. The output torque which accords with the current high-speed running situation of the vehicle is determined through the high-speed torque output table, so that the power requirement of the vehicle under the high-speed running condition is reliably ensured.

TABLE 3

Step 212, the opening of the accelerator pedal is set to zero, and the vehicle braking is controlled according to the brake pedal signal.

It should be noted that, when it is determined that the vehicle does not enter the hill start state, the braking priority principle is still adopted to ensure the safety of the vehicle.

According to the technical scheme, when an accelerator pedal signal and a brake pedal signal are received at the same time, whether the vehicle enters a hill starting state or not is determined according to the current speed of the vehicle and the current gradient of the vehicle; and controlling the vehicle to start through the target output torque when the hill start state is determined to be entered. Therefore, when starting on a slope, the vehicle is not in a state without torque output any more in the interval time of releasing the brake pedal and stepping on the accelerator pedal, but the vehicle is controlled to start according to the target output torque, so that the phenomenon of slope slipping when starting on the slope can be avoided, the safety of the vehicle can be improved, and the experience of a vehicle user is improved.

FIG. 3 is a block diagram of a vehicle hill start device shown in yet another exemplary embodiment of the present disclosure; referring to fig. 3, the apparatus includes:

the first determining module 301 is further configured to obtain a first output torque through a hill start torque output table according to an accelerator pedal signal and a current speed when determining that the hill start state is entered;

the first determining module 301 is further configured to obtain a second output torque through a low-speed torque output table according to the accelerator pedal signal and the current speed;

a second determination module 302 for determining a current target output torque of the vehicle according to the first output torque and the second output torque;

a first control module 303 is configured to control vehicle launch with the target output torque.

According to the technical scheme, when starting on a slope, the vehicle is not in a torque output-free state any more within the interval time between the brake pedal releasing and the accelerator pedal stepping, the phenomenon that the vehicle slips off the slope when starting on the slope can be avoided, the safety of the vehicle can be improved, and the experience of vehicle users is improved.

FIG. 4 is a block diagram of a vehicle hill start device shown in FIG. 3 according to the embodiment of the present disclosure; referring to fig. 4, the apparatus further comprises:

a first obtaining module 304, configured to obtain a current speed of a vehicle and a gradient of a current position of the vehicle when an accelerator pedal signal and a brake pedal signal are received simultaneously;

accordingly, the first determining module 301 is configured to:

a first determining submodule 3011, configured to determine that the hill start state is not entered when it is determined that the current speed is greater than or equal to a first preset speed threshold;

a second determining submodule 3012, configured to determine, when it is determined that the current speed is less than the first preset speed threshold, whether the slope is greater than or equal to a preset slope threshold, and if the slope is greater than or equal to the preset slope threshold, determine to enter the hill start state; and if the gradient is smaller than the preset gradient threshold value, determining that the hill starting state is not entered.

Optionally, the second obtaining module 305 is configured to obtain a plurality of historical speeds of the vehicle within a preset historical time period;

a third determining module 306, configured to determine whether to complete the launch according to a plurality of the historical speeds;

the third determining module 306 is further configured to determine a current output torque of the vehicle according to the current speed through a high-speed torque output table if starting is determined to be completed according to a plurality of historical speeds.

Optionally, the second determining module 302 is configured to:

Optionally, the third determining module 306 is configured to:

Optionally, the apparatus further comprises:

and a second control module 307, configured to set the opening of the accelerator pedal to zero when it is determined that the hill start state is not entered, and control braking of the vehicle according to the brake pedal signal.

Yet another exemplary embodiment of the present disclosure provides a vehicle including a vehicle hill start device as described above in fig. 3 or 4.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A method of hill start for a vehicle, the method comprising:

and controlling the vehicle to start through the target output torque.

2. The method of claim 1, wherein prior to deriving the first output torque from the hill start torque output table based on the accelerator pedal signal and the current speed upon determining to enter the hill start condition, the method further comprises:

3. The method of claim 1, wherein determining a current target output torque of the vehicle based on the first output torque and the second output torque comprises:

4. The method of claim 1, wherein after said controlling vehicle launch with said target output torque, said method further comprises:

5. The method of claim 4, wherein said determining whether to complete a launch based on a plurality of said historical speeds comprises:

6. The method according to any one of claims 1-5, further comprising:

7. A vehicle hill start device, comprising:

the first determining module is used for obtaining a first output torque through a hill start torque output table according to an accelerator pedal signal and the current speed when the hill start state is determined to be entered;

8. The apparatus of claim 7, further comprising:

accordingly, the first determining module includes:

9. The apparatus of claim 7, wherein the second determining module is configured to:

10. A vehicle comprising a vehicle hill start device according to any one of claims 7 to 9.