CN113844276A - Hill starting control method and device, readable storage medium and vehicle - Google Patents
Hill starting control method and device, readable storage medium and vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
- B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/30—Parking brake position
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a hill start control method, a device, a readable storage medium and a vehicle, wherein the hill start control method comprises the steps of obtaining the current gradient value of the vehicle after detecting that an uphill start auxiliary function on the vehicle is started; determining a starting basic torque and a reserve torque of the vehicle according to the current gradient value; when the opening degree of a brake pedal of the vehicle is detected to meet an opening degree threshold value, controlling the vehicle to be static through the starting basic torque; and obtaining a starting target torque according to the starting basic torque and the reserved torque, and controlling the vehicle to start through the starting target torque when a treading signal of an accelerator pedal is obtained. The invention solves the problem that the vehicle starts slowly when starting on a hill in the prior art.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a hill start control method, a hill start control device, a readable storage medium and a vehicle.
Background
With the continuous development of social economy and the improvement of living standard of people, automobiles enter into thousands of households to become important transportation means in daily life of people, and with the continuous change and improvement of the requirements of people, the requirements of users on the operation convenience and comfort of automobiles are higher and higher.
In the prior art, when a vehicle starts on a slope, a driver needs to quickly and deeply step on an accelerator pedal so as to ensure that the vehicle has enough torque to ascend the slope, so that the requirement on the operation proficiency of the driver is higher, and if the driver is not operated properly, the vehicle is easy to slide down the slope, and the safety is lower.
Therefore, most vehicles are equipped with an uphill starting auxiliary function and used for overcoming vehicle back slip and hill recognition in a pre-starting stage, so that the vehicles keep the lowest stable speed in the starting stage; if the situation that the driver steps on the accelerator pedal to reach a certain threshold value is detected in the process, the torque requested by the driver is obtained according to the accelerator pedal signal, and then the vehicle is driven to realize the uphill starting through the finally weighted torque.
Disclosure of Invention
In view of the above, the present invention provides a hill start control method, an apparatus, a readable storage medium and a vehicle, and aims to solve the problem in the prior art that a vehicle starts slowly during hill start.
The embodiment of the invention is realized as follows: a hill start control method, the method comprising:
when the starting assisting function of the uphill starting on the vehicle is detected to be started, acquiring the current gradient value of the vehicle;
determining a starting basic torque and a reserve torque of the vehicle according to the current gradient value;
when the opening degree of a brake pedal of the vehicle is detected to meet an opening degree threshold value, controlling the vehicle to be static through the starting basic torque;
and obtaining a starting target torque according to the starting basic torque and the reserved torque, and controlling the vehicle to start through the starting target torque when a treading signal of an accelerator pedal is obtained.
Further, the hill start control method may further include, before the step of acquiring the current gradient value of the vehicle after detecting that the hill start assist function on the vehicle is turned on:
and acquiring the gradient value of the vehicle in real time in the running process of the vehicle.
Further, the hill start control method described above, wherein the step of determining the start base torque and the reserve torque of the vehicle based on the current gradient value includes:
obtaining the starting basic torque of the vehicle through a formula, wherein the formula is as follows:
wherein mg is the gravity of the vehicle, f is the rolling resistance coefficient, and theta is the slope of the ramp; cdThe coefficient is an air resistance coefficient, A is a windward area of the vehicle, V is a running speed of the vehicle, r is a rolling radius of a driving wheel, and delta is a conversion coefficient of rotating mass of the vehicle.
Further, the hill start control method described above, wherein the step of determining the start base torque and the reserve torque of the vehicle based on the current gradient value further includes:
and obtaining a discrete functional relation between the gradient value and the reserve torque, and interpolating the reserve torque corresponding to the current gradient value according to the discrete functional relation.
Further, the hill start control method may further include, after the step of obtaining a start target torque according to the start base torque and the reserve torque, and controlling the vehicle to start by the start target torque when a step-on signal of an accelerator pedal is obtained:
and acquiring the speed of the vehicle and the opening degree of the accelerator pedal, correcting the reserve torque according to the speed and the opening degree of the accelerator pedal, obtaining a corrected starting target torque according to the corrected reserve torque, and controlling the vehicle to start according to the corrected starting target torque.
Another object of the present invention is to provide a hill start control device, including:
the system comprises a current gradient value acquisition module, a slope starting control module and a slope starting control module, wherein the current gradient value acquisition module is used for acquiring the current gradient value of the vehicle after detecting that an uphill starting auxiliary function on the vehicle is started;
the torque determining module is used for determining starting base torque and reserve torque of the vehicle according to the current gradient value;
the static module is used for controlling the vehicle to be static through the starting torque when the opening degree of a brake pedal of the vehicle is detected to meet an opening degree threshold value;
and the starting module is used for obtaining a starting target torque according to the starting basic torque and the reserved torque, and controlling the vehicle to start through the starting target torque when a treading signal of an accelerator pedal is obtained.
Further, the hill start control device described above, wherein the device further includes:
and the gradient value acquisition module is used for acquiring the gradient value of the vehicle in real time in the running process of the vehicle.
Further, in the hill start control device, the torque obtaining module further includes:
the starting basic torque obtaining unit is used for obtaining the starting basic torque of the vehicle through a formula, wherein the formula is as follows:
wherein mg is the gravity of the vehicle, f is the rolling resistance coefficient, and theta is the slope of the ramp; cdThe coefficient is an air resistance coefficient, A is a windward area of the vehicle, V is a running speed of the vehicle, r is a rolling radius of a driving wheel, and delta is a conversion coefficient of rotating mass of the vehicle.
Further, the hill start control device described above, wherein the device further includes:
and the reserve torque acquisition unit is used for acquiring a discrete functional relation between the gradient value and the reserve torque and interpolating the reserve torque corresponding to the current gradient value according to the discrete functional relation.
Further, the hill start control device described above, wherein the device further includes:
and the correction module is used for acquiring the vehicle speed and the opening degree of the accelerator pedal of the vehicle, correcting the reserve torque according to the vehicle speed and the opening degree of the accelerator pedal, obtaining a corrected starting target torque according to the corrected reserve torque, and controlling the vehicle to start according to the corrected starting target torque.
It is a further object of embodiments of the invention to provide a readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the method as described above.
It is a further object of embodiments of the invention to provide a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the program.
According to the embodiment of the invention, the starting basic torque and the reserve torque of the vehicle are obtained by obtaining the current gradient value of the vehicle on the slope, when the opening degree of a brake pedal of the vehicle meets the opening degree threshold value, the vehicle is controlled to be stably and statically on the slope through the starting basic torque, then the reserve torque is weighted to the starting basic torque after a driver steps on an accelerator pedal, and then the vehicle is controlled to start, so that the vehicle is prevented from sliding when starting on the slope, the slope starting safety of the vehicle is improved, meanwhile, the intention of the driver is judged in advance, the driving torque required by the vehicle starting is reserved in advance according to different identified gradients in the pre-starting stage, and the vehicle can be started on the slope easily and quickly.
Drawings
FIG. 1 is a flowchart of a hill start control method according to a first embodiment of the present invention
FIG. 2 is a flow chart illustrating a ramp value obtaining method according to an embodiment of the present invention;
FIG. 3 is a force diagram of a vehicle on a grade according to one embodiment of the present invention;
FIG. 4 is a flowchart of a hill start control method according to a second embodiment of the present invention;
FIG. 5 is a process diagram of reserve torque correction in a hill start control method according to a second embodiment of the present invention
FIG. 6 is a block diagram showing a construction of a hill start control apparatus according to a third embodiment of the present invention;
the following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed types.
With the continuous development of social economy and the improvement of living standard of people, automobiles enter into thousands of households to become important transportation means in daily life of people, and with the continuous change and improvement of the requirements of people, the requirements of users on the operation convenience and comfort of automobiles are higher and higher.
In the prior art, when a vehicle starts on a slope, a driver needs to quickly and deeply step on an accelerator pedal so as to ensure that the vehicle has enough torque to ascend the slope, so that the requirement on the operation proficiency of the driver is higher, and if the driver is not operated properly, the vehicle is easy to slide down the slope, and the safety is lower.
Therefore, most vehicles are equipped with an uphill starting auxiliary function and used for overcoming vehicle back slip and hill recognition in a pre-starting stage, so that the vehicles keep the lowest stable speed in the starting stage; if the situation that the driver steps on the accelerator pedal to reach a certain threshold value is detected in the process, the torque requested by the driver is obtained according to the accelerator pedal signal, and then the vehicle is driven to realize the uphill starting through the finally weighted torque.
The following describes in detail how to achieve a quick start of the vehicle on a slope, with reference to the specific embodiments and the accompanying drawings.
Example one
Referring to fig. 1, a hill start control method according to a first embodiment of the present invention is shown, and the method includes steps S10-S13.
And step S10, when the starting auxiliary function of the uphill starting on the vehicle is detected to be started, acquiring the current gradient value of the vehicle.
When it is detected that the hill start assisting function on the vehicle is started, the vehicle is currently on a hill, and in order to obtain a torque that the vehicle can be normally started, that is, a torque that the vehicle cannot roll when starting, a current gradient value of the vehicle needs to be obtained.
Specifically, in the driving process of the vehicle, the gradient value of the vehicle is obtained in real time, specifically, the gradient value can be obtained through calculation of a driving equation of the vehicle, the driving force and the received resistance of the vehicle are balanced, the ramp resistance can be deduced under the condition that relevant parameters of the whole vehicle are known, and the ramp value can be deduced based on the relationship between the ramp resistance and the gravity component.
In the present embodiment, the lateral acceleration collected by the ESP (electronic stability system for vehicle body) is removed from the integrated acceleration signal (obtained by synthesizing information of the slope, the longitudinal acceleration, the lateral acceleration, the pitch, the roll, etc.) collected by the ESP (electronic stability system for vehicle body), the longitudinal acceleration calculated according to the vehicle speed is removed from the influence of the pitch and the roll by calibration, and finally the slope value is obtained by trigonometric function conversion, as shown in fig. 2.
In some optional embodiments of the present invention, the slope value may be further obtained by calculating an arcsine of the first parameter value by obtaining a ratio of a difference between an acceleration of the vehicle and a running acceleration of the vehicle, which is obtained by differential calculation of a longitudinal vehicle speed, to a gravitational acceleration.
And step S11, determining the starting basic torque and the reserve torque of the vehicle according to the current gradient value.
The method comprises the steps of determining a starting basic torque and a reserve torque of a vehicle according to a current gradient value, wherein the starting basic torque is mainly used for keeping the vehicle stably and still on a slope after a brake pedal of the vehicle is loosened, and the reserve torque is a torque required by the vehicle to start the vehicle after the vehicle receives an accelerator pedal so as to ensure the vehicle to stably start the vehicle uphill.
Specifically, in the process of vehicle gradient starting, the stress condition of the whole vehicle is shown in figure 3, the vehicle is subjected to stress analysis,
Ft＝Ff+Fi+Fw+Fj，
Ff＝mgfcosθ，Fi＝mgsinθ，
the starting basic torque of the vehicle can be obtained through a formula, wherein the formula is as follows:
wherein mg is the gravity of the vehicle, f is the rolling resistance coefficient, and theta is the slope of the ramp; cdThe coefficient is an air resistance coefficient, A is a windward area of the vehicle, V is a running speed of the vehicle, r is a rolling radius of a driving wheel, and delta is a conversion coefficient of rotating mass of the vehicle.
More specifically, the reserve torque may be obtained by interpolation according to the current gradient value, where the reserve torque and the current gradient value have a corresponding relationship, generally, one gradient value corresponds to one reserve torque, multiple gradient values and corresponding reserve torques thereof may be obtained by simulation according to a vehicle dynamics model through experiments in advance, a discrete functional relationship between the reserve torque and the gradient value is obtained, and then the reserve torque corresponding to the current gradient value is obtained through interpolation;
and step S12, when the opening degree of the brake pedal of the vehicle is detected to meet the opening degree threshold value, controlling the vehicle to be stationary through the starting torque.
In order to prevent the vehicle from slipping after the brake pedal is released, the vehicle is controlled to be stably stopped on the slope by the starting base torque when the brake pedal of the vehicle satisfies the opening threshold value, generally, the opening threshold value is set to 0, that is, the brake pedal is completely released, and the vehicle is controlled to be stopped on the slope by the starting base torque when the opening of the pedal is 0.
And step S13, obtaining a starting target torque through the starting basic torque and the reserve torque, and controlling the vehicle to start through the starting target torque when a stepping signal of an accelerator pedal is obtained.
Specifically, after the vehicle is kept still, after a stepping signal of an accelerator pedal is detected, namely the vehicle needs to be started at the moment, the reserved torque is weighted to a starting basic torque to obtain a starting target torque, and then the vehicle is controlled to be started through the starting target torque.
In summary, in the hill start control method in the above embodiment of the present invention, the starting basic torque and the reserve torque of the vehicle are obtained by obtaining the current gradient value of the vehicle on the slope, when the opening degree of the brake pedal of the vehicle meets the opening degree threshold, the vehicle is controlled to be stably stationary on the slope by the starting basic torque, and then the vehicle is controlled to start after the driver weights the reserve torque to the starting basic torque after stepping on the accelerator pedal, so that the vehicle hill start safety is improved by preventing the vehicle from rolling on the slope when starting on the slope, the driver intention is determined in advance, and the driving torque required for starting the vehicle is reserved in advance according to the different identified gradients in the pre-starting stage, thereby achieving easy and rapid hill start.
Example two
Referring to fig. 4, a hill start control method according to a second embodiment of the present invention is shown, and the method includes steps S20 to S24.
And step S20, when the starting auxiliary function of the uphill starting on the vehicle is detected to be started, acquiring the current gradient value of the vehicle.
And step S21, determining the starting basic torque and the reserve torque of the vehicle according to the current gradient value.
And step S22, when the opening degree of the brake pedal of the vehicle is detected to meet the opening degree threshold value, controlling the vehicle to be stationary through the starting torque.
And step S23, obtaining a starting target torque according to the starting basic torque and the reserve torque, and controlling the vehicle to start through the starting target torque when a stepping signal of an accelerator pedal is obtained.
And step S24, acquiring the vehicle speed and the opening degree of the accelerator pedal, correcting the reserve torque according to the vehicle speed and the opening degree of the accelerator pedal, obtaining a corrected starting target torque according to the corrected reserve torque, and controlling the vehicle to start according to the corrected starting target torque.
Wherein, at vehicle hill start's in-process, the vehicle moment of torsion can change according to the degree of depth that accelerator pedal trampled, when accelerator trampled the degree of depth when being darker, driver's request moment of torsion can be great, when accelerator trampled the degree of depth when being shallower, driver's request moment of torsion can diminish, in the twinkling of an eye that accelerator trampled, the vehicle moment of torsion can increase to the scope that can control vehicle start according to reserve torque and starting basic torque, and when accelerator trampled when being darker, the request moment of torsion that the driver provided is lower, the request moment of torsion also can increase to the vehicle moment of torsion this moment, lead to not steady in the vehicle hill start in-process.
In view of this, in the embodiment, the vehicle speed and the opening degree of the accelerator pedal of the vehicle are acquired, the reserve torque is corrected according to the vehicle speed and the opening degree of the accelerator pedal, the correction process is as shown in fig. 5, the corrected starting target torque is obtained according to the corrected reserve torque, the vehicle is controlled to start according to the corrected starting target torque, and the vehicle is conveniently and smoothly started while being quickly started.
To sum up, according to the embodiment of the invention, the starting basic torque and the reserve torque of the vehicle are obtained by obtaining the current gradient value of the vehicle on the slope, when the opening degree of a brake pedal of the vehicle meets the opening degree threshold value, the vehicle is controlled to be stably stationary on the slope through the starting basic torque, then the reserve torque is weighted to the starting basic torque after a driver steps on an accelerator pedal, the vehicle is controlled to start, the intention of the driver is judged in advance, the driving torque required by the vehicle starting is reserved in advance according to different identified gradients in the pre-starting stage, the vehicle can be started on the slope easily and quickly, the reserve torque is corrected according to different vehicle speeds and the opening degrees of the accelerator, and the vehicle can be started quickly and stably.
EXAMPLE III
Referring to fig. 6, a hill start control device according to a third embodiment of the present invention is shown, the device includes:
a current gradient value obtaining module 100, configured to obtain a current gradient value of the vehicle after detecting that an uphill starting assist function on the vehicle is turned on;
the torque determining module 200 is used for determining a starting base torque and a reserve torque of the vehicle according to the current gradient value;
the static module 300 is used for controlling the vehicle to be static through the starting torque when the opening degree of a brake pedal of the vehicle is detected to meet an opening degree threshold;
the starting module 400 is configured to obtain a starting target torque according to the starting basic torque and the reserved torque, and control the vehicle to start through the starting target torque when a tread signal of an accelerator pedal is obtained.
Further, in some alternative embodiments of the present invention, the torque acquisition module 200 further comprises:
the starting basic torque obtaining unit is used for obtaining the starting basic torque of the vehicle through a formula, wherein the formula is as follows:
wherein mg is the gravity of the vehicle, f is the rolling resistance coefficient, and theta is the slope of the ramp; cdThe coefficient is an air resistance coefficient, A is a windward area of the vehicle, V is a running speed of the vehicle, r is a rolling radius of a driving wheel, and delta is a conversion coefficient of rotating mass of the vehicle.
Further, in the hill start control device, the torque obtaining module further includes:
and the reserve torque acquisition unit is used for acquiring a discrete functional relation between the gradient value and the reserve torque and interpolating the reserve torque corresponding to the current gradient value according to the discrete functional relation.
Further, in some optional embodiments of the present invention, the hill start control device further includes:
and the slope value acquisition module is used for acquiring the slope value of the vehicle in real time in the driving process of the vehicle.
Further, in some optional embodiments of the present invention, the hill start control device further includes:
and the correction module is used for acquiring the vehicle speed and the opening degree of the accelerator pedal of the vehicle, correcting the reserve torque according to the vehicle speed and the opening degree of the accelerator pedal, obtaining a corrected starting target torque according to the corrected reserve torque, and controlling the vehicle to start according to the corrected starting target torque.
The functions or operation steps of the above modules when executed are substantially the same as those of the above method embodiments, and are not described herein again.
Example four
Another aspect of the present invention also provides a readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the steps of the method according to any one of embodiments 1 to 2 above.
EXAMPLE five
Another aspect of the present invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of embodiments 1 to 2 when executing the program.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A hill start control method, characterized by comprising:
when the starting assisting function of the uphill starting on the vehicle is detected to be started, acquiring the current gradient value of the vehicle;
determining a starting basic torque and a reserve torque of the vehicle according to the current gradient value;
when the opening degree of a brake pedal of the vehicle is detected to meet an opening degree threshold value, controlling the vehicle to be static through the starting basic torque;
and obtaining a starting target torque according to the starting basic torque and the reserved torque, and controlling the vehicle to start through the starting target torque when a treading signal of an accelerator pedal is obtained.
2. The hill start control method according to claim 1, wherein the step of obtaining the current gradient value of the vehicle after detecting that the hill start assist function on the vehicle is turned on further comprises, before the step of:
and acquiring the gradient value of the vehicle in real time in the running process of the vehicle.
3. The hill start control method according to claim 1, wherein the step of determining a start base torque and a reserve torque of the vehicle according to the current gradient value includes:
obtaining the starting basic torque of the vehicle through a formula, wherein the formula is as follows:
wherein mg is the gravity of the vehicle, f is the rolling resistance coefficient, and theta is the slope of the ramp; cdThe coefficient is an air resistance coefficient, A is a windward area of the vehicle, V is a running speed of the vehicle, r is a rolling radius of a driving wheel, and delta is a conversion coefficient of rotating mass of the vehicle.
4. The hill start control method according to claim 1, wherein the step of determining a start base torque and a reserve torque of the vehicle according to the current gradient value further comprises:
and obtaining a discrete functional relation between the gradient value and the reserve torque, and interpolating the reserve torque corresponding to the current gradient value according to the discrete functional relation.
5. The hill start control method according to claim 1, wherein the step of obtaining a start target torque based on the start base torque and the reserve torque and controlling the vehicle to start by the start target torque when a depression signal of an accelerator pedal is obtained further includes:
and acquiring the speed of the vehicle and the opening degree of the accelerator pedal, correcting the reserve torque according to the speed and the opening degree of the accelerator pedal, obtaining a corrected starting target torque according to the corrected reserve torque, and controlling the vehicle to start according to the corrected starting target torque.
6. A hill start control device characterized by comprising:
the system comprises a current gradient value acquisition module, a slope starting control module and a slope starting control module, wherein the current gradient value acquisition module is used for acquiring the current gradient value of the vehicle after detecting that an uphill starting auxiliary function on the vehicle is started;
the torque determining module is used for determining starting base torque and reserve torque of the vehicle according to the current gradient value;
the static module is used for controlling the vehicle to be static through the starting torque when the opening degree of a brake pedal of the vehicle is detected to meet an opening degree threshold value;
and the starting module is used for obtaining a starting target torque according to the starting basic torque and the reserved torque, and controlling the vehicle to start through the starting target torque when a treading signal of an accelerator pedal is obtained.
7. The hill start control device of claim 6 wherein the torque acquisition module further comprises:
the starting basic torque obtaining unit is used for obtaining the starting basic torque of the vehicle through a formula, wherein the formula is as follows:
wherein mg is the gravity of the vehicle, f is the rolling resistance coefficient, and theta is the slope of the ramp; cdThe coefficient is an air resistance coefficient, A is a windward area of the vehicle, V is a running speed of the vehicle, r is a rolling radius of a driving wheel, and delta is a conversion coefficient of rotating mass of the vehicle.
8. The hill start control device according to claim 6, further comprising:
and the reserve torque acquisition unit is used for acquiring a discrete functional relation between the gradient value and the reserve torque and interpolating the reserve torque corresponding to the current gradient value according to the discrete functional relation.
9. A readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1 to 5.
10. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps of the method according to any one of claims 1 to 5.
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