CN114179621B - Method and device for controlling descent control of abrupt slope of vehicle - Google Patents

Method and device for controlling descent control of abrupt slope of vehicle Download PDF

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Publication number
CN114179621B
CN114179621B CN202111588283.2A CN202111588283A CN114179621B CN 114179621 B CN114179621 B CN 114179621B CN 202111588283 A CN202111588283 A CN 202111588283A CN 114179621 B CN114179621 B CN 114179621B
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vehicle
steep
descent
speed
descent control
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CN114179621A (en
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束永港
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Chery Commercial Vehicle Anhui Co Ltd
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Chery Commercial Vehicle Anhui Co Ltd
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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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
    • B60L15/2027—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope whilst maintaining constant speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The application discloses a method and a device for controlling abrupt slope descent of a vehicle, wherein the method comprises the following steps: when the current gradient is larger than the preset gradient and the current driving intention is the steep gradient descent intention, judging whether the vehicle meets the landslide steep descent condition or not; when the vehicle meets the condition of landslide descent, the vehicle is controlled to enter a steep slope descent control mode, the energy recovery torque of the vehicle is obtained, and the actual speed of the vehicle is controlled to be in a steep slope descent control speed according to the energy recovery torque. According to the embodiment of the application, when the vehicle enters the steep slope descent control mode, the actual speed of the vehicle is controlled to be in the steep slope descent control speed according to the energy recovery torque, the economy and safety of the vehicle are improved, the speed is controlled according to the energy torque, and the control mode is more accurate. Therefore, the technical problems that the vehicle is poor in economical efficiency and low in energy utilization rate when the hydraulic braking system is in failure, the safety of the vehicle is low when the hydraulic braking system fails in the process of carrying out abrupt slope descent control through hydraulic braking force application are solved.

Description

Method and device for controlling descent control of abrupt slope of vehicle
Technical Field
The application relates to the technical field of intelligent control of vehicles, in particular to a method and a device for controlling descent control of a steep slope of a vehicle.
Background
With the upgrade of the electric control and intelligent degree of the electric automobile, people pay more attention to the safety and the comfort of the automobile. The abrupt slope descent control function is an important component of the active safety system of the automobile, and is used for enabling the automobile to pass through the abrupt slope safely and stably by applying braking force to the automobile when the automobile descends the abrupt slope, so that the driving safety and the comfort of the automobile are improved.
In the related art, the abrupt slope descent control function of the pure electric vehicle is realized mainly through repeated pressing and braking of the hydraulic pump.
However, when the hydraulic braking system fails to cause failure of the descent control function of the abrupt slope, the safety of the vehicle is low, and the problem needs to be solved.
Disclosure of Invention
The application provides a control method and a device for slowly descending a steep slope of a vehicle, which are used for solving the problems that in the related art, the economic efficiency of the vehicle is poor, the energy utilization rate is low, and the safety of the vehicle is low when a hydraulic braking system fails to cause the failure of the slowly descending function of the steep slope due to the fact that braking force is applied by hydraulic pressure.
An embodiment of a first aspect of the present application provides a method for controlling a steep slope descent of a vehicle, including the steps of: detecting the current gradient of a ramp on which a vehicle is positioned, and identifying the current driving intention of a driver; when the current gradient is larger than a preset gradient and the current driving intention is a steep gradient descent intention, judging whether the vehicle meets a landslide steep descent condition or not; and if the vehicle meets the landslide descent control condition, controlling the vehicle to enter a steep slope descent control mode, acquiring energy recovery torque of the vehicle, and controlling the actual speed of the vehicle to be in a steep slope descent control speed according to the energy recovery torque.
Optionally, in one embodiment of the present application, further includes: detecting an accelerator pedal signal or a brake signal of the vehicle; and when the accelerator pedal signal or the brake signal is detected, controlling the vehicle to exit the steep descent control mode.
Optionally, in one embodiment of the present application, before controlling the vehicle to enter the steep descent mode, the method further includes: judging whether the vehicle is in a creeping working condition or not; if the creep working condition is the creep working condition, the vehicle is directly controlled to enter a steep slope descent control mode, and the actual speed of the vehicle is increased from the creep speed to the steep slope descent control speed.
Optionally, in one embodiment of the present application, the landslide steep descent condition includes: whether the change value of the speed and the change value of the acceleration of the vehicle meet the mode conditions or not, and whether the brake signal of the driver exists or not.
Optionally, in an embodiment of the present application, the controlling the actual speed of the vehicle before the steep slope and slow speed according to the energy recovery torque further includes: acquiring a current vehicle speed corresponding to a brake signal of the driver; and determining the steep slope slowly-descending vehicle speed according to the current vehicle speed.
An embodiment of a second aspect of the present application provides a steep slope descent control device of a vehicle, including: the first detection module is used for detecting the current gradient of the ramp where the vehicle is located and identifying the current driving intention of the driver; the first judging module is used for judging whether the vehicle meets a landslide descent control condition or not when the current gradient is larger than a preset gradient and the current driving intention is a descent control intention of a steep slope; and the first control module is used for controlling the vehicle to enter a steep slope descent control mode when the vehicle meets the steep slope descent condition, acquiring the energy recovery torque of the vehicle, and controlling the actual speed of the vehicle to be in the steep slope descent speed according to the energy recovery torque.
Optionally, in one embodiment of the present application, further includes: the second detection module is used for detecting an accelerator pedal signal or a brake signal of the vehicle; and the second control module is used for controlling the vehicle to exit the steep descent control mode when the accelerator pedal signal or the brake signal is detected.
Optionally, in one embodiment of the present application, further includes: the second judging module is used for judging whether the vehicle is in a creeping condition or not before the vehicle is controlled to enter the steep descent control mode; and the third control module is used for directly controlling the vehicle to enter a steep slope descent control mode when the creeping working condition is adopted, and increasing the actual speed of the vehicle from the creeping speed to the steep slope descent control speed.
An embodiment of a third aspect of the present application provides a vehicle, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the method for controlling the descent control of the vehicle in a steep slope mode according to the embodiment.
An embodiment of the fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for implementing the steep hill descent control method of a vehicle as described in the above embodiment.
Therefore, when the current gradient of the ramp where the vehicle is located is larger than a certain gradient value and the current driving intention is the steep descent intention, if the vehicle meets the landslide descent condition, the vehicle is controlled to enter a steep descent mode, the energy recovery torque of the vehicle is obtained, and the actual speed of the vehicle is controlled to be in a steep descent speed according to the energy recovery torque. The economical efficiency and the safety of the vehicle are improved, the vehicle speed is controlled according to the energy torque, and the control mode is more accurate. Therefore, the problems that in the related art, the economic efficiency of a vehicle is poor, the energy utilization rate is low, and the safety of the vehicle is low when the hydraulic braking system fails to cause the failure of the descent control function of the abrupt slope due to the fact that the braking force is applied by the hydraulic pressure are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a method for controlling a steep descent control of a vehicle according to an embodiment of the application;
fig. 2 is a schematic diagram of a steep slope descent control architecture of a vehicle according to an embodiment of the application;
fig. 3 is a simulink model diagram provided according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a data simulation result provided according to an embodiment of the present application;
fig. 5 is an exemplary diagram of a steep hill descent control device of a vehicle according to an embodiment of the application;
fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Reference numerals: 100-first detection module, 200-first judgment module, 300-first control module, 601-memory, 602-processor and 603-communication interface.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a method and an apparatus for controlling a steep descent of a vehicle according to an embodiment of the present application with reference to the accompanying drawings. According to the method, when the current gradient of a ramp where the vehicle is located is larger than a certain gradient value and the current driving intention is the gradient descent intention, if the vehicle meets the landslide gradient condition, the vehicle is controlled to enter a gradient descent mode, the energy recovery torque of the vehicle is acquired, and the actual speed of the vehicle is controlled to be in the gradient descent speed according to the energy recovery torque. The economical efficiency and the safety of the vehicle are improved, the vehicle speed is controlled according to the energy torque, and the control mode is more accurate. Therefore, the problems that in the related art, the economic efficiency of a vehicle is poor, the energy utilization rate is low, and the safety of the vehicle is low when the hydraulic braking system fails to cause the failure of the descent control function of the abrupt slope due to the fact that the braking force is applied by the hydraulic pressure are solved.
Specifically, fig. 1 is a flowchart of a method for controlling a steep descent control of a vehicle according to an embodiment of the present application.
As shown in fig. 1, the steep descent control method of the vehicle includes the steps of:
in step S101, the current gradient of the slope on which the vehicle is located is detected, and the current driving intention of the driver is identified.
It can be understood that the steep descent control is to perform auxiliary braking when the vehicle descends to control the speed of the vehicle during the descending process, so as to ensure the driving safety. Therefore, the method of the embodiment of the application firstly detects the gradient of the current ramp on which the vehicle is positioned so as to determine whether to control the vehicle to enter the steep descent control mode according to the gradient information.
As a possible implementation manner, the embodiment of the application may set a camera on the vehicle to collect a road image in front of the current position of the vehicle, analyze the current road image to obtain the current gradient of the ramp where the vehicle is located, for example, set a reference object and a horizontal marking in the road image, and determine the gradient of the ramp through the positional relationship between the road surface and the reference object and the horizontal marking.
As another possible implementation manner, the embodiment of the application may directly call map information of the current position of the vehicle, and obtain the gradient of the located ramp from the map information. For example, the current position of the vehicle is located through the satellite positioning system, road condition information of the current position of the vehicle is extracted from the map, and gradient information of a current ramp is obtained.
As yet another possible implementation, embodiments of the present application may also utilize a grade sensor to detect grade information of a current road. For example, a gradient sensor is arranged at the front part of the vehicle, and gradient information is obtained directly through the gradient sensor during running of the vehicle.
On the basis of the embodiment, the method of the embodiment of the application can also detect the current driving intention of the driver so as to determine whether to control the vehicle to enter the steep slope descent control mode according to the current driving intention of the driver, so that the accuracy of vehicle control is improved, and the use experience of a user is ensured. In the embodiment of the present application, the intention of the driver may be whether or not to decelerate when descending a steep incline.
As one possible implementation, the current driving intention of the driver may be determined by detecting the opening and closing degree of the brake pedal or the accelerator pedal, for example, when the brake pedal is depressed a certain distance, it may be determined that the driver is decelerating when descending a steep slope, and if the brake pedal is not depressed or the depressing distance is too small or the accelerator pedal is depressed, it may be determined that the driver is not decelerating when descending a steep slope.
As another possible implementation, the current driving intent of the driver may be identified by receiving a steep descent intent signal of the driver. For example, a driver starts a steep slope descent control function of the vehicle through the vehicle-mounted display screen, and the embodiment of the application can identify the current intention of the driver as the steep slope descent control intention. Therefore, the vehicle is controlled to enter a vehicle steep slope descent control mode according to the requirements of a driver, and driving experience is improved.
In step S102, when the current gradient is greater than the preset gradient and the current driving intention is a steep gradient descent intention, it is determined whether the vehicle satisfies a landslide steep descent condition.
It will be appreciated that when the current grade of the ramp on which the vehicle is located is too low, the vehicle need not be controlled using the steep descent function of the vehicle. When the current gradient is greater than a certain value and the intention of the driver is a steep descent intention, the vehicle can be considered to be required to be controlled to enter a steep descent mode. In order to ensure the safety of the vehicle and improve the driving experience, the embodiment of the application needs to judge whether the current state of the vehicle meets the landslide descent control condition, wherein the abrupt slope descent control condition can be a condition that the vehicle is allowed to enter an abrupt slope descent control mode. And when the current state of the vehicle does not meet the landslide descent control condition, prohibiting the vehicle from entering a steep slope descent control mode so as to avoid danger.
Optionally, in one embodiment of the present application, the landslide dip condition includes: whether the change value of the vehicle speed and the change value of the acceleration meet the mode conditions or not, and whether a brake signal of a driver exists or not.
It will be appreciated that during downhill descent, the vehicle will still accelerate at a certain acceleration without depressing the accelerator pedal due to gravity and inertia. As a specific implementation manner, the embodiment of the application takes the speed change value and the acceleration change value of the vehicle and the brake signal of the driver as the gradient descent condition, for example, when the acceleration or the speed change value of the vehicle is detected to be greater than a preset threshold value within a certain time and the opening degree of the brake pedal is greater than a certain angle, the embodiment of the application can identify that the vehicle meets the gradient descent condition. Whether the vehicle can enter a steep descent control mode or not is judged through a steep descent condition of the slope, the accuracy of vehicle control is improved, and the safety performance and driving experience of the vehicle are improved.
Based on the embodiment, the embodiment of the application can further enable the throttle-free pedal signal, the state of charge less than 90%, no faults prohibiting energy recovery and no faults of the vehicle speed, and the braking torque recovery power meets the rated allowable feedback power of the motor as a slope abrupt-drop condition. In this regard, those skilled in the art can set the configuration according to the actual situation, and are not particularly limited.
In step S103, if the vehicle satisfies a landslide descent control condition, the vehicle is controlled to enter a steep descent control mode, an energy recovery torque of the vehicle is obtained, and an actual vehicle speed of the vehicle is controlled to a steep descent control speed according to the energy recovery torque.
Specifically, the abrupt slope slow-down speed can be the speed of the vehicle maintained when the vehicle descends in an abrupt slope slow-down mode, and when the process judges that the vehicle meets the slope abrupt-down condition, the vehicle is controlled to enter the abrupt slope slow-down mode, the speed of the vehicle is regulated, and the speed of the vehicle is maintained at the abrupt slope slow-down speed, so that the vehicle descends safely and stably. It can be appreciated that in the downhill process of a vehicle, kinetic energy or potential energy can be converted into electric energy for the vehicle to use, and in order to improve the economic performance of the vehicle, the embodiment of the application calculates the braking torque required to be output by combining the energy recovery torque, and the vehicle speed is controlled to be slowly reduced in a steep slope by sending the request torque to the motor to act on the wheel end.
Optionally, in one embodiment of the present application, controlling the actual speed of the vehicle before the steep slope gradual descent speed according to the energy recovery torque further includes: acquiring a current vehicle speed corresponding to a brake signal of a driver; and determining the steep slope slow-down vehicle speed according to the current vehicle speed.
It can be appreciated that, before the vehicle descends a steep slope and the vehicle does not enter a steep slope descent control mode, the driver steps on the brake pedal to control the vehicle to decelerate, as a possible implementation manner, the embodiment of the application takes the current vehicle speed when the driver steps on the brake pedal as a steep slope descent control vehicle speed, after the vehicle enters the steep slope descent control mode, the vehicle is controlled to keep the steep slope descent control vehicle speed, so that the current vehicle speed accords with the expectations of the driver, and the driving experience is improved under the condition of ensuring the safety of the downhill slope.
In some embodiments, the speed of the vehicle slowly falling on a steep slope can be determined through the setting of the driver, for example, the driver inputs the expected speed when descending the slope through the vehicle-mounted display screen, the output torque of the generator is determined according to the torque magnitude acted on the wheel end according to the expected speed matching, and the vehicle is further kept at the speed set by the driver by combining the torque magnitude of the wheel end and the energy recovery torque.
It should be noted that, the person skilled in the art may set the magnitude of the steep slope slowly-descending vehicle speed according to the actual situation, which is not limited in particular.
Optionally, in one embodiment of the present application, before controlling the vehicle to enter the steep descent mode, the method further includes: judging whether the vehicle is in a creeping condition or not; if the running condition is the creeping condition, the vehicle is directly controlled to enter a steep slope descent control mode, and the actual speed of the vehicle is increased from the creeping speed to the steep slope descent control speed.
It can be understood that the creeping condition can be the condition of the vehicle when just starting, and when the vehicle starts, the speed is lower, the change condition of the current vehicle speed does not meet the condition of falling suddenly, in order to speed up the vehicle, if the accelerator pedal is stepped on the downhill section, the vehicle speed can be suddenly lifted and dangerous occurs, therefore, the embodiment of the application can directly control the vehicle to enter a steep descent mode, the actual vehicle speed of the vehicle is lifted to the steep descent speed, the vehicle is kept to run at the speed, the speed can be increased and a certain speed downhill is kept without the need of stepping on the accelerator pedal by a driver, and the safety of the downhill of the vehicle is improved.
For example, when the vehicle is in a creeping working condition, the speed requirement of the gradient descent is not met, at the moment, the creeping torque and the braking torque of the gradient descent are not influenced, and the embodiment of the application can gradually increase the vehicle speed to 10km/h to exit the creeping working condition and keep the gradient descent mode.
Optionally, in one embodiment of the present application, further includes: detecting an accelerator pedal signal or a brake signal of a vehicle; and when the accelerator pedal signal or the brake signal is detected, controlling the vehicle to exit from the steep descent control mode.
It will be appreciated that after controlling the vehicle into the steep descent mode, the driver may maintain a certain speed for descent without having to depress the brake pedal. If the vehicle is in a steep slope descent control mode, the vehicle is controlled to exit the steep slope descent control mode when acceleration is required at the end of the downhill slope or an emergency situation is required in front of the vehicle to decelerate. In the embodiment of the application, the accelerator pedal signal and the brake signal of the vehicle are detected, for example, the opening and closing degrees of the accelerator pedal and the brake pedal are detected, and when the opening and closing degrees of the accelerator pedal and the brake pedal are detected to reach a certain value, the method of the embodiment of the application controls the vehicle to exit from the steep slope descent control mode, and the driver takes over the vehicle so as to ensure driving safety and improve driving experience of a user.
Furthermore, after the vehicle enters the steep descent control mode, the embodiment of the application detects the vehicle, for example, whether the steep descent control function of the vehicle is normal or whether the vehicle has a fault, and if any fault signal is detected, the vehicle is controlled to exit the current steep descent control mode so as to avoid danger.
The principle of the hill descent control method of the vehicle according to the embodiment of the present application will be described in detail with reference to one specific embodiment of the drawings.
As shown in fig. 2, a steep descent control architecture of a vehicle according to an embodiment of the present application is illustrated. According to the embodiment of the application, on the basis of the functions which can be realized by the steep slope descent control system of the fuel vehicle, the functions are carried on the electric vehicle in a software mode, and the vehicle control unit (Vehicle Control Units, VCU) mainly controls the motor torque according to the energy recovery torque by executing the response instruction, so that the steep slope descent control function is realized.
Specifically, the intention of the driver to the steep slope descent control function is analyzed, and if the steep slope descent control hard line signal is received, the driving intention of the driver is judged. When the VCU receives the steep descent control enabling signal, the VCU judges whether the steep descent control condition is met by judging the speed change, the acceleration change and the driver braking signal at the moment and combining with the steep descent control (Hill Descent Control, HDC), if yes, the instrument displays that the steep descent control mode is entered at the moment, and the instrument sends out a request torque to the motor according to the energy recovery torque to act on the wheel end, so that the vehicle speed is controlled within the target vehicle speed, namely, the steep descent vehicle speed. Under the working condition mode, if the accelerator pedal signal or the brake signal is received again, the landslide steep descent mode is automatically exited.
Fig. 3 shows a schematic diagram of a steep descent control function according to an embodiment of the present application, and fig. 4 shows experimental data simulation results. As shown in fig. 3 and fig. 4, the steep slope descent control architecture of the vehicle in the present application may be implemented by three modules, including an enabling module, a slope judging module, and a torque output module. The enabling module can judge whether a condition of entering a steep slope and slowly descending is met or not; the gradient judging module can judge whether the vehicle enters a steep slope working condition at the moment through the speed change, the acceleration change and the brake signal at the moment, and the gradient judging module is used as a supplementary module of the enabling module; a torque output module: and judging that the vehicle enters a steep slope descent control function through receiving an enabling signal of the enabling module, sending out energy recovery torque to limit the vehicle speed, and limiting the vehicle speed to a target vehicle speed.
According to the steep slope descent control method of the vehicle, when the current gradient of the ramp where the vehicle is located is larger than a certain gradient value and the current driving intention is the steep slope descent intention, if the vehicle meets the landslide descent condition, the vehicle is controlled to enter a steep slope descent mode, the energy recovery torque of the vehicle is obtained, and the actual speed of the vehicle is controlled to be the steep slope descent speed according to the energy recovery torque. The economical efficiency and the safety of the vehicle are improved, the vehicle speed is controlled according to the energy torque, and the control mode is more accurate. Therefore, the problems that in the related art, the economic efficiency of a vehicle is poor, the energy utilization rate is low, and the safety of the vehicle is low when the hydraulic braking system fails to cause the failure of the descent control function of the abrupt slope due to the fact that the braking force is applied by the hydraulic pressure are solved.
Next, a steep descent control device of a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 5 is a block schematic diagram of a steep descent control device of a vehicle according to an embodiment of the application.
As shown in fig. 5, the abrupt slope descent control device 10 of the vehicle includes: the first detection module 100, the first judgment module 200 and the first control module 300.
The first detection module 100 is configured to detect a current gradient of a ramp on which the vehicle is located, and identify a current driving intention of a driver. The first determining module 200 is configured to determine whether the vehicle meets a landslide steep descent condition when the current gradient is greater than the preset gradient and the current driving intention is a steep descent intention. The first control module 300 is configured to control the vehicle to enter a steep descent control mode when the vehicle meets a steep descent condition, obtain an energy recovery torque of the vehicle, and control an actual speed of the vehicle to the steep descent speed according to the energy recovery torque.
Optionally, in one embodiment of the present application, the steep descent control device 10 of the vehicle further includes: the second detection module is used for detecting an accelerator pedal signal or a brake signal of the vehicle; and the second control module is used for controlling the vehicle to exit the steep descent control mode when the accelerator pedal signal or the brake signal is detected.
Optionally, in one embodiment of the present application, the steep descent control device 10 of the vehicle further includes: the second judging module is used for judging whether the vehicle is in a creeping condition or not before the vehicle is controlled to enter a steep slope descent control mode; and the third control module is used for directly controlling the vehicle to enter a steep slope descent control mode when the creep working condition is adopted, and increasing the actual speed of the vehicle from the creep speed to the steep slope descent control speed.
Optionally, in one embodiment of the present application, the landslide dip condition includes: whether the change value of the speed and the change value of the acceleration of the vehicle meet the mode conditions or not, and whether a brake signal of a driver exists or not.
Optionally, in one embodiment of the present application, the steep descent control device 10 of the vehicle further includes: before the actual speed of the vehicle is controlled to be the steep slope slowly-descending speed according to the energy recovery torque, the current speed corresponding to the brake signal of the driver is obtained, and the steep slope slowly-descending speed is determined according to the current speed.
It should be noted that the foregoing explanation of the embodiment of the method for controlling a steep slope descent control device of a vehicle is also applicable to the steep slope descent control device of a vehicle of the embodiment, and will not be repeated here.
According to the steep slope descent control device of the vehicle, when the current gradient of the ramp where the vehicle is located is larger than a certain gradient value and the current driving intention is the steep slope descent intention, if the vehicle meets the landslide descent condition, the vehicle is controlled to enter a steep slope descent mode, the energy recovery torque of the vehicle is obtained, and the actual speed of the vehicle is controlled to be in a steep slope descent speed according to the energy recovery torque. The economical efficiency and the safety of the vehicle are improved, the vehicle speed is controlled according to the energy torque, and the control mode is more accurate. Therefore, the problems that in the related art, the economic efficiency of a vehicle is poor, the energy utilization rate is low, and the safety of the vehicle is low when the hydraulic braking system fails to cause the failure of the descent control function of the abrupt slope due to the fact that the braking force is applied by the hydraulic pressure are solved.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.
The processor 602 implements the steep descent control method of the vehicle provided in the above embodiment when executing a program.
Further, the vehicle further includes:
a communication interface 603 for communication between the memory 601 and the processor 602.
A memory 601 for storing a computer program executable on the processor 602.
The memory 601 may comprise a high-speed RAM memory or may further comprise a non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may perform communication with each other through internal interfaces.
The processor 602 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the steep descent control method of a vehicle as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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 N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

Claims (8)

1. The method for controlling the descent control of the abrupt slope of the vehicle is characterized by comprising the following steps of:
detecting the current gradient of a ramp on which a vehicle is positioned, and identifying the current driving intention of a driver;
when the current gradient is larger than a preset gradient and the current driving intention is a steep gradient descent intention, judging whether the vehicle meets a landslide steep descent condition or not; and
if the vehicle meets the landslide descent control condition, controlling the vehicle to enter a steep slope descent control mode, acquiring energy recovery torque of the vehicle, and controlling the actual speed of the vehicle to be in a steep slope descent control speed according to the energy recovery torque;
before controlling the vehicle to enter the steep descent mode, further comprising:
judging whether the vehicle is in a creeping working condition or not;
if the creep working condition is the creep working condition, the vehicle is directly controlled to enter a steep slope descent control mode, and the actual speed of the vehicle is increased from the creep speed to the steep slope descent control speed.
2. The method as recited in claim 1, further comprising:
detecting an accelerator pedal signal or a brake signal of the vehicle;
and when the accelerator pedal signal or the brake signal is detected, controlling the vehicle to exit the steep descent control mode.
3. The method according to any one of claims 1-2, wherein the landslide dip condition comprises: whether the change value of the speed and the change value of the acceleration of the vehicle meet the mode conditions or not, and whether the brake signal of the driver exists or not.
4. A method according to claim 3, wherein said controlling the actual speed of the vehicle in accordance with the energy recovery torque before the steep hill descent speed further comprises:
acquiring a current vehicle speed corresponding to a brake signal of the driver;
and determining the steep slope slowly-descending vehicle speed according to the current vehicle speed.
5. A steep descent control device of a vehicle, characterized by comprising:
the first detection module is used for detecting the current gradient of the ramp where the vehicle is located and identifying the current driving intention of the driver;
the first judging module is used for judging whether the vehicle meets a landslide descent control condition or not when the current gradient is larger than a preset gradient and the current driving intention is a descent control intention of a steep slope; and
the first control module is used for controlling the vehicle to enter a steep slope descent control mode when the vehicle meets the steep slope descent condition, acquiring energy recovery torque of the vehicle, and controlling the actual speed of the vehicle to be in a steep slope descent speed according to the energy recovery torque;
the second judging module is used for judging whether the vehicle is in a creeping condition or not before the vehicle is controlled to enter the steep descent control mode;
and the third control module is used for directly controlling the vehicle to enter a steep slope descent control mode when the creeping working condition is adopted, and increasing the actual speed of the vehicle from the creeping speed to the steep slope descent control speed.
6. The apparatus as recited in claim 5, further comprising:
the second detection module is used for detecting an accelerator pedal signal or a brake signal of the vehicle;
and the second control module is used for controlling the vehicle to exit the steep descent control mode when the accelerator pedal signal or the brake signal is detected.
7. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the steep descent control method of a vehicle according to any one of claims 1-4.
8. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the steep descent control method of a vehicle according to any one of claims 1-4.
CN202111588283.2A 2021-12-23 2021-12-23 Method and device for controlling descent control of abrupt slope of vehicle Active CN114179621B (en)

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