CN114889612A - Method and device for preventing vehicle from sliding down slope - Google Patents
Method and device for preventing vehicle from sliding down slope Download PDFInfo
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- 230000002265 prevention Effects 0.000 claims abstract description 24
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
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- 230000006870 function Effects 0.000 claims description 21
- 238000004422 calculation algorithm Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 description 8
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- 238000005096 rolling process Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/001—Proportional integral [PI] controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
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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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
A vehicle landslide prevention method and device comprises the following steps: acquiring a current first running speed, a current gradient and a driver required torque of a vehicle; acquiring a target deceleration of the vehicle when the vehicle anti-creep function is judged to be triggered according to the first running speed, the first vehicle speed threshold value, the current gradient and the driver required torque; calculating a driving force feedforward value according to the target deceleration and the current gradient; monitoring an actual deceleration of the vehicle, and calculating a first driving force based on the target deceleration, the actual deceleration, and the driving force feedforward value; controlling the power assembly to output a first driving force; when the second running speed after the vehicle is decelerated is smaller than a second vehicle speed threshold value, controlling the vehicle to run according to the target vehicle speed; when the third running speed of the vehicle after deceleration is smaller than the third vehicle speed threshold, the target braking force is calculated, the vehicle is controlled to park according to the target braking force, deceleration pre-control can be performed in the vehicle sliding stage, the vehicle is decelerated stably, and riding comfort is improved.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a vehicle slope slipping prevention method and device.
Background
Currently, in the prior art, when a vehicle controller or a motor controller detects that the vehicle is approaching to stop on a slope, the vehicle controller or the motor controller applies driving force or/and braking force to make the vehicle stop on the slope. In practice, it has been found that the existing methods lack deceleration pre-control logic for the coasting phase of the vehicle. When the vehicle is parked by sliding on a large slope, the vehicle is decelerated rapidly due to large slope resistance, when the vehicle speed approaches 0, the deceleration of the vehicle is large, and at this time, if the driving force or/and the braking force is slowly loaded to make the vehicle stably park, the slope sliding distance is long, and at this time, if the driving force or/and the braking force is quickly loaded to make the vehicle immediately park, the deceleration suddenly changes to 0, and the riding comfort is poor. Therefore, the existing method lacks deceleration pre-control logic in the vehicle sliding stage, so that the vehicle is not decelerated stably, and the riding comfort is reduced.
Disclosure of Invention
The embodiment of the application aims to provide a vehicle anti-slope-sliding method and device, which can perform deceleration pre-control in a vehicle sliding stage, so that a vehicle can decelerate stably, and the riding comfort is improved.
In a first aspect, an embodiment of the present application provides a vehicle landslide prevention method, including:
acquiring a current first running speed, a current gradient and a driver required torque of a vehicle;
when the situation that a vehicle anti-slope-slipping function is triggered is judged according to the first running speed, a preset first vehicle speed threshold value, the current slope and the driver required torque, obtaining a target deceleration of the vehicle;
calculating a driving force feedforward value according to the target deceleration and the current gradient;
monitoring an actual deceleration of the vehicle, and calculating a first driving force according to the target deceleration, the actual deceleration and the driving force feedforward value;
controlling a powertrain to output the first driving force to decelerate the vehicle in accordance with the target deceleration;
controlling the vehicle to run according to the target speed according to the second running speed after the vehicle decelerates and a preset second vehicle speed threshold; wherein the second vehicle speed threshold is less than the first vehicle speed threshold;
judging whether the third running speed of the vehicle after deceleration is less than a preset third vehicle speed threshold value or not; wherein the third vehicle speed threshold is less than the second vehicle speed threshold;
if yes, calculating a target braking force, and controlling the vehicle to park according to the target braking force.
In the implementation process, acquiring a current first running speed, a current gradient and a driver required torque of the vehicle; when the vehicle anti-slope-slipping function is judged to be triggered according to the first running speed, a preset first vehicle speed threshold value, the current slope and the driver required torque, the target deceleration of the vehicle is obtained; calculating a driving force feedforward value according to the target deceleration and the current gradient; monitoring an actual deceleration of the vehicle, and calculating a first driving force based on the target deceleration, the actual deceleration, and the driving force feedforward value; controlling the powertrain to output a first driving force to decelerate the vehicle in accordance with the target deceleration; controlling the vehicle to run according to the target speed according to the second running speed after the vehicle decelerates and a preset second vehicle speed threshold; and judging whether the third running speed of the vehicle after deceleration is less than a preset third vehicle speed threshold value, if so, calculating a target braking force, controlling the vehicle to park according to the target braking force, and performing deceleration pre-control in the vehicle sliding stage, so that the vehicle decelerates stably, and the riding comfort is improved.
Further, after the obtaining of the current first traveling speed, the current gradient, and the driver requested torque of the vehicle, the method further includes:
obtaining ramp resistance and a preset anti-slip safety coefficient;
calculating a torque threshold value according to the ramp resistance and the preset anti-slip safety coefficient;
and when the first running speed is less than a preset first vehicle speed threshold value and the driver required torque is less than the torque threshold value, triggering a vehicle anti-slope-slipping function and executing the acquisition of the target deceleration of the vehicle.
Further, controlling the vehicle to travel according to the target vehicle speed according to a second travel speed after the vehicle decelerates and a preset second vehicle speed threshold includes:
judging whether a second running speed of the vehicle after being decelerated is greater than a preset second vehicle speed threshold value or not;
if so, the calculation of the driving force feedforward value according to the target deceleration and the current gradient is executed.
Further, the method further comprises:
when the second running speed is not greater than the second vehicle speed threshold value, acquiring a target vehicle speed and an actual vehicle speed of the vehicle;
calculating a second driving force according to the actual vehicle speed and the target vehicle speed;
and controlling the power assembly to output the second driving force so that the vehicle runs according to the target vehicle speed.
Further, the calculating a target braking force and controlling the vehicle to park according to the target braking force includes:
calculating a target braking force according to the preset anti-slip safety coefficient and the ramp resistance;
and increasing the braking force output by the braking system to the target braking force according to a preset braking force increasing algorithm, and reducing the driving force output by the power assembly to 0 according to a preset driving force reducing algorithm.
A second aspect of an embodiment of the present application provides a vehicle landslide prevention apparatus including:
an acquisition unit for acquiring a current first running speed, a current gradient, and a driver required torque of a vehicle; when the situation that the vehicle anti-slope-slipping function is triggered is judged according to the first running speed, a preset first vehicle speed threshold value, the current slope and the driver required torque, the target deceleration of the vehicle is obtained;
a calculation unit configured to calculate a driving force feedforward value based on the target deceleration and the current gradient;
a monitoring unit for monitoring an actual deceleration of the vehicle;
the calculating unit is further used for calculating a first driving force according to the target deceleration, the actual deceleration and the driving force feedforward value;
a first control unit configured to control a powertrain to output the first driving force so that the vehicle decelerates in accordance with the target deceleration;
the second control unit is used for controlling the vehicle to run according to the target speed according to a second running speed after the vehicle is decelerated and a preset second vehicle speed threshold; wherein the second vehicle speed threshold is less than the first vehicle speed threshold;
the judging unit is used for judging whether the third running speed of the vehicle after deceleration is less than a preset third vehicle speed threshold value or not;
and the third control unit is used for calculating a target braking force when a third running speed of the vehicle after deceleration is less than a third vehicle speed threshold value, and controlling the vehicle to park according to the target braking force, wherein the third vehicle speed threshold value is less than the second vehicle speed threshold value.
In the implementation process, the obtaining unit obtains a current first running speed, a current gradient and a driver required torque of the vehicle; when the vehicle anti-slope-slipping function is triggered according to the first running speed, a preset first vehicle speed threshold value, the current slope and the driver required torque, the target deceleration of the vehicle is obtained; the calculating unit calculates a driving force feedforward value according to the target deceleration and the current gradient; the monitoring unit monitors the actual deceleration of the vehicle, and calculates the first driving force based on the target deceleration, the actual deceleration, and the driving force feedforward value; then the first control unit controls the power assembly to output the first driving force so as to enable the vehicle to decelerate according to the target deceleration; the second control unit controls the vehicle to run according to the target speed according to the second running speed after the vehicle decelerates and a preset second vehicle speed threshold; the second vehicle speed threshold is smaller than the first vehicle speed threshold, and the judging unit judges whether the third running speed of the vehicle after deceleration is smaller than a preset third vehicle speed threshold or not; and when the third control unit judges that the third vehicle speed threshold is smaller than the third vehicle speed threshold, the third control unit calculates the target braking force and controls the vehicle to park according to the target braking force, wherein the third vehicle speed threshold is smaller than the second vehicle speed threshold, and deceleration pre-control can be performed in the vehicle sliding stage, so that the vehicle is decelerated stably, and the riding comfort is improved.
Further, the obtaining unit is further used for obtaining the ramp resistance and the preset anti-slip safety factor after obtaining the current first running speed, the current gradient and the driver required torque of the vehicle;
the calculating unit is further used for calculating a torque threshold value according to the ramp resistance and the preset anti-slip safety coefficient;
the vehicle landslide prevention device further comprises:
and the triggering unit is used for triggering a vehicle anti-slope-slipping function and triggering the obtaining unit to obtain the target deceleration of the vehicle when the first running speed is less than a preset first vehicle speed threshold value and the driver required torque is less than the torque threshold value.
Further, the second control unit includes:
the judging subunit is used for judging whether a second running speed of the vehicle after deceleration is greater than a preset second vehicle speed threshold value; if so, triggering the calculating unit to calculate a driving force feedforward value according to the target deceleration and the current gradient.
A third aspect of embodiments of the present application provides an electronic device, including a memory and a processor, where the memory is used for storing a computer program, and the processor runs the computer program to make the electronic device execute the vehicle landslide prevention method according to any one of the first aspect of embodiments of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores computer program instructions, which when read and executed by a processor, perform the method for preventing a vehicle from rolling away a slope according to any one of the first aspect of the embodiments of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic flow chart of a vehicle landslide prevention method provided by an embodiment of the application;
FIG. 2 is a schematic structural diagram of a vehicle anti-creep device according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of another method for preventing a vehicle from rolling away from a slope according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating changes of various parameters in a vehicle anti-slope-slipping process according to an embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle landslide prevention method according to an embodiment of the present application. The vehicle landslide prevention method comprises the following steps:
s101, acquiring a current first running speed, a current gradient and a driver required torque of the vehicle.
In the embodiment of the present application, during the running process of the vehicle, the current first running speed of the vehicle may be obtained through the speed sensor, which is not limited in the embodiment of the present application.
In the embodiment of the application, the torque required by the driver can be determined according to the opening degree of the accelerator of the vehicle.
S102, obtaining ramp resistance and a preset anti-slip safety coefficient.
And S103, calculating a torque threshold value according to the ramp resistance and a preset anti-slip safety coefficient.
In the embodiment of the present application, the calculation formula of the torque threshold is as follows:
the torque threshold value is equal to ramp resistance multiplied by a preset anti-slip safety factor is equal to F i ×F ac ；
Wherein, F i As ramp resistance, F ac The safety coefficient of the anti-slip is preset.
And S104, when the first running speed is smaller than a preset first vehicle speed threshold value and the torque required by the driver is smaller than a torque threshold value, triggering a vehicle anti-slope-slipping function and acquiring the target deceleration of the vehicle.
In the embodiment of the application, when the vehicle decelerates while sliding on a slope, if V acc ＜V 1 And F req ＜F i ×F ac And triggering the anti-slope-sliding control function. Wherein, V acc As an actual vehicle speed (i.e., first traveling speed), V 1 A first vehicle speed threshold value, F req Torque is demanded for the driver.
And S105, calculating a driving force feedforward value according to the target deceleration and the current gradient.
In the embodiment of the application, the formula for calculating the driving force feedforward value is as follows:
F forward ＝F i +F f +F w +m×a target ；
wherein, F f To rolling resistance, F w As air resistance, m is vehicle weight, a target Is the target deceleration.
In the embodiment of the present application, the rolling resistance may be determined according to the current gradient and the vehicle weight.
After step S105, the following steps are also included:
s106, the actual deceleration of the vehicle is monitored, and the first driving force is calculated according to the target deceleration, the actual deceleration and the driving force feedforward value.
In the embodiment of the present application, the formula for calculating the first driving force is as follows:
F t1 ＝F forward +f(a act -a target )；
wherein, f (a) act -a target ) For PI control of closed-loop functions, a act Is the actual deceleration.
And S107, controlling the power assembly to output the first driving force so that the vehicle decelerates according to the target deceleration.
S108, judging whether the second running speed of the vehicle after being decelerated is larger than a preset second vehicle speed threshold value or not, and if so, executing the step S105 to the step S108; if not, step S109 to step S113 are executed.
In the embodiment of the application, the second vehicle speed threshold is smaller than the first vehicle speed threshold.
In the embodiment of the present application, when the second running speed of the vehicle after deceleration is greater than the preset second vehicle speed threshold, step S105 is executed again to calculate the driving force by the PI controller in a closed loop, and the powertrain is controlled to output the driving force, so that the actual deceleration of the vehicle approaches the target deceleration.
And S109, acquiring a target vehicle speed and an actual vehicle speed of the vehicle.
And S110, calculating second driving force according to the actual vehicle speed and the target vehicle speed.
In the embodiment of the present application, when the second travel speed of the vehicle after deceleration is less than the second vehicle speed threshold, the formula for calculating the second driving force is as follows:
F t2 ＝F t1 +f(V act -V target )；
wherein, f (V) act -V target ) For PI control of closed-loop functions, V target Is the target vehicle speed.
And S111, controlling the power assembly to output the second driving force so that the vehicle runs according to the target vehicle speed.
Referring to fig. 3, fig. 3 is a schematic flow chart of another method for preventing a vehicle from sliding down a slope according to an embodiment of the present application. As shown in fig. 3, when the second running speed is less than the preset second vehicle speed threshold, the actual vehicle speed is monitored, the second driving force is calculated in a closed loop through the PI controller, and the powertrain is controlled to output the corresponding second driving force, so that the actual vehicle speed of the vehicle approaches the target vehicle speed.
In the embodiment of the present application, in the process from step S101 to step S111, the actual vehicle speed, the actual deceleration, the driving force, and the braking force of the vehicle change as shown in fig. 4.
S112, judging whether the third running speed of the vehicle after deceleration is less than a preset third vehicle speed threshold value or not, and if so, executing the steps S113 to S114; if not, executing step S109 to step S112;
and S113, calculating a target braking force according to the preset anti-slip safety coefficient and the ramp resistance.
In the embodiment of the present application, the third vehicle speed threshold is smaller than the second vehicle speed threshold.
In the embodiment of the present application, the target braking force calculation formula is as follows:
F Brk ＝F i ×F ac 。
wherein, F Brk Is a target braking force, F i As ramp resistance, F ac And the safety coefficient of the anti-slip is preset.
And S114, increasing the braking force output by the braking system to the target braking force according to a preset braking force increasing algorithm, and reducing the driving force output by the power assembly to 0 according to a preset driving force reducing algorithm.
In the embodiment of the present application, as shown in fig. 3, when the third traveling speed of the vehicle after deceleration is less than the preset third vehicle speed threshold, the braking force is applied to the target braking force according to the preset braking force increasing algorithm, and the driving force is cancelled to 0 according to the preset driving force decreasing algorithm.
In the embodiment of the present application, the preset braking force increasing algorithm specifically includes a linear increasing algorithm, where a slope of the linear increasing algorithm may be preset, and the embodiment of the present application is not limited thereto.
In the embodiment of the present application, the preset driving force reduction algorithm specifically includes a linear reduction algorithm, where a slope of the linear reduction may be preset, and the embodiment of the present application is not limited thereto.
In the embodiment of the present application, the slope of the linear increase and the slope of the linear decrease may be a variable slope or a constant slope, and the embodiment of the present application is not limited thereto.
In the embodiment of the application, the method can trigger the anti-slope-sliding function in advance by recognizing that the driver has the intention of decelerating and stopping, accurately control the deceleration and the vehicle speed of the vehicle through the driving force, reduce the deceleration of the vehicle to be close to 0 when the vehicle stops, and realize stable stopping without slope sliding.
In this embodiment, an execution subject of the method may be a computing device such as an automobile main control module, and this embodiment is not limited at all.
It can be seen that, by implementing the vehicle anti-slope-sliding method described in this embodiment, deceleration pre-control can be performed in the vehicle sliding stage, so that the vehicle decelerates smoothly, and the riding comfort is improved.
Example 2
Referring to fig. 2, fig. 2 is a schematic structural diagram of a vehicle landslide prevention device according to an embodiment of the present application. As shown in fig. 2, the vehicle landslide prevention apparatus includes:
an obtaining unit 210 for obtaining a current first running speed, a current gradient, and a driver required torque of the vehicle; when the vehicle anti-slope-slipping function is triggered according to the first running speed, a preset first vehicle speed threshold value, the current slope and the driver required torque, the target deceleration of the vehicle is obtained;
a calculation unit 220 for calculating a driving force feedforward value based on the target deceleration and the current gradient;
a monitoring unit 230 for monitoring the actual deceleration of the vehicle;
a calculating unit 220 for calculating the first driving force based on the target deceleration, the actual deceleration, and the driving force feedforward value;
a first control unit 240 for controlling the powertrain to output a first driving force to decelerate the vehicle in accordance with the target deceleration;
a second control unit 250, configured to control the vehicle to travel according to the target vehicle speed according to a second travel speed after the vehicle decelerates and a preset second vehicle speed threshold; wherein the second vehicle speed threshold is less than the first vehicle speed threshold;
the judging unit 260 is configured to judge whether the third traveling speed of the vehicle after deceleration is less than a preset third vehicle speed threshold;
and a third control unit 270 for calculating a target braking force and controlling the vehicle to park according to the target braking force when it is determined that the third traveling speed is less than a third vehicle speed threshold value, wherein the third vehicle speed threshold value is less than the second vehicle speed threshold value.
As an alternative embodiment, the obtaining unit 210 is further configured to obtain the slope resistance and the preset anti-slip safety factor after obtaining the current first running speed, the current gradient and the driver required torque of the vehicle;
the calculating unit 220 is further configured to calculate a torque threshold according to the ramp resistance and a preset anti-slip safety coefficient;
this vehicle anti-slide device still includes:
the triggering unit 280 is configured to trigger the vehicle anti-creep function and trigger the obtaining unit 210 to obtain the target deceleration of the vehicle when the first running speed is less than a preset first vehicle speed threshold and the driver required torque is less than a torque threshold.
As an alternative embodiment, the second control unit 250 includes:
a judging subunit 251, configured to judge whether a second driving speed of the vehicle after deceleration is greater than a preset second vehicle speed threshold; if so, the trigger calculation unit 220 calculates a driving force feed-forward value based on the target deceleration and the current gradient.
As an alternative embodiment, the second control unit 250 further includes:
an acquisition subunit 252 configured to acquire a target vehicle speed and an actual vehicle speed of the vehicle when the second travel speed is not greater than the second vehicle speed threshold;
a first calculation subunit 253 for calculating a second driving force based on the actual vehicle speed and the target vehicle speed;
and a first control subunit 254 for controlling the powertrain to output the second driving force so that the vehicle travels in accordance with the target vehicle speed.
As an alternative embodiment, the third control unit 270 includes:
the second calculating subunit 271 is used for calculating the target braking force according to the preset anti-slip safety factor and the ramp resistance;
and a second control sub-unit 272 for increasing the braking force output from the brake system to the target braking force according to a preset braking force increasing algorithm and reducing the driving force output from the powertrain to 0 according to a preset driving force reducing algorithm.
In the embodiment of the present application, for the explanation of the vehicle anti-slide apparatus, reference may be made to the description in embodiment 1, and details are not repeated in this embodiment.
It can be seen that, the vehicle anti-slope-sliding device described in the embodiment can perform deceleration pre-control in the vehicle sliding stage, so that the vehicle decelerates smoothly, and the riding comfort is improved.
An embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the vehicle landslide prevention method in embodiment 1 of the present application.
An embodiment of the present application provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and executed by a processor, the computer program instructions perform the method for preventing a vehicle from sliding down a slope according to embodiment 1 of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A vehicle landslide prevention method, comprising:
acquiring a current first running speed, a current gradient and a driver required torque of a vehicle;
when the situation that a vehicle anti-slope-slipping function is triggered is judged according to the first running speed, a preset first vehicle speed threshold value, the current slope and the driver required torque, obtaining a target deceleration of the vehicle;
calculating a driving force feedforward value according to the target deceleration and the current gradient;
monitoring an actual deceleration of the vehicle, and calculating a first driving force according to the target deceleration, the actual deceleration and the driving force feedforward value;
controlling a powertrain to output the first driving force to decelerate the vehicle in accordance with the target deceleration;
controlling the vehicle to run according to the target speed according to the second running speed after the vehicle decelerates and a preset second vehicle speed threshold; wherein the second vehicle speed threshold is less than the first vehicle speed threshold;
judging whether the third running speed of the vehicle after deceleration is less than a preset third vehicle speed threshold value or not; wherein the third vehicle speed threshold is less than the second vehicle speed threshold;
if yes, calculating a target braking force, and controlling the vehicle to park according to the target braking force.
2. The vehicle landslide prevention method according to claim 1, wherein after said obtaining a current first travel speed of the vehicle, a current grade and a driver requested torque, said method further comprises:
obtaining ramp resistance and a preset anti-slip safety coefficient;
calculating a torque threshold value according to the ramp resistance and the preset anti-slip safety coefficient;
and when the first running speed is less than a preset first vehicle speed threshold value and the driver required torque is less than the torque threshold value, triggering a vehicle anti-slope-slipping function and executing the acquisition of the target deceleration of the vehicle.
3. The vehicle landslide prevention method according to claim 1, wherein controlling the vehicle to travel at a target vehicle speed based on a second travel speed after the vehicle decelerates and a preset second vehicle speed threshold comprises:
judging whether a second running speed of the vehicle after being decelerated is greater than a preset second vehicle speed threshold value or not;
if so, the calculation of the driving force feedforward value according to the target deceleration and the current gradient is executed.
4. The vehicle landslide prevention method according to claim 3, further comprising:
when the second running speed is not greater than the second vehicle speed threshold value, acquiring a target vehicle speed and an actual vehicle speed of the vehicle;
calculating a second driving force according to the actual vehicle speed and the target vehicle speed;
and controlling the power assembly to output the second driving force so that the vehicle runs according to the target vehicle speed.
5. The vehicle landslide prevention method according to claim 2, wherein said calculating a target braking force and controlling said vehicle to park according to said target braking force comprises:
calculating a target braking force according to the preset anti-slip safety coefficient and the ramp resistance;
and increasing the braking force output by the braking system to the target braking force according to a preset braking force increasing algorithm, and reducing the driving force output by the power assembly to 0 according to a preset driving force reducing algorithm.
6. An anti-creep apparatus for a vehicle, characterized by comprising:
an acquisition unit for acquiring a current first running speed, a current gradient, and a driver required torque of a vehicle; when the situation that the vehicle anti-slope-slipping function is triggered is judged according to the first running speed, a preset first vehicle speed threshold value, the current slope and the driver required torque, the target deceleration of the vehicle is obtained;
a calculation unit configured to calculate a driving force feedforward value based on the target deceleration and the current gradient;
a monitoring unit for monitoring an actual deceleration of the vehicle;
the calculating unit is further used for calculating a first driving force according to the target deceleration, the actual deceleration and the driving force feedforward value;
a first control unit configured to control a powertrain to output the first driving force so that the vehicle decelerates in accordance with the target deceleration;
the second control unit is used for controlling the vehicle to run according to the target speed according to a second running speed after the vehicle is decelerated and a preset second vehicle speed threshold; wherein the second vehicle speed threshold is less than the first vehicle speed threshold;
the judging unit is used for judging whether the third running speed of the vehicle after deceleration is less than a preset third vehicle speed threshold value or not;
and the third control unit is used for calculating a target braking force when a third running speed of the vehicle after deceleration is less than a third vehicle speed threshold value, and controlling the vehicle to park according to the target braking force, wherein the third vehicle speed threshold value is less than the second vehicle speed threshold value.
7. The vehicle landslide prevention device according to claim 6, wherein the obtaining unit is further configured to obtain a slope resistance and a preset landslide prevention safety factor after the obtaining of the current first running speed, the current slope and the driver required torque of the vehicle;
the calculating unit is further used for calculating a torque threshold value according to the ramp resistance and the preset anti-slip safety coefficient;
the vehicle landslide prevention device further comprises:
and the triggering unit is used for triggering a vehicle anti-slope-slipping function and triggering the obtaining unit to obtain the target deceleration of the vehicle when the first running speed is less than a preset first vehicle speed threshold value and the driver required torque is less than the torque threshold value.
8. The vehicle landslide prevention device according to claim 6, wherein said second control unit comprises:
the judging subunit is used for judging whether a second running speed of the vehicle after deceleration is greater than a preset second vehicle speed threshold value; if so, triggering the calculating unit to calculate a driving force feedforward value according to the target deceleration and the current gradient.
9. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to execute the vehicle landslide prevention method according to any one of claims 1 to 5.
10. A readable storage medium, having stored therein computer program instructions, which when read and executed by a processor, perform the vehicle landslide prevention method of any one of claims 1-5.
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| CN202210705797.XA CN114889612B (en) | 2022-06-21 | 2022-06-21 | Method and device for preventing vehicle from sliding down slope |
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| CN202210705797.XA CN114889612B (en) | 2022-06-21 | 2022-06-21 | Method and device for preventing vehicle from sliding down slope |
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| CN114889612B CN114889612B (en) | 2024-04-12 |
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| CN114889612B (en) | 2024-04-12 |
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