CN115431986A - Transportation tool assisting method and device and storage medium - Google Patents

Abstract

The application provides a method, a device and a storage medium for assisting a transport means, which are applied to the transport means, wherein the method comprises the following steps: acquiring the state switching of the transport tool from the braking state to the releasing state in real time, and executing the following steps when the state switching is acquired. And acquiring the motion direction and the gear of the transport tool. When the direction of movement does not match the gear, the assist mode of the vehicle is activated. Wherein the power system of the vehicle outputs torque to the wheels to hold the vehicle stationary while the vehicle is configured in the assist mode. The method outputs torque through a power system to counteract the slope-falling trend caused by the self gravity of the transport vehicle. The problem of among the prior art the hill auxiliary mode still probably lead to "swift current slope" and starting delay is solved.

Description

Method and device for assisting transport tool and storage medium

Technical Field

The application relates to the technical field of vehicle control, in particular to a method and a device for assisting a transport means and a storage medium.

Background

Vehicles include, but are not limited to, automobiles, trains, and electric vehicles, among others.

Most of the existing transportation tools including a power system and a braking system are provided with a slope auxiliary system for assisting the starting of the transportation tool stopped on a slope, a step and other road conditions and preventing the transportation tool from sliding down the slope. In the prior art, the main mode for assisting the starting of the transport means is as follows: the transport tool is stopped on the road surface by the braking function of the braking system before starting, and does not slide down the slope; and when starting, the controller automatically controls the brake system to release the brake state, and simultaneously the automatic control brake system outputs torque to enable the transportation tool to start and enter a running state. The automatic control function of the controller links two stages of 'brake release' and 'output torque', and the 'slope slipping' of the transport tool is prevented.

However, to prevent "hill-fall," the hill-assist approach described above relies on the control system engaging in perfect control of the braking system and the powertrain. Further, the vehicle is slowly started by releasing the brake and then outputting the torque.

Disclosure of Invention

Embodiments of the present invention are directed to a method, apparatus, electronic device, and storage medium for vehicle assistance that outputs torque via a powertrain to counteract a tendency of a vehicle to roll due to its own weight. The method is used for solving the problems that the slope auxiliary mode in the prior art still can cause slope slipping and starting delay.

In a first aspect, embodiments of the present application provide a method of vehicle assistance, which is applied to a vehicle, and includes: acquiring the state switching of the transport tool from the braking state to the releasing state in real time, and executing the following steps when the state switching is acquired. And acquiring the motion direction and the gear of the transport tool in real time. And activating an assist mode of the vehicle when the direction of motion does not match the gear. Wherein when the vehicle is configured in the assist mode, a powertrain of the vehicle outputs an assist torque to wheels to hold the vehicle stationary.

According to the auxiliary method for the transport tool, when the transport tool is located on the road conditions such as a ramp and a step, the transport tool has a tendency of sliding down a slope due to gravity, other external force and the like applied to the transport tool. And by acquiring the matching relation between the movement direction of the 'slide slope' relative to the transport tool and the gear of the transport tool, the transport tool can be judged to start, continue to stop or drive along the 'slide slope'. If the vehicle is about to start or continue to stop on the road surface, torque is output to the wheels through the power system so as to counteract the self gravity of the vehicle, other external force and the like, and the vehicle is kept stopped on the road surface and cannot slide down the slope. The method replaces the traditional mode that the vehicle is kept to stop on the road surface by the brake, when the vehicle in the road conditions of a slope, a step and the like is ready to start, the vehicle can start immediately once the torque is increased on the basis of the previously output auxiliary torque. Therefore, the vehicle is prevented from sliding down the slope, and the starting of the vehicle is accelerated.

With reference to the first aspect, optionally, wherein the vehicle comprises a brake. The braking state includes a brake of the vehicle being in a braking state. The switching of the vehicle from the braked state to the released state comprises: the brake is switched from a braking state to a releasing state.

In the method for assisting a vehicle, the vehicle generally comprises a brake and a parking brake, and the vehicle is started by the following steps: the parking brake is released and the brake is in a braking state, and the brake is released when the vehicle starts. When the brake of the transport means is switched from the braking state to the releasing state, the fact that the transport means is about to start can be more accurately indicated by obtaining the switching state, and the accuracy of judging the driving intention is improved.

With reference to the first aspect, optionally, wherein after the activating the assistance mode of the vehicle, the method further comprises: acquiring the state switching operation of switching the transport tool from the release state to the brake state and the switching operation of the gear in real time; and if the state switching of the transport means from the release state to the braking state and/or the switching operation of the gear is obtained, releasing the auxiliary mode of the transport means.

According to the method for assisting the transport tool, when the transport tool successfully enters the auxiliary mode, the driving intention is accurately judged by acquiring the switching of the state of the brake of the transport tool and the switching of the gears, and whether the auxiliary mode is removed or not can be accurately determined according to the driving intention obtained by judgment.

With reference to the first aspect, optionally, wherein the vehicle comprises a first controller and a second controller. The state switching for acquiring the state switching of the transport tool from the braking state to the releasing state in real time comprises the following steps: and acquiring the state switching of the transport tool from the braking state to the releasing state in real time by the first controller. The obtaining of the movement direction and the gear of the transportation tool comprises: and acquiring the motion direction and the gear of the transport tool by the first controller. When the motion direction does not match the gear, controlling a power system of the vehicle to output auxiliary torque to wheels comprises: when the first controller judges that the movement direction does not match the gear, the first controller outputs a first instruction for activating an auxiliary mode to the second controller. The second controller controls a power system of the vehicle to output an auxiliary torque to wheels according to the first command.

According to the method for assisting the transport tool, the first controller is used for obtaining the state information of the transport tool, judging the operation to be executed and sending the relevant operation instruction to the second controller, and the second controller is only used for controlling the power system of the transport tool to perform corresponding operation according to the instruction, so that the transport tool can respond more quickly. Meanwhile, the requirement information of the second controller is reduced, so that the tool assisting method provided by the application is easier to popularize on a platform.

With reference to the first aspect, optionally, the obtaining, by the first controller, the motion direction and the gear of the transportation tool in real time further includes: acquiring a first movement speed of the vehicle in real time by the first controller. Activating an assist mode of the vehicle when the direction of motion does not match the gear, comprising: when the first controller judges that the movement direction is not matched with the gear and the first movement speed exceeds a first speed threshold value, the first controller outputs a first instruction for indicating to enter an auxiliary mode to the second controller, and the second controller controls a power system of the transport tool to output auxiliary torque to wheels according to the first instruction.

According to the method for assisting the transport means, when the transport means slide down the slope, the first movement speed of the transport means is obtained, and whether the first movement speed exceeds the preset threshold value or not is judged. If the threshold is exceeded, the vehicle is brought into the assistance mode by means of the output torque. The problem that the auxiliary mode needs to be entered when the auxiliary mode is judged by mistake under the conditions of slight shaking and the like is avoided.

With reference to the first aspect, optionally, wherein after the second controller controls the power system of the vehicle to output the assist torque to the wheels according to the first command, the controlling the power system of the vehicle to output the assist torque to the wheels comprises: the second controller acquires the second movement speed of the transport tool after the auxiliary mode is activated in real time, and judges whether the second movement speed of the transport tool in a preset time is 0 or not;

if the second movement speed is 0, the second controller sends a state identifier for successfully entering the auxiliary mode to the first controller; and if the second movement speed is not 0, the second controller sends a state identifier of failure in entering the auxiliary mode to the first controller.

According to the method for assisting the transport tool, after the transport tool activates the auxiliary mode, whether the second movement speed of the transport tool in the preset time is zero or not is obtained, and the corresponding state identification is sent, so that whether the transport tool successfully enters the auxiliary mode or not is known, operators or workers can conveniently take corresponding measures according to whether the transport tool successfully enters the auxiliary mode or not, and the reliability of the transport tool is improved.

With reference to the first aspect, optionally, wherein the controlling the powertrain of the vehicle to output the auxiliary torque to the wheels further comprises: if the second movement speed is 0, acquiring a movement signal for controlling the movement of the transport means by the first controller, and judging the magnitude relation between a target torque converted according to the movement signal and the auxiliary torque when the movement signal is acquired; if the target torque is smaller than the auxiliary torque, outputting a first instruction to the second controller by the first controller; and controlling a power system of the vehicle to output the auxiliary torque to wheels by the second controller according to the first command.

When the second movement speed is 0, the method for assisting the transport means indicates that the assistance to the transport means is successfully realized, and the transport means can be started to enter a normal driving state. However, if the target torque for controlling the vehicle to start the normal running at this time is smaller than the assist torque in the assist mode, a decrease in torque occurs to cause the vehicle to "roll off the slope", and a movement signal for controlling the movement of the vehicle is acquired by the first controller, for example: the driver steps on the depth of the accelerator pedal, and judges whether the current torque is smaller than the auxiliary torque in the auxiliary mode according to the movement signal, so that the transportation tool slips down the slope. If yes, the first controller sends a first command to the second controller, and the second controller controls the power system of the transport vehicle to continuously output the auxiliary torque according to the first command, and the power system is not controlled to output the movement torque until the movement torque converted by the movement signal for controlling the movement of the transport vehicle is larger than the auxiliary torque. Further ensuring that the vehicle does not slide down the slope when starting.

With reference to the first aspect, optionally, wherein the controlling the powertrain of the vehicle to output an auxiliary torque to the wheels further comprises: if the target torque is larger than the auxiliary torque, outputting a second instruction for enabling the transport means to enter a running mode according to the movement signal to the second controller by the first controller; and controlling, by the second controller, a powertrain of the vehicle to output the target torque to wheels according to the second instruction.

In the method for assisting a vehicle, when the vehicle activates the assist mode and the movement torque of the vehicle is greater than the assist torque by judgment, the first controller sends a signal for assisting the vehicle in moving to the second controller according to the movement signal, for example: and a second command that the driver steps on the accelerator pedal to a depth that causes the vehicle to enter a travel mode. The second controller controls the power system of the vehicle to output the movement torque according to the second instruction, wherein the magnitude of the movement torque depends on the magnitude of the target torque value in the operation performed on the vehicle during running.

In a second aspect, embodiments of the present application further provide a vehicle assistance apparatus, including a brake for switching between a braking state and a released state of the vehicle; a powertrain for outputting torque to wheels of the vehicle; the first controller is used for acquiring state switching of a transport tool from a braking state to a releasing state in real time, acquiring a motion direction and a gear of the transport tool, and outputting a first instruction for activating an auxiliary mode to the second controller if information that the state switching and the motion direction are not matched with the gear is acquired; the second controller is used for receiving the first instruction output by the first controller and controlling a power system of the transport tool to output auxiliary torque to wheels according to the first instruction so as to enable the transport tool to enter an auxiliary mode; wherein when the vehicle is configured in the assist mode, a powertrain of the vehicle outputs an assist torque to wheels to hold the vehicle stationary.

In the above embodiments, the provided device for assisting a transportation vehicle has the same beneficial effects as the first aspect or the method for assisting a transportation vehicle provided in any optional implementation manner of the first aspect, and details are not described herein.

In a third aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the above-described method.

In the above embodiments, the provided device for assisting the transportation tool has the same beneficial effects as the first aspect or the method for assisting the transportation tool provided in any optional implementation manner of the first aspect, and details are not described herein.

In summary, the present invention provides a method, an apparatus, and a storage medium for assisting a vehicle, which can accurately determine whether the vehicle needs to activate an assist mode to remain stationary on a road surface such as a slope or a step and prepare for starting by acquiring a matching relationship between a "slope-sliding" direction of the vehicle and the vehicle. When the auxiliary mode needs to be activated by the vehicle, the vehicle is kept static and is ready for starting through the output torque, and the possibility that the hill-drop still exists in hill starting in the prior art is avoided. And judging whether the current movement torque is smaller than the auxiliary torque by acquiring a movement signal for controlling the movement of the transport tool, so that the transport tool can slide down a slope, and controlling a power system of the transport tool to output the movement torque according to the movement signal only when the movement torque is larger than the auxiliary torque.

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 flow chart of a first vehicle-assisted method provided by an embodiment of the present application;

FIG. 2 is a flow chart of a second vehicle assistance method provided by an embodiment of the present application;

fig. 3 is a detailed step diagram of step S260 provided in the embodiment of the present application;

fig. 4 is a functional block diagram of a vehicle-assisted device provided in an embodiment of the present application.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are merely used to more clearly illustrate the technical solutions of the present application, and therefore are only examples, and the protection scope of the present application is not limited thereby.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or to implicitly indicate the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

Before the technical solution of the present application is specifically explained, it is agreed that in the present application, "downhill" refers to not only when the vehicle is stopped on a slope, but also when the vehicle is started to get up uphill, the movement in the downhill direction occurs due to the brake being released and the power output being engaged less smoothly. It also includes, for example: when the wheel of the vehicle is suspended in mid-air with the step by braking, the vehicle is started ready to move the wheel of the vehicle over the step, and for the same reason the wheel is slid off the step.

In summary, "slope slipping" in the present application refers to: since the vehicle stops on a particular road surface, it moves in a direction that does not match the intended direction of driving. Wherein, the special road surface includes but not limited to: ramps, steps, and curbs.

In the prior art, the vehicle hill start is to keep the vehicle on the hill by a brake to avoid the vehicle from sliding down the hill, and the power system outputs torque when the brake is released. The successful hill start is realized by connecting the brake with the operation of the power system. However, the applicant has found that the prior art use of hill assistance for a vehicle relies on the perfect control of the braking and power systems by the control system.

However, to achieve perfect control of the braking system and the power system by the controller, the program executed by the controller needs to be perfect. Therefore, a rather complicated control program needs to be written. In addition, in the prior art, when the controller controls the power system to output the torque, a gradually increasing process is provided, and when the output torque is increased to a torque value required by vehicle starting, the vehicle can be started and enters a running state. This results in an insufficient start of the vehicle. Even during the process of increasing the output torque of the power system, the vehicle is likely to slip down the slope and even fail to start before the torque value reaches a value sufficient to offset the tendency of the vehicle to slip down the slope due to the gravity of the vehicle.

Therefore, the applicant provides a method, a device, an electronic device and a storage medium for assisting a transport vehicle, which solve the problem that the slope slipping and the slow starting can still be caused by the slope assisting mode in the prior art by outputting torque through a power system to offset the slope slipping trend caused by the self gravity of the transport vehicle. Specifically, please refer to the embodiments and drawings provided in the present application.

Please refer to fig. 1, which illustrates a flowchart of a first vehicle assistance method according to an embodiment of the present application.

Step S120: and acquiring the state switching of the transport tool from the braking state to the releasing state in real time.

In step S120, the transportation means includes but is not limited to: automobiles, sightseeing cars, battery cars, patrol cars, and the like. And acquiring whether the brake of the transport means is in a braking state or a releasing state so as to judge whether the transport means needs to be started or not. The acquisition mode can be, but is not limited to, installing a sensor on the brake, and transmitting the working state of the brake by the sensor.

Acquiring the switching of the brake state of the vehicle in real time, and executing the step S140 when acquiring the switching of the state of the vehicle from the brake state to the release state: and acquiring the motion direction and the gear of the transport tool in real time.

In step S140, when the vehicle stops on a special road, if the brake is released and the power system has not output sufficient torque to the wheels, the vehicle itself may slide due to gravity, other external forces, and the like. The method comprises the steps of obtaining the moving direction of the transport tool and the current gear of the transport tool, and further judging whether the transport tool needs starting assistance or not. The direction of motion refers to whether the vehicle is moving forward or backward relative to the vehicle itself when the vehicle is rolling downhill. The gears include a forward gear, a neutral gear, a reverse gear, a parking gear and the like. For some vehicle types, the forward gear further comprises: first gear, second gear, third gear, etc.

The acquisition mode can also be, but is not limited to, installing corresponding sensors on the wheels and the gearbox to acquire the moving direction and gear information of the vehicle.

When the moving direction of the vehicle does not match the shift position, step S160 is performed: controlling the vehicle to activate the assist mode.

Wherein when the vehicle is configured in the assist mode, the powertrain of the vehicle outputs an assist torque to the wheels to hold the vehicle stationary.

In step S160, when the moving direction of the vehicle does not match the gear, it represents that the vehicle needs to be assisted to take off. At this time, the vehicle is controlled to activate the assist mode to assist the vehicle in taking off on the above-mentioned special road. The auxiliary mode of the transportation tool is that an auxiliary torque for assisting the vehicle to start is output to wheels of the transportation tool by a power system of the transportation tool, and the torque needs to be large enough to counteract the tendency of sliding down a slope caused by self gravity, other external force and the like, so that the transportation tool is kept still under the road condition.

It should be understood that by acquiring the switching of the braking state, the moving direction, and the shift position of the vehicle in real time, it means that the above information is acquired and steps S120 to S160 are performed not only when the vehicle is stopped on a particular road surface and needs to be started to enter the driving state. When the vehicle is driven to the special road surface, the torque output by the power system of the vehicle due to the driving operation is not enough to counteract the torque which causes the vehicle to move in the opposite direction, and the vehicle can be prevented from sliding down the slope by acquiring the information and executing the steps S120 to S160. It is also possible that after the vehicle acquires the above information and performs the steps S120 to S160, the above information is acquired again to determine whether the vehicle has successfully remained stationary on the special road surface after the assist mode of the vehicle is activated. Such cases will be further specifically described in the following examples of the present application.

In the implementation process, when the transport means stops on special road surfaces such as a ramp, a step, a sill and the like, the transport means has the tendency of sliding down because of the gravity, other external force and the like applied to the transport means. And by acquiring the matching relation between the moving direction of the slope relative to the transport tool and the gear of the transport tool, the transport tool can be judged to start, continue to stop or run along the slope. If the vehicle is about to start or continue to stop on the road surface, torque is output to the wheels through the power system so as to counteract the self gravity of the vehicle, other external forces and the like, and the vehicle is kept stopped on the road surface and cannot slide down a slope. The method replaces the traditional mode that the transportation tool is kept to stop on the road surface by a brake, when the transportation tool under the road conditions of a slope, a step and the like is ready to start, the transportation tool can start immediately once the torque is increased on the basis of the previously output torque. Therefore, the transportation tool is prevented from sliding down the slope, and the starting of the transportation tool is accelerated.

One possible implementation, the mismatch between the direction of movement and the gear specifically includes but is not limited to: the moving direction is backward, and the gear is forward; the moving direction is forward, and the gear is reverse. When the gear is neutral, the auxiliary mode is directly entered.

A possible embodiment is one in which the vehicle comprises a brake. The braked state includes the brakes of the vehicle being in a braked state. Switching the vehicle from the braked state to the released state comprises: the brake is switched from a braking state to a releasing state.

In the implementation process, when the brake of the transport means is switched from the braking state to the releasing state, the fact that the transport means is about to start can be more accurately indicated by acquiring the switching state, and the accuracy of judging the driving intention is improved.

In a possible implementation manner, after step S160, the method for assisting a transportation vehicle further includes:

step S170: and acquiring the state switching of the transport tool from the release state to the braking state and the switching operation of the gear in real time.

Step S180: when a state switching operation for switching the vehicle from the released state to the braked state and/or a switching operation of the gear position is acquired, the assist mode of the vehicle is released.

In the implementation process, when the transport tool successfully enters the auxiliary mode, the driving intention is accurately judged by acquiring the switching of the state of the brake of the transport tool and the switching of the gears, and whether the auxiliary mode is released or not can be accurately determined according to the driving intention obtained by judgment.

In one possible implementation, please refer to fig. 2, fig. 2 is a flowchart of a second vehicle assistance method provided in the embodiments of the present application. The transport means includes a first controller and a second controller.

The step S120 includes:

step S220: and acquiring the state switching of the transport tool from the braking state to the releasing state in real time by the first controller.

The step S140 includes:

step S240: and acquiring the motion direction and the gear of the transport tool by a first control real-time device.

The step S160 includes:

step S260: a first command for activating the assist mode is output from the first controller to the second controller, and the second controller controls a power system of the vehicle to output an assist torque to wheels according to the first command to cause the vehicle to enter the assist mode.

In the steps S220 to S260, the first controller obtains the state switching, the moving direction, and the gear of the brake of the transportation tool in real time, and makes a judgment according to the information, and if it is judged that the transportation tool needs to enter the auxiliary mode according to the information, a first instruction for instructing the transportation tool to enter the auxiliary mode is output to the second controller. And after receiving the first command, the second controller controls the power system of the vehicle to output torque so as to enable the vehicle to enter an auxiliary mode. The first controller acquires and judges the information in real time, and the second controller executes corresponding control operation according to the judgment result of the first control, so that the response of the transport tool is accelerated.

In the implementation process, the state information of the transport tool is acquired through the first controller, the operation to be executed is judged, the relevant operation instruction is sent to the second controller, and the second controller is only responsible for controlling the power system of the transport tool to perform corresponding operation according to the instruction, so that the transport tool can respond more quickly. Meanwhile, the requirement information of the second controller is reduced, so that the tool assisting method provided by the application is easier to popularize on a platform.

In a possible implementation manner, the step S240 further includes:

step S241: a first movement speed of the vehicle is acquired in real time by a first controller.

In step S241, when the first movement speed acquired by the first controller exceeds the threshold value and the movement direction of the vehicle does not match the shift position, step S260 is executed. The acquisition mode can be that a speed encoder is installed on the wheel of the transport means, the rotating speed of the wheel is acquired through the speed encoder, and the first movement speed of the transport means is obtained according to the rotating speed of the wheel. Those skilled in the art may also use other ways to obtain the moving speed of the transportation tool, and the application is not limited to this.

In the manner of obtaining the vehicle by acquiring the wheel speed, the preset threshold may be 2 rpm of the wheel speed. One skilled in the art may set the threshold to different values according to specific requirements and application scenarios, which is not limited in this application. In the implementation process, when the transport means slides down a slope, the first movement speed of the transport means is obtained and whether the first movement speed exceeds a preset threshold value is judged. If the threshold value is exceeded, the vehicle is brought into the auxiliary mode by means of the output torque. The problem that the auxiliary mode needs to be entered when the auxiliary mode is judged by mistake under the conditions of slight shaking and the like is avoided.

Referring to fig. 3, fig. 3 is a detailed step diagram of step S260 provided in the embodiment of the present application. One possible implementation manner, wherein the step S260 includes:

step S261: and the second controller acquires the second movement speed of the transport tool after the auxiliary mode is activated in real time and transmits the second movement speed to the first controller, and judges whether the second movement speed of the transport tool in the preset time is 0 or not.

In step S261, the second movement speed may be obtained in the same manner as the first movement speed obtained in step S250. The second movement speed is the movement speed of the vehicle after the vehicle activates the assist mode. The preset time can be 4S, 5S, 6S, etc., and can be set by a person skilled in the art according to actual needs. If the second movement speed is 0 within the preset time, after the transportation tool is activated to the auxiliary mode again, the auxiliary torque output by the power system successfully realizes the purpose of keeping static on the special road surface; if the second speed of motion is not 0, it indicates that the assist torque output by the powertrain after the vehicle is activated in the assist mode is not sufficient to counteract the tendency of the vehicle to slide down a slope on the particular road surface, or that the vehicle has a fault such that the vehicle slides down a slope, the second speed of motion of the vehicle on the slope naturally not being 0.

If the second movement speed is 0, step S262 is executed: and sending the state identification of successfully entering the auxiliary mode to the first controller by the second controller.

In step S262, the second controller sends the status flag indicating that the vehicle successfully enters the assist mode to the first controller, so that the second controller can know that the vehicle successfully stays still on the road surface through the assist mode.

If the second moving speed is not 0, step S263 is executed: and sending the state identification of the failure of entering the auxiliary mode to the first controller by the second controller.

In step S263, if the second moving speed of the vehicle is still not 0 within the preset time, it indicates that the vehicle fails to enter the auxiliary mode. And the second controller sends the status identifier of failure in entering the auxiliary mode to the first controller, so that the first controller can know the failure information of the transport tool in entering the auxiliary mode, and at the moment, the first controller can output early warning information to prompt an operator or a worker to take corresponding measures for the situation.

In the implementation process, after the transportation tool activates the auxiliary mode, whether the second movement speed of the transportation tool in the preset time is zero or not is acquired, and the corresponding state identifier is sent, so that whether the transportation tool successfully enters the auxiliary mode or not is known, operators or workers and the like can conveniently take corresponding measures according to whether the transportation tool successfully enters the auxiliary mode or not, and the reliability of the transportation tool is improved.

Referring to fig. 3, in a possible implementation manner, the step S260 further includes:

if the second movement speed is 0, step S264 is executed: and locking the currently output auxiliary torque by the second controller, acquiring a movement signal for controlling the movement of the transport vehicle by the first controller, sending the movement signal to the second controller, and judging the magnitude relation between the target torque converted according to the movement signal and the auxiliary torque by the second controller.

In step S264, the first controller obtains a movement signal for controlling the movement of the transportation vehicle, for example: the depth to which the driver steps on the accelerator pedal. And calculating and pre-calculating a target torque when corresponding operation is executed according to the movement signal, and judging the magnitude relation between the target torque and the auxiliary torque. It will be appreciated that the magnitude of the assist torque is such that the vehicle maintains the second speed of movement at 0 under a particular road surface, since the assist torque is such as to counteract the tendency of the vehicle to roll downhill on a particular road surface. When the auxiliary torque output by the power system of the transport tool is replaced by the moving torque, if the moving torque is smaller than the auxiliary torque, the transport tool slips on a slope; if the movement torque is greater than the assist torque, the vehicle is successfully started and starts to move in the movement direction according to the driving intention.

If the target torque is smaller than the assist torque, step S265 is executed: the currently output assist torque continues to be locked by the second controller.

In the above step S265, since the target torque is smaller than the assist torque, if the assist torque output from the power system of the vehicle is replaced with the target torque, the vehicle may slip on the above-mentioned special road surface. In order for the vehicle to roll over the slope, the currently output assist torque is continuously locked by the second controller so that the second moving speed of the vehicle is kept at 0.

In the implementation process, a movement signal for controlling the movement of the transport vehicle is obtained by the first controller, for example: the driver steps on the accelerator pedal to a depth, and judges whether the current target torque is smaller than the assist torque in the assist mode or not according to the movement signal, and the vehicle is caused to slide down the slope. If yes, a first command is sent to the second controller by the first controller, and the second controller continues to lock the auxiliary torque until the target torque converted by the movement signal for controlling the movement of the vehicle is greater than the auxiliary torque, so that the power system is not controlled to output the movement torque. Further ensuring that the vehicle can not slide down a slope when starting.

Referring to fig. 3, in a possible implementation manner, the step S260 further includes:

if the target torque is greater than the assist torque, step S266 is executed: and outputting a second instruction for enabling the transport means to enter the running mode according to the movement signal to the second controller by the first controller, and controlling a power system of the transport means to output the target torque to wheels by the second controller according to the second instruction.

In the above step S266, since the target torque is larger than the assist torque, if the assist torque output by the vehicle power system is replaced by the movement torque, the vehicle will start to move in the movement direction according to the driving intention under the action of the movement torque. On the premise that the vehicle does not slide down the slope, the first controller outputs a second instruction for enabling the vehicle to enter the running mode according to the moving signal to the second controller. So that the vehicle starts to travel normally.

In the implementation process, after the vehicle activates the assist mode, when the movement torque of the vehicle is greater than the assist torque by judgment, the first controller sends a signal to the second controller according to the movement, for example: and a second command that the driver steps on the accelerator pedal to a depth that causes the vehicle to enter a travel mode. The second controller controls the power system of the transport means to output a movement torque according to the second instruction, wherein the magnitude of the movement torque depends on the magnitude of a target torque value in the operation performed on the transport means during the running process. Further ensuring that the transport means does not slide down the slope.

In the embodiment of the present application, optionally, the first controller obtains the state information of the transportation vehicle, such as the state switching, the moving direction, and the gear of the brake of the transportation vehicle, and outputs the state information to the second controller. And when receiving the state information, the second controller makes corresponding judgment, generates a related control instruction according to the judgment result, and controls related parts or functional modules to execute corresponding operations according to the related instruction.

In the embodiment of the present application, optionally, the first controller is a VCU (vehicle control unit), and the second controller is an MCU (micro control unit). The VCU and the MCU exert respective advantages, the VCU mainly judges driving intention (the driving intention judges that VCU internal signals do not need external input), and the MCU is mainly responsible for torque and speed control of a power system (MCU assists ramp auxiliary required signals and also internally improves quick response of algorithm realization). The MCU of the application is added with the auxiliary mode for the first time on the basis of the prior art, so that decoupling interaction between the MCU and the VCU is realized. Meanwhile, in a new mode, a new control strategy and calibration parameters are adopted to better realize hill start assistance by distinguishing from the traditional speed and torque closed loop.

Referring to fig. 4, fig. 4 is a functional module diagram of a vehicle assistance device 400 according to an embodiment of the present disclosure. The various modules in the vehicle assistance device 400 in this embodiment are used to perform the various steps in the vehicle assistance method embodiments described above. The vehicle-assisted device 400 includes:

a brake 410 for switching between a braking state and a released state of the vehicle;

a powertrain 420 for outputting torque to wheels of the vehicle;

the first controller 430 is used for acquiring the state switching of the transportation tool from the braking state to the releasing state in real time, acquiring the motion direction and the gear of the transportation tool, and outputting a first instruction for indicating to enter the auxiliary mode to the second controller 440 if the information that the state switching and the motion direction are not matched with the gear is acquired;

a second controller 440 for receiving the first command outputted from the first controller 430 and controlling the power system 420 of the vehicle to output an assist torque to the wheels according to the first command, so that the vehicle activates an assist mode; wherein the vehicle's powertrain 420 outputs an assist torque to the wheels to hold the vehicle stationary while the vehicle is configured in the assist mode.

In a possible embodiment, the first controller 430 is further configured to obtain, in real time, a state switching operation of the vehicle from the released state to the braking state and a switching operation of the gear.

The second controller 440 is also configured to release the assist mode of the vehicle when a state switching operation for switching the vehicle from the release state to the braking state and/or a switching operation for the shift position are/is acquired. In one possible embodiment, the first controller 430 is further configured to obtain the first movement speed of the transportation vehicle in real time. When the first controller 430 determines that the moving direction does not match the gear position and the first moving speed exceeds the first speed threshold, the first controller 430 is further configured to output a first instruction for instructing to enter the assist mode to the second controller 440. In a possible embodiment, the first controller 430 is further configured to obtain the second moving speed of the vehicle after the auxiliary mode is activated in real time, and determine whether the second moving speed of the vehicle within a preset time is 0.

The second controller 440 is further configured to send a status flag of successfully entering the auxiliary mode to the first controller 440 if the second movement speed is not 0; if the second moving speed is not 0, a status flag of failure to enter the assist mode is sent to the first controller 430.

In one possible embodiment, if the second movement speed is 0, the second controller 440 is further configured to lock the currently output assist torque.

The first controller 430 is further configured to obtain a movement signal for controlling the movement of the transportation vehicle, and send the movement signal to the second controller, and the second controller determines a magnitude relationship between the target torque and the auxiliary torque converted according to the movement signal; if the target torque is less than the assist torque, the currently output assist torque is continuously locked to the second controller 440.

In one possible embodiment, if the movement torque is greater than the assist torque, the first controller 430 is further configured to output a second command to the second controller 440 to cause the vehicle to enter the driving mode according to the movement signal.

The second controller 440 is further configured to control the powertrain 420 of the vehicle to output the target torque to the wheels according to the second command.

It should be understood that the apparatus corresponds to the above-mentioned vehicle-assisted method embodiment, and can perform the steps related to the above-mentioned method embodiment, and the specific functions of the apparatus can be referred to the above description, and the detailed description is appropriately omitted herein to avoid redundancy. The device includes at least one software functional module that can be stored in memory in the form of software or firmware (firmware) or solidified in the Operating System (OS) of the device.

The embodiment of the application also provides a storage medium, wherein the storage medium is stored with a computer program, and the computer program is executed by a processor to execute the method.

The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may 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 that 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 alone, or two or more modules may be integrated to form an independent part.

The above description is only an alternative embodiment of the embodiments of the present application, but the scope of the embodiments of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the embodiments of the present application, and all the modifications and substitutions should be covered by the scope of the embodiments of the present application.

Claims (10)

1. A method of vehicle assistance, wherein the method of vehicle assistance is applied to a vehicle, the method comprising:

acquiring state switching of the transportation tool from a braking state to a releasing state in real time, and executing the following steps when the state switching is acquired;

acquiring the motion direction and gear of the transport tool in real time; and

activating an assist mode of the vehicle when the direction of motion does not match the gear; wherein when the vehicle is configured in the assist mode, a powertrain of the vehicle outputs an assist torque to wheels to hold the vehicle stationary.

2. The vehicle assistance method of claim 1, wherein the vehicle comprises a brake;

the braking state comprises a brake of the vehicle being in a braking state;

the switching of the vehicle from the braked state to the released state comprises: the brake is switched from a braking state to a releasing state.

3. The vehicle-assisted method of claim 1, wherein after the activating the assistance mode of the vehicle, the method further comprises:

acquiring the state switching operation of switching the transport tool from the release state to the brake state and the switching operation of the gear in real time;

and if the state switching of the transport means from the release state to the braking state and/or the switching operation of the gear is obtained, releasing the auxiliary mode of the transport means.

4. The vehicle-assisted method of claim 1, wherein the vehicle comprises a first controller and a second controller;

the real-time acquisition of the state switching of the transport means from a braking state to a release state comprises: acquiring the state switching of the transport tool from a braking state to a releasing state in real time by the first controller;

the real-time motion direction and gear of obtaining the transport means includes: acquiring the motion direction and the gear of the transport tool in real time by the first controller;

when the motion direction does not match the gear, controlling a power system of the vehicle to output auxiliary torque to wheels comprises:

when the first controller judges that the movement direction does not match the gear, outputting a first instruction for activating an auxiliary mode to the second controller by the first controller;

controlling, by the second controller, a powertrain of the vehicle to output an assist torque to a wheel of the vehicle based on the first command.

5. The vehicle assist method as set forth in claim 4, wherein the obtaining, by the first controller, a direction of motion and a gear of the vehicle in real time further comprises:

acquiring a first movement speed of the vehicle in real time by the first controller;

activating an assist mode of the vehicle when the direction of motion does not match the gear, comprising:

when the first controller judges that the movement direction is not matched with the gear, and the first movement speed exceeds a first speed threshold value, the first controller outputs a first instruction for activating an auxiliary mode to the second controller, and the second controller controls a power system of the transport tool to output auxiliary torque to wheels according to the first instruction.

6. The vehicle assist method as claimed in claim 4, wherein the controlling the powertrain of the vehicle to output the assist torque to the wheels after the second controller controls the powertrain of the vehicle to output the assist torque to the wheels according to the first command comprises:

the second controller acquires a second movement speed of the transport tool after the auxiliary mode is activated in real time and transmits the second movement speed to the first controller, and whether the second movement speed of the transport tool in a preset time is 0 or not is judged;

if the second movement speed is 0, the second controller sends a state identifier for successfully entering the auxiliary mode to the first controller;

and if the second movement speed is not 0, the second controller sends a state identifier of failure in entering the auxiliary mode to the first controller.

7. The vehicle assistance method of claim 6, wherein said controlling a powertrain of the vehicle to output an assistance torque to a wheel comprises:

if the second movement speed is 0, locking the currently output auxiliary torque by a second controller, acquiring a movement signal for controlling the movement of the transport tool by the first controller, sending the movement signal to the second controller, and judging the magnitude relation between the target torque converted according to the movement signal and the auxiliary torque by the second controller;

and if the target torque is smaller than the auxiliary torque, continuously locking the currently output auxiliary torque by the second controller.

8. The vehicle assist method as set forth in claim 7, wherein the controlling the powertrain system of the vehicle to output assist torque to the wheels further comprises:

if the target torque is larger than the auxiliary torque, outputting a second instruction for enabling the transport tool to enter a running mode according to the movement signal to the second controller by the first controller; and controlling, by the second controller, a powertrain of the vehicle to output the target torque to wheels according to the second instruction.

9. A vehicle-assisted apparatus, comprising:

a brake for switching between a braking state and a released state of the vehicle;

a powertrain for outputting torque to wheels of the vehicle;

the first controller is used for acquiring state switching of a transport tool from a braking state to a releasing state in real time, acquiring a motion direction and a gear of the transport tool, and outputting a first instruction for activating an auxiliary mode to the second controller if information that the state switching and the motion direction are not matched with the gear is acquired; and

the second controller is used for receiving the first instruction output by the first controller and controlling a power system of the transport tool to output auxiliary torque to wheels according to the first instruction so as to enable the transport tool to enter an auxiliary mode; wherein when the vehicle is configured in the assist mode, a powertrain of the vehicle outputs an assist torque to wheels to hold the vehicle stationary.

10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 8.

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