CN117207784A

CN117207784A - Vehicle parking slope start-stop control method and device, vehicle and storage medium

Info

Publication number: CN117207784A
Application number: CN202311190926.7A
Authority: CN
Inventors: 张以艺; 黄楚兴; 唐斌; 朱斌强; 赵明
Original assignee: Guangxi Liugong Machinery Co Ltd
Current assignee: Guangxi Liugong Machinery Co Ltd
Priority date: 2023-09-14
Filing date: 2023-09-14
Publication date: 2023-12-12

Abstract

The invention discloses a method and a device for controlling parking of a vehicle, the vehicle and a storage medium. When the parking start-stop control method detects that the vehicle meets the half-slope parking condition, zero rotation speed control is carried out on a motor of the vehicle, and when the running speed of the vehicle is reduced to zero speed, the current parking torque value of the vehicle is obtained; when the fact that the vehicle meets the half-slope starting condition is detected, acquiring the treading depth of an accelerator pedal of the vehicle in real time, and acquiring an expected motor torque value matched with the treading depth of the accelerator pedal; and when the expected motor torque value is larger than the hill-holding torque value, performing torque control on the motor of the vehicle by using the expected motor torque value so as to complete primary hill-holding start-stop control on the vehicle. The technical scheme of the embodiment of the invention can improve the operation experience of the user and solve the problem of small-amplitude backward slip at the moment of starting a half slope. The operation of the half slope is simpler, the half slope can be advanced and retracted, and the safety and reliability are improved.

Description

Vehicle parking slope start-stop control method and device, vehicle and storage medium

Technical Field

The invention relates to the technical field of automobile control, in particular to a method and a device for controlling parking start and stop of a vehicle, the vehicle and a storage medium.

Background

At present, when an electric engineering machine using an electric loader as driving power works on a sloping field such as a mine, a construction site, a factory and a warehouse, the electric engineering machine encounters or is started on the sloping field in a short time.

In order to achieve hill-holding braking of a vehicle, it is either necessary for the driver to have a very rich driving experience or for the vehicle itself to have a hill-holding function. However, various vehicles with a hill-holding function on the market at present cannot guarantee extremely high hill-holding success rate, and the phenomenon of small-amplitude backward slip at the moment of stepping on the accelerator when the vehicle starts again after a half hill is stopped often exists. When the vehicle slides backwards and shakes, the situation that the fully loaded materials in the electric loader are scattered is very likely to occur, so that the driving experience of a driver is affected, and certain potential safety hazards are brought.

Disclosure of Invention

The embodiment of the invention provides a method and a device for controlling the parking start and stop of a vehicle, the vehicle and a storage medium, so that the problem that the vehicle rolls back in a small amplitude at the moment of starting on a half slope is effectively avoided.

In a first aspect, an embodiment of the present invention provides a method for controlling a vehicle to stop and start on a slope, where the method includes:

when the vehicle is detected to meet the half-slope parking condition, zero rotation speed control is carried out on a motor of the vehicle, and when the running speed of the vehicle is reduced to zero speed, the current slope parking torque value of the vehicle is obtained;

when the fact that the vehicle meets the half-slope starting condition is detected, acquiring the treading depth of an accelerator pedal of the vehicle in real time, and acquiring an expected motor torque value matched with the treading depth of the accelerator pedal;

and when the expected motor torque value is larger than the hill-holding torque value, performing torque control on the motor of the vehicle by using the expected motor torque value so as to complete primary hill-holding start-stop control on the vehicle.

Optionally, detecting that the vehicle meets the half-slope parking condition includes:

when it is detected that the gear of the vehicle is shifted to neutral, maintaining a connection state between the motor and the transmission of the vehicle while controlling the motor of the vehicle not to respond to the accelerator information;

and acquiring the running speed of the vehicle in real time, and determining that the vehicle meets the half-slope parking condition when the running speed is less than or equal to a preset speed threshold value.

Further, zero rotation speed control is performed on the motor of the vehicle, including:

and setting a control mode of the motor to be a rotating speed mode, and controlling the motor by using a zero rotating speed command so as to enable the vehicle to keep the whole vehicle stationary.

Optionally, detecting that the vehicle meets a hill start condition includes:

upon detecting that a gear of the vehicle is shifted from the neutral position to a forward gear, it is determined that the vehicle satisfies a hill start condition.

Further, obtaining a desired motor torque value matched with the accelerator pedal depression depth includes:

and inquiring a mapping relation between the pre-constructed treading depth and the motor torque value, and obtaining an expected motor torque value matched with the treading depth of the accelerator pedal.

Optionally, torque controlling the motor of the vehicle using the desired motor torque value includes:

setting a control mode of the motor to a torque mode, and performing torque control on the motor using the desired motor torque value.

Further, the method is executed by a whole vehicle controller arranged in the vehicle;

the vehicle is an engineering mechanical vehicle or a new energy vehicle driven by using a permanent magnet synchronous motor as power.

In a second aspect, an embodiment of the present invention further provides a hill-holding start-stop control device for a vehicle, where the device includes:

the zero vehicle speed control module is used for carrying out zero rotation speed control on a motor of the vehicle when the vehicle is detected to meet the half-slope parking condition, and acquiring the current slope parking torque value of the vehicle when the running speed of the vehicle is reduced to zero vehicle speed;

the real-time torque value acquisition module is used for acquiring the stepping depth of an accelerator pedal of the vehicle in real time and acquiring an expected motor torque value matched with the stepping depth of the accelerator pedal when the vehicle is detected to meet the condition of the semi-slope starting;

and the torque control module is used for controlling the torque of the motor of the vehicle by using the expected motor torque value when the expected motor torque value is larger than the parking torque value so as to finish one-time parking start-stop control of the vehicle.

In a third aspect, an embodiment of the present invention further provides a vehicle, including:

a vehicle controller; and

a memory communicatively coupled to the vehicle control unit; wherein,

the memory stores a computer program executable by the vehicle controller, and the computer program is executed by the vehicle controller, so that the vehicle controller can execute the hill-holding start-stop control method of the vehicle according to any one of the embodiments of the present invention.

In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where computer instructions are stored, where the computer instructions are configured to cause a processor to execute a method for controlling a hill start and stop of a vehicle according to any one of the embodiments of the present invention.

According to the technical scheme, when the fact that the vehicle meets the half-slope parking condition is detected, zero-rotation speed control is conducted on a motor of the vehicle, and when the running speed is reduced to zero, the current slope parking torque value of the vehicle is obtained; when the fact that the vehicle meets the half-slope starting condition is detected, the treading depth of an accelerator pedal of the vehicle and an expected motor torque value matched with the treading depth of the accelerator pedal are obtained in real time; and when the expected motor torque value is larger than the hill-holding torque value, performing torque control on the motor by using the expected motor torque value so as to complete primary hill-holding start-stop control on the vehicle. The technical scheme of the embodiment of the invention provides a novel hill-holding start-stop control method, which thoroughly avoids the problem that the existing various vehicles with the hill-holding function slip in a small range at the moment of starting on a half hill. The vehicle can be started without backward slip after the vehicle is stopped on a half slope, the operation is simple, the switching is convenient, and the comfort and the experience of a driver are greatly improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a hill-holding start-stop control method for a vehicle according to a first embodiment of the present invention;

FIG. 2 is a flow chart of another hill-holding start-stop control method for a vehicle according to a second embodiment of the present invention;

FIG. 3 is a schematic diagram of various vehicle control parameters of a vehicle traveling on a level road in F gear according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of various vehicle control parameters when the speed of a vehicle approaches 0 and the vehicle is switched from the F gear to the N gear in an uphill process;

FIG. 5 is a schematic diagram of various vehicle control parameters when the vehicle is controlling the vehicle speed to 0 in N gear, according to the embodiment of the present invention;

FIG. 6 is a schematic diagram of various vehicle control parameters when a vehicle is switched from an N gear to an F gear in an O speed state according to the technical scheme of the embodiment of the invention;

FIG. 7 is a schematic diagram of various vehicle control parameters when a vehicle starts on a half-hill in the F gear according to the embodiment of the present invention;

FIG. 8 is a schematic diagram of various vehicle control parameters when the motor responds to the accelerator to realize no backward running and upward slope of the whole vehicle at a certain period, to which the technical scheme of the embodiment of the invention is applicable;

fig. 9 is a schematic structural view of a hill-holding start-stop control device for a vehicle according to a third embodiment of the present invention;

fig. 10 is a schematic view of a vehicle structure implementing a hill-holding start-stop control method of the vehicle according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

Example 1

Fig. 1 is a flowchart of a parking start-stop control method for a vehicle according to an embodiment of the present invention, where the embodiment is applicable to a case of performing a half-slope start-stop control on the vehicle, the method may be performed by a vehicle parking start-stop control device, and the vehicle parking start-stop control device may be implemented by software and/or hardware, and may be generally configured in a vehicle having a parking function. Specifically, the vehicle may be a construction machine or a new energy vehicle that uses a permanent magnet synchronous motor as power drive.

Specifically, as shown in fig. 1, the method for controlling the vehicle to stop at a hill start comprises the following steps:

s110, when the vehicle is detected to meet the half-slope parking condition, zero rotation speed control is carried out on a motor of the vehicle, and when the running speed of the vehicle is reduced to zero vehicle speed, the current slope parking torque value of the vehicle is obtained.

The half-slope parking condition is understood to be a condition that needs to be satisfied when the vehicle is controlled to perform half-slope parking. It will be appreciated that if there is a demand for a semi-hill stop during the travel of the vehicle, an indication of the semi-hill stop may be generated by a specific operation, and the vehicle may continue to detect whether the vehicle meets the semi-hill stop condition when the indication is detected.

Specifically, a parking function key can be added to the vehicle, and after the driver presses the parking function key, the vehicle starts to automatically decelerate and run, and when the vehicle is decelerated to a speed close to 0, the condition of half-slope parking can be determined to be met. Or, in order to reduce the improvement of the hardware of the vehicle to the greatest extent, the N gear in the vehicle can be directly applied, when the vehicle is switched from the F gear to the N gear, the throttle information is not responded any more, at this time, the vehicle gradually decelerates, and the condition of half-slope parking can be confirmed to be met when the vehicle decelerates to the speed close to 0.

The zero rotation speed control is understood to be that when the motor of the vehicle is in a rotation speed mode, the vehicle is controlled by using 0 rotation speed, so that the running speed of the vehicle is quickly adjusted to zero vehicle speed. Through the adjustment mode, the half-slope parking of the vehicle in the climbing process can be realized.

In the present embodiment, an implementation of recording a torque value when the running speed of the vehicle falls to zero vehicle speed, i.e., a hill-holding torque value, is creatively proposed. When the vehicle is specifically an engineering machine or a new energy vehicle driven by using a permanent magnet synchronous motor as power, the torque of the vehicle refers to the torque output by the driving motor from the crankshaft end, and is inversely proportional to the rotation speed of the driving motor under the condition of fixed power.

Where the value of the hill-holding torque at a vehicle speed of 0 may be understood as the minimum power value required to maintain the vehicle half-slope stationary. When the driver starts again, if the depth of the stepped accelerator cannot exceed the value of the hill-holding torque, the vehicle can certainly slide to a certain extent, and only if the depth of the stepped accelerator exceeds the value of the hill-holding torque, the vehicle can smoothly realize the half-hill start.

By recording the hill-holding torque value, the minimum accelerator pedal stepping depth required for smooth half-hill start can be obtained.

And S120, when the fact that the vehicle meets the half-slope starting condition is detected, acquiring the treading depth of an accelerator pedal of the vehicle in real time, and acquiring an expected motor torque value matched with the treading depth of the accelerator pedal.

The condition of the hill start may be understood as a condition to be satisfied when the vehicle stopped on the hill is controlled to restart.

Similarly, it may be determined that the vehicle satisfies the hill start condition when the standing wave function key is pressed again by the driver, or that the vehicle satisfies the hill start condition when the driver switches back from the N range to the F range again.

In this embodiment, when it is detected that the vehicle satisfies the hill start condition, the corresponding vehicle control is not performed in direct response to the accelerator pedal depression depth of the user, but the accelerator pedal depression depth of the vehicle is acquired in real time and the desired motor torque value matched with the accelerator pedal depression depth is acquired while the zero rotation speed control of the motor of the vehicle is continuously maintained.

During the above process, the motor is still in the rotational speed mode, and the vehicle is still stationary. The driver steps on the accelerator pedal, and the vehicle acquires the corresponding stepping depth of the accelerator pedal in real time.

In an alternative implementation manner of this embodiment, the expected motor torque value matched with the accelerator pedal stepping depth may be obtained by querying a mapping relationship between the pre-constructed stepping depth and the motor torque value. The mapping relationship may be a mapping table or a mapping formula, which is not limited in this embodiment.

And S130, when the expected motor torque value is larger than the parking torque value, performing torque control on the motor of the vehicle by using the expected motor torque value so as to complete primary parking start-stop control on the vehicle.

In the embodiment of the invention, as the stepping depth of the accelerator is continuously increased, the expected motor torque value of the accelerator pedal is also changed, and when the expected motor torque value of the accelerator pedal is larger than the recorded parking torque value, the rotating speed mode of the motor is switched to the torque mode. At this time, by setting the motor torque to the torque expected by the accelerator pedal, the vehicle can reenter the normal running mode, and no rollback uphill is realized.

According to the technical scheme, when the vehicle is detected to meet the half-slope parking condition, zero rotation speed control is conducted on a motor of the vehicle, and when the running speed of the vehicle is reduced to zero speed, the current slope parking torque value of the vehicle is obtained; when the fact that the vehicle meets the half-slope starting condition is detected, acquiring the treading depth of an accelerator pedal of the vehicle in real time, and acquiring an expected motor torque value matched with the treading depth of the accelerator pedal; and when the expected motor torque value is larger than the hill-holding torque value, performing torque control on the motor of the vehicle by using the expected motor torque value so as to complete primary hill-holding start-stop control on the vehicle. The technical scheme of the embodiment of the invention can improve the operation experience of the user and solve the problem of small-amplitude backward slip at the moment of starting a half slope. The operation of the half slope is simpler, the half slope can be advanced and retracted, and the safety and reliability are improved.

Example two

Fig. 2 is a flowchart of another vehicle hill-holding start-stop control method according to a second embodiment of the present invention, where the present embodiment is refined based on the above embodiments, and in the present embodiment, implementation details of the entire scheme are specified.

Accordingly, as shown in fig. 2, the method specifically may include:

s210, when it is detected that the gear of the vehicle is shifted to neutral, maintaining a connection state between the motor and the transmission of the vehicle while controlling the motor of the vehicle not to respond to the accelerator information.

In general, the transmission and the drive are completely disconnected when the vehicle is in neutral, the engine can drive the input shaft but can not transmit the input shaft to the output shaft, and the vehicle can slide on a slope under the condition of losing power. While in this embodiment the motor output remains connected to the bridge when the vehicle is shifted to neutral, i.e. the connection between the motor of the vehicle and the transmission of the vehicle is maintained.

S220, acquiring the running speed of the vehicle in real time, and determining that the vehicle meets the half-slope parking condition when the running speed is smaller than or equal to a preset speed threshold value.

When it is detected that the vehicle's gear is shifted to neutral, it is indicated that the driver is in need of a semi-hill stop at this time, but the current vehicle speed may not be suitable for direct zero speed control. Specifically, when the current vehicle speed is relatively fast, if zero rotation speed control is directly performed, sudden stop of the vehicle may be caused, which may not only bring certain abrasion to devices in the vehicle, but also bring bad driving experience to a driver. Accordingly, the motor of the vehicle does not respond to the throttle information, and therefore the motor can slowly perform the deceleration movement. Therefore, the running speed of the vehicle can be obtained in real time, and when the running speed is determined to be less than or equal to a preset speed threshold, for example, 0.1m/s or 0.2m/s, the motor is controlled by using a zero rotation speed command, so that the half-slope parking is realized in a more natural and comfortable manner.

S230, setting a control mode of the motor as a rotating speed mode, and after the motor is controlled by using a zero rotating speed command, acquiring the current hill-holding torque value of the vehicle when the running speed of the vehicle is reduced to zero vehicle speed.

In this embodiment, the motor is controlled by using a zero rotation speed command, so that the vehicle can keep the whole vehicle stationary on a slope.

S240, when the gear of the vehicle is detected to be shifted from the neutral position to the forward gear, determining that the vehicle meets a semi-hill start condition.

S250, acquiring the tread depth of an accelerator pedal of the vehicle in real time, inquiring a mapping relation between the tread depth and a motor torque value, and acquiring an expected motor torque value matched with the tread depth of the accelerator pedal.

In this embodiment, the vehicle control mode is always maintained in the rotation speed mode and the zero rotation speed state is always maintained at a time period when the vehicle satisfies the hill start condition and the desired motor torque value corresponding to the accelerator pedal depression depth of the vehicle is not greater than the hill-holding torque value recorded in advance. By the above arrangement, it is possible to keep the vehicle stationary at a half-slope all the time when the power required for not sliding the slope is not supplied to the vehicle.

And S260, when the expected motor torque value is larger than the hill-holding torque value, setting a control mode of the motor as a torque mode, and using the expected motor torque value to control the motor in a torque mode.

According to the technical scheme, when the gear of the vehicle is detected to be switched to the neutral position, the motor of the vehicle is controlled to not respond to the throttle information, and meanwhile, the connection state between the motor and the transmission of the vehicle is maintained. And acquiring the running speed of the vehicle in real time, and determining that the vehicle meets the half-slope parking condition when the running speed is less than or equal to a preset speed threshold value. The technical scheme of the embodiment of the invention can ensure that the vehicle is kept in a static state in the process of parking on the half slope, improves the feasibility of parking on the half slope, completes the first half part of the starting and stopping process of parking on the half slope, and is safer and more reliable.

Further, it is considered that a micro control unit (MCU, microcontroller Unit) or a whole vehicle controller (VCU, vehicle Control Unit) is generally configured in the vehicle. The whole vehicle controller can be directly connected with vehicle devices such as an accelerator pedal, a brake pedal, a gear and the like in a vehicle, and the micro-control unit is not directly connected with the vehicle devices. The implementation of the embodiments of the present invention needs to acquire the depth of the accelerator pedal and the current gear switched by the gear in real time, and in order to ensure the real-time response of the scheme, the method may be executed by a vehicle controller provided in the vehicle. It will be appreciated that the method may equally be performed by the micro control unit of the vehicle if the micro control unit is capable of operative communication connection with the various vehicle components described above.

For further understanding of the technical solutions of the embodiments of the present invention, numerical graphs of different vehicle control parameters in different vehicle states are shown in fig. 3-8.

Specifically, fig. 3 is a graph showing values of various parameters in a certain period of time when the motor responds to the accelerator pedal in the normal running state of the vehicle on a flat road; FIG. 4 shows the values of various parameters when the motor switches the speed control mode and a 0 speed command is issued when the vehicle starts to ascend and the vehicle speed is approaching 0 and the gear is switched from F gear to N gear; FIG. 5 shows the values of various parameters when the vehicle is in N-gear hill-holding state and the vehicle speed is 0 and is kept unchanged, and the actual feedback torque of the motor at the moment is the hill-holding torque; FIG. 6 is a graph showing values of various parameters when the motor is still in the speed control mode, with the vehicle ready to continue running and being shifted from N to F; FIG. 7 is a graph showing the values of various parameters when the accelerator pedal desired torque is equal to the parking torque in a state where the accelerator depression depth is continuously increased; fig. 8 is a graph showing values of various parameters in the motor response accelerator pedal desired torque mode at a time when the accelerator pedal desired torque is greater than the parking torque.

Example III

Fig. 9 is a schematic structural diagram of a hill-holding start-stop control device for a vehicle according to a third embodiment of the present invention. As shown in fig. 9, the apparatus includes: a zero vehicle speed control module 910, a torque value real-time acquisition module 920, and a torque control module 930, wherein:

the zero vehicle speed control module 910 is configured to perform zero rotation speed control on a motor of a vehicle when it is detected that the vehicle meets a half-slope parking condition, and obtain a current slope parking torque value of the vehicle when an operation speed of the vehicle drops to a zero vehicle speed;

the torque value real-time acquisition module 920 is configured to acquire an accelerator pedal stepping depth of the vehicle in real time and acquire a desired motor torque value matched with the accelerator pedal stepping depth when it is detected that the vehicle meets a hill start condition;

and the torque control module 930 is configured to perform torque control on the motor of the vehicle by using the desired motor torque value when the desired motor torque value is greater than the hill-holding torque value, so as to complete one-time hill-holding start-stop control on the vehicle.

According to the technical scheme, when the fact that the vehicle meets the half-slope parking condition is detected, zero-rotation speed control is conducted on a motor of the vehicle, and when the running speed is reduced to zero, the current slope parking torque value of the vehicle is obtained; when the fact that the vehicle meets the half-slope starting condition is detected, the treading depth of an accelerator pedal of the vehicle and an expected motor torque value matched with the treading depth of the accelerator pedal are obtained in real time; and when the expected motor torque value is larger than the hill-holding torque value, performing torque control on the motor by using the expected motor torque value so as to complete primary hill-holding start-stop control on the vehicle. The technical scheme of the embodiment of the invention provides a novel hill-holding start-stop control method, which thoroughly avoids the problem that the existing various vehicles with the hill-holding function slip backward in a small amplitude at the moment of starting a semi-slope. The vehicle can be started without backward slip after the vehicle is stopped on a half slope, the operation is simple, the switching is convenient, and the comfort and the experience of a driver are greatly improved.

Based on the above embodiments, the zero vehicle speed control module 910 is specifically configured to:

Based on the above embodiments, the zero vehicle speed control module 910 is specifically further configured to:

Based on the above embodiments, the torque value real-time acquisition module 920 may be used to:

and when the gear of the vehicle is detected to be switched from the neutral gear to the forward gear, determining that the vehicle meets a semi-hill starting condition.

Based on the above embodiments, the torque value real-time acquisition module 920 may be specifically configured to include:

On the basis of the above embodiments, the device is executed by a vehicle controller provided in the vehicle; and/or

The vehicle parking start-stop control device provided by the embodiment of the invention can execute the vehicle parking start-stop control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 10 shows a schematic structural diagram of a vehicle 10 that may be used to implement an embodiment of the present invention.

As shown in fig. 10, the vehicle 10 includes at least one vehicle controller 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one vehicle controller 11, in which the memory stores a computer program executable by at least one processor, and the vehicle controller 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle 10 may also be stored. The vehicle controller 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the vehicle 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunications networks.

The vehicle control unit 11 may be various general and/or special purpose processing components having processing and computing capabilities. Some examples of the vehicle controller 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processors, controllers, microcontrollers, etc. The vehicle controller 11 performs the respective methods and processes described above, for example, performs a hill-holding start-stop control method of the vehicle according to any embodiment of the present invention.

Namely: when the vehicle is detected to meet the half-slope parking condition, zero rotation speed control is carried out on a motor of the vehicle, and when the running speed of the vehicle is reduced to zero speed, the current slope parking torque value of the vehicle is obtained;

In some embodiments, the hybrid precision tensor calculation instruction-based compilation optimization method according to any embodiment of the present invention may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the vehicle 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the vehicle controller 11, one or more steps of the above-described compilation optimization method based on hybrid precision tensor calculation instructions according to any embodiment of the present invention may be performed. Alternatively, in other embodiments, the vehicle controller 11 may be configured to perform a vehicle hill start-stop control method according to any embodiment of the present invention in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A hill-holding start-stop control method of a vehicle, characterized by comprising:

2. The method of claim 1, wherein detecting that the vehicle meets a hill hold condition comprises:

3. The method of claim 1, wherein zero speed control of the motor of the vehicle comprises:

4. The method of claim 2, wherein detecting that the vehicle meets a hill start condition comprises:

5. The method of claim 1, wherein obtaining a desired motor torque value that matches the accelerator pedal depression depth comprises:

6. The method of claim 1, wherein torque controlling the motor of the vehicle using the desired motor torque value comprises:

7. The method according to any one of claims 1-6, characterized in that the method is performed by a vehicle control unit provided in the vehicle; and/or

8. A hill-holding start-stop control device for a vehicle, comprising:

9. A vehicle, characterized in that the vehicle comprises:

a vehicle controller; and

a memory communicatively coupled to the vehicle control unit; wherein,

the memory stores a computer program executable by the vehicle controller, the computer program being executable by the vehicle controller to enable the vehicle controller to execute the hill-holding start-stop control method of the vehicle according to any one of claims 1 to 7.

10. A computer readable storage medium storing computer instructions for causing a processor to execute the hill start-stop control method of the vehicle of any one of claims 1-7.