CN117416354A

CN117416354A - Small deceleration slope parking anti-slip control method, storage medium and vehicle

Info

Publication number: CN117416354A
Application number: CN202311540840.2A
Authority: CN
Inventors: 张立亮; 郝占武; 官浩; 牛佳林
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-11-17
Filing date: 2023-11-17
Publication date: 2024-01-19

Abstract

The invention discloses a small deceleration slope parking anti-slip control method, a storage medium and a vehicle, which belong to the technical field of braking energy recovery, and when deceleration request data are received, a deceleration request sending mode in the deceleration request data is obtained; respectively acquiring fault states of a whole vehicle driving system and a brake system, and respectively judging whether at least one system has faults according to the fault states of the whole vehicle driving system and the brake system; and if not, executing a corresponding control strategy according to the deceleration request sending mode. The invention provides information such as the running state of the vehicle, and solves the problems of vehicle sliding or stopping and the like which possibly occur when the vehicle stops on a slope with small deceleration by cooperatively controlling the driving torque and the braking force of the vehicle, thereby avoiding unnecessary panic of the driver caused by the collision of the vehicle sliding or the conditions of sliding and stopping and the like of the driver and improving the driving experience and the vehicle safety of the vehicle.

Description

Small deceleration slope parking anti-slip control method, storage medium and vehicle

Technical Field

The invention discloses a small-deceleration slope parking anti-slip control method, a storage medium and a vehicle, and belongs to the technical field of braking energy recovery.

Background

With the increasing abundance of automobile functions, it is necessary to reasonably use electromechanical components of the automobile as much as possible, so as to provide a more comfortable driving experience for the automobile.

When a driver drives the vehicle, if the driver lightly steps on the brake pedal during climbing, the vehicle wants to slow down to stop, at this time, if the pedal force of the driver if the pedal is very light, the vehicle can be stopped very briefly, the backward slip force caused by gravity on the slope is larger than the braking force generated by the pedal of the driver, the backward slip of the vehicle occurs, and if the driver finds that the vehicle backward slip continues to deeply step on the brake pedal, the driver can be panicked at this time, or the vehicle can collide with the vehicle behind at this time because of the backward slip of the vehicle; another reason for this is that the powertrain will not execute creep torque (or electric creep torque) at this time because the driver has depressed the brake pedal, and wants to slow down.

When the vehicle is in a climbing state, the upper intelligent driving system recognizes that the vehicle needs to be decelerated, and at the moment, the front vehicle can be decelerated and stopped, other obstacles, intersections or traffic lights can be arranged in front of the vehicle, if the deceleration sent by the upper layer is small, the braking system can apply a certain braking force to the vehicle according to the very small braking deceleration, and the vehicle can be decelerated and stopped under the combined action of the braking force and the gravity component on the ramp under the condition of a certain speed, however, the backward sliding force caused by gravity on the ramp is larger than the braking force of the braking system, so that the vehicle can slide, and dangerous situations can be caused.

To cope with this problem, several main approaches are known, one: when the vehicle speed of the automatic driving cruising process on the ramp is reduced to 0, the vehicle is parked through hydraulic braking, the control strategy is relatively rough, when the vehicle speed is 0, the hydraulic pressure is increased, and the vehicle can have a backward slip condition, so that the vehicle is easy to rise; and II: by controlling the driving torque of the motor, the acceleration generated by the gradient is counteracted by the driving force during the ascending of the vehicle, and the control strategy can cause the situation of forward running or abrupt acceleration after the vehicle is stopped

Thirdly,: the control strategy can solve the problem relatively comprehensively by coordinating the driving torque of the motor to enable the vehicle to stop smoothly, but the control strategy relates to the selection of specific control targets and specific control methods.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a small-deceleration slope parking anti-slip control method, a storage medium and a vehicle, wherein the problems that the small-deceleration slope parking is likely to slip are solved by reasonably setting a control target and a control method by adopting coordinated control of driving torque and braking torque of hydraulic braking.

The technical scheme of the invention is as follows:

according to a first aspect of an embodiment of the present invention, there is provided a small deceleration slope parking anti-slip control method, including:

when deceleration request data is received, acquiring a deceleration request sending signal mode in the deceleration request data;

respectively acquiring fault states of a whole vehicle driving system and a brake system, and respectively judging whether at least one system has faults according to the fault states of the whole vehicle driving system and the brake system;

and if not, executing a corresponding control strategy according to the signal mode sent by the deceleration request.

Preferably, the executing the corresponding control strategy according to the signal mode sent by the deceleration request includes:

executing a control strategy for driving the vehicle to park on a slope when the signal mode sent by the deceleration request is a brake pedal depression signal;

and executing the intelligent driving system slope parking control strategy when the deceleration request signal sending mode is that the upper intelligent driving system sends a deceleration request signal.

Preferably, the parking control strategy for driving the vehicle on the slope by the driver comprises:

acquiring pedal travel, current gradient and current vehicle speed direction;

obtaining braking force required by parking of the current gradient vehicle according to the pedal travel;

judging whether the vehicle is in an uphill state according to the current gradient and the current vehicle speed direction:

if yes, executing the next step;

if not, ending the current control strategy;

acquiring a currently executed braking force, and judging whether the currently executed braking force is smaller than a braking force required by parking of a vehicle with a current gradient or not according to the currently executed braking force:

if yes, executing the next step;

if not, the vehicle is in deceleration parking under the current state;

judging whether the current vehicle speed is smaller than or equal to a first threshold value:

obtaining the time for reducing the current deceleration vehicle speed to 0 according to the current vehicle speed, and controlling the braking force of the hydraulic braking system to increase the braking force to the parking braking force in the time period;

and if not, repeatedly judging the current vehicle speed.

Preferably, the intelligent driving system slope parking control strategy comprises:

according to the deceleration request data sent by the upper intelligent driving system, the braking force and the deceleration required by the current gradient parking are obtained;

acquiring a current gradient and a current vehicle speed direction, and judging whether the vehicle is in an uphill state according to the current gradient and the current vehicle speed direction:

if yes, executing the next step;

if not, ending the current control strategy;

acquiring a deceleration value of a vehicle generated by a component force in the direction of the ramp caused by the gravity of the current gradient, and judging whether the deceleration required by stopping at the current gradient is larger than or equal to the deceleration value of the vehicle generated by the component force in the direction of the ramp caused by the gravity of the current gradient:

if yes, executing a first intelligent driving slope parking control strategy;

and if not, executing a second intelligent driving slope parking control strategy.

Preferably, the first intelligent driving slope parking control strategy includes:

acquiring braking force executed by a braking system and judging whether the braking force is smaller than the braking force required by the current gradient parking or not:

if yes, executing the next step;

if not, the vehicle is in deceleration parking under the current state;

and if not, repeatedly judging the current vehicle speed.

Preferably, the second intelligent driving slope parking control strategy includes:

judging whether the current vehicle speed is smaller than or equal to a second threshold value:

obtaining the time for reducing the current deceleration vehicle speed to 0 according to the current vehicle speed, and controlling the braking force of the hydraulic braking system to increase the braking force to the parking braking force in the time period, wherein the driving force correspondingly increases to resist the increased braking force;

and if not, repeatedly judging the current vehicle speed.

According to a second aspect of the embodiment of the present invention, there is provided a small deceleration slope parking anti-slip control device, including:

the device comprises an acquisition module, a data processing module and a data processing module, wherein the acquisition module is used for acquiring a signal mode sent by a deceleration request in deceleration request data when the deceleration request data is received;

the judging module is used for respectively acquiring fault states of the whole vehicle driving system and the brake system and respectively judging whether at least one system has faults according to the fault states of the whole vehicle driving system and the brake system;

and the execution module is used for executing the corresponding control strategy according to the signal mode sent by the deceleration request if not.

Preferably, the execution module is configured to:

According to a third aspect of an embodiment of the present invention, there is provided a vehicle including:

one or more processors;

a memory for storing the one or more processor-executable instructions;

wherein the one or more processors are configured to:

the method according to the first aspect of the embodiment of the invention is performed.

According to a fourth aspect of embodiments of the present invention, there is provided a non-transitory computer readable storage medium, which when executed by a processor of a terminal, enables the terminal to perform the method according to the first aspect of embodiments of the present invention.

According to a fifth aspect of embodiments of the present invention, there is provided an application program product for causing a terminal to carry out the method according to the first aspect of embodiments of the present invention when the application program product is run at the terminal.

The invention has the beneficial effects that:

the invention provides a small deceleration slope parking anti-slip control method, a storage medium and a vehicle, which solve the problems of vehicle sliding or stopping and the like when the vehicle is parked on a slope with small deceleration by cooperatively controlling driving torque and braking force of the vehicle according to information such as running state of the vehicle, avoid unnecessary panic of the driver caused by collision of the vehicle due to sliding or the conditions of sliding and stopping of the driver and the like, and improve driving experience and vehicle safety of the vehicle.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

Fig. 1 is a flowchart illustrating a small deceleration hill-hold anti-slip control method according to an exemplary embodiment.

Fig. 2 is a flowchart illustrating a control strategy for driving a vehicle on a hill parking in a small deceleration hill parking anti-slip control method according to an exemplary embodiment.

Fig. 3 is a flow chart illustrating a smart driving system hill-hold control strategy in a small deceleration hill-hold anti-slip control method according to an exemplary embodiment.

Fig. 4 is a schematic block diagram showing a construction of a small deceleration hill-hold anti-slip control device according to an exemplary embodiment.

Fig. 5 is a schematic block diagram of a vehicle structure according to an exemplary embodiment.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The embodiment of the invention provides a small deceleration slope parking anti-slip control method, which is realized by a terminal, wherein the terminal can be a desktop computer or a notebook computer and the like, and at least comprises a CPU and the like.

Example 1

Fig. 1 is a flowchart illustrating a small deceleration slope parking anti-slip control method for use in a terminal according to an exemplary embodiment, the method comprising the steps of:

and step 101, when deceleration request data is received, acquiring a deceleration request sending signal mode in the deceleration request data.

The above-mentioned request of slowing down signals the mode includes: brake pedal depression signal and deceleration request signal sent by upper intelligent driving system

Step 102, respectively obtaining fault states of the whole vehicle driving system and the brake system, and respectively judging whether at least one system has faults according to the fault states of the whole vehicle driving system and the brake system.

And acquiring check bits of the related driving system and the braking system of the whole vehicle, and if at least one of the failure states of the driving system and the braking system of the whole vehicle has a failure, exiting the current control method.

Step 103, if not, executing a corresponding control strategy according to the signal mode sent by the deceleration request, wherein the specific contents are as follows:

The above-mentioned driver drives the vehicle and parks the control strategy on the slope, as shown in figure 2, the concrete step includes:

the driver is identified to press the brake pedal, the current driver is judged to have a deceleration request, the specific magnitude of the deceleration request is the result of the judgment on the surrounding environment and the feeling of the driver, and the driver can correspondingly change the deceleration request according to the judgment.

Therefore, the pedal stroke, the current gradient and the current vehicle speed direction are acquired, and the braking force required by the parking of the vehicle with the current gradient is obtained according to the pedal stroke. Judging whether the vehicle is in an uphill state according to the current gradient and the current vehicle speed direction:

if yes, executing the next step;

if not, ending the current control strategy;

if yes, executing the next step;

if not, the vehicle is in deceleration parking under the current state;

judging whether the current vehicle speed is smaller than or equal to a first threshold value A:

and if not, repeatedly judging the current vehicle speed.

The corresponding different gradient increasing rates are different, and the actual vehicle is calibrated. If the current vehicle speed is greater than the first threshold value A, continuing to monitor and judge, and not performing any other operation, and if the vehicle speed is not reduced to the first threshold value A, not performing the operation of increasing the hydraulic braking force.

The intelligent driving system slope parking control strategy, as shown in fig. 3, specifically comprises the following steps:

firstly, a system monitors a deceleration request C sent by an upper intelligent driving system, wherein the deceleration request is a deceleration instruction which needs to be executed by the intelligent driving system through monitoring the surrounding environment and combining with the system, and the request needs the vehicle to strictly execute closed-loop control of deceleration, which is different from a human driver; the driver can judge the currently required deceleration through the surrounding environment and physical feeling when driving, and correct the magnitude of the braking force request in a mode of continuously pressing the braking pedal or releasing the braking pedal. Deceleration requests during intelligent driving need to be strictly executed, otherwise, safety risks exist;

according to the deceleration request data sent by the upper intelligent driving system, the braking force and the deceleration C required by the current gradient parking are obtained;

acquiring the current gradient and the current vehicle speed direction, and judging whether the vehicle is in an uphill state according to the current gradient and the current vehicle speed direction:

if yes, executing the next step;

if not, ending the current control strategy;

acquiring a deceleration value B of the vehicle generated by the component force in the ramp direction caused by the current gradient gravity, and judging whether the deceleration C required by the current gradient parking is larger than or equal to the deceleration value B of the vehicle generated by the component force in the ramp direction caused by the current gradient gravity:

if yes, the braking system is required to execute a part of the deceleration requested by the driver except for the part brought by gravity, and a first intelligent driving slope parking control strategy is executed;

if not, then in order to achieve the deceleration C of the whole vehicle, the driving system is required to provide a part of driving force to offset the deceleration along the slope caused by a part of gravity, and a second intelligent driving slope parking control strategy is executed.

The first intelligent driving slope parking control strategy comprises the following specific steps:

if yes, executing the next step;

if not, the vehicle is in deceleration parking under the current state;

and if not, repeatedly judging the current vehicle speed.

The second intelligent driving slope parking control strategy comprises the following steps:

obtaining the time for reducing the current deceleration vehicle speed to 0 according to the current vehicle speed, and controlling the braking force of the hydraulic braking system to increase the braking force to the parking braking force in the time period, wherein the driving force correspondingly increases to resist the increased braking force; and after the vehicle is decelerated and stopped, the driving torque of the whole vehicle is cleared to 0.

And if not, repeatedly judging the current vehicle speed.

Example two

Fig. 4 is a schematic block diagram showing a small deceleration hill-parking anti-slip control device according to an exemplary embodiment, the device including:

an obtaining module 210, configured to obtain a signal mode sent by a deceleration request in deceleration request data when the deceleration request data is received;

the judging module 220 is configured to obtain fault states of the vehicle driving system and the brake system, and judge whether at least one system has a fault according to the fault states of the vehicle driving system and the brake system;

and the execution module 230 is configured to execute the corresponding control strategy according to the signal mode sent by the deceleration request if not.

Preferably, the execution module 230 is configured to:

According to the method and the device, through information such as the running state of the vehicle, the driving torque and the braking force of the vehicle are cooperatively controlled, the problem that the vehicle can slide or stop when the vehicle stops on a slope with small deceleration is solved, unnecessary panic is caused to the driver due to the fact that the vehicle collides with the slide or the driver is caused to the driver due to the fact that the vehicle slides or stops, and driving experience and vehicle safety of the vehicle are improved.

Example III

Fig. 5 is a block diagram of a vehicle 300 provided in an embodiment of the present application. For example, the vehicle 300 may be a hybrid vehicle, or may be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 300 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle. The vehicle 300 may also be equipped with a brake-by-wire system.

Referring to fig. 5, a vehicle 600 may include various subsystems, such as an infotainment system 310, a perception system 320, a decision control system 330, a drive system 640, and a computing platform 350. Wherein the vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 300 may be achieved by wired or wireless means.

In some embodiments, the infotainment system 310 may include a communication system, an entertainment system, a navigation system, and the like.

The perception system 320 may include several types of sensors for sensing information of the environment surrounding the vehicle 300. For example, the perception system 320 may include a global positioning system (which may be a GPS system, or may be a beidou system or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.

Decision control system 330 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

The drive system 340 may include components that provide powered movement of the vehicle 300. In one embodiment, the drive system 340 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all of the functions of the vehicle 300 are controlled by the computing platform 350. The computing platform 350 may include at least one processor 351 and a memory 352, the processor 351 may execute instructions 353 stored in the memory 352.

The processor 351 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field ProgrammableGate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (ApplicationSpecific Integrated Circuit, ASIC), or a combination thereof.

The memory 352 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In addition to instructions 353, memory 352 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 352 may be used by computing platform 350.

In an embodiment of the present disclosure, the processor 351 may execute the instructions 353 to perform all or part of the steps of a small deceleration hill-hold anti-slip control method as described above.

Example IV

In an exemplary embodiment, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a small deceleration hill parking anti-slip control method as provided by all inventive embodiments of the present application.

Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having 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. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

Example five

In an exemplary embodiment, an application program product is also provided that includes one or more instructions executable by the processor 351 of the apparatus to perform a small deceleration hill-hold anti-roll control method as described above.

Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.

Claims

1. The small deceleration slope parking anti-slip control method is characterized by comprising the following steps of:

2. The method for controlling parking and anti-slip of a small deceleration slope according to claim 1, wherein said executing a corresponding control strategy according to said deceleration request signaling mode comprises:

3. The small deceleration hill parking anti-slip control method according to claim 2, wherein said driver driving a vehicle hill parking control strategy comprises:

acquiring pedal travel, current gradient and current vehicle speed direction;

if yes, executing the next step;

if not, ending the current control strategy;

if yes, executing the next step;

if not, the vehicle is in deceleration parking under the current state;

and if not, repeatedly judging the current vehicle speed.

4. The small deceleration hill road parking anti-slip control method of claim 2, wherein said intelligent driving system hill road parking control strategy comprises:

if yes, executing the next step;

if not, ending the current control strategy;

if yes, executing a first intelligent driving slope parking control strategy;

5. The method for controlling the parking of a small deceleration slope to prevent a car from sliding according to claim 4, wherein the first intelligent driving slope parking control strategy comprises:

if yes, executing the next step;

if not, the vehicle is in deceleration parking under the current state;

and if not, repeatedly judging the current vehicle speed.

6. The method for controlling the parking of a small deceleration slope to prevent a car from sliding according to claim 4, wherein the second intelligent driving slope parking control strategy comprises:

and if not, repeatedly judging the current vehicle speed.

7. The utility model provides a little deceleration slope parking prevents swift current car controlling means which characterized in that includes:

8. The small deceleration hill parking anti-slip control device of claim 7, wherein said execution module is adapted to:

9. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the steps of the method of any one of claims 1 to 6.

10. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 6.