RU2742445C1 - Vehicle control method and device - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: disclosed is vehicle control method. When vehicle with off-road control is switched on, on-off cruise control function is selected. When the said cruise control function is detected by means of the inclination angle determining module, the vehicle inclination state is determined. If the vehicle is in a descent state, the control module using the slope control module will control the vehicle speed within the first preset threshold value. If the vehicle is in the ascending state on the slope, the general control module will monitor the vehicle motion state using the lifting aid module. If it is detected that the vehicle is not moving in an inclined state, control over the vehicle motion state will be carried out in accordance with the preset control strategy according to the off-road control function. Invention covers also vehicle control device and machine-readable medium.

EFFECT: higher safety at lifting, prevention of loss of vehicle control, prevention of frictional sliding or slipping off a slope.

11 cl, 9 dwg, 1 tbl

Description

The claim for this application was transferred to the PRC Patent Office on December 27, 2017, application number 201711448130.1, the priority right to the PRC patent for an invention entitled "Method and device for driving a car" is claimed, its contents are fully incorporated by reference in this application.

Technology application area

This invention relates to the automotive field and includes a method and device for controlling a car.

Previous state of the art

To improve off-road handling and handling in rough terrain, many vehicle models when released from the factory are equipped with off-road control modes, including for driving on snow, sand, mud, rocks, etc., in this case, improving driving performance in the above-mentioned off-road conditions, it is achieved by controlling the vehicle's traction system, the all-wheel drive system and the body stabilization system.

In the current state of the art, all the cross-country control modes with which a vehicle is equipped mean that the driver, who finds himself in an off-road condition, starts the corresponding function, after which the main controller switches all systems of the vehicle to the desired mode, and as a result of applying a combination of pre-selected operational parameters, the vehicle's cross-country characteristics are improved, this helps the experienced driver, with the reasonable use of the gas pedal, brake pedal and steering wheel, while driving, it is easier to overcome difficult terrain. See Table 1 below.

Nevertheless, it must be borne in mind that the car, in the process of driving on roads with poor coverage (snow, mud, sand, mountain serpentine) is forced to continuously overcome up and down slopes, in this case, lack of driving experience or insufficient knowledge of the terrain can lead to inaccuracies in driving a car. If there are deviations in the timeliness of the driver's power take-off and braking requests, then even when the appropriate off-road driving mode is selected, this often leads to slippage, slipping off a slope, a car getting stuck and the inability to safely overcome an uphill, uneven road section or slope. Therefore, existing off-road driving control systems use the Hill Descent Control (HDC) module to steer the vehicle downhill steadily, but still retain the lack of control efficiency when climbing hills. The Automatic Parking Hub (AVH) and Hill Start Assist (HHC) only help the driver to pull away smoothly when starting to move uphill, but are disabled after the vehicle has started to move, and are not able to implement precise control during the overcome lifting. In addition, when driving on a flat section of the road, there is no possibility of automatic adaptive control of the car in accordance with the current off-road conditions. Although the cruise control / adaptive cruise control (CC / ACC) module automatically controls the vehicle speed, using the cruise control function, which relies only on the speed set by the driver, while driving on rough terrain can carry certain risks and lead to personal injury and damage to the vehicle.

The essence of the invention

Taking this into account, it becomes obvious that in the prior art there are problems associated with the fact that when driving on rough terrain, the use of the cruise control function, which relies only on the speed set by the driver, if it is impossible to accurately control the car in a stable state result in personal injury and damage to the vehicle.

To eliminate the mentioned problems, in the example of the implementation of this invention, a technical solution is presented, which is implemented as follows:

A method for driving a car, wherein said car includes a tilt angle detection module, a general control module, an hill start assist module and a hill descent control module; the method may include the following: when the vehicle is driving with the off-road control function on, the on-state of the off-road cruise control function is determined; upon detecting the on state of said off-road cruise control function, the tilt state of the vehicle is determined by the tilt angle detection unit. If it is detected that the vehicle is in a downhill state, said general control module uses said downhill control module to control the vehicle speed within a first predetermined threshold value. If it is detected that the vehicle is in an uphill state, said general monitoring module monitors the vehicle's driving state with said hill start assist module. If it is detected that the vehicle is not moving in a tilted state, the vehicle's driving state will be monitored according to a predetermined control strategy according to the off-road control function.

Further, the method may also include the following: if it is detected that said off-road cruise control function is in the off state, then the driving state of the vehicle will be monitored in accordance with a predetermined control strategy according to the off-road control function.

Further, the process of controlling the vehicle speed within the first predetermined threshold value by the common control module by the downhill control module may include: if said vehicle is in a downhill driving state, then said common control module obtains the current driving speed the mentioned vehicle; if said travel speed exceeds the first predetermined threshold value, then said downhill control module is triggered and the electronic stabilization system ESP is called, which brakes said vehicle, reducing the current travel speed to a value less than said first predetermined threshold value.

Further, the process of controlling the driving state of the vehicle by the general control module with the aid of said hill start assist module may include the following: if said vehicle is in an uphill state, then by determining the movement information of said vehicle, data on the state of its movement and the permissible value of the engine torque; said vehicle movement information may at least include one or more of the following: accelerator pedal depression signal, engine malfunction signal, net torque signal, engine speed signal, and gear position signal. The said general control module, in accordance with the driving state of said vehicle and the allowable value of the engine torque, monitors the driving state of the vehicle by controlling the engine thrust.

Further, if said vehicle does not move in a tilted state, the process of controlling the driving state of the vehicle in accordance with a predetermined control strategy according to the off-road control function may include the following: if said vehicle does not move in a tilted state, then in accordance with the mode, activated by the off-road control function, the preset parameters of the engine management system, gearbox control system, all-wheel drive system, suspension, electronic stabilization system and human-machine interaction system are obtained. In accordance with the preset parameters of the systems of the said vehicle, the state of movement of the vehicle is monitored.

In contrast to the previous state of the art, the above-mentioned method of driving a car according to the present invention has at least the following advantages: based on the fact that the current control system in the off-road driving mode is in the switched on state, the state of the driving slope is determined using the tilt angle detection module the vehicle mentioned. If it is detected that the vehicle is in a downhill driving state, said general control module uses said HDC hill descent control module to control the vehicle speed within a first predetermined threshold. If it is detected that the vehicle is in an uphill state, said general control module monitors the driving state of the vehicle with said hill start assist module HHC; it combines the currently existing HDC and HHC functions, focused on the control of the car when descending; a newly developed climb control strategy focused on improving climb safety; a newly developed off-road cruise control function focused on controlling vehicle speed and maintaining a stable power output; and also has such beneficial effects as preventing the loss of control of the vehicle due to its excessive acceleration when driving downhill, ensuring that the vehicle moves at a certain speed when driving uphill in order to prevent slipping or sliding off the slope as a result of lack or excess power output by the driver during overcoming lifting.

A vehicle control device provided for realizing another object of the present invention, wherein said vehicle includes a tilt angle detection module, a general control module, an hill start assist module, and a hill descent control module. The device may include the following: a control module that, when the vehicle is moving with the off-road control function enabled, determines the on-state of the off-road cruise control function; a tilt detection unit that detects an on-state of said off-road cruise control function with the tilt angle detection unit detecting a tilt state of the vehicle; a downhill control module, which is used so that if it is detected that the vehicle is in a downhill state, said general control module uses said downhill control module to control the vehicle speed within a first predetermined threshold value ; an uphill control module that is used so that if the vehicle is detected to be in an uphill uphill state, said general control module monitors the driving state of the vehicle using said hill start assist module; a non-slope control module, which is used so that if it is detected that the vehicle is not moving in a slope, then the driving state of the vehicle will be monitored in accordance with a predetermined control strategy according to the off-road control function.

Further, the said device may also include the following: an off-road driving control module, which is used so that if it is detected that said off-road cruise control function is in the off state, then the state of movement of the vehicle is monitored in accordance with the preliminary a predetermined control strategy according to the off-road control function.

Further, said downhill control unit may include the following: a speed data acquisition sub-unit, which is used so that if said vehicle is in a downhill driving state, said general control unit acquires the current driving speed of said vehicle; a speed control submodule, which is used so that if said driving speed exceeds the first predetermined threshold value, said downhill control module is triggered and the electronic stabilization system ESP is called, which brakes said vehicle, reducing the current driving speed to a value less said first predetermined threshold value.

Further, said uphill control module may include the following: a driving state data acquisition sub-module, which is used so that if said vehicle is in an uphill state, then, by detecting movement information of said vehicle, it obtains data on its state motion and allowable engine torque; said vehicle movement information may at least include one or more of the following: accelerator pedal depression signal, engine failure signal, net torque signal, engine rpm signal, and gear position signal; a control sub-module, which is used for said general control module, in accordance with a driving state of said vehicle and an allowable engine torque value, by controlling the engine thrust, to control the driving state of the vehicle.

Further, the above-mentioned control module when driving without a slope may include the following: a sub-module for obtaining driving parameters, which is used for the fact that if said vehicle does not move in an inclined state, then in accordance with the mode activated by the off-road control function, a preliminary the set parameters of the engine control system, gearbox control system, all-wheel drive system, suspension, electronic stabilization system and man-machine interaction system; a car control submodule, which is used to control the state of movement of the car in accordance with the preset parameters of the systems of the said car.

The advantages which the said vehicle control device has in comparison with the prior art are similar to those of the above vehicle driving method and are not described in detail here.

The above description is only a general presentation of the technical solution according to this invention. For a clearer understanding of the technical means of the present invention, as well as in order to present the possibility of implementing the content of the description and to facilitate understanding of the above and other purposes, features and advantages of the present invention, specific examples of the implementation of the present invention are presented below.

Description of images

The accompanying images that form an integral part of this invention are used for the purpose of further explaining the content of the present invention, the illustrative examples of implementation contained in this invention and explanations to them are intended to explain the content of the present invention and do not create any undue restrictions on it. Attached images include:

FIG. 1 is a flowchart of said method for driving a car according to embodiment 1 of the present invention;

FIG. 2 is a diagram of the process for determining the ON state of the OSS in the general control module according to embodiment 1 of the present invention;

FIG. 3 shows a diagram of the effect of forces on a car in an example of implementation 1 of the present invention;

FIG. 4 is a block diagram of general vehicle control according to embodiment 1 of the present invention;

FIG. 5 is a flowchart of said method for driving a car according to embodiment 2 of the present invention;

FIG. 6 is a structured block diagram of a vehicle control device according to embodiment 3 of the present invention;

FIG. 7 is a structured block diagram of a vehicle control device according to embodiment 3 of the present invention;

FIG. 8 is a schematic diagram of an electronic device used in accordance with the method of the present invention; and

FIG. 9 is a schematic diagram of a program code storage module used for storing or carrying with oneself in accordance with the method of the present invention.

Implementation examples

Below, according to the accompanying images, a more detailed description of exemplary examples of implementation of the present invention is presented. Although illustrative examples of the implementation of the present invention are shown in the pictures, it should be understood that the present invention can be implemented in various forms and is not limited to the examples of implementation set forth herein. Rather, these examples of implementation are presented for a more complete understanding and to ensure that the technical personnel of this area fully transfer the scope of the present invention.

It is necessary to clarify that, in the absence of controversy, the examples of implementation given in this invention and the features given in the examples of implementation can be mutually combined.

Interpretation of terms:

EMS: Engine Management System, engine management system

TCU: Transmission Control Unit, transmission control system

ESP: Electronic Stability Program, electronic stabilization system

TCS: Traction Control System, traction control system (function as part of ESP)

OCC: Off-road Cruise Control, off-road cruise control system

HDC: Hill Descent Control, hill descent control

AVH: Automatic Vehicle Hold, automatic vehicle control function

HHC: Hill Hold Control, Hill Start Assist

CC / ACC: Cruise Control / adaptive cruise control, cruise control / adaptive cruise control

VCU: Vehicle Control Unit, general control unit

ABM: Airbag Module, airbag control unit

HMI: Human Machine Interface, human-machine interaction system

Off-road control mode: To improve off-road handling and handling in rough terrain, many implement manufacturers have developed an off-road control mode that, by optimizing the characteristics of the vehicle's traction system, all-wheel drive system and body stabilization system, helps the driver to drive the vehicle in the external environment and get out of difficult situations. Typical off-road control modes today include snow, sand, mud and rock; In these modes, the operation of the vehicle's traction system, as well as the drive system and the body stabilization system, can be described as follows: each mode is controlled separately using one rotary switch or several buttons. When the driver engages the appropriate off-road control mode while driving off-road, the main controller switches all systems to the desired mode, and as a result of the application of a combination of pre-selected operating parameters, the vehicle's flotation performance is improved, this helps the experienced driver with intelligent use of the gas pedal, brake pedal and steering wheel while driving, it is easier to overcome difficult terrain, see the table below:

Mode EMS TCU Four-wheel drive Suspension ESP Standard At the same time takes into account the pedal map curves of power, economy and comfort Standard Engaging all-wheel drive at the right time Standard Standard Snow covered road surface Relatively smooth torque, reduced throttle sensitivity, slower and more discreet torque response Advance upshift, downshift delay More active slip ratio response, corresponding sensitivity to steering input Increased Extremely high sensitivity of TCS to slip ratio control Sands Relatively slow torque response in the initial phase of movement to prevent the formation of holes under the wheels; faster torque response when driving at high speed to prevent sinking into sand Providing maximum torque as much as possible, delay upshift, advanced downshift More active slip ratio response, corresponding to lower sensitivity to steering input Increased Extremely low sensitivity of ESP to slip ratio control Mud Slow and discreet torque response Reduced torque for wheels in high gear, advance gear up, delay down gear More active slip ratio response, corresponding to lower sensitivity to steering input Increased Corresponding ESP sensitivity to slip ratio control Rocks Slow and discreet torque response, low speed Reduced torque for wheels in high gear, advanced gear up, delayed downshift, when choosing a low speed gear, locking the gearbox in one gear Differential lock
More responsive to slip ratio Maximum Corresponding ESP sensitivity to slip ratio control

Table 1

Next, with reference to images and examples of implementation, a detailed description of the present invention is presented.

Implementation example 1

FIG. 1 is a flowchart of said method for driving a vehicle according to an embodiment of the present invention, including said vehicle including a tilt angle detection module, a general control module, an uphill starting assist module, and a downhill control module; and the method may include the following sequence:

Step 101, when driving the vehicle with the off-road control function enabled, determine the off-road cruise control function on.

In this example, the off-road cruise control (OCC) is based on the existing off-road control function, it combines the existing HDC and HHC functions to control the vehicle's downhill ; When the vehicle starts, the general control module detects whether the off-road cruise control function is activated by detecting the start signal for the off-road cruise control function. Including, when the driver activates the vehicle control mode switch, the switch module provides a Driving Mode changeover signal, which passes through the Local Interconnect Network (LIN) to the body control module. BCM); further, the body control module converts the signal for switching driving modes of the vehicle (Driving Mode) into a mode signal (DrvMod) and transmits it to the CAN bus (Controller Area Network); Finally, the mode signal (DrvMod) is transmitted via the CAN bus to the general control module. The general control module sends a mode request signal (VCU_DrvMod) to the corresponding subsystems, the subsystems, in accordance with the correct response of the mode request signal from the general control unit, send feedback signals about their status to the general control module, after which the main control module sends a mode display signal to the dashboard (Instrument Panel, IP). For example, as shown in Fig. 2, the car is moving in one of the control modes; when the OCC switch is pressed, the off-road cruise control switch signal (OffRoad_CC) is transmitted via the LIN bus to the BCM body control module; the BCM body control module converts the off-road cruise control switch signal (OffRoad_CC) into the off-road cruise control signal (OffRoad_CC_Req) and transmits it to the CAN bus; the general control module receives this signal and determines the driver's request to activate the off-road cruise control function.

In practical applications, the off-road cruise function enable command can be generated by the off-road cruise function start switch or the pre-set off-road cruise control function switch; such a switch can be a physical button located on the vehicle control panel or a touch control button located on the touch screen of the vehicle's on-board computer; this example of implementation of the invention does not impose any restrictions on this.

Step 102, upon detecting an ON state of said off-road cruise control function, the tilt state of the vehicle is determined by the tilt angle detection unit.

и сопротивление воздуха

, создаваемое воздушной средой; когда автомобиль преодолевает подъем по наклонной дороге, ему приходится дополнительно преодолевать сопротивление подъему

; а когда автомобиль движется с ускорением, ему приходится дополнительно преодолевать сопротивление ускорению

, как показано на Фиг. 3.In this example of implementation of the invention, upon detecting the on state of the off-road cruise control function, that is, upon detecting the pressed state of the OCC switch, if OffRoad_CC_Req = active, then the general control module using the tilt angle determination module receives the current tilt angle of the vehicle and according to this tilt angle determines the current road slope for the vehicle. It should be borne in mind that when driving on a road surface, the car overcomes rolling resistance

and air resistance

created by the air; when the car is climbing an incline, it has to additionally overcome the resistance to climbing

; and when the car is moving with acceleration, it has to additionally overcome the resistance to acceleration

as shown in FIG. 3.

(1)

(one)

(2)

(2)

(3)

(3)

(4)

(four)

Where:

- сопротивление воздуха, рассчитывается с применением коэффициента сопротивления воздуха Cd, площади сопротивления автомобиля ветру А, плотности воздушной среды

и относительной скорости

. Данная величина сопротивления в реальных условиях разработки рассчитывается с применением формулы, в данном проекте для удобства выражения формул в последующих расчетах данная величина сопротивления не выражается.

- air resistance, calculated using the air resistance coefficient Cd, the area of the vehicle's wind resistance A, the density of the air

and relative speed

... This value of resistance in real development conditions is calculated using the formula; in this project, for the convenience of expressing formulas in subsequent calculations, this value of resistance is not expressed.

- сопротивление подъему; составляющая силы тяжести автомобиля вдоль уклона выражается как сопротивление подъему автомобиля; G - сила тяжести, действующая на автомобиль;

, m - вес автомобиля, g - ускорение силы тяжести, α - угол наклона.

- resistance to rise; the component of the gravity of the vehicle along the slope is expressed as the resistance to the vehicle being lifted; G is the force of gravity acting on the car;

, m is the weight of the car, g is the acceleration of gravity, α is the angle of inclination.

- сопротивление ускорению; при движении автомобиля с ускорением ему приходится преодолевать силу инерции своего веса, возникающую при движении с ускорением. Целью данного изобретения является управление движением автомобиля в подъем с равномерной скоростью (или с малым ускорением), поэтому модуль определения угла наклона не выполняет расчета сопротивления ускорению, данная величина сопротивления учитывается в модуле круиз-контроля по бездорожью.

- resistance to acceleration; when the car is moving with acceleration, it has to overcome the inertial force of its weight that arises when moving with acceleration. The purpose of the present invention is to control the movement of the vehicle on the rise with a uniform speed (or with low acceleration), therefore, the tilt angle determination module does not calculate the resistance to acceleration, this resistance value is taken into account in the off-road cruise control module.

- сопротивление качению; гравитационная составляющая сила тяжести автомобиля, действующая перпендикулярно наклонной дороге, выражается как

;

- коэффициент трения о поверхность дороги.

- rolling resistance; the gravitational component of the gravity of the vehicle, acting perpendicular to the inclined road, is expressed as

;

- coefficient of friction against the road surface.

When starting off or driving at a certain speed on an incline, the following formula applies:

(5)

(five)

After the change, we get

(6)

(6)

The CAN bus has the opportunity to view the value LgtAccel signal Ax, sent unit (Airbag Module, ABM) control airbags, and to know the current value of vehicle acceleration a, and then

; отсюда можно получить угол наклона дороги α;If the car is located on a slope at rest, then LgtAccel =

; from here you can get the angle of inclination of the road α;

; и отсюда также можно получить угол наклона дороги α.If the car is moving along a slope at a certain speed, then LgtAccel =

; and from this it is also possible to obtain the road inclination angle α.

Depending on the ratio of the angle of inclination of the road α to a predetermined threshold value, it is possible to precisely determine in what state of inclination the vehicle is at the moment: on a downhill, on an uphill or on a level area. In implementation example 1, the range of the predetermined threshold value is set to 0 ± 5% for example.

Step 103, if said vehicle is in a downhill driving state, said general control module will control the vehicle speed within a first predetermined threshold value with said downhill control module.

In this embodiment, as shown in FIG. 4, if the tilt angle detection unit detects that the vehicle is in the downhill state, the general control unit VCU coordinates the operation of all subsystems in accordance with the downhill control mode; for example, sends a control signal about the current driving mode (for example, about a driving mode appropriate for off-road conditions) to the EMS engine control module, TCU control module, four-wheel drive control module, suspension control module and electronic stability module, implementing the appropriate preset strategy mode (their description is presented in Table 1). If it is detected that the vehicle is moving downhill, the vehicle can be controlled according to the downhill control function; in implementation example 1, such a mode may be independent of the current driving mode in use. If the vehicle is detected to be moving downhill, the hill descent control function will be activated.

Step 104, if said vehicle is in an uphill state, said general control module will monitor the driving state of the vehicle through said hill start assist module.

In this embodiment, as shown in FIG. 4, if the tilt angle detecting unit detects that the vehicle is in the uphill state, the general control unit VCU coordinates the operation of all subsystems in accordance with the uphill control mode; for example, sends a control signal about the current driving mode (for example, about a driving mode appropriate for off-road conditions) to the EMS engine control module, TCU control module, four-wheel drive control module, suspension control module and electronic stability module, implementing the appropriate preset strategy mode (their description is presented in Table 1).

Step 105, if it is detected that said vehicle is not running in a tilted state, then the driving state of the vehicle will be monitored in accordance with a predetermined control strategy according to the off-road control function.

In this embodiment, as shown in FIG. 4, if the tilt angle determination unit detects that the vehicle is in a non-tilt state, it is determined that the driver is requesting that the off-road cruise control be turned on; in this case, the general control unit VCU coordinates the operation of all subsystems in accordance with the off-road cruise control mode; for example, sends a control signal about the current driving mode (for example, about the driving mode appropriate for off-road conditions) to the EMS engine control module, TCU control module, four-wheel drive control module, suspension control module and electronic stability module, implementing the appropriate preset strategy mode (their description is presented in Table 1). In embodiment 1, the off-road cruise control operates in parallel with the driving mode as shown in FIG. 2, when a request to activate the off-road cruise control is activated, the driving mode signal is not activated.

In this embodiment, when the vehicle is driven with the off-road control function enabled, the off-road cruise control function is determined to be on; If the above-mentioned off-road cruise control function is in the ON state, the tilt state of the vehicle is determined by the tilt detection unit. If it is detected that the vehicle is in a downhill driving state, said general control module uses said downhill control module to control the vehicle speed within a first predetermined threshold value. If it is detected that the vehicle is in an uphill state, said general monitoring module monitors the driving state of the vehicle via said hill start assist module. If it is detected that the vehicle is not moving in a tilted state, the vehicle's driving state will be monitored according to a predetermined control strategy according to the off-road control function. Thus, in off-road conditions, control over the vehicle speed is realized and the smoothness of the traction output is ensured.

Implementation example 2

FIG. 5 is a flowchart of said method for driving a car according to an embodiment of the present invention, including a car including a tilt angle detection module, a general control module, an uphill starting assist module, and a downhill control module; and the method may include the following sequence:

Step 201, when driving the vehicle with the off-road control function enabled, determine the off-road cruise control function enabled state.

This step is the same as step 101 and is not described in detail here.

Step 202, upon detecting an ON state of said off-road cruise control function, the tilt state of the vehicle is determined by the tilt angle detection unit.

This step is the same as step 102 and is not described in detail here.

Step 203, if said vehicle is in a downhill state, then the current driving speed of said vehicle will be obtained by said general control module.

In this example of implementation of the invention, if the said car is in the downhill state, then the measured data of the current speed of movement will be obtained from the sensor installed on this car.

Step 204, if said driving speed exceeds a first predetermined threshold value, then said downhill control module is triggered and the electronic stability control system ESP is called, which brakes said vehicle, reducing the current driving speed to a value less than said first predetermined threshold value.

In this example implementation of the invention, when the vehicle speed exceeds a certain threshold (for example, 8 km / h), that is, the first threshold value, the HDC function of the downhill control module is triggered; As a result, the ESP system increases the braking force to keep the vehicle speed within the specified range, for example 8 ± 1 km / h. When the vehicle speed exceeds 60 km / h, this function is disabled; if it becomes necessary to use it, then to activate this function, press the corresponding button for turning on the module for controlling the descent down the slope again.

Step 205, if said vehicle is in an uphill state, then by determining the movement information of said vehicle, data on its driving state and allowable engine torque is obtained; said vehicle movement information may at least include one or more of the following: accelerator pedal depression signal, engine failure signal, net torque signal, engine speed signal, and gear position signal.

In this example of implementation of the invention, when the module for determining the angle of inclination determines that the vehicle is in a state of ascent along a slope, in order to ensure smooth starting from a place without slipping and with a certain acceleration, the following operations are performed:

and. The general control unit determines the driver's intention and the current allowable engine torque according to the accelerator pedal level signal, the engine net torque signal, the engine speed signal and the gear position signal. In an example of implementation 1, the external characteristic of the engine is that at a certain engine speed and a certain degree of depression of the gas pedal, the current engine torque can be obtained, the above data can also be obtained in accordance with the engine efficiency and mechanical losses measured during tests. In this case, the above signal will be stored in the CAN network and easily available for further use.

b. The general control unit, in accordance with the four-wheel speed signal, the yaw rate signal, the handbrake signal or the EPB work signal and the brake light signal, determines the vehicle movement state or wheel slip ratio;

;from. Taking into account the vehicle longitudinal acceleration signal LgtAccel, the slope α is calculated; the effort that the engine must overcome when starting the car from a place is

;

d. At the moment of starting, the car creates a certain acceleration a , the general control unit sets the value in a certain range (for example, 0.2-0.3 g); the thrust that the engine needs to provide at this moment is calculated using the formula (7), the general control unit will automatically control the engine speed and the target gear position to ensure the required engine thrust.

(7)

(7)

Step 206, said general control module, in accordance with said vehicle driving mode and allowable engine torque, controls engine thrust to monitor the driving state of the vehicle.

, блок общего управления будет автоматически контролировать обороты двигателя и целевое положение передачи, чтобы гарантировать нужную величину силы тяги двигателя, что в результате приведет к стабилизации управления состоянием движения автомобиля.In this example of implementation of the invention, after starting off, the car will move up the slope at a given uniform speed, the speed range can be set by the developer. According to formula (5), the thrust force that the engine must provide at this moment will be

, the common control unit will automatically control the engine speed and target gear position to ensure the desired amount of engine thrust, resulting in stabilization of the vehicle driving state control.

Step 207, if the vehicle is not tilted, preset parameters are obtained for the engine management system, gearbox control system, all-wheel drive system, suspension, electronic stability control system, and human interaction system in accordance with the mode activated by the off-road control function. -car.

In this embodiment, when the tilt angle determination unit determines that the current tilt angle of the vehicle is within a predetermined range or is absent, it is concluded that the vehicle is moving on a flat area; if the OCC switch remains in the pressed position, this is considered as a driver's request to activate the off-road cruise control function.

When OffRoad_CC_Req = active, the general control unit, using the formula (1), calculates the required current thrust force of the engine, due to which the required torque is provided, and controls the following interaction of the corresponding systems:

EMS system: responds to the torque request sent by the general control unit and outputs the real torque constant or fluctuating in a given range; In implementation example 1, the actual torque data can be collected directly from the CAN network.

The TCU system: responds to the gear position control signal sent by the general control unit and at the same time controls the current gear position and the target gear position of the vehicle in accordance with the engine speed, the degree of depression of the accelerator pedal and the information on the driving speed;

All-wheel drive system: responds to the drive command sent by the general control unit, at the same time the low-speed 4-wheel drive mode is activated, the central differential lock is carried out, the car enters permanent 4-wheel drive mode.

Suspension: Rises to Maximum Height

ESP system: monitors the condition of the wheels and the slip ratio of the wheels within the specified mode, preventing loss of power due to excessive wheel slip. The target range referred to herein can be, for example, 10-18%, and can also be specified by the developer or obtained from an appropriate table; the scale of this range may change depending on the vehicle speed and deceleration. The overall principle is to ensure that the longitudinal contact force of the wheels on the road surface is used as much as possible in order to shorten the braking distance and also to ensure that the vehicle has some control.

λ - wheel slip coefficient, -∞ <λ≤100%

(8)

(8)

Where V is the speed of movement, r is the rolling radius of the wheel, ω is the speed of rotation of the wheel.

The vehicle slip coefficient can also be expressed as

HMI system: the dashboard can have indicators that show off-road driving status, the presence of a slope, current ascent or descent of the vehicle, as well as display the current driver set speed and the system's default safe speed range.

In the off-road cruise control mode, all systems coordinate their work with each other by means of appropriate responses, which automatically controls the degree of pressing the gas pedal and maintains a uniform speed of the vehicle on off-road sections, giving the driver the opportunity to be responsible only for steering.

Step 208, in accordance with predetermined parameters of the systems of said vehicle, the driving state of said vehicle is monitored.

In this example implementation of the invention, as indicated in the previous step, all systems such as EMS, TCU, AWD, suspension, ESP and HMI system operate according to the corresponding parameters of the preset mode, ensuring a stable driving state. car. The preset mode referred to here may be torque control in accordance with the driving speed selected by the driver when the vehicle is driving in the non-slope section in the off-road mode, the control process is similar to the process of calculating the torque when uphill. The corresponding parameters represent the actual calculated torque parameters.

Step 209, if it is detected that the above-mentioned off-road cruise control function is in the off state, then the driving state of the vehicle will be monitored in accordance with a predetermined control strategy according to the off-road control function.

In this example of implementation of the invention, when the OCC determination module of the general control unit determines that the OCC switch is not pressed, then when OffRoad_CC_Req = not active, the car will be controlled in accordance with the signal from the control mode switch, that is, in the off-road control modes presented in the Table 1. The general control module sends appropriate signals to the systems and carries out their control; systems such as EMS, TCU, AWD, suspension, ESP and HMI system operate according to the corresponding preset mode parameters to ensure that the vehicle is moving in a stable state.

In this exemplary embodiment of the invention, the vehicle condition is determined by calculating the vehicle tilt angle using the sensors and CAN bus signals on the vehicle. If the vehicle is detected to be in an uphill position, the common control unit calculates the hill start torque and traction torque to ensure stable driving after starting, which ensures the vehicle is able to control the vehicle smoothly uphill. If the vehicle is found to be in a downhill condition, the common control unit checks the vehicle speed information and provides the downhill speed via the ESP brake control actuator. If it is detected that the car is on a flat section of the road, and the driver has submitted a request to enable cruise control off-road, then the general control unit, monitoring all power systems, ensures that the four-wheel drive components of the car enter off-road mode, and the ESP system reduces vehicle slip. due to which a more accurate control of the car in the cruise control mode in off-road conditions is realized.

Case Study 3

FIG. 6 is a structured block diagram of a vehicle control device according to an embodiment of the present invention, said vehicle including a tilt angle detection module, a general control module, an hill start assist module, and a downhill control module; and the control device may include the following modules:

a control module 301, a slope state detection module 302, a downhill control module 303, a downhill control module 304, and a non-slope control module 305.

FIG. 7 below is a detailed description of the functionality of each module and their relationship is indicated.

A control module 301 used to detect when the off-road cruise function is on when the vehicle is moving with the off-road control function enabled;

A tilt state detecting unit 302, used to detect the tilting state of the vehicle by the tilting angle detecting unit upon detecting an on state of said off-road cruise control function;

Downhill control module 303, used so that if said vehicle is in a downhill driving state, said general control module, using said downhill control module, controls the vehicle speed within a first predetermined threshold;

A hill climb control module 304, used to have said general control module monitor the driving state of the vehicle using said hill start assist module if said vehicle is in an up hill state;

The non-slope control module 305 is used so that if said vehicle is not moving in an incline, the vehicle's movement state is monitored in accordance with a predetermined control strategy according to the off-road control function.

Preferably, the downhill control module 303 includes:

a driving speed acquisition sub-module used to ensure that if said vehicle is in a downhill state, then data on the current driving speed of said vehicle is obtained using said general control module;

submodule for driving speed control, used so that if said driving speed exceeds the first predetermined threshold value, said downhill control module is triggered and the electronic stabilization system ESP is called, which brakes said vehicle, reducing the current driving speed to a value less said first predetermined threshold value.

Preferably, the slope control module 304 includes:

a driving state acquisition sub-unit, used so that if said vehicle is in an uphill state, then by determining the driving information of said vehicle, the driving state and the allowable engine torque are obtained; said vehicle movement information may at least include one or more of the following: accelerator pedal depression signal, engine failure signal, net torque signal, engine rpm signal, and gear position signal;

a control sub-module used to cause said general control module, in accordance with said driving mode of the vehicle and the allowable engine torque, to control the thrust force of the engine to control the driving state of the vehicle.

Preferably, the slope control module 305 includes:

a submodule for obtaining driving parameters, which is used so that if the said car does not move in an inclined state, then in accordance with the mode activated by the off-road control function, preset parameters of the engine control system, gearbox control system, all-wheel drive system, suspension are obtained, electronic stabilization system and human-machine interaction systems;

a vehicle control submodule used to control the state of motion of said vehicle in accordance with predetermined parameters of the systems of said vehicle.

Preferably, a given vehicle control device also includes:

an off-road driving control module 306 used so that if said off-road cruise control function is off, the vehicle's driving state is monitored according to a predetermined control strategy according to the off-road control function.

In this exemplary embodiment of the invention, the vehicle condition is determined by calculating the vehicle tilt angle using the sensors and CAN bus signals on the vehicle. If the vehicle is detected to be in an uphill position, the common control unit calculates the hill start torque and traction torque to ensure stable driving after starting, which ensures the vehicle is able to control the vehicle smoothly uphill. If the vehicle is found to be in a downhill condition, the common control unit checks the vehicle speed information and provides the downhill speed via the ESP brake control actuator. If it is detected that the car is on a flat section of the road, and the driver has submitted a request to enable cruise control off-road, then the general control unit, monitoring all power systems, ensures that the four-wheel drive components of the car enter off-road mode, and the ESP system reduces vehicle slip. due to which a more accurate control of the car in the cruise control mode in off-road conditions is realized.

The above described examples of device implementation are purely indicative, including modules referred to as separate components, may or may not be physically separated, and components displayed as modules may or may not be physical modules, that is, they may be located as in one specific location and be distributed over several network components. To realize the purpose of the examples of the invention, depending on the actual need, you can select several modules or all modules. Ordinary technical personnel in this area, provided they do not use inventive labor, can understand and realize these goals.

The components in the exemplary embodiments of the present invention may be purely hardware, and may also be implemented as software modules running on one or more processors, or a combination of the two. Technical personnel in this field should understand that through the practical application of a microprocessor or digital signal processor (DSP), it is possible to implement partial or complete functionality of some or all of the components of an electronic device according to an example implementation of the present invention. The invention may also be implemented in part or all of an equipment or device program for executing a method described herein (eg, a computer program or computer program product). Such a program implementing the present invention may be stored in a machine-readable medium or in the form of one or more signals. Such a signal can be obtained by downloading or downloading from an Internet site or provided on a carrier signal or provided in any other form.

For example, in FIG. 8 shows an electronic device capable of realizing the method for driving a car according to the present invention, an automobile on-board computer is shown as an example. Such an electronic device conventionally includes a processor 1010 and a computer program product or machine-readable medium in the form of a storage device 1020. The storage device 1020 can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard drive. disk or ROM. The storage device 1020 has a storage space 1030 used for storing a program code 1031 that performs a sequence of one of the methods for implementing the above method of driving a car. For example, storage space 1030 used to store program code may also contain different program codes 1031 with different sequences used to implement the above method. These program codes can be read from one or more computer software products and written to one or more computer software products. These computer program products can be media of program code such as a hard disk, compact disc (CD), storage device, or floppy disk. These kinds of computer program products are typically portable or stationary memory locations, similar to that shown for reference in FIG. 9. Such a memory cell may have storage segments and storage space arranged in a manner similar to the storage device 1020 of the electronic device shown in FIG. 8. The program code can, for example, be compressed into an appropriate format. Typically, the memory location includes a machine-readable code 1031 ', that is, a code that can be read, for example, by a processor like 1010; triggering such codes on an electronic device causes the device to execute a sequence to implement the above-described vehicle driving methods.

Used in this text, the terms "one example of implementation", "example of implementation" or "one or more examples of implementation" means that described in conjunction with the example of implementation of a particular feature, structure or characteristic, is included in at least one example of implementation of the present invention. In addition, it should be borne in mind that the term "in one implementation example" herein does not necessarily mean the same implementation example.

The description presented here contains many specific details. But, nevertheless, it should be understood that the examples of the implementation of this invention can be practiced without the specific details listed here. In some examples of implementation, in order not to complicate the understanding of this description, well-known methods, structures and methods are not presented in detail,

It is also necessary to pay attention to the fact that the mentioned examples of implementation illustrate the present invention, but do not create any restrictions for this invention, while the technical personnel of this field, without departing from the scope of the presented claims, can develop alternative examples of implementation. In the claims, any symbol constructions given between parentheses for reference should not be construed as limiting the claims. The term "includes" does not exclude the existence of elements or steps in the sequence not listed in the claims. Presence of the number “1” or the term “one” before an element does not exclude the existence of several such elements. The present invention can be implemented with hardware including several different elements, as well as with a suitably programmed computer. In claims listing multiple devices, some of those devices may represent the same piece of hardware. The use of the terms "first", "second", "third", etc. does not express any sequence. These terms can be understood as a name.

In addition, you should also note that the language used in this description is mainly chosen for ease of reading and learning, and not to explain or limit the subject of this invention. Therefore, without departing from the scope and essence of the appended claims, it will be obvious to the ordinary technical personnel of this field that there are many changes and modifications. With respect to the scope of this invention, a public statement made for this invention is illustrative but not limiting; the scope of this invention is defined by the appended claims.

In conclusion, it should also be noted that the above examples of implementation are used solely to describe the technical solutions of the present invention and do not create any restrictions for this invention. Despite the fact that the present invention has been described in detail with reference to the above examples of implementation, technical personnel in this field should understand that they can nevertheless modify the technical solutions presented in the above examples of implementation or replace some of the technical characteristics contained therein. equivalent characteristics, while all modifications and replacements made do not depart from the essence and scope of technical solutions of examples of implementation of the present invention.

Claims (36)

1. A method of driving a car, characterized in that said car includes a tilt angle determination module, a general control module, an assistance module when starting off on an ascent and a downhill control module; the mentioned method includes the following: when the vehicle is moving with the off-road control function turned on, the turned on state of the off-road cruise control function is determined; upon detecting an on state of said off-road cruise control function, the tilt state of the vehicle is determined by the tilt angle detection unit; if said vehicle is in a downhill driving state, said general control module, by means of said downhill control module, will control the vehicle speed within a first predetermined threshold value; if said vehicle is in the uphill state, said general control module will monitor the driving state of the vehicle with the aid of said hill start assist module; if it is detected that said vehicle is not moving in a tilted state, then the driving state of the vehicle will be monitored in accordance with a predetermined control strategy according to the off-road control function. 2. The method of driving a car according to claim 1, characterized in that it also includes the following: if it is detected that the above-mentioned off-road cruise control function is in the off state, then the driving state of the vehicle will be monitored according to a predetermined control strategy according to the off-road control function. 3. The method of driving a vehicle according to claim 1, characterized in that if said vehicle is in a downhill driving state, then the general control module using said downhill control module will control the vehicle speed within a first predetermined threshold value according to sequence, which includes the following: if said vehicle is in a downhill state, then data on the current driving speed of said vehicle will be obtained by said general control module; if said driving speed exceeds the first predetermined threshold value, then said downhill control module is triggered and the electronic stabilization system is called, which brakes said vehicle, reducing the current driving speed to a value less than said first predetermined threshold value. 4. The method of driving a car according to claim 1, characterized in that if said car is in a state of movement uphill, then the general control module using said downhill control module will control the driving state of the car according to a sequence that includes following: if said vehicle is in an uphill state, then by determining the movement information of said vehicle, data is obtained on the driving state and the allowable value of the engine torque; said vehicle movement information includes one or more of the following: accelerator pedal depression signal, engine failure signal, net torque signal, engine speed signal and gear position signal; said general control module, in accordance with said driving state of the vehicle and the allowable engine torque, controls the engine thrust force to monitor the driving state of the vehicle. 5. The method of driving a car according to claim 4, characterized in that if said car does not move in a tilted state, then the state of movement of the car will be monitored in accordance with a predetermined control strategy according to the off-road control function in a sequence that includes following: if said vehicle does not move in a tilted state, then in accordance with the mode activated by the off-road control function, preset parameters of the engine control system, gearbox control system, all-wheel drive system, suspension, electronic stabilization system and human-machine interaction system are obtained; in accordance with the predetermined parameters of the systems of said vehicle, the state of movement of said vehicle is monitored. 6. A vehicle control device, characterized in that said vehicle includes a tilt angle detection module, a general control module, hill start assist module and hill descent control module; said device includes the following: a control module used to determine when the vehicle is moving with the off-road control function enabled; a tilt state detecting unit used to detect the tilting state of the vehicle by detecting the on state of said off-road cruise control function with the tilting angle detecting unit; a downhill control module used so that if said vehicle is in a downhill driving state, said general control module, using said downhill control module, controls the vehicle speed within a first predetermined threshold; an uphill control module used so that if said vehicle is in a downhill state, said general control module monitors the driving state of the vehicle using said hill start assist module; a non-slope control module used to ensure that if said vehicle is not moving in a slope, the vehicle's movement state is monitored in accordance with a predetermined control strategy according to the off-road control function. 7. The vehicle control device according to claim 6, characterized in that it also includes the following: an off-road driving control module, used so that if said off-road cruise control function is off, the vehicle's driving state is monitored in accordance with a predetermined control strategy according to the off-road control function. 8. The vehicle control device according to claim 6, characterized in that said downhill control module includes the following: a driving speed acquisition sub-module used to ensure that if said vehicle is in a downhill state, then data on the current driving speed of said vehicle is obtained using said general control module; submodule for driving speed control, which is used so that if said driving speed exceeds the first predetermined threshold value, then said downhill control module is triggered and the electronic stabilization system is called, which brakes said vehicle, reducing the current driving speed to a value less than said the first predetermined threshold value. 9. The vehicle control device of claim 6, wherein said hill climb control module includes the following: a driving state acquisition sub-unit, used so that if said vehicle is in an uphill state, then by determining the driving information of said vehicle, the driving state and the allowable engine torque are obtained; said vehicle movement information includes one or more of the following: accelerator pedal depression signal, engine failure signal, net torque signal, engine speed signal and gear position signal; a control sub-module used to cause said general control module, in accordance with said driving mode of the vehicle and the allowable engine torque, to control the thrust force of the engine to control the driving state of the vehicle. 10. The vehicle control device according to claim 9, characterized in that said control module when driving without a slope includes the following: a submodule for obtaining driving parameters, which is used so that if the said car does not move in an inclined state, then in accordance with the mode activated by the off-road control function, preset parameters of the engine control system, gearbox control system, all-wheel drive system, suspension are obtained, electronic stabilization system and human-machine interaction systems; a vehicle control submodule used to control the state of motion of said vehicle in accordance with predetermined parameters of the systems of said vehicle. 11. A computer-readable medium in which a computer program is stored, including a computer-readable code, and the launch of said computer-readable code on an electronic device leads to the execution of the said electronic device of the method of driving a car according to any one of claims. 1-5.

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