WO2019129091A1

WO2019129091A1 - Method and device for controlling vehicle

Info

Publication number: WO2019129091A1
Application number: PCT/CN2018/123993
Authority: WO
Inventors: 牛小锋; 周铁
Original assignee: 长城汽车股份有限公司
Priority date: 2017-12-27
Filing date: 2018-12-26
Publication date: 2019-07-04
Also published as: CN109334656A; RU2742445C1; AU2018395066A1; CN109334656B; AU2018395066B2

Abstract

Provided in the present invention are a method and device for controlling a vehicle, the vehicle comprising an angle determination module, a full-vehicle control module, a ramp start module and a hill descent control module, the method comprising: when a vehicle is driving with an off-road driving function turned on, detecting the on state of an off-road pavement cruise function; if the off-road pavement cruise function is in an on state, determining the driving gradient state of the vehicle by means of the angle determination module; if the vehicle is in a downhill driving state, the full-vehicle control module controlling the driving speed of the vehicle to be within a first preset threshold by means of the hill descent control module; if the vehicle is in an uphill driving state, controlling the driving state of the vehicle by means of the ramp start module; and if the vehicle is in a non-sloped driving state, controlling the driving state of the vehicle according to a preset control policy corresponding to the off-road driving function. The present invention solves the problem of a cruising function only being able to be used by a driver setting the speed in off-road conditions, which may cause harm to people and vehicles.

Description

Vehicle control method and device

The present application claims priority to Chinese Patent Application No. PCT Application No. No. No. No. No. No. No. No. No. No. No. No. .

Technical field

The present invention relates to the field of automobiles, and includes a vehicle control method and apparatus.

Background technique

In order to improve the passing and handling of vehicles under off-road conditions, many vehicles are equipped with driving modes for off-road conditions, such as snow, sand, mud, rocks and other road conditions, by controlling the vehicle's power system. , four-wheel drive system, body stability system to optimize the driving performance of the vehicle under the above-mentioned off-road conditions.

In the prior art, the off-road driving mode assembled on the vehicle is in the corresponding off-road condition, after the driver turns on the corresponding function, the main controller controls each system to switch to the corresponding mode, and then uses the pre-tuned performance parameter to upgrade the vehicle. Off-road performance helps experienced drivers to drive vehicles with reasonable accelerator pedals, brake pedals, and steering inputs for easy cross-country road conditions. As shown in Table 1 below.

However, vehicles will continue to pass through the undulating road during off-road (snow, mud, sand, mountain) road driving. At this time, if the user's driving experience is not enough or the current road condition is not familiar enough, it will lead to the control of the vehicle. Inaccurate, even if the corresponding off-road mode is selected, the driver may still have errors in the timeliness of the power output and braking request, which often causes the vehicle to fail to pass smoothly during climbing, potholes and downhill. Slip, slip or trapped. Therefore, in the existing off-road mode control system, the downhill road condition is controlled by the steep slope descent control module (HDC), but the effective control of the climbing condition is lacking. The Automatic Parking Module (AVH) and the Hill Start Function Module (HHC) help the driver to start smoothly only at the beginning of the climb. When the vehicle starts, it exits the work, so the precise control during the climbing process cannot be achieved. In addition, under relatively flat road conditions, the vehicle cannot automatically adapt to the current off-road conditions. Although the cruise control/adaptive cruise module (CC/ACC) can achieve automatic control of the vehicle speed, it only relies on the driver in off-road conditions. The speed setting directly uses the cruise function, which may present certain dangers, causing damage to people and vehicles.

Summary of the invention

In view of this, since the cruising function is set by the speed of the driver only in the off-road condition in the prior art, it is impossible to accurately control the problem that the vehicle may be injured in a steady state and may cause damage to persons and vehicles.

In order to solve the above problem, one technical solution proposed by the embodiment of the present invention is implemented as follows:

A vehicle control method includes an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, and the method may include: detecting an off-road when the vehicle is traveling in an off-road driving function open state The open state of the road cruising function; if it is detected that the off-road pavement cruise function is in an open state, the angle determining module determines the driving gradient state of the vehicle; if the vehicle is in a downhill driving state, the vehicle control The module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module; and if the vehicle is in an uphill driving state, the vehicle control module controls the driving state of the vehicle through the ramp starting module; If the vehicle is in a non-ramp driving state, the vehicle driving state is controlled according to a preset control strategy corresponding to the off-road driving function.

Further, the method may further include: if it is detected that the off-road road cruising function is in an unopened state, controlling a driving state of the vehicle according to a preset control strategy corresponding to the off-road driving function.

Further, the step of the vehicle control module controlling the vehicle traveling speed to be within the first preset threshold by the steep slope descent control module may include: if the vehicle is in a downhill driving state, passing the vehicle control The module acquires a current traveling speed of the vehicle; if the traveling speed exceeds a first preset threshold, triggering the steep slope descent control module, and calling the electronic stability control system ESP to brake the vehicle until the current The traveling speed is less than the first predetermined threshold.

Further, the step of controlling, by the vehicle control module, the driving state of the vehicle by the ramp starting module may include: acquiring the vehicle by detecting vehicle driving information of the vehicle if the vehicle is in an uphill driving state Driving state and engine available torque; the vehicle driving information may include at least one or more of an accelerator pedal opening signal, an engine fault signal, a net torque signal, an engine speed signal, and a gear position signal; The control module controls the engine traction according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.

Further, if the vehicle is in a non-ramp running state, the step of controlling the driving state of the vehicle according to the preset control strategy corresponding to the off-road driving function may include: if the vehicle is on a non-ramp driving a state, according to the corresponding mode of the off-road driving function, acquiring preset parameters of the vehicle engine management system, the transmission control system, the four-wheel drive system, the suspension, the electronic stability control system, and the human-machine interaction system; The preset parameters of each system of the vehicle are used to control the driving state of the vehicle.

Compared with the prior art, the vehicle control method of the present invention has at least the following advantages: when the current off-road mode control system is turned on, the angle judgment module determines the driving gradient state of the vehicle, and if the vehicle is traveling downhill In the state, the vehicle control module controls the vehicle traveling speed to be within the first preset threshold by the steep slope descent control module HDC. If the vehicle is in an uphill driving state, the vehicle control module controls the driving state of the vehicle through the hill starting module HHC. It integrates the existing HDC and HHC functions to control the vehicle downhill, newly developed a continuous control strategy for climbing to improve the safety of the uphill slope, and newly developed a speed cruising control function for normal off-road conditions to achieve vehicle speed control. Keep the power output steady, prevent the vehicle speed from being too fast due to excessive slope when descending the slope, and cause the vehicle to run out of control. When the uphill slope, control the vehicle to climb up according to a certain speed, and reduce the insufficient or excessive power output caused by human intervention during the climbing process. , the beneficial effect of causing slopes or slopes.

Another object of the present invention is to provide a vehicle control device including an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, and the device may include: a detection module, configured to When the vehicle is driving in the off-road driving function, detecting the open state of the off-road pavement cruise function; the slope state determining module is configured to determine, by the angle determining module, the vehicle by the angle determining module if the off-road pavement cruise function is detected to be in an open state a running slope state; a downhill control module, configured to: if the vehicle is in a downhill running state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module; a control module, configured to: when the vehicle is in an uphill driving state, the vehicle control module controls a driving state of the vehicle by using the ramp starting module; and the non-ramp driving module is configured to: if the vehicle is in a non-ramp In the driving state, the driving state of the vehicle is controlled according to a preset control strategy corresponding to the off-road driving function.

Further, the device may further include: an off-road driving control module, configured to control the driving state of the vehicle according to the preset control strategy corresponding to the off-road driving function if the off-road driving function is detected to be in an unopened state.

Further, the downslope control module may include: a vehicle speed acquisition submodule, configured to acquire, by the vehicle control module, a current traveling speed of the vehicle if the vehicle is in a downhill running state; the vehicle speed control submodule And if the traveling speed exceeds a first preset threshold, triggering the steep slope descent control module, and calling the electronic stability control system ESP to brake the vehicle until the current traveling speed is less than the first Preset threshold.

Further, the uphill control module may include: a driving state acquisition submodule, configured to acquire a driving state of the vehicle and an engine by detecting vehicle driving information of the vehicle if the vehicle is in an uphill driving state The available vehicle torque information includes at least one or more of an accelerator pedal opening signal, an engine fault signal, a net torque signal, an engine speed signal, and a gear position signal; and a control submodule for the vehicle The control module controls the engine traction according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.

Further, the non-slope running module may include: a driving parameter acquiring sub-module, configured to acquire, according to the corresponding mode that the off-road driving function is turned on, if the vehicle is in a non-ramp driving state Vehicle engine management system, transmission control system, four-wheel drive system, suspension, electronic stability control system, preset parameters of human-computer interaction system; vehicle control sub-module for controlling according to preset parameters of each vehicle system The driving state of the vehicle.

The advantages of the above-described vehicle control device and the above-described one vehicle control method are the same as those of the prior art, and are not described herein again.

The above description is only an overview of the technical solutions of the present invention, and the above-described and other objects, features and advantages of the present invention can be more clearly understood. Specific embodiments of the invention are set forth below.

DRAWINGS

The accompanying drawings, which are incorporated in the claims In the drawing:

1 is a flowchart of a vehicle control method according to Embodiment 1 of the present invention;

2 is a schematic flowchart of determining an OCC open state in a vehicle control module according to Embodiment 1 of the present invention;

3 is a schematic view showing the force applied to the automobile in the first embodiment of the present invention;

4 is a structural diagram of a vehicle control structure according to an embodiment of the present invention;

FIG. 5 is a flowchart of a vehicle control method according to Embodiment 2 of the present invention; FIG.

6 is a structural block diagram of a vehicle control device according to Embodiment 3 of the present invention;

FIG. 7 is a structural block diagram of a vehicle control apparatus according to Embodiment 3 of the present invention; FIG.

Figure 8 is a schematic block diagram showing an electronic device for performing the method according to the present invention;

Fig. 9 schematically shows a storage unit for holding or carrying program code implementing the method according to the invention.

Specific embodiment

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the embodiments of the present invention have been shown in the drawings, the embodiments Rather, these embodiments are provided so that this disclosure will be more fully understood and the scope of the disclosure will be fully disclosed.

It should be noted that the embodiments in the present invention and the features in the embodiments may be combined with each other without conflict.

Glossary:

EMS: Engine Management System Engine Management System

TCU: Transmission Control Unit Transmission Control System

ESP: Electronic Stability Program

TCS: Traction Control System traction control system (ESP sub-function)

OCC: Off-road Cruise Control Off-Road Cruise System

HDC: Hill Descent Control

AVH: Automatic Vehicle Hold automatic parking function

HHC: Hill Hold Control ramp start function

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

VCU: Vehicle Control Unit vehicle controller

ABM: Airbag Module Airbag Controller

HMI: Human Machine Interface Human Machine Interaction System

Off-road driving mode: In order to improve the passing and handling of vehicles under off-road conditions, many OEMs have developed driving modes for off-road conditions to optimize vehicle power system, four-wheel drive system, and vehicle stability system performance. The driver is driving outdoors and getting out of trouble. At present, typical driving modes in off-road conditions include snow, sand, mud, and rock modes. The vehicle power system, four-wheel drive system, and vehicle stability system performance can be described as follows: each driving mode is controlled by a rotary switch or multiple The buttons are independently controlled. When the driver turns on the corresponding driving mode in the off-road condition, the main controller controls each system to switch to the corresponding mode, and uses the pre-tuned performance parameters to improve the off-road performance of the vehicle. The experienced driver has a reasonable accelerator pedal. Driving the vehicle with the brake pedal and steering input can easily pass complex off-road conditions, as shown in Table 1:

Table I

The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

Embodiment 1

1 is a flowchart of a vehicle control method according to an embodiment of the present invention. The vehicle includes an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, which may specifically include the following steps. :

Step 101: When the vehicle is driving in the off-road driving function, the on-state cruise function is turned on.

In the embodiment of the present invention, the off-road cruise control (OCC) is developed based on the current off-road mode control system, which integrates the existing HDC and HHC functions to control the vehicle downhill. When the vehicle is started, the vehicle control module further detects whether the off-road pavement cruise function is turned on by detecting the opening signal of the off-road pavement cruise function. Wherein, when the driver operates the driving mode switch, the switch module sends a driving mode switch signal (DrivingMode) through a Local Interconnect Network (LIN) bus to a body control module (BCM), and the body control module will drive The mode switch signal (DrivingMode) is converted to a mode signal (DrvMod) and forwarded to the CAN (Controller Area Network) bus, and then the mode signal (DrvMod) is forwarded by the CAN bus to the vehicle control module. The vehicle control module sends a mode request signal (VCU_DrvMod) to each subsystem. After each subsystem responds correctly according to the mode request signal of the vehicle controller, the respective status signals are fed back to the vehicle control module, and the main control module sends the signal. The mode displays the signal to the Instrument Panel (IP). For example, as shown in FIG. 2, the vehicle travels in a certain driving mode. When the OCC switch is pressed, the off-road cruise switch signal (OffRoad_CC) is sent to the body control module BCM via the LIN line, and the body control module BCM will cross-country cruise switch. The signal (OffRoad_CC) is converted to an off-road cruise signal (OffRoad_CC_Req) forwarded to the CAN bus, and the vehicle control module receives this signal to determine the driver's cross-country cruise request.

In practical applications, the opening command of the off-road road cruising function can be generated by the triggering off-road road cruising function switch, and the command to start the off-road road cruising function can be triggered by a preset off-road road cruising function switch, which can be set on the vehicle control panel. The physical button may also be a touch button disposed on the touch screen of the driving computer, which is not limited by the embodiment of the present invention.

Step 102: If it is detected that the off-road pavement cruise function is in an open state, the angle determining module determines the driving gradient state of the vehicle.

In the embodiment of the present invention, if the off-road pavement cruise function is detected to be in an open state, that is, when the OCC switch is detected to be pressed and OffRoad_CC_Req=active, the vehicle control module obtains the current tilt angle of the vehicle through the angle judgment module, and according to the angle Determine the slope of the current driving condition of the vehicle. Among them, when the vehicle is driving on the road, it is necessary to overcome the rolling resistance F _{f of the} ground and the air resistance F _w from the air; when the car is traveling uphill on the slope, the slope resistance F _i needs to be overcome; when the vehicle accelerates, it needs to be Overcome the acceleration resistance F _j , as shown in Figure 3,

∑F=F _w +F _i +F _j +F _f (1)

F _i =Gsinα (3)

F _f =μGcosα (4)

among them:

F _w ——Air resistance can be calculated by air resistance coefficient Cd, vehicle windward area A, air density ρ, and relative speed u _r . This resistance can be calculated using the formula in actual development. This design does not reflect this resistance in subsequent calculations.

F _i —— ramp resistance, the component of vehicle gravity along the slope is the slope resistance of the car, G is the gravity acting on the car, G=mg, m is the mass of the car, g is the acceleration of gravity, and α is the slope.

F _j ——Accelerating resistance, when the car accelerates, it needs to overcome the inertial force when its mass accelerates. The present invention aims to control the vehicle to travel at a constant speed (or a small acceleration) uphill, so the acceleration resistance is not calculated in the tilt angle judging module, and this resistance is considered in the cross-country cruise module.

F _f —— rolling resistance, the gravity component of the vehicle perpendicular to the slope road surface is Gcosα, and the friction coefficient of the road surface is μ.

When the vehicle starts on a slope or travels at a certain speed, there is the following formula:

∑F=F _f +F _w +F _i +F _j =F _i +F _f =mgsinα+μmgcosα (5)

Change available

Gsinα+μgcosα=a (6)

By looking at the Ax signal value LgtAccel sent by the Airbag Module (ABM) on the CAN bus, the current acceleration a of the vehicle is known, so:

When the vehicle is stationary on the ramp, LgtAccel = gsinα, in order to obtain the ramp angle α;

When the vehicle is traveling at a certain speed on the ramp, LgtAccel = gsinα + μgcosα, thereby obtaining the ramp angle α.

According to the comparison between the slope angle α and the preset threshold, it can be specifically known that the slope state of the current vehicle is an uphill, a downhill or a gentle road condition. In an embodiment, the preset threshold ranges, for example, to 0 ± 5%.

Step 103: If the vehicle is in a downhill running state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module.

In the embodiment of the present invention, as shown in FIG. 4, if the gradient determination module detects that the vehicle is in a downhill state, the vehicle controller VCU coordinates the subsystems according to the downhill control mode, for example, the driving mode of the current vehicle (for example, The off-road condition corresponds to the driving mode) the control signal is sent to the engine management module EMS, the transmission control module TCU, the four-wheel drive control module, the vehicle suspension state, the electronic stability control module, and the preset strategy for executing the corresponding mode (as described in Table 1) ). When the vehicle is detected to be downhill, the vehicle can be controlled in accordance with the steep slope descent function. In an embodiment, the mode at this time can be independent of the current vehicle driving mode. The steep slope descent function will work when the vehicle is detected to be downhill.

Step 104: If the vehicle is in an uphill driving state, the vehicle control module controls the driving state of the vehicle through the hill starting module.

In the embodiment of the present invention, as shown in FIG. 4, if the angle determining module detects that the vehicle is in an uphill state, the vehicle controller VCU coordinates the subsystems according to the uphill control mode, for example, the driving mode of the current vehicle (for example, The off-road condition corresponds to the driving mode) the control signal is sent to the engine management module EMS, the transmission control module TCU, the four-wheel drive control module, the vehicle suspension state, the electronic stability control module, and the preset strategy for executing the corresponding mode (as described in Table 1) ).

Step 105: If the vehicle is in a non-ramp running state, control the driving state of the vehicle according to a preset control strategy corresponding to the off-road driving function.

In the embodiment of the present invention, as shown in FIG. 4, if the angle determining module detects that the vehicle is in a non-ramp condition, it determines that the driver has a cross-country cruise request, and the vehicle controller VCU coordinates the subsystems according to the off-road cruise mode. For example, the driving mode of the current vehicle (for example, the off-road condition corresponding to the driving mode) control signal is sent to the engine management module EMS, the transmission control module TCU, the four-wheel drive control module, the vehicle suspension state, the electronic stability control module, and the corresponding mode is executed. Preset strategy (as described in Table 1). In an embodiment, the off-road cruise mode is a mode that is parallel to the driving mode. As shown in FIG. 2, when the cross-country cruise request is activated, the driving mode signal is not activated.

In the embodiment of the present invention, when the vehicle is driving in the off-road driving function, the off-state pavement cruise function is turned on; if the off-road pavement cruise function is in the on state, the angle judging module determines the driving of the vehicle. a slope state; if the vehicle is in a downhill driving state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module; and if the vehicle is in an uphill driving state, passes the ramp The starting module controls the running state of the vehicle; if the vehicle is in the non-ramp driving state, the driving state of the vehicle is controlled according to a preset control strategy corresponding to the off-road driving function. In the off-road condition, the vehicle speed control is realized, and the power output is kept stable.

Embodiment 2

5 is a flowchart of a vehicle control method according to an embodiment of the present invention. The vehicle includes an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, which may specifically include the following steps:

Step 201: When the vehicle is driving in the off-road driving function, the on-state cruise function is turned on.

This step is the same as step 101 and will not be described in detail herein.

Step 202: If it is detected that the off-road pavement cruise function is in an open state, the angle determining module determines the driving gradient state of the vehicle.

This step is the same as step 102 and will not be described in detail herein.

Step 203: If the vehicle is in a downhill running state, obtain the current traveling speed of the vehicle by using the vehicle control module.

In the embodiment of the present invention, if the vehicle is in a downhill traveling state, the measured current traveling speed is acquired by an inductive element mounted on the current vehicle.

Step 204, if the current driving speed exceeds a first preset threshold, triggering the steep slope descent control module, and calling the electronic stability control system ESP to brake the vehicle until the current traveling speed is less than the first A preset threshold.

In the embodiment of the present invention, when the vehicle speed exceeds a certain threshold (such as 8kph), that is, the first threshold, the HDC function of the steep slope descent control module is triggered, and the brake pressure is applied through the ESP system to control the vehicle speed within a certain range, for example, 8± 1kph. When the vehicle speed exceeds 60kph, this function will be turned off. If it is needed, you need to press the corresponding switch button of the steep slope descent control module to turn on the function.

Step 205: If the vehicle is in an uphill running state, obtain driving state of the vehicle and an available torque of the engine by detecting vehicle driving information of the vehicle; the driving information of the vehicle includes at least an accelerator opening signal and an engine. One or more of a fault signal, a net torque signal, an engine speed signal, and a gear position signal.

In the embodiment of the present invention, when the angle judging module judges that the vehicle is in an uphill state, at this time, to ensure that the vehicle does not slip, is stable, and starts with a certain acceleration:

a. The vehicle controller determines the driver's intention and the current engine available torque according to the accelerator pedal opening signal, the engine net torque signal, the engine speed signal, and the gear position signal; in an embodiment, the engine has a characteristic characteristic at a certain speed The current engine torque can be obtained with a certain accelerator pedal opening degree, and then the above data can be obtained according to the measured engine efficiency and mechanical loss. And the above signals already exist in the CAN network, so they can be easily obtained.

b. The vehicle controller according to the four wheel speed signal, the vehicle yaw rate YawRate signal, the hand brake or EPB working signal, the brake light signal, the identification of the vehicle motion state and the wheel slip ratio;

c. Calculating the gradient α in combination with the vehicle longitudinal acceleration signal LgtAccel; the force to be overcome by the engine when the vehicle starts is mgsinα;

d. At the moment of vehicle start, the vehicle generates a certain acceleration a, and the vehicle controller setting a is within a certain range (such as 0.2-0.3g). At this time, the engine needs to provide traction force as shown in formula (7), the vehicle controller Automatically control engine speed and target gear to ensure engine traction.

F _t =F _i +F _f +ma=mgsinα+μmgcosα+ma (7)

Step 206: The vehicle control module controls the engine traction force according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.

In the embodiment of the present invention, after the vehicle starts, the vehicle runs at a constant speed at a constant speed, and the speed range can be set by the developer. According to the formula (5), the engine needs to provide the traction force as mgsinα+μmgcosα, and the vehicle controller automatically controls. The engine speed and the target gear position to ensure the engine traction, and thus control the vehicle running state tends to be stable.

Step 207, if the vehicle is in a non-ramp running state, acquiring an engine management system, a transmission control system, a four-wheel drive system, a suspension, and an electronic stability of the vehicle according to a corresponding mode in which the off-road driving function is turned on. Control system, preset parameters of human-computer interaction system.

In the embodiment of the present invention, when the slope determination module determines that the current vehicle inclination angle is within a certain range or has no inclination angle, it is determined that the vehicle is on a flat road surface, and if the OCC switch is still pressed at this time, the driver is considered to request the off-road cruise function. .

When OffRoad_CC_Req=active, the vehicle controller can calculate the current engine demand traction according to formula (1), and then obtain the demand torque, and control each system to coordinate as follows:

EMS system: In response to a torque request sent by the vehicle controller, the actual torque is output at a constant or within a certain range of fluctuations; in one embodiment, the actual torque can be collected directly from the CAN network.

TCU system: responding to the gear position control sent by the vehicle controller, and controlling the current gear position and the target gear position according to the engine speed, the accelerator pedal depth and the vehicle speed information;

Four-wheel drive system: In response to the drive command of the vehicle controller, the vehicle enters the low-speed four-wheel drive mode, the central differential is locked, and the vehicle enters the full-time four-wheel drive;

Suspension: rise to the highest

ESP system: detects the state of the wheel, controls the wheel slip rate within a certain range, and prevents the power from being lost due to excessive wheel slip. A certain range here is, for example, 10%-18%, but it can also be obtained by a developer setting or a look-up table, which can be changed according to the vehicle speed and the vehicle deceleration. The overall principle is to ensure the maximum longitudinal force of the tire in contact with the ground, shorten the braking distance, and ensure a certain steering ability.

Λ——wheel slip ratio, ∞<λ≤100%

Where V is the vehicle speed, r is the rolling radius of the tire, and ω is the wheel speed.

Among them, the vehicle slip rate can be expressed as:

HMI system: There will be indicators on the meter to indicate the status of the off-road process, display the slope and is going uphill or downhill, and display the current driver set speed, and the system default safe speed range.

In the off-road cruise mode, each subsystem works in concert with the corresponding response, so that the vehicle automatically controls the throttle opening and the brake to maintain the uniform speed of the vehicle on different off-road surfaces, and the driver is only responsible for grasping the direction.

Step 208: Control a driving state of the vehicle according to preset parameters of each system of the vehicle.

In the embodiment of the present invention, as described in the foregoing steps, each system, such as an EMS system, a TCU system, a four-wheel drive system, a suspension, an ESP system, an HMI system, etc., works according to preset parameters to ensure that the vehicle is stable. State driving. The preset mode here may be a non-slope road surface in which the vehicle is in the off-road mode. At this time, the torque control is performed according to the vehicle speed selected by the driver, and the control process is the slope traction torque calculation process. The corresponding parameter is the actually calculated torque parameter.

Step 209: If it is detected that the off-road road cruising function is in an unopened state, the vehicle driving state is controlled according to a preset control strategy corresponding to the off-road driving function.

In the embodiment of the present invention, when the OCC judgment module in the vehicle controller detects that the OCC switch is not pressed and OffRoad_CC_Req=not active, the vehicle control is performed according to the driving mode switch signal, as shown in each off-road state shown in Table 1. Mode, the vehicle control module sends corresponding signals to each system, and controls various systems, such as EMS system, TCU system, four-wheel drive system, suspension, ESP system, HMI system, etc., according to the preset mode corresponding parameters to ensure the vehicle Drive in a steady state.

In the embodiment of the present invention, the vehicle state is determined by calculating the vehicle tilt angle by using the existing vehicle on-board sensor and the CAN bus signal. When detecting that the vehicle is in an uphill state, the vehicle controller calculates the climbing torque at the start, and after the start. The traction torque during steady driving further controls the smooth climb of the vehicle; when detecting that the vehicle is in a downhill state, the vehicle controller detects the vehicle speed information, and controls the brake actuator through the ESP to ensure the downhill speed; when detecting that the vehicle is on a flat road surface and When the driver has a cross-country cruise request, the vehicle controller controls each power system and the vehicle's four-wheel drive hardware to enter the off-road mode, and reduces the vehicle slip through the ESP system, thereby achieving more accurate vehicle cruise control under off-road conditions.

Embodiment 3

6 is a structural block diagram of a vehicle control device according to an embodiment of the present invention. The vehicle includes an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, and specifically includes the following modules.

The detection module 301, the gradient state determination module 302, the downhill control module 303, the uphill control module 304, and the non-ramp travel module 305.

The functions of each module and the interaction relationship between the modules will be described in detail below with reference to FIG.

The detecting module 301 is configured to detect an open state of the off-road pavement cruise function when the vehicle runs under the off-road driving function.

The slope state determining module 302 is configured to determine, by the angle determining module, the driving gradient state of the vehicle if the off-road pavement cruise function is detected to be in an open state;

a downslope control module 303, configured to: when the vehicle is in a downhill running state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module;

The uphill control module 304 is configured to control, by the ramp start module, a driving state of the vehicle if the vehicle is in an uphill running state;

The non-ramp driving module 305 is configured to control the driving state of the vehicle according to a preset control strategy corresponding to the off-road driving function if the vehicle is in a non-ramp driving state.

Preferably, the downslope control module 303 includes:

a vehicle speed acquisition submodule, configured to acquire, by the vehicle control module, a current traveling speed of the vehicle if the vehicle is in a downhill running state;

a vehicle speed control submodule, configured to trigger the steep slope descent control module if the driving speed exceeds a first preset threshold, and call the electronic stability control system ESP to brake the vehicle until the current driving speed is less than The first preset threshold.

Preferably, the uphill control module 304 includes:

a driving state acquisition submodule, configured to acquire a driving state of the vehicle and an available torque of the engine by detecting vehicle driving information of the vehicle if the vehicle is in an uphill driving state; the driving information of the vehicle includes at least an accelerator pedal One or more of an opening signal, an engine failure signal, a net torque signal, an engine speed signal, and a gear position signal;

And a control submodule for controlling, by the vehicle control module, the engine traction force according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.

Preferably, the non-ramp running module 305 includes:

a driving parameter acquisition submodule, configured to acquire an engine management system, a transmission control system, a four-wheel drive system, and a vehicle according to a corresponding mode in which the off-road driving function is turned on, if the vehicle is in a non-ramp driving state; Suspension, electronic stability control system, preset parameters of human-computer interaction system;

The vehicle control sub-module is configured to control a driving state of the vehicle according to preset parameters of each system of the vehicle.

Preferably, the vehicle control device further includes:

The off-road driving control module 306 is configured to control the driving state of the vehicle according to the preset control strategy corresponding to the off-road driving function if it is detected that the off-road driving function is in an unopened state.

The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without deliberate labor.

The various component embodiments of the present invention may be implemented in hardware, or in a software module running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or digital signal processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components of an electronic device in accordance with embodiments of the present invention. The invention can also be implemented as a device or device program (e.g., a computer program and a computer program product) for performing some or all of the methods described herein. Such a program implementing the invention may be stored on a computer readable medium or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

For example, FIG. 8 illustrates an electronic device, such as an onboard computer, that can implement the vehicle control method in accordance with the present invention. The electronic device conventionally includes a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020. The memory 1020 may be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), an EPROM, a hard disk, or a ROM. The memory 1020 has a memory space 1030 for executing program code 1031 of any of the above method steps. For example, storage space 1030 for program code may include various program code 1031 for implementing various steps in the above methods, respectively. The program code can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such a computer program product is typically a portable or fixed storage unit as described with reference to FIG. The storage unit may have a storage section, a storage space, and the like arranged similarly to the storage 1020 in the electronic device of FIG. The program code can be compressed, for example, in an appropriate form. Typically, the storage unit includes computer readable code 1031', ie, code that can be read by, for example, a processor such as 1010, which when executed by an electronic device causes the electronic device to perform each of the methods described above step.

"an embodiment," or "an embodiment," or "an embodiment," In addition, it is noted that the phrase "in one embodiment" is not necessarily referring to the same embodiment.

In the description provided herein, numerous specific details are set forth. However, it is understood that the embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of the description.

It is to be noted that the above-described embodiments are illustrative of the invention and are not intended to be limiting, and that the invention may be devised without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as a limitation. The word "comprising" does not exclude the presence of the elements or steps that are not recited in the claims. The word "a" or "an" The invention can be implemented by means of hardware comprising several distinct elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by the same hardware item. The use of the words first, second, and third does not indicate any order. These words can be interpreted as names.

In addition, it should be noted that the language used in the specification has been selected for the purpose of readability and teaching, and is not intended to be construed or limited. Therefore, many modifications and changes will be apparent to those skilled in the art without departing from the scope of the invention. The disclosure of the present invention is intended to be illustrative, and not restrictive, and the scope of the invention is defined by the appended claims.

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that The technical solutions described in the foregoing embodiments are modified, or the equivalents of the technical features are replaced. The modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

A vehicle control method, comprising: an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, the method comprising:

When the vehicle is driving under the off-road driving function, detecting the open state of the off-road pavement cruise function;

If it is detected that the off-road pavement cruise function is in an open state, determining, by the angle determining module, a driving gradient state of the vehicle;

If the vehicle is in a downhill running state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module;

If the vehicle is in an uphill driving state, the vehicle control module controls the driving state of the vehicle by the ramp starting module;

If the vehicle is in a non-ramp driving state, the vehicle driving state is controlled according to a preset control strategy corresponding to the off-road driving function.
The vehicle control method according to claim 1, further comprising:

If it is detected that the off-road road cruising function is in an unopened state, the vehicle driving state is controlled according to a preset control strategy corresponding to the off-road driving function.
The vehicle control method according to claim 1, wherein if the vehicle is in a downhill driving state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module. Steps include:

If the vehicle is in a downhill running state, obtaining, by the vehicle control module, a current traveling speed of the vehicle;

If the current driving speed exceeds a first preset threshold, triggering the steep slope descent control module, calling an electronic stability control system to brake the vehicle until the current driving speed is less than the first preset threshold .
The vehicle control method according to claim 1, wherein if the vehicle is in an uphill driving state, the vehicle control module controls the driving state of the vehicle through the ramp starting module, including:

If the vehicle is in an uphill running state, the driving state of the vehicle and the available torque of the engine are acquired by detecting vehicle driving information of the vehicle; the driving information of the vehicle includes at least: an accelerator opening signal, an engine fault signal, One or more of a net torque signal, an engine speed signal, and a gear position signal;

The vehicle traction control is controlled by the vehicle control module according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.
The vehicle control method according to claim 4, wherein the step of controlling the driving state of the vehicle according to the preset control strategy corresponding to the off-road driving function, if the vehicle is in a non-ramp driving state, comprises:

If the vehicle is in a non-ramp running state, acquiring an engine management system, a transmission control system, a four-wheel drive system, a suspension, an electronic stability control system, and a human-machine according to the corresponding mode in which the off-road driving function is turned on. Preset parameters of the interactive system;

The driving state of the vehicle is controlled according to preset parameters of each system of the vehicle.
A vehicle control device, comprising: an angle determination module, a vehicle control module, a hill start module, and a steep slope descent control module, the device comprising:

a detecting module, configured to detect an open state of the off-road pavement cruise function when the vehicle is driven in an off-road driving function;

a slope state determining module, configured to determine, by the angle determining module, a driving gradient state of the vehicle if the off-road pavement cruise function is detected to be in an open state;

a downslope control module, configured to: when the vehicle is in a downhill running state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module;

An uphill control module, configured to control, by the vehicle control module, the driving state of the vehicle by the ramp starting module if the vehicle is in an uphill driving state;

The non-ramp driving module is configured to control the driving state of the vehicle according to a preset control strategy corresponding to the off-road driving function if the vehicle is in a non-ramp driving state.
The vehicle control device according to claim 6, further comprising:

The off-road driving control module is configured to control the driving state of the vehicle according to the preset control strategy corresponding to the off-road driving function if the off-road driving function is detected to be in an unopened state.
The vehicle control device according to claim 6, wherein the downhill control module comprises:

a vehicle speed acquisition submodule, configured to acquire, by the vehicle control module, a current traveling speed of the vehicle if the vehicle is in a downhill running state;

a vehicle speed control submodule, configured to trigger the steep slope descent control module if the driving speed exceeds a first preset threshold, and call an electronic stability control system to brake the vehicle until the current traveling speed is less than The first preset threshold is described.
The vehicle control device according to claim 6, wherein the uphill control module comprises:

a driving state acquisition submodule, configured to acquire a driving state of the vehicle and an available torque of the engine by detecting vehicle driving information of the vehicle if the vehicle is in an uphill driving state; the driving information of the vehicle includes at least: an accelerator pedal One or more of an opening signal, an engine failure signal, a net torque signal, an engine speed signal, and a gear position signal;

And a control submodule for controlling, by the vehicle control module, the engine traction force according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.
The vehicle control device according to claim 9, wherein the non-ramp running module comprises:

a driving parameter acquisition submodule, configured to acquire an engine management system, a transmission control system, a four-wheel drive system, and a vehicle according to a corresponding mode in which the off-road driving function is turned on, if the vehicle is in a non-ramp driving state; Suspension, electronic stability control system, preset parameters of human-computer interaction system;

The vehicle control sub-module is configured to control a driving state of the vehicle according to preset parameters of each system of the vehicle.
A computer program comprising computer readable code that, when executed on an electronic device, causes the electronic device to perform the vehicle control method of any of claims 1-5.
A computer readable medium storing the computer program of claim 11.