CN118107581A

CN118107581A - Speed control method and device, vehicle and computer readable storage medium

Info

Publication number: CN118107581A
Application number: CN202410210923.3A
Authority: CN
Inventors: 崔振; 罗宜鸣; 聂晓文
Original assignee: Dongfeng Motor Group Co Ltd
Current assignee: Dongfeng Motor Group Co Ltd
Priority date: 2024-02-26
Filing date: 2024-02-26
Publication date: 2024-05-31

Abstract

The application discloses a speed control method and device, a vehicle and a computer readable storage medium, wherein the method comprises the following steps: receiving a first operation; the first operation is used for triggering the vehicle to enter a safe sliding mode; and controlling the vehicle to slide according to the first preset speed.

Description

Speed control method and device, vehicle and computer readable storage medium

Technical Field

The embodiment of the application relates to the technical field of vehicles, in particular to a speed control method and device, a vehicle and a computer readable storage medium.

Background

At present, when a vehicle slides backwards on a steep slope, a driver controls the braking and steering of the vehicle, so that the vehicle speed is not easy to control, the situation that the vehicle slides to the bottom easily occurs, and the vehicle speed is fast, and the driving safety is influenced.

Disclosure of Invention

To solve the above technical problems, embodiments of the present application provide a speed control method and apparatus, a vehicle, and a computer readable storage medium.

The speed control method provided by the embodiment of the application comprises the following steps:

Receiving a first operation; the first operation is used for triggering the vehicle to enter a safe sliding mode;

and controlling the vehicle to slide according to the first preset speed.

The speed control device provided by the embodiment of the application is applied to a vehicle and comprises:

a receiving unit: for receiving a first operation; the first operation is used for triggering the vehicle to enter a safe sliding mode;

and a control unit: the control device is used for controlling the vehicle to slide according to the first preset speed.

According to the speed control method provided by the embodiment of the application, when the vehicle slides backwards on the steep slope, a driver can operate the vehicle to enter a safe sliding mode, the vehicle is controlled to slide at a constant speed, and the driving safety is improved.

Drawings

FIG. 1 is a schematic flow chart of a speed control method according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of preventing wheel locking according to an embodiment of the present application;

FIG. 3 is a schematic flow chart of preventing vehicle sway according to an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a speed control device according to an embodiment of the present application;

Fig. 5 is a schematic diagram of a vehicle component according to an embodiment of the present application.

Detailed Description

For a more complete understanding of the nature and the technical content of the embodiments of the present application, reference should be made to the following detailed description of embodiments of the application, taken in conjunction with the accompanying drawings, which are meant to be illustrative only and not limiting of the embodiments of the application.

At present, when the off-road vehicle slides backwards on a steep slope, a driver controls the braking and steering of the vehicle; when a slope is backward slipped on a steep slope, the following problems are easy to occur for a new hand of the off-road vehicle:

1. Because the speed of the vehicle is low, the ABS does not work, and the wheels lock up and cannot turn.

2. Especially in the backward running condition of the vehicle, the problems of deflection and rollover in the backward running process of the vehicle and the like possibly occur due to different wheel speeds of left and right wheels due to uneven ground.

3. The speed of the vehicle is not easy to control, and the situation that the vehicle is fast when the vehicle slips to the bottom easily occurs.

It should be noted that, the speed control method according to the embodiment of the present application can be applied to various vehicles, for example: fuel vehicles, electric vehicles, off-road vehicles, and the like.

Fig. 1 is a flow chart of a speed control method according to an embodiment of the present application, as shown in fig. 1, where the speed control method includes the following steps:

Step 101: receiving a first operation; the first operation is for triggering the vehicle to enter a safe rolling mode.

Here, the user realizes the first operation through the entity key, the first operation can be performed through a screen, the first operation can be performed through interaction between voice and a vehicle machine, and other types of operation can be performed.

In actual use, the vehicle may be a vehicle that includes an intelligent integrated brake control system (INTEGRATED POWER BRAKE, IPB).

Step 102: and controlling the vehicle to slide according to the first preset speed.

Here, after the vehicle performs the safe sliding mode, the vehicle slides on a slope at a first preset speed. The vehicle speed may be controlled by controlling the drive motors of the wheels and/or an electronic stability control system (Electronic Stability Control, ESC). For example, if the vehicle is a four-wheel drive, the four wheels are each equipped with a separate drive motor that controls the vehicle to roll at a constant speed by controlling the forward drive torque or the rearward drive torque, and the four drive motors may operate alone or in tandem with the ESC.

Based on this, in an alternative embodiment of the present application, the controlling the vehicle to slide at a first preset speed includes:

And controlling the vehicle to slide according to the first preset speed through a driving motor and/or an electronic stability control system ESC.

In practical application, the road is not a perfect flat road, and the pits are normal, so that the speed of the vehicle may change in the driving process, when the reversing speed of the vehicle is greater than a second preset speed, the braking hydraulic pressure of the braking motor can be increased and/or the forward driving torque of the driving motor can be increased to reduce the speed of the vehicle, and when the reversing speed of the vehicle is less than a third preset speed, the braking hydraulic pressure of the braking motor can be reduced and/or the forward driving torque of the driving motor can be reduced to improve the speed of the vehicle; here, the third preset speed is smaller than the first preset speed, and the second preset speed is larger than the first preset speed.

Based on this, in an alternative embodiment of the present application, the method further includes:

Increasing brake fluid pressure and/or increasing forward drive torque when the speed of the vehicle exceeds a second preset speed;

Reducing brake fluid pressure and/or reducing forward drive torque when the speed of the vehicle is below a third preset speed; the third preset speed is smaller than the first preset speed, and the second preset speed is larger than the first preset speed.

In the backward running process of the vehicle, the vehicle may sway due to road reasons, and if the sway angle is too large, the vehicle may be turned over, so that the driving safety is affected. Therefore, when the vehicle swings, but the driver does not turn the vehicle, the vehicle is required to participate in control in time, so that the vehicle body is aligned. In the embodiment of the application, whether the vehicle swings or not is judged by the wheel speeds of the left and right wheels, for example, when the wheel speed of the left vehicle of the vehicle is larger than the wheel speed of the right wheel, the left wheel speed is larger, the vehicle swings to the right, and at the moment, the braking hydraulic pressure of the left wheel and/or the forward driving torque of the left wheel are/is increased; or reducing the brake fluid pressure of the right-hand wheel and/or reducing the forward drive torque of the right-hand wheel; the wheel speeds of the vehicles on the two sides are ensured to be the same.

In actual application, the brake hydraulic pressure can be controlled by ESC, and the driving torque can be controlled by a driving motor.

In an alternative embodiment of the application, a second preset value can be set, and when the wheel speed difference of the wheels at two sides is larger than the second preset value, the vehicle is judged to have a deflection phenomenon, and the wheel speed of the wheels is required to be controlled so as to lead the vehicle body to be in alignment.

Based on this, in an alternative embodiment of the present application, the method further includes: if the wheel speed difference of the wheels at the left side and the right side of the vehicle is detected to be larger than a second preset value and the rotation of the steering wheel is not detected, the braking hydraulic pressure of the wheel at the side with the larger wheel speed is increased and/or the forward driving torque of the wheel at the side with the larger wheel speed is increased; or reducing the brake fluid pressure of the wheel on the side of the smaller wheel speed and/or reducing the forward drive torque of the wheel on the side of the smaller wheel speed.

In an optional embodiment of the present application, a preset time may be further set, and when the duration that the wheel speed difference of the wheels at two sides is greater than the second preset value is greater than the preset time, it is determined that the vehicle has a yaw phenomenon, and the wheel speed of the wheels needs to be controlled to enable the vehicle body to be aligned.

When the vehicle slides backwards on the ramp, the vehicle speed is slower, so that the ABS is often not effective, so that the wheel is locked, if the wheel is locked, the vehicle is required to participate in control, the braking hydraulic pressure of the locked wheel is reduced, or the forward driving torque of the locked wheel is increased, and the braking force is counteracted with the excessive braking force, so that the wheel is recovered to rotate.

Based on this, in an alternative embodiment of the present application, further includes: when wheel lock is detected, the brake fluid pressure corresponding to the wheel is reduced and/or the forward drive torque corresponding to the wheel is increased.

Referring to fig. 2, fig. 2 is a schematic flow chart of preventing wheel locking according to an embodiment of the present application, as shown in fig. 2, the embodiment includes the following steps:

Step 201: the vehicle enters a safe hill-sliding mode.

Step 202: the vehicle starts to roll backwards at a first preset speed.

Step 203: when the vehicle speed is greater than V1 (corresponding to a second preset speed), the ESC increases the brake fluid pressure, and the driving motor increases the forward driving torque.

Step 204: if the wheels trigger the ABS, the ESC reduces the braking hydraulic pressure of the locked wheels, and the driving motor increases the forward driving torque of the locked wheels.

Step 205: if the vehicle speed is less than V2 (corresponding to a third preset speed), the ESC reduces the brake fluid pressure and the drive motor reduces the forward drive torque of the wheels.

Referring to fig. 3, fig. 3 is a schematic flow chart of preventing vehicle sway according to an embodiment of the present application, as shown in fig. 3, the embodiment includes the following steps:

Step 301: the vehicle enters a safe hill-sliding mode.

Step 302: the vehicle starts to roll backward according to the set value V1 (first preset speed).

Step 303: when the duration that the left-side vehicle rotating speed-the right-side vehicle rotating speed is larger than the set value A1 exceeds the preset time and the steering wheel is not rotated by the driver, judging that the vehicle swings; the ESC increases the braking hydraulic pressure of the left wheel, and the driving motor increases the forward driving torque of the left wheel; or the ESC reduces the right wheel brake fluid pressure and the drive motor reduces the forward drive torque of the right wheel.

According to the speed control method provided by the embodiment of the application, when a driver slides backwards on a steep slope, a safe sliding mode is manually selected by the driver; after entering the mode, the vehicle executes according to new control logic, a driver does not need to control an accelerator and a brake pedal in the process, the vehicle can automatically and safely slide on a slope at a constant speed by controlling a four-wheel drive motor and an ESC, dangerous situations such as wheel locking, deflection and the like in the backward sliding process of the vehicle are avoided, and the situations that the vehicle turns over or the vehicle speed/steering cannot be controlled in the backward sliding process are prevented.

Fig. 4 is a schematic structural diagram of a speed control device 400 according to an embodiment of the present application, where the speed control device in the embodiment of the present application is applied to a vehicle, and the speed control device 400 includes:

The receiving unit 410: for receiving a first operation; the first operation is used for triggering the vehicle to enter a safe sliding mode;

the control unit 420: the control device is used for controlling the vehicle to slide according to the first preset speed.

In an alternative embodiment of the present application, the control unit 420: if the wheel speed difference of the wheels at the left side and the right side of the vehicle is detected to be larger than a second preset value and the rotation of the steering wheel is not detected, the braking hydraulic pressure of the wheel at the side with the larger wheel speed is increased and/or the forward driving torque of the wheel at the side with the larger wheel speed is increased; or reducing the brake fluid pressure of the wheel on the side of the smaller wheel speed and/or reducing the forward drive torque of the wheel on the side of the smaller wheel speed.

In an alternative embodiment of the present application, the control unit 420: the system is used for controlling the vehicle to slide according to the first preset speed through a driving motor and/or an electronic stability control system ESC.

In an alternative embodiment of the present application, the control unit 420: for increasing the brake fluid pressure and/or increasing the forward drive torque when the speed of the vehicle exceeds a second preset speed; reducing brake fluid pressure and/or reducing forward drive torque when the speed of the vehicle is below a third preset speed; the third preset speed is smaller than the first preset speed, and the second preset speed is larger than the first preset speed.

In an alternative embodiment of the present application, the control unit 420: for decreasing the brake fluid pressure corresponding to the wheel and/or increasing the forward drive torque corresponding to the wheel when wheel lock is detected.

Those skilled in the art will appreciate that the function of each unit in the speed control apparatus shown in fig. 4 can be understood with reference to the foregoing description of the speed control method. The functions of the units in the speed control device shown in fig. 4 may be realized by a program running on a processor or by a specific logic circuit.

The embodiment of the application also provides a vehicle 500, as shown in fig. 5, which includes the speed control device 400 according to the embodiment of the application.

The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the method in the embodiment of the application.

The technical schemes described in the embodiments of the present application may be arbitrarily combined without any collision.

In several embodiments provided by the present application, it should be understood that the disclosed method and intelligent device may be implemented in other manners. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

The units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one second processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.

Claims

1. A speed control method, comprising:

and controlling the vehicle to slide according to the first preset speed.

2. The method as recited in claim 1, further comprising:

If the wheel speed difference of the wheels at the left side and the right side of the vehicle is detected to be larger than a second preset value and the rotation of the steering wheel is not detected, the braking hydraulic pressure of the wheel at the side with the larger wheel speed is increased and/or the forward driving torque of the wheel at the side with the larger wheel speed is increased; or reducing the brake fluid pressure of the wheel on the side of the smaller wheel speed and/or reducing the forward drive torque of the wheel on the side of the smaller wheel speed.

3. The method of claim 2, wherein controlling the vehicle to slip at the first predetermined speed comprises:

4. A method according to claim 3, further comprising:

5. The method as recited in claim 4, further comprising:

when wheel lock is detected, the brake fluid pressure corresponding to the wheel is reduced and/or the forward drive torque corresponding to the wheel is increased.

6. A speed control device, the device being applied to a vehicle, the device comprising:

7. The apparatus of claim 6, wherein the device comprises a plurality of sensors,

The control unit is further used for increasing the braking hydraulic pressure of the wheel with the larger wheel speed and/or increasing the forward driving torque of the wheel with the larger wheel speed if the wheel speed difference between the left and right wheels of the vehicle is detected to be larger than a second preset value and the rotation of the steering wheel is not detected; or reducing the brake fluid pressure of the wheel on the side of the smaller wheel speed and/or reducing the forward drive torque of the wheel on the side of the smaller wheel speed.

8. The apparatus of claim 7, wherein the device comprises a plurality of sensors,

The control unit is also used for reducing the braking hydraulic pressure corresponding to the wheel and/or increasing the forward driving torque corresponding to the wheel when the wheel is locked.

9. A vehicle, characterized in that the vehicle includes the speed control device according to any one of claims 6 to 8.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any one of claims 1 to 5.