CN106976411A - Upward slope householder method and device - Google Patents
Upward slope householder method and device Download PDFInfo
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- CN106976411A CN106976411A CN201710242959.XA CN201710242959A CN106976411A CN 106976411 A CN106976411 A CN 106976411A CN 201710242959 A CN201710242959 A CN 201710242959A CN 106976411 A CN106976411 A CN 106976411A
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- 230000001052 transient effect Effects 0.000 claims description 17
- 230000003068 static effect Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
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- 238000004590 computer program Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides upward slope householder method and device, applied to electric automobile, including：When electric automobile is in of short duration inactive state, the inclination data that obliquity sensor is sent is received, and Gradient is obtained according to inclination data；Judge whether Gradient is more than predetermined threshold value；If greater than predetermined threshold value, then calculated according to Gradient and obtain control mode value；Control mode value is sent to the electric machine controller of electric automobile, so that motor controller controls motor is rotated.Electric automobile of the invention for being not equipped with ESP system, it is possible to achieve starting miscellaneous function of going up a slope.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to an uphill assisting method and device.
Background
An existing Hill-start Assist system HAC (Hill-start Assist Control) is a function developed based on an Electronic Stability Program (ESP), and the principle of the HAC of a conventional fuel vehicle or electric vehicle is as follows: when the vehicle starts on an uphill slope, the foot leaves the brake pedal to step on the accelerator, the HAC system automatically keeps the brake oil pressure for 2 and 3 seconds, which is equivalent to the brake state or the stepped state, so that the vehicle cannot slide downwards. When the accelerator is stepped on by a foot, the control of the brake by the HAC is automatically finished, all brake force is not unloaded at once, the brake force is gradually reduced, and then the vehicle is stably lifted along with the stepping on the accelerator. Therefore, the driver can easily turn the foot from the brake pedal to the accelerator pedal to prevent accidents caused by vehicle sliding.
The existing uphill starting auxiliary system technology is only used for vehicles equipped with an Electronic Stability Program (ESP) vehicle body electronic stabilizing system, and the uphill starting auxiliary system cannot be realized for electric vehicles not equipped with the ESP system function.
Disclosure of Invention
In view of the above, the present invention is directed to providing an uphill starting assist method and apparatus, which can implement an uphill starting assist function for an electric vehicle not equipped with an ESP system.
In a first aspect, an embodiment of the present invention provides an uphill assist method, which is applied to an electric vehicle, and the method includes:
when the electric automobile is in a transient static state, receiving inclination angle data sent by an inclination angle sensor, and obtaining gradient data according to the inclination angle data;
judging whether the gradient data is larger than a preset threshold value or not;
if the gradient data are larger than the preset threshold value, calculating to obtain a control torque value according to the gradient data;
and sending the control torque value to a motor controller of the electric automobile so that the motor controller controls the motor to rotate.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the method further includes:
when the accelerator pedal of the electric automobile is stepped, receiving an accelerator pedal depth signal of the electric automobile, and obtaining an output torque value according to the accelerator pedal depth signal;
comparing the output torque value to the control torque value;
when the output torque value is greater than or equal to the control torque value, the output torque value is sent to the motor controller.
With reference to the first aspect, the present invention provides a second possible implementation manner of the first aspect, where the comparing the output torque value with the control torque value further includes:
when the output torque value is less than the control torque value, if the gradient data is less than a preset threshold value, the output torque value is sent to the motor controller.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the method further includes:
receiving a vehicle signal of the electric automobile;
and judging whether the electric automobile is in the transient static state or not according to the vehicle signal.
With reference to the third possible implementation manner of the first aspect, the embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the vehicle signal includes a gear signal and a parking brake state, and the method further includes:
when the gear signal is a first gear or a second gear, reducing the control torque value to a first torque value;
or,
and when the parking brake state is a pull-up state, reducing the control torque value to the first torque value.
In a second aspect, an embodiment of the present invention further provides an uphill assist device, which is applied to an electric vehicle, where the device includes:
the processing module is used for receiving the inclination angle data sent by the inclination angle sensor when the electric automobile is in a transient static state and obtaining gradient data according to the inclination angle data;
the first judgment module is used for judging whether the gradient data is larger than a preset threshold value or not;
the first calculation module is used for calculating a control torque value according to the gradient data under the condition that the gradient data is larger than the preset threshold value;
and the sending module is used for sending the control torque value to a motor controller of the electric automobile so as to enable the motor controller to control the motor to rotate.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the apparatus further includes:
the second calculation module is used for receiving an accelerator pedal depth signal of the electric automobile when an accelerator pedal of the electric automobile is stepped on, and obtaining an output torque value according to the accelerator pedal depth signal;
a comparison module for comparing the output torque value with the control torque value;
and the first sending submodule is used for sending the output torque value to the motor controller when the output torque value is greater than or equal to the control torque value.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where the apparatus further includes:
and the second sending submodule is used for sending the output torque value to the motor controller if the gradient data is smaller than a preset threshold value when the output torque value is smaller than the control torque value.
With reference to the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, where the apparatus further includes:
the receiving module is used for receiving vehicle signals of the electric automobile;
and the second judging module is used for judging whether the electric automobile is in the transient static state or not according to the vehicle signal.
In combination with the third possible implementation manner of the second aspect, the embodiment of the present invention provides a fourth possible implementation manner of the second aspect, wherein the vehicle signal includes a gear signal and a parking brake state, and the apparatus further includes a torque value control module configured to:
when the gear signal is a first gear or a second gear, reducing the control torque value to a first torque value;
or,
and when the parking brake state is a pull-up state, reducing the control torque value to the first torque value.
The invention provides an uphill assisting method and device, which are applied to an electric automobile and comprise the following steps: when the electric automobile is in a transient static state, receiving inclination angle data sent by an inclination angle sensor, and obtaining gradient data according to the inclination angle data; judging whether the gradient data is larger than a preset threshold value or not; if the gradient data are larger than the preset threshold value, calculating to obtain a control torque value according to the gradient data; and sending the control torque value to a motor controller of the electric automobile so that the motor controller controls the motor to rotate. The inclination angle sensor is additionally arranged on the electric automobile to judge that the automobile is on a rising slope, and the motor is controlled to rotate by outputting a control torque value, so that the function of assisting uphill starting can be realized for the electric automobile which is not provided with an ESP system.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an uphill assist method according to an embodiment of the present invention;
fig. 2 is another flowchart of an uphill assist method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an uphill assist device according to a second embodiment of the present invention;
fig. 4 is another schematic structural diagram of an uphill assist device according to a second embodiment of the present invention.
Icon:
10-a processing module; 20-a first judgment module; 30-a first calculation module; 40-a sending module; 50-a second calculation module; 60-a comparison module; 70-first sending submodule.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The conventional Hill-start Assist system HAC (Hill-start Assist system) is a function developed based on an Electronic Stability Program (ESP) system, but the Hill-start Assist system cannot be realized only for a vehicle equipped with the ESP system but also for an electric vehicle not equipped with the ESP system function. Based on the above, the embodiment of the invention provides an uphill starting auxiliary method and device, and an uphill starting auxiliary function can be realized for an electric automobile which is not provided with an ESP system.
For the convenience of understanding the embodiment, the uphill assisting method disclosed by the embodiment of the invention is first described in detail.
The first embodiment is as follows:
fig. 1 is a flowchart of an uphill assist method according to an embodiment of the present invention.
Referring to fig. 1, the uphill assist method applied to an electric vehicle includes:
step S101, when the electric automobile is in a transient static state, receiving inclination angle data sent by an inclination angle sensor, and obtaining gradient data according to the inclination angle data;
specifically, the electric Vehicle comprises a pure electric Vehicle, a Vehicle Control Unit (VCU) judges whether the Vehicle is in a transient stationary state at the time by receiving a Vehicle signal state, and when conditions (a), (b), (c), (d) and (e) are simultaneously met, the Vehicle is judged to be in the transient stationary state at the time, so that the driving intention of a driver is judged to be transient parking:
(a) the gears are engaged in gears except for a P gear and an R gear;
(b) the parking brake is not pulled up;
(c) the depth of the brake pedal is not zero;
(d) the depth of the accelerator pedal is zero;
(e) the rotational speed of the drive motor is zero.
At this time, the vehicle control unit VCU receives the inclination angle data sent by the inclination angle sensor and converts the inclination angle data into a corresponding gradient angle (gradient data).
Step S102, judging whether the gradient data is larger than a preset threshold value or not;
step S103, if the value is larger than a preset threshold value, calculating according to gradient data to obtain a control torque value;
here, if the gradient data exceeds a preset threshold value (this preset threshold value is a positive value), it is determined that the vehicle is in an ascending slope with a certain gradient at this time, and the driver intends to stop for a while, waiting for an ascending slope. And at the moment, the vehicle control unit judges that the hill start assisting function is triggered, sends a CAN signal to the motor controller, and starts to execute the hill start assisting function after the vehicle control unit receives a confirmation signal that the hill start function of the motor controller is effective.
At the moment, the VCU calculates the gradient angle according to the received inclination angle data, calculates the gravity acceleration value of the vehicle in the ramp direction according to the gradient angle, calculates a control torque value beta according to the vehicle gravity acceleration value, the full load mass of the vehicle and a torque calculation formula, and sends the control torque value beta to the motor controller, so that the motor controller continuously outputs the control torque value beta to the motor, and the motor is controlled to rotate.
And step S104, sending the control torque value to a motor controller of the electric automobile so that the motor controller controls the motor to rotate.
According to an exemplary embodiment of the present invention, as shown in fig. 2, the method further comprises:
step S105, when the accelerator pedal of the electric automobile is stepped, receiving an accelerator pedal depth signal of the electric automobile, and obtaining an output torque value according to the accelerator pedal depth signal;
step S106, comparing the output torque value with the control torque value;
and step S107, when the output torque value is larger than or equal to the control torque value, the output torque value is sent to the motor controller.
Specifically, after the vehicle control unit detects that a driver releases a brake pedal, the motor controller continues to execute according to a control torque value beta, when the driver starts to step on an accelerator pedal, the vehicle control unit starts to calculate a torque value (an output torque value) required to be output, but does not output the torque value to the motor controller for execution, the torque value is compared with the control torque value beta, when the torque value is larger than or equal to the control torque value beta, an uphill starting auxiliary function is released, and the motor controller calculates an output torque value according to an accelerator pedal depth signal actually acquired by the vehicle control unit for execution.
Further, when the output torque value is smaller than the control torque value, the output torque value is transmitted to the motor controller if the gradient data is smaller than a preset threshold value.
It should be noted that, when the torque value is smaller than the control torque value β and the gradient angle sensed by the gradient sensor is smaller than the preset threshold value, the uphill starting assist function is also released, and at this time, the motor controller executes an actual torque value, that is, the motor controller executes the torque value calculated and output according to the accelerator pedal depth signal actually collected by the vehicle controller.
According to an exemplary embodiment of the invention, the method further comprises:
receiving a vehicle signal of the electric vehicle;
and judging whether the electric automobile is in the transient static state or not according to the vehicle signal.
According to an exemplary embodiment of the invention, the vehicle signal comprises a gear signal and a parking brake status, the method further comprising:
when the gear signal is a first gear or a second gear, reducing the control torque value to a first torque value;
or,
and when the parking brake state is the pull-up state, reducing the control torque value to a first torque value.
Specifically, the first gear is the P gear, the second gear is the R gear, and the first torque value is 0 Nm. During the execution of the uphill starting auxiliary function, when the parking brake is pulled up or the gear is in the P gear or the R gear, the uphill starting auxiliary function is triggered to be released, and the execution torque value output to the motor controller by the vehicle controller is reduced to 0 Nm.
The invention provides an uphill assisting method, which is applied to an electric automobile and comprises the following steps: when the electric automobile is in a transient static state, receiving inclination angle data sent by an inclination angle sensor, and obtaining gradient data according to the inclination angle data; judging whether the gradient data is larger than a preset threshold value or not; if the gradient data are larger than the preset threshold value, calculating to obtain a control torque value according to the gradient data; and sending the control torque value to a motor controller of the electric automobile so that the motor controller controls the motor to rotate. The inclination angle sensor is additionally arranged on the electric automobile to judge that the automobile is on a rising slope, and the motor is controlled to rotate by outputting a control torque value, so that the function of assisting uphill starting can be realized for the electric automobile which is not provided with an ESP system.
Example two:
fig. 3 is a schematic structural diagram of an uphill assist device according to a second embodiment of the present invention.
Referring to fig. 3, the uphill assist device includes:
the processing module 10 is configured to receive inclination data sent by the inclination sensor when the electric vehicle is in a transient stationary state, and obtain gradient data according to the inclination data;
the first judging module 20 is used for judging whether the gradient data is larger than a preset threshold value;
the first calculation module 30 is configured to calculate a control torque value according to the gradient data when the gradient data is greater than a preset threshold;
and the sending module 40 is used for sending the control torque value to a motor controller of the electric automobile so that the motor controller controls the motor to rotate.
According to an exemplary embodiment of the present invention, as shown in fig. 4, the apparatus further includes:
the second calculation module 50 is used for receiving an accelerator pedal depth signal of the electric automobile when the accelerator pedal of the electric automobile is stepped on, and obtaining an output torque value according to the accelerator pedal depth signal;
a comparison module 60 for comparing the output torque value with the control torque value;
a first sending submodule 70 for sending the output torque value to the motor controller when the output torque value is greater than or equal to the control torque value.
According to an exemplary embodiment of the invention, the apparatus further comprises:
a second transmitting submodule (not shown) for transmitting the output torque value to the motor controller if the gradient data is smaller than a preset threshold value when the output torque value is smaller than the control torque value.
According to an exemplary embodiment of the invention, the apparatus further comprises:
a receiving module (not shown) for receiving a vehicle signal of the electric vehicle;
and a second judging module (not shown) for judging whether the electric vehicle is in a transient static state according to the vehicle signal.
According to an exemplary embodiment of the invention, the vehicle signals comprise a gear signal and a parking brake status, the apparatus further comprising a torque value control module (not shown) for:
when the gear signal is a first gear or a second gear, reducing the control torque value to a first torque value;
or,
and when the parking brake state is the pull-up state, reducing the control torque value to a first torque value.
The uphill assist device provided by the embodiment of the invention has the same technical characteristics as the uphill assist method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and details are not described here.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An uphill assist method, applied to an electric vehicle, includes:
when the electric automobile is in a transient static state, receiving inclination angle data sent by an inclination angle sensor, and obtaining gradient data according to the inclination angle data;
judging whether the gradient data is larger than a preset threshold value or not;
if the gradient data are larger than the preset threshold value, calculating to obtain a control torque value according to the gradient data;
and sending the control torque value to a motor controller of the electric automobile so that the motor controller controls the motor to rotate.
2. The uphill assist method of claim 1, further comprising:
when the accelerator pedal of the electric automobile is stepped, receiving an accelerator pedal depth signal of the electric automobile, and obtaining an output torque value according to the accelerator pedal depth signal;
comparing the output torque value to the control torque value;
when the output torque value is greater than or equal to the control torque value, the output torque value is sent to the motor controller.
3. The uphill assist method of claim 2, wherein the comparing the output torque value with the control torque value further comprises:
when the output torque value is less than the control torque value, if the gradient data is less than a preset threshold value, the output torque value is sent to the motor controller.
4. The uphill assist method of claim 1, further comprising:
receiving a vehicle signal of the electric automobile;
and judging whether the electric automobile is in the transient static state or not according to the vehicle signal.
5. The uphill assist method of claim 4, wherein the vehicle signal comprises a gear signal and a parking brake state, the method further comprising:
when the gear signal is a first gear or a second gear, reducing the control torque value to a first torque value;
or,
and when the parking brake state is a pull-up state, reducing the control torque value to the first torque value.
6. An uphill assist device, characterized in that, being applied to an electric vehicle, the device comprises:
the processing module is used for receiving the inclination angle data sent by the inclination angle sensor when the electric automobile is in a transient static state and obtaining gradient data according to the inclination angle data;
the first judgment module is used for judging whether the gradient data is larger than a preset threshold value or not;
the first calculation module is used for calculating a control torque value according to the gradient data under the condition that the gradient data is larger than the preset threshold value;
and the sending module is used for sending the control torque value to a motor controller of the electric automobile so as to enable the motor controller to control the motor to rotate.
7. An uphill assist device as claimed in claim 6, further comprising:
the second calculation module is used for receiving an accelerator pedal depth signal of the electric automobile when an accelerator pedal of the electric automobile is stepped on, and obtaining an output torque value according to the accelerator pedal depth signal;
a comparison module for comparing the output torque value with the control torque value;
and the first sending submodule is used for sending the output torque value to the motor controller when the output torque value is greater than or equal to the control torque value.
8. An uphill assist device as claimed in claim 7, further comprising:
and the second sending submodule is used for sending the output torque value to the motor controller if the gradient data is smaller than a preset threshold value when the output torque value is smaller than the control torque value.
9. An uphill assist device as claimed in claim 6, further comprising:
the receiving module is used for receiving vehicle signals of the electric automobile;
and the second judging module is used for judging whether the electric automobile is in the transient static state or not according to the vehicle signal.
10. The hill hold device of claim 9 wherein the vehicle signals include a gear signal and a parking brake status, the device further comprising a torque value control module to:
when the gear signal is a first gear or a second gear, reducing the control torque value to a first torque value;
or,
and when the parking brake state is a pull-up state, reducing the control torque value to the first torque value.
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| CN201710242959.XA CN106976411A (en) | 2017-04-17 | 2017-04-17 | Upward slope householder method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710242959.XA CN106976411A (en) | 2017-04-17 | 2017-04-17 | Upward slope householder method and device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108725259A (en) * | 2018-06-26 | 2018-11-02 | 南京恒天领锐汽车有限公司 | A kind of big slope starting control system of novel 4 wheel driven pure electric coach |
| CN109017441A (en) * | 2018-07-10 | 2018-12-18 | 金龙联合汽车工业（苏州）有限公司 | A kind of adaptive ramp way control method of new-energy automobile |
| CN109720214A (en) * | 2017-10-30 | 2019-05-07 | 长城汽车股份有限公司 | Car ramp crawling control method and vehicle |
| CN110949139A (en) * | 2018-09-27 | 2020-04-03 | 联合汽车电子有限公司 | Automatic slope-stopping method of electric vehicle |
| CN114263731A (en) * | 2021-12-16 | 2022-04-01 | 贵州凯星液力传动机械有限公司 | Frequent gear shifting method for mine automobile climbing AT gearbox |
| US12252105B2 (en) | 2020-12-14 | 2025-03-18 | Ford Global Technologies, Llc | Hill-hold assist |
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| CN110949139B (en) * | 2018-09-27 | 2021-08-17 | 联合汽车电子有限公司 | Automatic slope-stopping method of electric vehicle |
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Application publication date: 20170725 |