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WO2019129091A1 - 一种车辆控制方法及装置 - Google Patents

一种车辆控制方法及装置 Download PDF

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Publication number
WO2019129091A1
WO2019129091A1 PCT/CN2018/123993 CN2018123993W WO2019129091A1 WO 2019129091 A1 WO2019129091 A1 WO 2019129091A1 CN 2018123993 W CN2018123993 W CN 2018123993W WO 2019129091 A1 WO2019129091 A1 WO 2019129091A1
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Prior art keywords
vehicle
driving
state
control
module
Prior art date
Application number
PCT/CN2018/123993
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English (en)
French (fr)
Inventor
牛小锋
周铁
Original Assignee
长城汽车股份有限公司
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Publication date
Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Priority to AU2018395066A priority Critical patent/AU2018395066B2/en
Priority to RU2020124421A priority patent/RU2742445C1/ru
Publication of WO2019129091A1 publication Critical patent/WO2019129091A1/zh

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06Automatic manoeuvring for parking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14Adaptive cruise control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18Propelling the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06Road conditions
    • B60W40/076Slope angle of the road
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/06Combustion engines, Gas turbines
    • B60W2510/0638Engine speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/10Change speed gearings
    • B60W2510/1005Transmission ratio engaged
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/10Accelerator pedal position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/15Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/06Combustion engines, Gas turbines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/10Change speed gearings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/18Braking system
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/22Suspension systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/30Auxiliary equipments

Definitions

  • the present invention relates to the field of automobiles, and includes a vehicle control method and apparatus.
  • 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.
  • 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.
  • 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.
  • the vehicle When the vehicle starts, it exits the work, so the precise control during the climbing process cannot be achieved.
  • the vehicle Under relatively flat road conditions, the vehicle cannot automatically adapt to the current off-road conditions.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a flowchart of a vehicle control method according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic flowchart of determining an OCC open state in a vehicle control module according to Embodiment 1 of the present invention
  • FIG. 3 is a schematic view showing the force applied to the automobile in the first embodiment of the present invention.
  • FIG. 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.
  • 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.
  • TCU Transmission Control Unit Transmission Control System
  • TCS Traction Control System traction control system (ESP sub-function)
  • OCC Off-road Cruise Control Off-Road Cruise System
  • 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:
  • 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.
  • the off-road cruise control is developed based on the current off-road mode control system, which integrates the existing HDC and HHC functions to control the vehicle downhill.
  • the vehicle control module detects whether the off-road pavement cruise function is turned on by detecting the opening signal of the off-road pavement cruise function.
  • the switch module 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.
  • VCU_DrvMod mode request signal
  • the mode displays the signal to the Instrument Panel (IP).
  • IP Instrument Panel
  • the vehicle travels in a certain driving mode.
  • 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.
  • 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.
  • 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.
  • the vehicle 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,
  • Air resistance can be calculated by air resistance coefficient Cd, vehicle windward area A, air density ⁇ , 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 the gravity acting on the car
  • G mg
  • m the mass of the car
  • g the acceleration of gravity
  • the slope
  • F j Accelelerating 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.
  • 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.
  • 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) ).
  • the vehicle can be controlled in accordance with the steep slope descent function.
  • 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.
  • 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) ).
  • 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.
  • 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.
  • the driving mode of the current vehicle for example, the off-road condition corresponding to the driving mode
  • the driving mode 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).
  • 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.
  • the off-state pavement cruise function 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.
  • 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.
  • step 102 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.
  • 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.
  • 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.
  • a certain threshold such as 8kph
  • 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.
  • 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:
  • 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.
  • 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;
  • the vehicle 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.
  • 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.
  • the vehicle runs at a constant speed at a constant speed, and the speed range can be set by the developer.
  • the engine needs to provide the traction force as mgsin ⁇ + ⁇ mgcos ⁇ , 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.
  • 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. .
  • 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:
  • the actual torque 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;
  • 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.
  • V is the vehicle speed
  • r is the rolling radius of the tire
  • is the wheel speed
  • 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.
  • 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.
  • each system such as an EMS system, a TCU system, a four-wheel drive system, a suspension, an ESP system, an HMI system, etc.
  • the preset mode here may be a non-slope road surface in which the vehicle is in the off-road mode.
  • 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.
  • various systems such as EMS system, TCU system, four-wheel drive system, suspension, ESP system, HMI system, etc.
  • the vehicle state is determined by calculating the vehicle tilt angle by using the existing vehicle on-board sensor and the CAN bus signal.
  • 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.
  • 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 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.
  • 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.
  • 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;
  • 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 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.
  • 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 vehicle state is determined by calculating the vehicle tilt angle by using the existing vehicle on-board sensor and the CAN bus signal.
  • 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.
  • 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.
  • a microprocessor or digital signal processor 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.
  • 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.
  • 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.
  • 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.
  • Such 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.
  • 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.

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Abstract

本发明提供了一种车辆控制方法及装置,所述车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,所述方法包括:当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态;若所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态;若处于下坡行驶状态,则所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内;若处于上坡行驶状态,则通过所述坡道起步模块控制车辆行驶状态;若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。解决了在越野路况下仅靠驾驶员的速度设定使用巡航功能,可能造成人员和车辆的损伤的问题。

Description

一种车辆控制方法及装置
本申请要求在2017年12月27日提交中国专利局、申请号为201711448310.1、发明名称为“一种车辆控制方法及装置”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
技术领域
本发明涉及汽车领域,包括一种车辆控制方法及装置。
背景技术
为了提高车辆在越野路况下的通过性和操控性,很多车辆在出厂时装配了针对越野路况下的驾驶模式,例如针对雪地、沙地、泥地、岩石等路况下,通过控制车辆动力系统、四驱系统、车身稳定系统,从而优化车辆在上述越野路况下的驾驶性能。
现有技术中在车辆上装配的越野驾驶模式都是在相应的越野路况下,通过驾驶员开启相应功能后,主控制器控制各系统切换至对应模式,再利用预先调谐过的性能参数提升车辆越野性能,可帮助有经验的驾驶员在合理的加速踏板、制动踏板、转向输入情况下驾驶车辆,可轻易通过复杂的越野路况。如后述表一所示。
然而,车辆在越野(雪地、泥地、沙地、山路)路面行驶过程中会不断通过起伏路面,此时如果用户的驾驶经验欠缺或对当前路况熟悉度不够,就会导致对车辆的控制不精准,即使选择了对应的越野模式,但驾驶员仍可能对动力输出和制动请求的及时性上存在误差,往往会致使车辆在爬坡、坑洼路和下坡过程中无法顺利通过,出现打滑、溜坡或被困等现象。故现有的越野模式控制系统中,下坡路况由陡坡缓降控制模块(HDC)来对车辆进行稳定性控制,但对爬坡工况缺少有效控制。自动驻车模块(AVH)与坡道起步功模块(HHC)只在爬坡起步初期帮助驾驶员平稳起步,当车辆起步后则退出工作,故无法实现在爬坡过程中的精准控制。此外,在相对平坦路况下,车辆无法对当前越野路况进行自动适应控制,虽然定速巡航/自适应巡航模块(CC/ACC)可实现车速的自动控制,但在越野路况下仅仅依靠驾驶员的速度设定直接使用巡航功能,可能存在一定的危险,造成人员和车辆的损伤。
发明内容
有鉴于此,由于现有技术中在越野路况下仅靠驾驶员的速度设定使用巡航功能,不能精确控制车辆在稳定状态下行驶而可能造成人员和车辆的损伤的问题。
为解决上述问题,本发明实施例提出的其中一种技术方案是这样实现的:
一种车辆控制方法,所述车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,所述方法可以包括:当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态;若检测到所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态;若所述车辆处于下坡行驶状态,则所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内;若所述车辆处于上坡行驶状态,则所述整车控制模块通过所述坡道起步模块控制车辆行驶状态;若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
进一步的,所述方法还可以包括:若检测到所述越野路面巡航功能处于未开启状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
进一步的,所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内的步骤,可以包括:若所述车辆处于下坡行驶状态,通过所述整车控制模块获取所述车辆的当前行驶速度;若所述行驶速度超过第一预设阈值,则触发所述陡坡缓降控制模块,调用电子稳定控制系统ESP对所述车辆进行制动,直至所述当前行驶速度小于所述第一预设阈值。
进一步的,所述整车控制模块通过所述坡道起步模块控制车辆行驶状态的步骤,可以包括:若所述车辆处于上坡行驶状态,通过检测所述车辆的车辆行驶信息,获取所述车辆的驾驶状态以及发动机可用扭矩;所述车辆行驶信息可以至少包括,加速踏板开度信号、发动机故障信号、净扭矩信号、发动机转速信号、档位信号中的一项或多项;所述整车控制模块根据所述车辆的驾驶状态以及发动机可用扭矩,控制发动机牵引力,以控制车辆行驶状态。
进一步的,所述若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态的步骤,可以包括:所述若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能开启的对应模式,获取所述车辆的发动机管理系统、变速器控制系统、四驱系统、悬架、电子稳定控制系统、人机交互系统的预设参数;根据所述车辆各系统的预设参数,控制所述车辆的行驶状态。
相对于现有技术,本发明所述的车辆控制方法至少具有以下优势:基于当前现有的越野模式控制系统开启时,通过角度判断模块判断所述车辆的行驶坡度状态,若车辆处于下坡行驶状态,则整车控制模块通过陡坡缓降控制模块HDC控制车辆行驶速度在第一预设阈值内,若车辆处于上坡行驶状态,则整车控制模块通过坡道起步模块HHC控制车辆行驶状态,它集成了现有的HDC、HHC功能以控制车辆下坡,新开发出爬坡的连续控 制策略以提高上坡的安全性,新开发出普通越野路况下速度巡航控制功能以实现车辆车速控制,保持动力输出平稳,具有在下坡时防止由于坡度过大导致车速过快,致使车辆失控,在上坡时控制车辆按照一定车速上坡,减少爬坡过程中由于人为干预造成的动力输出不足或过剩,造成溜坡或冲坡现象的有益效果。
本发明的另一目的在于提出一种车辆控制装置,所述车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,所述装置可以包括:检测模块,用于当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态;坡度状态判断模块,用于若检测到所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态;下坡控制模块,用于若所述车辆处于下坡行驶状态,则所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内;上坡控制模块,用于若所述车辆处于上坡行驶状态,则所述整车控制模块通过所述坡道起步模块控制车辆行驶状态;非坡道行驶模块,用于若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
进一步的,所述装置还可以包括:越野行驶控制模块,用于若检测到所述越野路面巡航功能处于未开启状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
进一步的,所述下坡控制模块,可以包括:车速获取子模块,用于若所述车辆处于下坡行驶状态,通过所述整车控制模块获取所述车辆的当前行驶速度;车速控制子模块,用于若所述行驶速度超过第一预设阈值,则触发所述陡坡缓降控制模块,调用电子稳定控制系统ESP对所述车辆进行制动,直至所述当前行驶速度小于所述第一预设阈值。
进一步的,所述上坡控制模块,可以包括:驾驶状态获取子模块,用于若所述车辆处于上坡行驶状态,通过检测所述车辆的车辆行驶信息,获取所述车辆的驾驶状态以及发动机可用扭矩;所述车辆行驶信息至少包括,加速踏板开度信号、发动机故障信号、净扭矩信号、发动机转速信号、档位信号中的一项或多项;控制子模块,用于所述整车控制模块根据所述车辆的驾驶状态以及发动机可用扭矩,控制发动机牵引力,以控制车辆行驶状态。
进一步的,所述非坡道行驶模块,可以包括:行驶参数获取子模块,用于所述若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能开启的对应模式,获取所述车辆的发动机管理系统、变速器控制系统、四驱系统、悬架、电子稳定控制系统、人机交互系统的预设参数;车辆控制子模块,用于根据所述车辆各系统的预设参数,控制所述车辆的行驶状态。
所述一种车辆控制装置与上述一种车辆控制方法相对于现有技术所具有的优势相 同,在此不再赘述。
上述说明仅是本发明技术方案的概述,为了能够更清楚了解本发明的技术手段,而可依照说明书的内容予以实施,并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂,以下特举本发明的具体实施方式。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解,本发明的示意性实施例及其说明用于解释本发明,并不构成对本发明的不当限定。在附图中:
图1为本发明实施例一所述的一种车辆控制方法的流程图;
图2为本发明实施例一中整车控制模块中OCC开启状态判断流程示意图;
图3为本发明实施例一中汽车受力示意图;
图4为本发明实施例一整车控制架构图;
图5为本发明实施例二所述的一种车辆控制方法的流程图;
图6为本发明实施例三所述的一种车辆控制装置的结构框图;
图7为本发明实施例三所述的一种车辆控制装置的结构框图;
图8示意性地示出了用于执行根据本发明的方法的电子装置的框图;以及
图9示意性地示出了用于保持或者携带实现根据本发明的方法的程序代码的存储单元。
具体实施例
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例,然而应当理解,可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反,提供这些实施例是为了能够更透彻地理解本公开,并且能够将本公开的范围完整的传达给本领域的技术人员。
需要说明的是,在不冲突的情况下,本发明中的实施例及实施例中的特征可以相互组合。
名词解释:
EMS:Engine Management System发动机管理系统
TCU:Transmission Control Unit变速器控制系统
ESP:Electronic Stability Program电子稳定控制系统
TCS:Traction Control System牵引力控制系统(ESP子功能)
OCC:Off-road Cruise Control越野路面巡航系统
HDC:Hill Descent Control陡坡缓降控制
AVH:Automatic Vehicle Hold自动驻车功能
HHC:Hill Hold Control坡道起步功能
CC/ACC:Cruise Control/adaptive cruise control定速巡航/自适应巡航
VCU:Vehicle Control Unit整车控制器
ABM:Airbag Module安全气囊控制器
HMI:Human Machine Interface人机交互系统
越野路况驾驶模式:为了提高车辆在越野路况下的通过性和操控性,很多主机厂开发出了针对越野路况下的驾驶模式,以此优化车辆动力系统、四驱系统、车身稳定系统性能,帮助驾驶员在户外行驶、脱困。目前越野路况下典型的驾驶模式包括雪地、沙地、泥地、岩石模式,各模式下车辆动力系统、四驱系统、车身稳定系统表现可描述为:各驾驶模式由一个旋钮开关或多个按键独立控制,当驾驶员在越野路况下开启对应驾驶模式,主控制器控制各系统切换至对应模式,利用预先调谐过的性能参数提升车辆越野性能,有经验的驾驶员在合理的加速踏板、制动踏板、转向输入情况下驾驶车辆,可轻易通过复杂的越野工况,如表一所示:
Figure PCTCN2018123993-appb-000001
表一
下面将参考附图并结合实施例来详细说明本发明。
实施例一
参照图1,为本发明实施例所述的一种车辆控制方法的流程图,所述车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,具体可以包括如下步骤:
步骤101,当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态。
本发明实施例中,越野路面巡航功能(off-road cruise control,OCC)是基于当前现有的越野模式控制系统上开发的,它集成了现有的HDC、HHC功能以控制车辆下坡,当车辆启动时,整车控制模块通过检测越野路面巡航功能的开启信号,进一步检测越野路面巡航功能是否处于开启状态。其中,当驾驶员操作驾驶模式开关时,开关模块发送驾驶模式开关信号(DrivingMode)经过本地连接网络(Local Interconnect Network,LIN)总线至车身控制模块(body control module,BCM),车身控制模块将驾驶模式开关信号(DrivingMode)转化为模式信号(DrvMod)转发至CAN(Controller Area Network)总线,然后由CAN总线将模式信号(DrvMod)转发至整车控制模块。整车控制模块向各子系统发送模式请求信号(VCU_DrvMod),各子系统根据整车控制器的模式请求信号正确响应后,将各自的状态信号反馈至整车控制模块,此时主控制模块发送模式显示信号至仪表盘(Instrument Panel,IP)。例如,如图2所示的,车辆以某一驾驶模式行驶,当OCC开关被按下时,越野巡航开关信号(OffRoad_CC)经过LIN线发送至车身控制模块BCM,车身控制模块BCM将越野巡航开关信号(OffRoad_CC)转化为越野巡航信号(OffRoad_CC_Req)转发至CAN总线,整车控制模块接收此信号以判断驾驶员的越野巡航请求。
实际应用中,越野路面巡航功能的开启指令可由触发越野路面巡航功能开关生成,开启越野路面巡航功能的指令可以通过预设的越野路面巡航功能开关触发,该开关可以是设置在车辆控制面板上的物理按键,也可以是设置在行车电脑触控屏幕上的触控按键,本发明实施例对此不加以限制。
步骤102,若检测到所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态。
本发明实施例中,若检测到越野路面巡航功能处于开启状态,即检测到OCC开关被按下,OffRoad_CC_Req=active时,整车控制模块通过角度判断模块获取车辆当前倾斜角度,并根据该角度进行判断车辆当前行驶路况的坡度。其中,当车辆在路面行驶时,需克服地面的滚动阻力F f、来自空气的空气阻力F w;当汽车在坡道上上坡行驶时,需克服坡度阻力F i;当车辆加速行驶时还需克服加速阻力F j,如图3所示,
∑F=F w+F i+F j+F f  (1)
Figure PCTCN2018123993-appb-000002
F i=Gsinα    (3)
F f=μGcosα  (4)
其中:
F w——空气阻力,可通过空气阻力系数Cd、车辆迎风面积A、空气密度ρ、相对速度u r计算。此阻力在实际的开发中利用公式可计算得出,本设计为方便公式表达在后续计算中未体现此阻力。
F i——坡道阻力,汽车重力沿坡道的分力表现为汽车坡度阻力,G为作用于汽车上的重力,G=mg,m为汽车质量,g为重力加速度,α为坡度。
F j——加速阻力,汽车加速行驶时,需克服其质量加速运动时的惯性力。本发明旨在控制车辆匀速(或较小加速度)上坡行驶,故在倾斜角判断模块中不计算加速阻力,在越野巡航模块中考虑此阻力。
F f——滚动阻力,垂直于坡道路面的汽车重力分力为Gcosα,路面摩擦系数为μ。
当车辆在坡道上起步或以某一速度行驶时,有以下公式:
∑F=F f+F w+F i+F j=F i+F f=mgsinα+μmgcosα  (5)
变化可得
gsinα+μgcosα=a  (6)
通过在CAN总线上查看安全气囊控制器(Airbag Module,ABM)发送的Ax信号值LgtAccel,可知车辆当前加速度a,故:
当车辆在坡道静止时,LgtAccel=gsinα,以此可求坡道角度α;
当车辆在坡道以一定速度行驶时,LgtAccel=gsinα+μgcosα,以此可求坡道角度α。
根据坡道角度α与预设阈值的对比,可以具体得知当前车辆的坡度状态是上坡、下坡或平缓路况。在一实施例中,预设阈值的范围例如为0±5%。
步骤103,若所述车辆处于下坡行驶状态,则所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内。
本发明实施例中,如图4所示,如果坡度判断模块检测到车辆处于下坡状态时,整车控制器VCU按照下坡控制模式协调各子系统,例如,将当前车辆的驾驶模式(例如, 越野路况对应驾驶模式)控制信号发送至发动机管理模块EMS,变速器控制模块TCU、四驱控制模块、车辆悬架状态、电子稳定控制模块,执行对应模式的预设策略(如表一中描述的)。当检测到车辆下坡时,可按照陡坡缓降功能控制车辆,在一实施例中,此时的模式可以与当前车辆驾驶模式无关。检测到车辆下坡时陡坡缓降功能即会工作。
步骤104,若所述车辆处于上坡行驶状态,则所述整车控制模块通过所述坡道起步模块控制车辆行驶状态。
本发明实施例中,如图4所示,如果角度判断模块检测到车辆处于上坡状态时,整车控制器VCU按照上坡控制模式协调各子系统,例如,将当前车辆的驾驶模式(例如,越野路况对应驾驶模式)控制信号发送至发动机管理模块EMS,变速器控制模块TCU、四驱控制模块、车辆悬架状态、电子稳定控制模块,执行对应模式的预设策略(如表一中描述的)。
步骤105,若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
本发明实施例中,如图4所示,如果角度判断模块检测到车辆处于非坡道工况时,则判断驾驶员有越野巡航请求,整车控制器VCU按照越野巡航模式协调各子系统,例如,将当前车辆的驾驶模式(例如,越野路况对应驾驶模式)控制信号发送至发动机管理模块EMS,变速器控制模块TCU、四驱控制模块、车辆悬架状态、电子稳定控制模块,执行对应模式的预设策略(如表一中描述的)。在一实施例中,越野巡航模式是与驾驶模式并行的模式,如图2所示,当越野巡航请求激活时,驾驶模式信号不会激活。
在本发明实施例中,当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态;若所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态;若处于下坡行驶状态,则所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内;若处于上坡行驶状态,则通过所述坡道起步模块控制车辆行驶状态;若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。在越野路况下实现了车辆车速控制,保持动力输出平稳的目的。
实施例二
参照图5,为本发明实施例所述的一种车辆控制方法的流程图,车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,具体可以包括如下步骤:
步骤201,当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态。
此步骤与步骤101相同,在此不再详述。
步骤202,若检测到所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态。
此步骤与步骤102相同,在此不再详述。
步骤203,若所述车辆处于下坡行驶状态,通过所述整车控制模块获取所述车辆的当前行驶速度。
本发明实施例中,若所述车辆处于下坡行驶状态,通过安装在当前车辆上的感应元件获取测量的当前行驶速度。
步骤204,若所述当前行驶速度超过第一预设阈值,则触发所述陡坡缓降控制模块,调用电子稳定控制系统ESP对所述车辆进行制动,直至所述当前行驶速度小于所述第一预设阈值。
本发明实施例中,当车速超过一定门限(如8kph)时,即第一阈值,则触发陡坡缓降控制模块HDC功能,通过ESP系统施加制动压力,控制车速在一定范围内,例如8±1kph。当车速超过60kph,则此功能将被关闭,若需使用,则需要重新按下陡坡缓降控制模块对应开关按钮来打开该功能。
步骤205,若所述车辆处于上坡行驶状态,通过检测所述车辆的车辆行驶信息,获取所述车辆的驾驶状态以及发动机可用扭矩;所述车辆行驶信息至少包括,加速踏板开度信号、发动机故障信号、净扭矩信号、发动机转速信号、档位信号中的一项或多项。
本发明实施例中,当角度判断模块判断车辆处于上坡状态时,此时为保证车辆不溜坡、平稳、以一定的加速度起步:
a.整车控制器根据加速踏板开度信号、发动机净扭矩信号、发动机转速信号、档位信号判断驾驶员意图以及当前发动机可用扭矩;在一实施例中,发动机外有特性为在一定的转速、一定的油门踏板开度下即可获得当前发动机扭矩,再根据试验测得的发动机效率,机械损失,即可得到以上数据。且以上信号在CAN网络中已经存在,因此能够容易地获得。
b.整车控制器根据四轮轮速信号、车辆偏航角速度YawRate信号、手刹或EPB工作信号、制动灯信号、识别车辆运动状态及车轮滑移率;
c.结合车辆纵向加速度信号LgtAccel计算坡度α;车辆起步时发动机需克服的力为mgsinα;
d.车辆起步瞬间,车辆产生一定的加速度a,整车控制器设定a在一定范围内(如0.2-0.3g),此时发动机需提供牵引力如公式(7)所示,整车控制器自动控制发动机转速以及目标档位以保证发动机牵引力。
F t=F i+F f+ma=mgsinα+μmgcosα+ma   (7)
步骤206,所述整车控制模块根据所述车辆的驾驶状态以及发动机可用扭矩,控制发动机牵引力,以控制车辆行驶状态。
本发明实施例中,车辆起步后,车辆以一定速度匀速向上行驶,速度范围可以由开发人员设定,根据公式(5),此时发动机需提供牵引力为mgsinα+μmgcosα,整车控制器自动控制发动机转速以及目标档位以保证发动机牵引力,进而控制车辆行驶状态趋于稳定。
步骤207,所述若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能开启的对应模式,获取所述车辆的发动机管理系统、变速器控制系统、四驱系统、悬架、电子稳定控制系统、人机交互系统的预设参数。
本发明实施例中,当坡度判断模块判断当前车辆倾斜角在一定范围内或无倾斜角时,判断车辆在平坦路面上,若此时OCC开关仍被按下,则认为驾驶员请求越野巡航功能。
当OffRoad_CC_Req=active时,整车控制器根据公式(1)可计算当前发动机需求牵引力,进而得到需求扭矩,并控制各系统进行如下协调:
EMS系统:响应整车控制器发送的扭矩请求,输出恒定的或在一定波动范围内的实际扭矩;在一实施例中,实际扭矩可以从CAN网络直接采集。
TCU系统:响应整车控制器发送的档位控制,同时根据发动机转速、油门踏板深度、车速信息控制车辆当前档位和目标档位;
四驱系统:响应整车控制器的驱动指令,同时车辆进入低速四驱模式,中央差速器锁止,车辆进入全时四驱;
悬架:升至最高
ESP系统:检测车轮状态,控制车轮滑移率在一定范围内,防止车轮打滑过多造成动力损失。这里的一定范围,例如为10%-18%,但是也可以由开发人员设定或者查表获得,该范围可以时刻根据车速、车减速度而变化。整体原则为保证最大程度范围内利用轮胎与地面接触的纵向力,缩短制动距离,同时保证具备一定的转向能力。
λ——车轮滑移率,-∞<λ≤100%
Figure PCTCN2018123993-appb-000003
其中,V为车速,r为轮胎的滚动半径,ω为轮转速。
其中,车辆滑移率可以表示为:
Figure PCTCN2018123993-appb-000004
HMI系统:仪表上会有指示灯对于越野进程状态进行指示,显示坡度及正在上坡或下坡,并显示当前驾驶员设定车速,和系统默认安全车速范围。
在越野巡航模式下,各子系统通过相应的响应协同工作,使车辆在不同的越野路面上自动控制油门开度和制动保持车辆的匀速行驶,驾驶员只负责掌握方向即可。
步骤208,根据所述车辆各系统的预设参数,控制所述车辆的行驶状态。
本发明实施例中,如上述步骤中描述的,各系统,例如EMS系统、TCU系统、四驱系统、悬架、ESP系统、HMI系统等按照预设模式对应参数进行工作,以保证车辆在稳定状态行驶。此处的预设模式可以为车辆处于越野模式下的非坡道路面,此时根据驾驶员选择的车速进行扭矩控制,控制过程如上坡牵引力扭矩计算过程。对应的参数即为实际计算的扭矩参数。
步骤209,若检测到所述越野路面巡航功能处于未开启状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
本发明实施例中,当整车控制器中OCC判断模块检测到OCC开关未被按下,OffRoad_CC_Req=not active时,将根据驾驶模式开关信号进行车辆控制,如表一中显示的各越野状态行驶模式,整车控制模块将对应信号发送至各系统,控制各系统,例如EMS系统、TCU系统、四驱系统、悬架、ESP系统、HMI系统等按照预设模式对应参数进行工作,以保证车辆在稳定状态行驶。
在本发明实施例中,通过现有车辆上传感器以及CAN总线信号,通过计算车辆倾斜角度判断车辆状态,当检测到车辆处于上坡状态时,整车控制器计算起步时爬坡扭矩、起步后稳定行驶时牵引扭矩进而控制车辆平稳爬坡;当检测到车辆处于下坡状态时,整车控制器检测车速信息,通过ESP控制制动执行器保证下坡速度;当检测到车辆处于平坦路面且驾驶员有越野巡航请求时,整车控制器控制各动力系统、车辆四驱硬件进入越野模式,通过ESP系统减小车辆打滑,进而实现越野路况下更精确的车辆巡航控制。
实施例三
参照图6,为本发明实施例所述的一种车辆控制装置的结构框图,所述车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,具体包括以下模块,
检测模块301、坡度状态判断模块302、下坡控制模块303、上坡控制模块304、非坡道行驶模块305。
参照图7下面分别详细介绍各模块的功能以及各模块之间的交互关系。
检测模块301,用于当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态;
坡度状态判断模块302,用于若检测到所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态;
下坡控制模块303,用于若所述车辆处于下坡行驶状态,则所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内;
上坡控制模块304,用于若所述车辆处于上坡行驶状态,则所述整车控制模块通过所述坡道起步模块控制车辆行驶状态;
非坡道行驶模块305,用于若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
优选地,所述下坡控制模块303,包括:
车速获取子模块,用于若所述车辆处于下坡行驶状态,通过所述整车控制模块获取所述车辆的当前行驶速度;
车速控制子模块,用于若所述行驶速度超过第一预设阈值,则触发所述陡坡缓降控制模块,调用电子稳定控制系统ESP对所述车辆进行制动,直至所述当前行驶速度小于所述第一预设阈值。
优选地,所述上坡控制模块304,包括:
驾驶状态获取子模块,用于若所述车辆处于上坡行驶状态,通过检测所述车辆的车辆行驶信息,获取所述车辆的驾驶状态以及发动机可用扭矩;所述车辆行驶信息至少包括,加速踏板开度信号、发动机故障信号、净扭矩信号、发动机转速信号、档位信号中的一项或多项;
控制子模块,用于所述整车控制模块根据所述车辆的驾驶状态以及发动机可用扭矩,控制发动机牵引力,以控制车辆行驶状态。
优选地,所述非坡道行驶模块305,包括:
行驶参数获取子模块,用于所述若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能开启的对应模式,获取所述车辆的发动机管理系统、变速器控制系统、四驱系统、悬架、电子稳定控制系统、人机交互系统的预设参数;
车辆控制子模块,用于根据所述车辆各系统的预设参数,控制所述车辆的行驶状态。
优选地,该车辆控制装置还包括:
越野行驶控制模块306,用于若检测到所述越野路面巡航功能处于未开启状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
在本发明实施例中,通过现有车辆上传感器以及CAN总线信号,通过计算车辆倾斜 角度判断车辆状态,当检测到车辆处于上坡状态时,整车控制器计算起步时爬坡扭矩、起步后稳定行驶时牵引扭矩进而控制车辆平稳爬坡;当检测到车辆处于下坡状态时,整车控制器检测车速信息,通过ESP控制制动执行器保证下坡速度;当检测到车辆处于平坦路面且驾驶员有越野巡航请求时,整车控制器控制各动力系统、车辆四驱硬件进入越野模式,通过ESP系统减小车辆打滑,进而实现越野路况下更精确的车辆巡航控制。
以上所描述的装置实施例仅仅是示意性的,其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下,即可以理解并实施。
本发明的各个部件实施例可以以硬件实现,或者以在一个或者多个处理器上运行的软件模块实现,或者以它们的组合实现。本领域的技术人员应当理解,可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的电子装置中的一些或者全部部件的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如,计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上,或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到,或者在载体信号上提供,或者以任何其他形式提供。
例如,图8示出了可以实现根据本发明的车辆控制方法的电子装置,例如车载计算机。该电子装置传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如,用于程序代码的存储空间1030可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1031。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘,紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图9所述的便携式或者固定存储单元。该存储单元可以具有与图8的电子装置中的存储器1020类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常,存储单元包括计算机可读代码1031’,即可以由例如诸如1010之类的处理器读取的代码,这些代码当由电子装置运行时,导致该电子装置执行上面所描述的方法中的各个步骤。
本文中所称的“一个实施例”、“实施例”或者“一个或者多个实施例”意味着, 结合实施例描述的特定特征、结构或者特性包括在本发明的至少一个实施例中。此外,请注意,这里“在一个实施例中”的词语例子不一定全指同一个实施例。
在此处所提供的说明书中,说明了大量具体细节。然而,能够理解,本发明的实施例可以在没有这些具体细节的情况下被实践。在一些实例中,并未详细示出公知的方法、结构和技术,以便不模糊对本说明书的理解。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制,并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中,不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中,这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
此外,还应当注意,本说明书中使用的语言主要是为了可读性和教导的目的而选择的,而不是为了解释或者限定本发明的主题而选择的。因此,在不偏离所附权利要求书的范围和精神的情况下,对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。对于本发明的范围,对本发明所做的公开是说明性的,而非限制性的,本发明的范围由所附权利要求书限定。
最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (12)

  1. 一种车辆控制方法,其特征在于,所述车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,所述方法包括:
    当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态;
    若检测到所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态;
    若所述车辆处于下坡行驶状态,则由所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内;
    若所述车辆处于上坡行驶状态,则由所述整车控制模块通过所述坡道起步模块控制车辆行驶状态;
    若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
  2. 根据权利要求1所述的车辆控制方法,其特征在于,还包括:
    若检测到所述越野路面巡航功能处于未开启状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
  3. 根据权利要求1所述的车辆控制方法,其特征在于,所述若所述车辆处于下坡行驶状态,整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内的步骤,包括:
    若所述车辆处于下坡行驶状态,通过所述整车控制模块获取所述车辆的当前行驶速度;
    若所述当前行驶速度超过第一预设阈值,则触发所述陡坡缓降控制模块,调用电子稳定控制系统对所述车辆进行制动,直至所述当前行驶速度小于所述第一预设阈值。
  4. 根据权利要求1所述的车辆控制方法,其特征在于,所述若所述车辆处于上坡行驶状态,整车控制模块通过所述坡道起步模块控制车辆行驶状态的步骤,包括:
    若所述车辆处于上坡行驶状态,通过检测所述车辆的车辆行驶信息,获取所述车辆的驾驶状态以及发动机可用扭矩;所述车辆行驶信息至少包括:加速踏板开度信号、发动机故障信号、净扭矩信号、发动机转速信号、档位信号中的一项或多项;
    由所述整车控制模块根据所述车辆的驾驶状态以及发动机可用扭矩,控制发动机牵引力,以控制车辆行驶状态。
  5. 根据权利要求4所述的车辆控制方法,其特征在于,所述若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态的步骤,包 括:
    若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能开启的对应模式,获取所述车辆的发动机管理系统、变速器控制系统、四驱系统、悬架、电子稳定控制系统、人机交互系统的预设参数;
    根据所述车辆各系统的预设参数,控制所述车辆的行驶状态。
  6. 一种车辆控制装置,其特征在于,所述车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,所述装置包括:
    检测模块,用于当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态;
    坡度状态判断模块,用于若检测到所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态;
    下坡控制模块,用于若所述车辆处于下坡行驶状态,则由所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内;
    上坡控制模块,用于若所述车辆处于上坡行驶状态,则由所述整车控制模块通过所述坡道起步模块控制车辆行驶状态;
    非坡道行驶模块,用于若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
  7. 根据权利要求6所述的车辆控制装置,其特征在于,还包括:
    越野行驶控制模块,用于若检测到所述越野路面巡航功能处于未开启状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
  8. 根据权利要求6所述的车辆控制装置,其特征在于,所述下坡控制模块,包括:
    车速获取子模块,用于若所述车辆处于下坡行驶状态,通过所述整车控制模块获取所述车辆的当前行驶速度;
    车速控制子模块,用于若所述行驶速度超过第一预设阈值,则触发所述陡坡缓降控制模块,调用电子稳定控制系统对所述车辆进行制动,直至所述当前行驶速度小于所述第一预设阈值。
  9. 根据权利要求6所述的车辆控制装置,其特征在于,所述上坡控制模块,包括:
    驾驶状态获取子模块,用于若所述车辆处于上坡行驶状态,通过检测所述车辆的车辆行驶信息,获取所述车辆的驾驶状态以及发动机可用扭矩;所述车辆行驶信息至少包括:加速踏板开度信号、发动机故障信号、净扭矩信号、发动机转速信号、档位信号中的一项或多项;
    控制子模块,用于由所述整车控制模块根据所述车辆的驾驶状态以及发动机可用扭 矩,控制发动机牵引力,以控制车辆行驶状态。
  10. 根据权利要求9所述的车辆控制装置,其特征在于,所述非坡道行驶模块,包括:
    行驶参数获取子模块,用于所述若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能开启的对应模式,获取所述车辆的发动机管理系统、变速器控制系统、四驱系统、悬架、电子稳定控制系统、人机交互系统的预设参数;
    车辆控制子模块,用于根据所述车辆各系统的预设参数,控制所述车辆的行驶状态。
  11. 一种计算机程序,包括计算机可读代码,当所述计算机可读代码在电子装置上运行时,导致所述电子装置执行根据权利要求1-5中的任一个所述的车辆控制方法。
  12. 一种计算机可读介质,其中存储了如权利要求11所述的计算机程序。
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