CN-114523974-B - Vehicle getting rid of poverty method and device, electronic equipment and vehicle

CN114523974BCN 114523974 BCN114523974 BCN 114523974BCN-114523974-B

Abstract

The invention provides a vehicle getting rid of poverty method and device, electronic equipment and a vehicle. The method comprises the steps of adjusting a vehicle gear to be fixed to the lowest gear in a escaping mode, determining a vehicle state according to vehicle weight information, determining ascending target torque according to the current pedal opening and the vehicle state, taking the ascending target torque as an adjusting target, adjusting the current torque according to an escaping torque adjusting slope, and enabling the escaping torque adjusting slope to be smaller than a conventional torque adjusting slope in a normal running mode. Therefore, the torque and the power of the driving wheels can be gradually increased to the more reasonable ascending target torque corresponding to the current vehicle state, so that the success rate of autonomous escape of the trapped vehicle is improved, and the safety performance of the driving vehicle is improved.

Inventors

WANG ZIYE
LI YANG
SONG HUI
XIONG YANFENG
LU MINGZHE
DONG XUYANG

Assignees

北汽福田汽车股份有限公司

Dates

Publication Date: 20260508
Application Date: 20220223

Claims (7)

1. A method of vehicle escape, the method comprising: in the escaping mode, adjusting the gear of the vehicle to be fixed to the lowest gear; Determining a vehicle state according to the vehicle weight information, wherein the vehicle state comprises a full load state and an empty load state; determining a rising target torque according to the current pedal opening and the vehicle state; The ascending target torque is taken as an adjustment target, the current torque is adjusted according to the escaping torque adjustment slope, the torque is gradually increased, and the escaping torque adjustment slope is smaller than the conventional torque adjustment slope in the normal running mode; Wherein the method further comprises: in the process of adjusting the current torque according to the escaping torque adjusting slope, acquiring the rotating speed of the motor in real time; when the rotating speed of the motor is larger than a preset rotating speed threshold value, obtaining a descending target torque; Taking the descending target torque as an adjustment target, and adjusting the current torque according to the conventional torque adjustment slope within a preset adjustment time; when the preset adjustment time is exceeded, returning to the step of determining the ascending target torque according to the current pedal opening and the vehicle state until the vehicle exits the escape mode; wherein determining the ascending target torque according to the pedal opening and the vehicle state includes: When the vehicle state is a full load state, acquiring a full load escaping calibration table, wherein the full load escaping calibration table comprises an association relation between pedal opening and ascending target torque in the full load state; Acquiring a current pedal opening, and acquiring a corresponding ascending target torque from a full-load escaping calibration table according to the current pedal opening; when the vehicle state is an idle state, acquiring an idle release calibration table, wherein the idle release calibration table comprises the association relation between the pedal opening and the ascending target torque in the idle state; And acquiring the current pedal opening, and acquiring the corresponding ascending target torque from the no-load escaping calibration table according to the current pedal opening.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises, Determining a vehicle state from the weight information, comprising: Determining a vehicle weight value of the vehicle according to the driving force and the acceleration of the vehicle; When the vehicle weight value of the vehicle is greater than or equal to a first preset weight, determining that the vehicle state of the vehicle is the full-load state; And when the vehicle weight value of the vehicle is smaller than a first preset weight, determining that the vehicle state of the vehicle is the idle state.
3. The method according to claim 1, wherein the method further comprises: Acquiring first state information of a vehicle, wherein the first state information of the vehicle at least comprises a high-voltage connection state, a fault level of a whole vehicle controller, a getting-off switch state and a power takeoff state; when the high-voltage connection state is high-voltage connection, the fault level of the whole vehicle controller is not more than three levels, the escape switch state is an effective state, and the power takeoff state is an uncombined state, the vehicle is controlled to enter an escape mode.
4. The method according to claim 1, wherein the method further comprises: in the getting rid of poverty mode, acquiring second state information of the vehicle, wherein the second state information of the vehicle at least comprises a high-voltage connection state, a fault level of a whole vehicle controller and a getting rid of poverty switch state; And when the high-voltage connection state is that the high voltage is not connected, or the fault level of the whole vehicle controller is greater than three levels, or the escape switch state is an invalid state, controlling the vehicle to exit the escape mode.
5. A vehicle escape apparatus, the apparatus comprising: the gear adjusting module is used for adjusting the gear of the vehicle to be fixed to the lowest gear in the escaping mode; The first determining module is used for determining a vehicle state according to the vehicle weight information, wherein the vehicle state comprises a full-load state and an empty-load state; The second determining module is used for determining the ascending target torque according to the current pedal opening and the vehicle state; the first torque adjusting module is used for adjusting the current torque according to the escaping torque adjusting slope by taking the ascending target torque as an adjusting target so as to gradually increase the torque, wherein the escaping torque adjusting slope is smaller than the conventional torque adjusting slope in the normal running mode; the first acquisition module is used for acquiring the rotating speed of the motor in real time in the process of adjusting the current torque according to the gradient of the escaping torque; The second acquisition module is used for acquiring the descending target torque when the rotating speed of the motor is larger than a preset rotating speed threshold value; the second torque adjusting module is used for taking the descending target torque as an adjusting target and adjusting the current torque according to the conventional torque adjusting slope within a preset adjusting time; The return module is used for returning to the step when the preset adjustment time is exceeded, wherein the rising target torque is determined according to the current pedal opening and the vehicle state until the vehicle exits the escape mode; the second determining module includes: the first acquisition submodule is used for acquiring a full-load escaping calibration table when the vehicle state is a full-load state, wherein the full-load escaping calibration table comprises an association relation between the pedal opening and the ascending target torque in the full-load state; A fourth determining submodule, configured to obtain a current pedal opening, and obtain a corresponding lifting target torque from the full load escaping calibration table according to the current pedal opening; The second acquisition submodule is used for acquiring an idle-load escaping calibration table when the vehicle state is an idle state, wherein the idle-load escaping calibration table comprises an association relation between the pedal opening and the ascending target torque in the idle state; and the fifth determining submodule is used for acquiring the current pedal opening and acquiring the corresponding ascending target torque from the no-load escaping calibration table according to the current pedal opening.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the vehicle getting rid of method according to any of claims 1 to 4.
7. A vehicle comprising a vehicle body and a vehicle escape device provided on the vehicle body for performing the vehicle escape method of any one of claims 1-4.

Description

Vehicle getting rid of poverty method and device, electronic equipment and vehicle Technical Field The invention relates to the technical field of vehicles, in particular to a vehicle getting rid of poverty method and device, electronic equipment and a vehicle. Background In the related art, when a vehicle is trapped, for example, when a front wheel or a rear wheel is trapped in a pit, a driver generally steps on an accelerator pedal to get rid of the trapped vehicle, even an auxiliary device needs to be additionally arranged, and the trapped vehicle can get rid of the trapped vehicle with the help of the auxiliary device or external force, so that great trouble is often brought to the driver. If the vehicle is trapped, the driver steps on the accelerator pedal, so that the torque on the wheels can be quickly increased, and the wheels are easy to slip and difficult to get rid of the trapped vehicle. Disclosure of Invention The embodiment of the invention provides a vehicle getting rid of trapping method, device, electronic equipment and a vehicle, aiming at realizing gradual increase of vehicle torque to reasonable getting rid of trapping torque according to different load conditions of the vehicle so as to avoid the problem that wheels slip to cause difficulty in getting rid of trapping and improve the getting rid of trapping effect of the vehicle. In order to solve the technical problems, the invention is realized as follows: In a first aspect, an embodiment of the present application provides a vehicle escaping method, including: in the escaping mode, adjusting the gear of the vehicle to be fixed to the lowest gear; Determining a vehicle state according to the vehicle weight information, wherein the vehicle state comprises a full load state and an empty load state; determining a rising target torque according to the current pedal opening and the vehicle state; And adjusting the current torque according to the escaping torque adjusting slope by taking the ascending target torque as an adjusting target, wherein the escaping torque adjusting slope is smaller than the conventional torque adjusting slope in the normal running mode. Optionally, the method further comprises: in the process of adjusting the current torque according to the escaping torque adjusting slope, acquiring the rotating speed of the motor in real time; when the rotating speed of the motor is larger than a preset rotating speed threshold value, obtaining a descending target torque; Taking the descending target torque as an adjustment target, and adjusting the current torque according to the conventional torque adjustment slope within a preset adjustment time; And when the preset adjustment time is exceeded, returning to the step of determining the ascending target torque according to the current pedal opening and the vehicle state until the vehicle exits the escape mode. Optionally, determining the vehicle state according to the vehicle weight information includes: Determining a vehicle weight value of the vehicle according to the driving force and the acceleration of the vehicle; When the vehicle weight value of the vehicle is greater than or equal to a first preset weight, determining that the vehicle state of the vehicle is the full-load state; And when the vehicle weight value of the vehicle is smaller than a first preset weight, determining that the vehicle state of the vehicle is the idle state. Optionally, determining the ascending target torque according to the pedal opening and the vehicle state includes: When the vehicle state is a full load state, acquiring a full load escaping calibration table, wherein the full load escaping calibration table comprises an association relation between pedal opening and ascending target torque in the full load state; And determining the ascending target torque according to the current pedal opening and the full load escaping calibration table. Optionally, determining the ascending target torque according to the pedal opening and the vehicle state includes: when the vehicle state is an idle state, acquiring an idle release calibration table, wherein the idle release calibration table comprises the association relation between the pedal opening and the ascending target torque in the idle state; and determining the ascending target torque according to the current pedal opening and the no-load escaping calibration table. Optionally, the method further comprises: Acquiring first state information of a vehicle, wherein the first state information of the vehicle at least comprises a high-voltage connection state, a fault level of a whole vehicle controller, a getting-off switch state and a power takeoff state; when the high-voltage connection state is high-voltage connection, the fault level of the whole vehicle controller is not more than three levels, the escape switch state is an effective state, and the power takeoff state is an uncombined state, the vehicle is controlled to enter an escape mode. O