The invention discloses an abrupt slope slow descent pre-control method based on a longitudinal slope angle. The method comprises the steps of obtaining the longitudinal slope angle of the current position of a vehicle; judging whether the longitudinal slope angle is greater than a preset longitudinal slope angle; if the longitudinal slope angle is larger than a preset longitudinal slope angle, determining a slope pre-control force value based on the obtained current vehicle speed and the vehicle acceleration; obtaining the wheel end braking force sent by the abrupt slope slow descending assembly; and correcting the gradient pre-control force value based on the wheel end braking force to obtain an abrupt slope slow descent resultant force, and outputting the abrupt slope slow descent resultant force, so that the vehicle is continuously subjected to deceleration control of the abrupt slope slow descent resultant force. According to the method, the vehicle speed control time when the vehicle descends on the abrupt slope can be shortened, reverse towing torque is applied to the whole vehicle through abrupt slope slow descent pre-control based on the longitudinal slope angle, some time is reserved for intervention of the HDC, the vehicle speed of the vehicle is stabilized through mutual cooperation of the two functions, and the vehicle driving safety of a user is improved.

    本发明公开了一种基于纵向坡度角的陡坡缓降预控方法,包括:获取车辆当前位置的纵向坡度角;判断所述纵向坡度角是否大于预设纵向坡度角;若所述纵向坡度角大于预设纵向坡度角时,基于获取的当前车速和整车加速度确定坡度预控力值;获取陡坡缓降组件发送的轮端制动力;基于所述轮端制动力修正所述坡度预控力值得到陡坡缓降合力,输出所述陡坡缓降合力,使得车辆持续受到所述陡坡缓降合力的减速控制。本发明的实施能够降低车辆陡坡下行时车速的控制时间,通过基于纵向坡度角的陡坡缓降预控先对整车施加倒拖扭矩,为HDC的介入预留一些时间,两个功能互相配合来稳定车辆的车速,提高了用户驾驶车辆的安全性。


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    Title :

    Abrupt slope slow descent pre-control method based on longitudinal slope angle


    Additional title:

    一种基于纵向坡度角的陡坡缓降预控方法及装置


    Contributors:
    DING SHAOBING (author) / YAN ZHONGYI (author) / ZHANG DANG (author) / LIU GUORUI (author) / ZHANG GUOXIANG (author)

    Publication date :

    2021-07-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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