CN108944931B

CN108944931B - Hill start assisting method and device in snowfield mode

Info

Publication number: CN108944931B
Application number: CN201710379472.6A
Authority: CN
Inventors: 孔凡茂; 牛小锋; 张士亮; 张凯邦; 周申光; 周铁; 马龙兴; 刘自敏; 郝兴; 贾具宾
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2017-05-25
Filing date: 2017-05-25
Publication date: 2020-06-12
Anticipated expiration: 2037-05-25
Also published as: CN108944931A

Abstract

The disclosure relates to a hill start assisting method and device in a snowfield mode, which are used for solving the technical problem that a vehicle slips on a slope when starting on a snowfield hill. The method comprises the following steps: when the control mode of a vehicle gearbox is detected to be a snow mode and the vehicle is on a slope, acquiring operation for controlling the vehicle to start; detecting whether a wheel cylinder pressure of a non-driven wheel of the vehicle is sufficient to stop the vehicle on the slope; releasing the wheel cylinder pressure of the driven wheel of the vehicle when the wheel cylinder pressure of the non-driven wheel is sufficient to stop the vehicle on the slope; outputting a tractive effort torque to the drive wheel; and releasing the wheel cylinder pressure of the non-driving wheel to drive the vehicle to start.

Description

Hill start assisting method and device in snowfield mode

Technical Field

The disclosure relates to the field of automobiles, in particular to a hill start assisting method and device in a snowfield mode.

Background

At present, most of large automobile brands are equipped with automatic transmission, and the automatic transmission automobiles are almost equipped with driving mode control systems, and the control systems can help drivers without experience and accurately control the vehicles under the condition of unfamiliarity with special road surface characteristics so as to improve the driving comfort and trafficability of the vehicles.

Currently, the most popular configurations of the driving mode mainly include an "economy mode (ECO)", "SPORT mode (SPORT)", "SNOW mode (SNOW)", and "STANDARD mode (stand)".

Among them, SNOW mode (SNOW) is suitable for roads covered by water, mud, grass, loose gravel or thin sand layer in cities, and is also used in special ice and SNOW environment. When the vehicle is started on a snowy horizontal road surface, if the vehicle is provided with a snowy mode function, the vehicle can be started in two-gear or three-gear, the slip rate of the driving wheels is monitored in real time, and when the slip rate reaches a certain Control threshold, an Electronic Stability Program (ESP) of the vehicle body sends a power torque Control or braking torque Control command by controlling a Traction Control System (TCS) to reduce the torque of the slipping wheels of a driving shaft and reduce the wheel slip, so that the vehicle can be started on the snowy horizontal road surface or a separated road surface.

However, if the vehicle is taking off on a snow hill, while the above snow mode control logic assists the vehicle in taking off, the vehicle may also experience the following two situations:

(1) if the vehicle engine applies too much torque to the drive axle, although the ESP will respond to reduce the drive axle torque, the response time is triggered with reference to the wheel slip threshold, i.e., the trigger threshold must be reached, and thus there is a time lag in the snow mode control system.

In this time difference range, the driving axle wheel and the snow slope road surface may slip, and even the road surface before the wheel starts is originally a snow road surface (for example, the surface adhesion coefficient μ is 0.3), and after the driving wheel and the road surface idle run or slip for several times, the road surface is not a snow road surface but a snow-like non-snow ground, and a mixed ice and snow road surface with an ice-like non-ice surface (for example, the surface adhesion coefficient μ is 0.1), so that the vehicle starts again more difficultly, and even the snow slope road surface start cannot be completed.

(2) If the torque applied to the drive shaft by the vehicle engine is too small, although the snowy slope road surface is not changed into the snowy road surface, the drive shaft torque does not provide the vehicle starting torque demand, and the vehicle slips down the slope, so that accidents such as traffic accidents, property loss, casualties and the like are caused.

It can be seen that in the current 'snow mode', there is a problem that the vehicle may not be able to start normally from a snow slope.

Disclosure of Invention

The invention aims to provide a hill start assisting method and device in a snowfield mode, which are used for solving the technical problem that a vehicle slips on a slope when a snowfield hill starts.

According to a first aspect of an embodiment of the present invention, there is provided a hill start assist method in a snow mode, including:

when the control mode of a vehicle gearbox is detected to be a snow mode and the vehicle is on a slope, acquiring operation for controlling the vehicle to start;

detecting whether a wheel cylinder pressure of a non-driven wheel of the vehicle is sufficient to stop the vehicle on the slope;

releasing the wheel cylinder pressure of the driven wheel of the vehicle when the wheel cylinder pressure of the non-driven wheel is sufficient to stop the vehicle on the slope;

outputting a tractive effort torque to the drive wheel;

and releasing the wheel cylinder pressure of the non-driving wheel to drive the vehicle to start.

Optionally, the method further includes:

monitoring state information of the vehicle, wherein the state information includes at least one of a vehicle speed, a wheel speed, a gear, a wheel cylinder pressure, a wheel acceleration, and a degree of inclination on a slope;

after detecting whether the wheel cylinder pressure of the non-driving wheel of the vehicle is sufficient to make the vehicle stationary on the slope, further comprising:

and if the wheel cylinder pressure of the non-driving wheel is not enough to make the vehicle stop on the slope, establishing the wheel cylinder pressure for the non-driving wheel based on the state information so that the wheel cylinder pressure of the non-driving wheel is enough to make the vehicle stop on the slope.

Optionally, after the operation for controlling the vehicle to start is obtained, the method further includes:

detecting a state of a parking brake of the vehicle;

when the parking brake is detected to be in a released state, outputting first prompt information through an instrument panel of the vehicle to prompt that the hill start assisting function in the snowfield mode of the driver is started; or the like, or, alternatively,

and when the parking brake is detected to be in a braking state, outputting second prompt information through an instrument panel of the vehicle to prompt a driver to release the parking brake.

Optionally, outputting tractive effort torque to the drive wheel, comprising:

and smoothly outputting traction torque to the driving wheel according to the stepping amount of an accelerator pedal of the vehicle and a preset torque gradient.

Optionally, the releasing the wheel cylinder pressure of the driving wheel of the vehicle includes:

releasing, by a body electronic stability system (ESP) of the vehicle, a wheel cylinder pressure of a drive wheel of the vehicle;

outputting tractive effort torque to the drive wheels, comprising:

outputting a traction torque to the drive wheels by a traction control system TCS of the vehicle;

releasing the wheel cylinder pressure of the non-driving wheel, including:

releasing the wheel cylinder pressure of the non-driving wheel through the ESP.

According to a second aspect of the embodiments of the present invention, there is provided a road start assisting device including:

the vehicle control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring operation for controlling the vehicle to start when detecting that an operation mode of a vehicle gearbox is a snowfield mode and the vehicle is on a slope;

a first detection module for detecting whether a wheel cylinder pressure of a non-driving wheel of the vehicle is sufficient to make the vehicle stationary on the slope;

a first release module for releasing a wheel cylinder pressure of a drive wheel of the vehicle when the wheel cylinder pressure of the non-drive wheel is sufficient to stop the vehicle on the slope;

the first output module is used for outputting traction force torque to the driving wheels;

and the second releasing module is used for releasing the wheel cylinder pressure of the non-driving wheel so as to drive the vehicle to start.

Optionally, the apparatus further comprises:

the monitoring module is used for monitoring state information of the vehicle, wherein the state information comprises at least one of vehicle speed, wheel speed, gear, wheel cylinder pressure, wheel acceleration and inclination degree on a slope;

and the establishing module is used for establishing wheel cylinder pressure for the non-driving wheels of the vehicle on the slope based on the state information if the wheel cylinder pressure of the non-driving wheels is not enough to make the vehicle still on the slope after detecting whether the wheel cylinder pressure of the non-driving wheels of the vehicle is enough to make the vehicle still on the slope.

Optionally, the apparatus further comprises:

a second detection module for detecting a state of a parking brake of the vehicle;

the second output module is used for outputting first prompt information through an instrument panel of the vehicle when the parking brake is detected to be in a braking state so as to prompt a driver to release the parking brake;

and the third output module is used for outputting second prompt information through an instrument panel of the vehicle when the parking brake is detected to be in a released state so as to prompt the driver that the hill start assisting function in the snowfield mode is started.

Optionally, the first output module is configured to:

Optionally, the first releasing module is configured to:

the first output module is configured to:

the second release module is configured to:

releasing the wheel cylinder pressure of the non-driving wheel through the ESP.

In the disclosed embodiment, when a driver starts on a slope of a snowy road surface by using the snow mode, whether the wheel cylinder pressure of the non-driving wheel of the vehicle is enough to support the vehicle to be stationary on the slope or not can be detected, if the wheel cylinder pressure of the non-driving wheel is enough to support the vehicle to be stationary on the slope, the wheel cylinder pressure of the driving wheel of the vehicle can be released, and the vehicle does not slide on a slope, and then the traction torque is output to the driving wheel, and the wheel cylinder pressure of the non-driving wheel is released, so that the vehicle is driven to. Through the technical scheme, the vehicle can assist a driver or a driver with insufficient driving experience to start smoothly on a snowy ground slope, so that the situation that the vehicle slides down the slope is avoided, the traffic accident rate is reduced, the safety of personnel in the vehicle is guaranteed, and the safety of the vehicle is improved. Meanwhile, the method can be realized by directly improving software in the existing logic control framework of the snow model, and other additional cost investment is not needed, so that the development cost is saved.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a flow chart illustrating a hill start assist method in a snow mode according to an exemplary embodiment.

Fig. 2 is an overall configuration diagram of a driving mode control system according to an exemplary embodiment.

Fig. 3 is a timing chart illustrating an operation of the driver to operate the vehicle to take off on a snowy hill according to an exemplary embodiment.

FIG. 4 is a diagram illustrating a dashboard hint control strategy, according to an exemplary embodiment.

FIG. 5 is a logic diagram illustrating a snow hill start control strategy according to one exemplary embodiment.

FIG. 6 is a block diagram illustrating a hill start assist device in a snow mode according to an exemplary embodiment.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

Fig. 1 is a flow chart illustrating a hill start assist method in a snow mode, which may be applied to a vehicle, as shown in fig. 1, including the following steps, according to an exemplary embodiment.

Step S11: when the control mode of the vehicle gearbox is detected to be the snow mode and the vehicle is located on a slope, acquiring operation for controlling the vehicle to start;

step S12: detecting whether the wheel cylinder pressure of a non-driving wheel of the vehicle is enough to make the vehicle stop on a slope;

step S13: releasing the wheel cylinder pressure of the driving wheel of the vehicle when the wheel cylinder pressure of the non-driving wheel is sufficient to make the vehicle stationary on the slope;

step S14: outputting traction torque to a driving wheel;

step S15: and releasing the wheel cylinder pressure of the non-driving wheel to drive the vehicle to start.

The vehicle in the embodiment of the present disclosure may be a vehicle of a two-drive (forward-drive or rear-drive) automatic transmission, for example, may be a forward-drive automatic transmission vehicle including two driven front wheels and two non-driven rear wheels, or the like.

The hill start assisting method in the snow mode in the embodiment of the disclosure may be implemented by adding snow hill start control logic in an original snow mode logic control framework, for example, a snow hill start assisting strategy, and implementing functions of the snow hill start assisting strategy module added to the snow mode. Referring to fig. 2, when a driver selects a snow mode through a vehicle driving mode switch, a signal command is transmitted to a Body Control Module (BCM) through a Local Interconnect Network (LIN) line, the BCM transmits a signal to an ESP through a CAN bus, and the ESP enters the driving mode Control strategy Module after receiving the command, and responds to a subsystem for verification, and enters the snow mode strategy Module after the verification is successful. And then the snowfield hill-start auxiliary strategy is in a standby state, whether the snowfield hill-start strategy can be successfully activated is judged according to the current vehicle state and the operation of a driver, if the activation is successful, the snowfield hill-start auxiliary strategy is entered, and the System such as an ESP (electronic stability program), an Engine Management System (EMS), a Transmission Control Unit (TCU) and the like is coordinated to finish the vehicle hill-start.

The snow hill start assist strategy is in a standby state when the vehicle is in a snow mode and is triggered when it is detected that the vehicle is on a hill and an operation is obtained that the driver intends to start on the hill. The embodiment of the present disclosure is not limited to how to detect whether the vehicle is on a slope, for example, the detection may be obtained by a gravity sensor mounted on the vehicle, and the like. The driver's take-off operation may be, for example, an operation to release the brake pedal. For example, if the control mode of the vehicle gearbox is detected to be the snow mode, the vehicle is located on a slope with the slope of 15%, and the vehicle speed is 0, then the operation of releasing the brake pedal by the driver is obtained, the driver can be considered to be ready to start, and then the snow hill start assisting strategy can be triggered.

When the vehicle is stopped on a slope, the wheel cylinder pressure is applied to each wheel, so that the whole vehicle can be stopped on the slope without sliding down. After the snowfield hill-start assist strategy is triggered, whether the wheel cylinder pressure exerted on the non-driving wheel of the vehicle can support the vehicle or not can be detected, and the detection mode is not limited in the embodiment of the disclosure, for example, whether the wheel cylinder pressure exerted on the non-driving wheel can support the vehicle without sliding can be determined by collecting parameters such as the current wheel speed, the wheel acceleration and the wheel cylinder pressure of the vehicle.

If it is detected that the wheel cylinder pressure exerted on the non-driving wheel is enough to stop the vehicle on the current slope and not to slide, the next step can be directly performed, and if the wheel cylinder pressure exerted on the non-driving wheel is not enough to stop the vehicle on the current slope and not to slide, the wheel cylinder pressure can be increased to the non-driving wheel until the wheel cylinder pressure of the non-driving wheel can support the vehicle and not to slide, and then the next step is performed.

Optionally, status information of the vehicle may be monitored, wherein the status information includes at least one of a vehicle speed, a wheel speed, a gear, a wheel cylinder pressure, a wheel acceleration, and a degree of inclination on a slope; after detecting whether the wheel cylinder pressure of the non-driven wheel of the vehicle is sufficient to stop the vehicle on the slope, if the wheel cylinder pressure of the non-driven wheel is insufficient to stop the vehicle on the slope, the wheel cylinder pressure may be established for the non-driven wheel based on the state information so that the wheel cylinder pressure of the non-driven wheel is sufficient to stop the vehicle on the slope.

That is, in the snow hill start assist strategy, the state information of the vehicle may be monitored in real time, when the wheel cylinder pressure of the non-driving wheel is not enough to make the vehicle stop on the slope, it may be determined how much wheel cylinder pressure is established for the non-driving wheel to support the vehicle according to the monitored state information of the vehicle, and then the wheel cylinder pressure is established for the non-driving wheel, and after the wheel cylinder pressure is established for the non-driving wheel, the left and right wheel cylinders of the non-driving wheel may be subjected to pressure maintaining, and the pressure maintaining value is enough to make the vehicle stop on the snow slope. In practice, the wheel cylinder pressure may be established for the non-driven wheels by the ESP system of the vehicle. In this way, the vehicle can be assisted in maintaining sufficient ground adhesion through the non-driven wheels to prevent the vehicle from rolling backwards.

When the wheel cylinder pressure of the non-driving wheel of the vehicle is enough to make the vehicle stop on the slope, the wheel cylinder pressure of the driving wheel of the vehicle can be released, after the release, the vehicle can still stop on the slope, the traction torque is output to the driving wheel, then the wheel cylinder pressure of the non-driving wheel is released, and the vehicle can be stably started under the working condition of the snowfield slope through matching and connection between the driving wheel and the non-driving wheel. The output traction torque may be output by the driver stepping on an accelerator pedal, or may be output to the driving wheel automatically after the driver performs an operation for controlling vehicle start (for example, an operation for releasing a brake pedal), which is not limited in the embodiment of the present disclosure.

Referring to fig. 3, fig. 3 is a timing chart of the operation of the driver to operate the vehicle to start on the snowy hill. In order to assist the driver to complete the snow hill start operation instantly, the control of the snow hill start needs to meet the conventional driving operation of the driver, as shown in fig. 3:

① when the vehicle selects snow mode, driving to the road surface of the snowy slope with a certain vehicle speed and a certain slope (10%/15%/20%);

② the driver applies a brake pressure that satisfies the vehicle stop to stop and hold the vehicle stationary;

③ when the driver releases the brake pedal, the snow hill start control logic recognizes the start demand, and the logic triggers;

④ when the accelerator pedal is stepped on, the vehicle starts quickly and smoothly.

Of course, the snow hill start assist strategy can also be applied to the situation that after the vehicle is completely parked on the snow hill, the ignition is used for starting.

Optionally, the wheel cylinder pressure of the driving wheel of the vehicle may be released by the vehicle body electronic stability system ESP of the vehicle; outputting traction torque to the drive wheels through a traction control system TCS of the vehicle; the wheel cylinder pressure of the non-driving wheel is released by the ESP.

That is to say, the electronic stability system ESP and the traction control system TCS of the vehicle can be controlled in a software manner to coordinate the processes of releasing the wheel cylinder pressure and outputting the traction torque, so that additional hardware is not required, and the development cost is saved.

Optionally, the traction torque is output to the driving wheel, and the traction torque can be smoothly output to the driving wheel according to the stepping amount of an accelerator pedal of the vehicle and the preset torque gradient.

In order to prevent the phenomenon that the vehicle rushes or the driving wheel slips due to overlarge torque output to the driving wheel, a certain torque gradient (preset torque gradient) can be preset, so that traction torque can be stably output to the driving wheel according to the preset torque gradient and the stepping amount of the accelerator pedal stepped by a driver, and the purposes that the vehicle tire and the road surface do not generate a large slip rate and the roughness of the snowy road surface is damaged are achieved, and the vehicle can start smoothly on the snowy slope. In practical applications, the left and right wheel distribution torques can be established by a lower left and right wheel speed difference, which is not limited in the embodiment of the disclosure.

Optionally, after the operation for controlling the vehicle to start is acquired, the state of a parking brake of the vehicle can be detected; when the parking brake is detected to be in a release state, outputting first prompt information through an instrument panel of the vehicle to prompt a driver that a hill start assisting function in a snow mode is started; or when the parking brake is detected to be in a braking state, outputting second prompt information through an instrument panel of the vehicle to prompt the driver to release the parking brake.

The parking brake, i.e. the mechanical hand brake or the electronic hand brake, detects the state of the parking brake, i.e. detects whether the driver pulls up the mechanical hand brake or the electronic hand brake. The driver applies the brake pedal and satisfies the vehicle after certain snowfield ramp parking, whether according to present driver pull-up mechanical hand brake or electron manual brake, can divide into two kinds of situations and carry out suggestion processing, and the detailed description is as follows:

in the first case: the driver does not pull up the mechanical hand brake or the electronic hand brake.

When a driver has an intention to start, for example, after a gear is shifted to a forward gear, an accelerator pedal is stepped on, a brake pedal is not stepped on by the driver or a brake lamp is not lighted, and the like, the snow hill start assisting strategy module monitors that the vehicle is on a snow hill at the moment, and the driver is ready to start, and at the moment, the snow hill start assisting strategy module requests an ESP system to send a prompt signal to a meter panel, for example, prompts that a snow hill start control system is started, so as to assist the driver in the operation of the snow hill start vehicle.

In the second case: the driver pulls up the mechanical hand brake or the electronic hand brake.

At this time, when the driver has a starting intention (as described in the first case), the snow hill start assist strategy starts to be started, and the ESP is requested to send a prompt signal to the CAN network to the dashboard, for example, the prompt requests the driver to release the mechanical hand brake or the electronic hand brake in the word "snow hill start assist system is started, so as to inform the driver to manually release the mechanical hand brake or the electronic hand brake.

For example, as shown in fig. 4, when the trigger condition of the hill start auxiliary control system is not met, the instrument IP prompts "release the mechanical hand brake or the electronic hand brake", and the display time is 3 seconds, so as to inform the driver; when the trigger condition of the hill start auxiliary control system is met, if the vehicle speed does not reach the preset vehicle speed (such as 5KPH) all the time, the instrument continuously prompts that the snow mode hill start control system is started or the snow mode icon flickers all the time, the instrument represents that the snow mode hill start control system is in a working state all the time, and if the vehicle speed reaches 5KPH, the instrument represents that the vehicle is successfully started, and the instrument does not have any display and prompt.

Through the mode, the driver can timely know the running condition of the snowfield hill start assisting strategy module, and the driver can be facilitated to drive the vehicle better.

To better explain the hill start assist method in snow mode provided by the present disclosure, the following will be exemplified by a complete embodiment.

Referring to FIG. 5, FIG. 5 is a logic diagram of an exemplary snow hill start control strategy. The ESP control system can detect external input signals, such as wheel speed, vehicle speed, gear position, wheel cylinder pressure, wheel acceleration and the like, after a driver stops, parking pressure can be built on both driving wheels and non-driving wheels of the vehicle, at the moment, if the driver detects that the vehicle is currently positioned on a snowy ramp and carries out vehicle starting control operation, the snowy ramp starting auxiliary strategy module starts to work, the ESP is requested to open a pressure inlet valve (EV) of left and right wheel cylinders of non-driving rear wheels according to wheel cylinder pressure values of four wheels when the driver parks the vehicle, a pressure value is built continuously on the left and right wheel cylinders of the rear wheels, the pressure value is a calibration value, then the left and right wheel cylinders of the rear wheels are subjected to pressure maintaining, the pressure maintaining value can be enough to enable the vehicle to be stationary on the snowy ramp, meanwhile, a pressure relief valve (AV) for driving the left and right wheel cylinders, the vehicle hill starting time is fully prepared.

The snow hill start control system will request the TCS module in the ESP to establish traction torque to the drive wheels and brake hold (ground adhesion) to the non-drive wheels.

In the snow slope starting control strategy, a traction torque power torque control module and a braking torque control module do not completely depend on a slip rate and a wheel acceleration threshold as a reference basis to establish traction torque or distribute torque to left and right wheels, but the traction torque power torque control module requests an engine control system to establish the traction torque at an initial stage by a certain torque gradient or establishes the distribution torque of the left and right wheels by a lower left and right wheel speed difference, so that the premise that the tires of a vehicle and the road surface do not generate larger slip rate and damage the roughness of the snow slope surface is achieved, and the purpose of stably starting the vehicle on the snow slope is achieved.

And when the traction torque of the vehicle reaches the vehicle driving-away requirement, the ESP opens the left and right wheel cylinder pressure release valves of the non-driven rear axle to release all wheel cylinder pressures, so that the torque of the vehicle is released stably, and the road surface starting of the snowfield ramp is completed.

Referring to fig. 6, based on the same inventive concept, an embodiment of the present invention provides a hill start assisting device 600 in a snow mode, where the device 600 may include:

the obtaining module 601 is configured to obtain an operation for controlling starting of a vehicle when it is detected that an operation mode of a transmission of the vehicle is a snow mode and the vehicle is on a slope;

a first detection module 602 for detecting whether a wheel cylinder pressure of a non-driven wheel of a vehicle is sufficient to cause the vehicle to rest on a grade;

a first releasing module 603 for releasing a wheel cylinder pressure of a driving wheel of the vehicle when the wheel cylinder pressure of the non-driving wheel is sufficient to stop the vehicle on the slope;

a first output module 604 for outputting tractive effort torque to the drive wheels;

the second releasing module 605 is used for releasing the wheel cylinder pressure of the non-driving wheel to drive the vehicle to start.

Optionally, the apparatus 600 further includes:

and the establishing module is used for establishing the wheel cylinder pressure for the non-driving wheel on the basis of the state information if the wheel cylinder pressure of the non-driving wheel is not enough to make the vehicle stop on the slope after detecting whether the wheel cylinder pressure of the non-driving wheel of the vehicle is enough to make the vehicle stop on the slope.

Optionally, the apparatus 600 further includes:

and the third output module is used for outputting second prompt information through an instrument panel of the vehicle when the parking brake is detected to be in a released state so as to prompt a driver that the hill start assisting function in the snow mode is started.

Optionally, the first output module 604 is configured to:

according to the stepping amount of an accelerator pedal of a vehicle and a preset torque gradient, traction torque is smoothly output to a driving wheel.

Optionally, the first releasing module 603 is configured to:

releasing wheel cylinder pressure of a driving wheel of the vehicle through a vehicle body electronic stability system (ESP) of the vehicle;

the first output module 604 is configured to:

outputting traction torque to the drive wheels through a traction control system TCS of the vehicle;

the second release module 605 is configured to:

the wheel cylinder pressure of the non-driving wheel is released by the ESP.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A hill start assist method in a snow mode, comprising:

outputting a tractive effort torque to the drive wheel;

2. The method of claim 1, further comprising:

3. The method of claim 1, after obtaining the operation for controlling the vehicle to take off, further comprising:

detecting a state of a parking brake of the vehicle;

when the parking brake is detected to be in a release state, outputting first prompt information through an instrument panel of the vehicle to prompt a driver that a hill start assisting function in a snow mode is started; or the like, or, alternatively,

4. The method of claim 1, wherein outputting tractive effort torque to the drive wheel comprises:

5. The method according to claim 1, wherein releasing the wheel cylinder pressure of the drive wheel of the vehicle includes:

outputting tractive effort torque to the drive wheels, comprising:

releasing the wheel cylinder pressure of the non-driving wheel, including:

releasing the wheel cylinder pressure of the non-driving wheel through the ESP.

6. A hill start assist device in a snow mode, comprising:

7. The apparatus of claim 6, further comprising:

8. The apparatus of claim 6, further comprising:

9. The apparatus of claim 6, wherein the first output module is configured to:

10. The apparatus of claim 6, wherein the first release module is configured to:

the first output module is configured to:

the second release module is configured to:

releasing the wheel cylinder pressure of the non-driving wheel through the ESP.