CN111231693B - Anti-slope-sliding control method and device - Google Patents
Anti-slope-sliding control method and device Download PDFInfo
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- CN111231693B CN111231693B CN202010027952.8A CN202010027952A CN111231693B CN 111231693 B CN111231693 B CN 111231693B CN 202010027952 A CN202010027952 A CN 202010027952A CN 111231693 B CN111231693 B CN 111231693B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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Abstract
The embodiment of the disclosure discloses an anti-slope-slipping control method and device, relates to a vehicle control technology, and can solve the problems of long response time and large slope slipping distance in the existing anti-slope-slipping control process. The method of the embodiment of the disclosure mainly comprises: acquiring target parameter information of a vehicle; adding corresponding parameter identification for each vehicle parameter according to the target parameter information, and performing logical operation through various parameter identifications to judge whether the vehicle is in a slope-sliding prevention function enabling state; and if the vehicle is determined to be in the anti-slope-slipping function enabling state, controlling the vehicle to a zero rotating speed mode by using the motor controller so as to restrain the vehicle from slipping on a slope through the zero rotating speed mode. The embodiment of the disclosure is mainly applicable to an anti-slope-slipping control process.
Description
Technical Field
The embodiment of the disclosure relates to a vehicle control technology, in particular to a slope slipping prevention control method and device.
Background
In the use process of the vehicle, the road is not always flat, and sometimes the vehicle runs to a slope road section, in this case, when the vehicle stops or starts on the slope, the control of preventing the vehicle from sliding down the slope is needed, so as to avoid accidents caused by the vehicle sliding down the slope.
Generally, in the control process of preventing the vehicle from sliding down the slope, a VCU is generally adopted to perform the control of preventing the vehicle from sliding down the slope, wherein the VCU is a vehicle control unit and comprises all control functions of the vehicle. In the existing landslide prevention control process, after various signals are required to be acquired by a VCU, an instruction is sent to a motor controller MCU and then a vehicle is controlled to slide, however, in practical application, the response is slow in the existing landslide prevention control process, so that the problem that the reaction time is long in the process from the discovery of a landslide phenomenon to the suppression of the landslide in the existing landslide prevention control process is caused, the distance of the landslide is too large, the driving experience of a driver during driving is influenced, and the driving safety is influenced even when the vehicle distance is close.
Disclosure of Invention
In view of the above problems, embodiments of the present disclosure provide an anti-slope-slipping control method, which aims to solve a phenomenon that a back-slip distance is too large due to a long reaction time in an existing anti-slope-slipping control process.
The embodiment of the disclosure mainly provides the following technical scheme:
in a first aspect, an embodiment of the present disclosure provides an anti-landslide control method, including:
acquiring target parameter information of a vehicle;
adding corresponding parameter identification for each vehicle parameter according to the target parameter information, performing logical operation through various parameter identifications, and judging whether the vehicle is in a slope-sliding prevention function enabling state, wherein the slope-sliding prevention function enabling state is used for representing that the current state of the vehicle meets a slope-sliding prevention control condition;
and if the vehicle is determined to be in the anti-slope-slipping function enabling state, controlling the vehicle to a zero rotating speed mode by using the motor controller so as to restrain the vehicle from slipping on a slope through the zero rotating speed mode.
In a second aspect, an embodiment of the present disclosure provides an anti-creep control device, including:
an acquisition unit configured to acquire target parameter information of a vehicle;
the first judgment unit is used for adding a corresponding parameter identifier for each vehicle parameter according to the target parameter information, performing logical operation through various parameter identifiers and judging whether the vehicle is in a slope-sliding prevention function enabling state, wherein the slope-sliding prevention function enabling state is used for representing that the current state of the vehicle meets a slope-sliding prevention control condition;
and the control unit is used for controlling the vehicle to a zero rotating speed mode by utilizing the motor controller so as to restrain the vehicle from rolling down on the slope through the zero rotating speed mode if the vehicle is determined to be in the slope-slipping prevention function enabling state.
In a third aspect, an embodiment of the present disclosure provides a storage medium including a stored program, where, when the program runs, a device in which the storage medium is located is controlled to execute the anti-landslide control method according to the first aspect.
In a fourth aspect, an embodiment of the present disclosure provides a human-computer interaction system, where the apparatus includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; and when the program instructions are operated, the anti-slide control method of the first aspect is executed.
According to the above description, embodiments of the present disclosure provide an anti-creep control method and apparatus. First, target parameter information of the vehicle is acquired. And then, adding corresponding parameter identifications for each vehicle parameter according to the target parameter information, and performing logical operation through various parameter identifications to judge whether the vehicle is in a slope-sliding prevention function enabling state, wherein the slope-sliding prevention function enabling state is used for representing that the current state of the vehicle meets a slope-sliding prevention control condition. And finally, if the vehicle is determined to be in the anti-slope-slipping function enabling state, controlling the vehicle to a zero rotating speed mode by using the motor controller so as to restrain the vehicle from slipping on a slope through the zero rotating speed mode, and therefore the function of directly performing anti-slope-slipping control on the vehicle based on the motor controller is achieved. Because the control of the anti-slope sliding can be realized only through the motor controller MCU in the anti-slope sliding control process, compared with the anti-slope sliding control which needs to be carried out based on the interactive communication between the VCU and the motor controller of the vehicle controller in the prior art, the communication process between the VCU and the motor controller is not needed, thereby saving the processing period required by the communication process, directly carrying out the anti-slope sliding control after detecting that the vehicle has the anti-slope sliding phenomenon, reducing the response time in the anti-slope sliding control process, reducing the slope sliding distance, leading a user to carry out the anti-slope sliding control in time when the slope sliding phenomenon exists in the driving process, and improving the driving experience. In addition, in the invention, the judgment of whether the vehicle is in the anti-landslide function enabling state is determined by utilizing the calculation result calculated by the preset calculation logic based on the parameter identification of various parameters of the vehicle, so that the comprehensive consideration can be carried out based on various parameters of the vehicle when the vehicle is checked to judge whether the anti-landslide control is required, the detected landslide phenomenon is more accurate, and the anti-landslide control process is more accurate.
The foregoing description is only an overview of the technical solutions of the embodiments of the present disclosure, and in order that the technical means of the embodiments of the present disclosure may be clearly understood, the embodiments of the present disclosure may be implemented according to the content of the description, and in order that the foregoing and other objects, features, and advantages of the embodiments of the present disclosure may be more clearly understood, the detailed description of the embodiments of the present disclosure is given below.
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Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the embodiments of the disclosure. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flowchart of an anti-creep control method provided by an embodiment of the present disclosure;
FIG. 2 shows a flow chart of another anti-creep control method provided by an embodiment of the present disclosure;
fig. 3 shows a block diagram of an anti-creep control device provided by an embodiment of the present disclosure;
fig. 4 shows a block diagram of another anti-landslide control device provided in the embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In a first aspect, an embodiment of the present disclosure provides an anti-landslide control method, as shown in fig. 1, the method mainly includes:
101. target parameter information of the vehicle is acquired.
In the process of acquiring the target parameter information of the vehicle, the acquisition operation can be executed through the MCU, the target parameter information can contain various different parameter information, and each parameter information can be understood as real-time specific information of a corresponding parameter in the vehicle. Specifically, the type and the amount of the target parameter information are not specifically limited, and may be selected from any one or more vehicle parameters capable of determining whether to slide down a slope according to the actual demand in the process of preventing sliding down a slope. For example, when the target parameter information includes braking information and gear position information, the braking information may be understood as information on whether a current braking function is activated, and the gear position information may be understood as information on whether a current gear position is changed.
102. And adding corresponding parameter identifications for each vehicle parameter according to the target parameter information, and performing logical operation through various parameter identifications to judge whether the vehicle is in a slope-sliding prevention function enabling state.
And the slope slipping prevention function enabling state is used for representing that the current state of the vehicle meets the slope slipping prevention control condition. In the process of controlling the train unit to prevent the vehicle from sliding down the slope, the vehicle needs to be ensured to be in a state of enabling the anti-sliding function, namely, whether the anti-sliding function of the vehicle can be used or not is judged. For example, when the vehicle is in a state of shifting gears, running at high speed, or the like, it is meaningless to perform the hill-drop prevention control at that time; further alternatively, when the temperature of the IGBT control chip of the vehicle is too high, the chip may be damaged by overheating by performing the anti-creep control. In addition, because the judgment rules of the parameters of different vehicles are different when determining whether the vehicle needs the anti-slope-slipping control, in this step, after the target parameter information is acquired, the judgment basis corresponding to the target parameter information is determined, then the judgment result of each parameter in the target parameter information is respectively determined according to the judgment basis, and the parameter identifier corresponding to the judgment result is added to the identifier bit corresponding to the vehicle parameter according to the judgment result.
For example, the parameter identification may comprise 1 and 0. Wherein, when the parameter mark is 1, the current parameter information is in accordance with the judgment basis of the parameter, and when the parameter mark is 0, the current parameter information is not in accordance with the judgment basis of the parameter. Taking the above example as an example, when the target parameter information includes braking information, and the judgment basis of the braking signal is to determine whether the current braking function is in the starting state, if the currently acquired braking information is "when the braking function is started", it is determined that the current braking information meets the judgment basis according to the judgment basis of the current braking signal, and therefore, an identifier 1 is added to the braking parameter to represent that the current braking state is started.
In the actual operation process, whether the current vehicle is in the anti-slope-slipping function enabling state is determined based on parameter information of various vehicle parameters, so that after corresponding parameter identifiers are added to each vehicle parameter, the parameter identifiers can be calculated by using preset calculation logic.
For example, when the parameter identifier added by each vehicle parameter is 1 or 0, the preset calculation logic may be an and operation, so that the plurality of parameter identifiers may be and-calculated based on the and logic to obtain a calculation result of 1 or 0, and thereby determine whether the current vehicle is in the anti-landslide function enabling state.
It should be noted that, the preset calculation logic needs to be determined according to the vehicle parameters selected in the foregoing steps and the judgment rule for adding the parameter identifier for each vehicle parameter, which is not limited herein. For example, if it is determined that the vehicle is in the anti-roll-off function enabling state, that is, if it is determined that the roll-off phenomenon exists, if any one of the first parameter result, the second parameter result, and the third parameter result is satisfied, the preset calculation logic in this step may be an or operation, that is, if any parameter identifier in the three parameter results is 1, the calculation result in this step is 1.
And after calculating the calculation results of the parameter identifications corresponding to the various vehicle parameters, actually obtaining the judgment result of whether the current vehicle is in the anti-slope-sliding function enabling state. For example, if it is preset whether the calculation result corresponding to whether the vehicle is in the anti-creep function enabling state is 1, and when the calculation result obtained through the specific calculation operation is actually 1, it may be determined that the vehicle is currently in the anti-creep function enabling state.
103. And if the vehicle is determined to be in the anti-slope-slipping function enabling state, controlling the vehicle to a zero rotating speed mode by using the motor controller so as to restrain the vehicle from slipping on a slope through the zero rotating speed mode.
When the vehicle is judged to be in the anti-slope-sliding function enabling state, it is indicated that the vehicle can be subjected to anti-slope-sliding control currently to avoid potential safety hazards caused by slope sliding, and specifically, the zero rotating speed mode can be directly switched through the motor controller MCU in the step. The zero rotation speed mode may be understood as switching the motor control mode from a torque control mode before control to a rotation speed control mode, and the rotation speed is set to 0. When the motor is controlled by the motor controller, the loading speed of the parking torque output by the motor in the rotating speed control mode is higher than that in the torque control mode, so that when the motor of the vehicle is controlled by the motor controller and is switched from the torque control mode to the rotating speed control mode, the integral landslide prevention response time of the vehicle can be obviously shortened, and the backward sliding distance of the vehicle is obviously shortened.
In a second aspect, according to the method of the first aspect, another embodiment of the disclosure further provides another method for controlling landslide prevention, which is a refinement and extension of the method of the previous aspect, as shown in fig. 2, and includes:
201. target parameter information of the vehicle is acquired.
In the process of acquiring target parameter information of a vehicle, an acquiring operation may be executed by the MCU, where the target parameter information is real-time information of vehicle parameters, and each type of target parameter information corresponds to one vehicle parameter, and the target parameter information may include: and at least one of IGBT chip temperature information, hand brake information, motor revolution information, gear information and accelerator information.
202. And adding corresponding parameter identifications for each vehicle parameter according to the target parameter information, and performing logical operation through various parameter identifications to judge whether the vehicle is in a slope-sliding prevention function enabling state.
And the slope slipping prevention function enabling state is used for representing that the current state of the vehicle accords with a slope slipping prevention control condition. The process of adding a corresponding parameter identifier for each vehicle parameter according to the judgment basis corresponding to the target parameter information may include: firstly, determining an identification adding rule of each vehicle parameter corresponding to target parameter information; and then, adding a corresponding parameter identifier for each vehicle parameter in the target parameter information according to the identifier adding rule.
Specifically, the process of adding the parameter identifier to the different vehicle parameters in this step may be performed according to each of the following different vehicle parameters, because the different vehicle parameters and the corresponding determination criteria are different:
A. when the vehicle parameters comprise the IGBT chip temperature:
the IGBT chip (Insulated Gate Bipolar Transistor chip) is a most central element in a motor driving part of a new energy vehicle such as a hybrid vehicle, and is used for controlling and driving a motor under various instructions. The temperature of the chip is therefore referenced during vehicle control, generally when the vehicle is operating normally, based on the operation of its various control commands, the temperature of the chip is generally higher, and based on the importance of the IGBT chip to the vehicle, when the embodiment of the present invention performs the anti-creep control on the vehicle, it is necessary to determine whether the temperature of the chip is too high, when the temperature is too high, corresponding control can not be carried out in order to ensure the stability of the chip and avoid damage, in order to reduce the chip load pressure and avoid damage to ensure proper functioning of other vehicle drive functions, and, conversely, when the temperature of the IGBT chip is low, it may indicate that the vehicle is not in a normal driving state, the chip may be in a state of low power consumption such as parking, and the chip load is not increased by performing the related anti-slide control, so that the anti-slide control can be performed.
Based on the above reasons, therefore, in the vehicle anti-creep control process, the temperature parameter of the current IGBT can be acquired to determine whether the subsequent anti-creep control can be performed. The method comprises the following specific steps: and when the temperature information of the IGBT chip exceeds a preset IGBT anti-slide-down over-temperature fault threshold value, adding a parameter identifier 0 to the IGBT anti-slide-down over-temperature fault mark corresponding to the temperature information of the IGBT chip, and when the temperature information of the IGBT chip does not exceed the preset IGBT anti-slide-down over-temperature fault threshold value, adding a parameter identifier 1 to the IGBT anti-slide-down over-temperature fault mark corresponding to the temperature information of the IGBT chip. In addition, in order to prevent the IGBT chip from being damaged due to overhigh temperature in the process of slope slipping prevention, when the temperature information of the IGBT chip does not exceed a preset IGBT slope slipping prevention over-temperature fault threshold value, whether the current chip temperature exceeds the alarm temperature or not can be continuously judged, and when the current chip temperature exceeds the alarm temperature, the power of the chip can be controlled and the maximum torque in the subsequent slope slipping prevention process can be limited while the parameter identification 1 is added to the IGBT slope slipping prevention over-temperature fault mark, so that the temperature of the chip is ensured to be reduced.
B. When the vehicle parameters comprise brake signals:
in the process of anti-slope-slipping control, when judging whether the vehicle is in the slope slipping phenomenon, whether braking is carried out at present needs to be determined, so that the control of anti-slope-slipping is avoided when the vehicle is normally backed or started.
The specific steps can be as follows: when the braking information is that the braking function is started, adding a parameter identifier 1 to the effective mark of the braking signal corresponding to the braking information, and when the braking information is that the braking function is not started, adding a parameter identifier 0 to the effective mark of the braking signal corresponding to the braking information;
C. when the vehicle parameters comprise a hand brake signal:
in the actual operation process, a user may stop the vehicle only by using the hand brake without performing a braking operation on the vehicle (in the case of flat ground, the user generally does not use the hand brake), and in this case, a phenomenon of slope slipping easily occurs, so that the hand brake signal needs to be detected when determining whether the slope slipping phenomenon exists.
Specifically, the method comprises the following steps: when the hand brake information is started for the hand brake function, the parameter identification 1 is added to the effective hand brake signal mark corresponding to the hand brake information, and when the hand brake information is not started for the hand brake function, the parameter identification 0 is added to the effective hand brake signal mark corresponding to the hand brake information.
D. When the vehicle parameters include the number of motor revolutions:
the motor revolution can be used for measuring whether the current vehicle is in a low-speed running state or a running state when the vehicle runs on a slope, so that the motor revolution can be acquired in the process of judging whether the vehicle runs on the slope, and the slope slipping phenomenon can be judged.
The method comprises the following specific steps: when the revolution number of the motor revolution number information exceeds a preset rear slip number threshold value, a parameter mark 0 is added to a rear slip speed limiting mark corresponding to the motor revolution number information, and when the revolution number of the motor revolution number information does not exceed the preset rear slip number threshold value, a parameter mark 1 is added to the rear slip speed limiting mark corresponding to the motor revolution number information.
In addition, when determining whether the vehicle is slipping down a slope, the user generally operates the vehicle without driving the vehicle, and the vehicle slips on a slope due to gravity, and therefore, when determining whether the vehicle is slipping down a slope, it is necessary to exclude whether the vehicle is being driven by the user, and therefore, in this step, it is possible to determine whether the user is performing a shift operation or an operation of the accelerator pedal based on the shift signal and the accelerator signal, and the determination may be made specifically for the aspect E and the aspect F described below, respectively
E. When the vehicle parameters comprise gear signals:
when the gear of the vehicle is determined to be changed within the preset time period according to the gear information, adding a parameter identifier 0 to the gear switching effective mark corresponding to the gear information, and when the gear of the vehicle is determined not to be changed within the preset time period according to the gear information, adding a parameter identifier 1 to the gear switching effective mark corresponding to the gear information. Thus, when the user switches gears, the judgment can be carried out through the gear information, and when the user carries out gear switching operation, the parameter mark 0 can be added to the mark position, so that the condition that the vehicle runs due to user operation is eliminated in the subsequent calculation.
F. When the vehicle parameters include a throttle signal:
and when the accelerator pedal is determined to be changed according to the accelerator information, adding a parameter identifier 1 to the accelerator pedal effective mark corresponding to the accelerator information, and when the accelerator pedal is determined to be changed according to the accelerator information, adding a parameter identifier 0 to the accelerator pedal effective mark corresponding to the accelerator information.
Wherein the determination of whether the accelerator pedal is changed according to the accelerator information signal is determined based on whether the torque commanded by the current accelerator signal is the same as the actual torque of the vehicle. When the torque instructed by the accelerator signal is different from the actual torque of the vehicle, the fact that the user operates the accelerator pedal means that the user controls the driving of the vehicle, and the vehicle does not slide, so that the judgment of the slope slipping phenomenon in the behavior can be eliminated.
In the actual operation process, the type and the number of the parameter information included in the target parameter information are not limited, and may be selected by arbitrarily combining one, a plurality of or all of the above-described vehicle parameters a to F and the identifier addition process of each parameter, as needed, and are not limited herein.
After adding the corresponding parameter identifier 1 or 0 to each vehicle parameter by the method in the aspects of a to F, the process of calculating the parameter identifier and determining whether the vehicle is in the anti-creep function enabling state according to the calculation result in the present step may be specifically:
firstly, performing AND operation on parameter identifications of various vehicle parameters, and determining whether the operation result is 1;
then, if the operation result is determined to be 1, determining that the vehicle is in a slope slipping prevention function enabling state; and otherwise, determining that the vehicle is not in the anti-slope-slipping function enabling state.
In this way, by performing and operation on the result, and when the corresponding parameter identifier is added to each parameter, the identifier 0 is already added to the result of the non-slope slipping phenomenon, so that in the and operation process, when any one parameter is not (0), the vehicle can be directly determined to be not in the slope slipping prevention function enabling state, the operation process is reduced, and when the parameter identifiers are all 1, the vehicle is determined to be in the slope slipping prevention function enabling state, comprehensive consideration can be performed on the basis of parameter information of various vehicle parameters, and the accuracy of slope slipping phenomenon judgment is improved.
203. And acquiring the slope slipping parameter information, and judging whether the vehicle is in a slope slipping state according to the slope slipping parameter information.
After the vehicle is determined to be in the anti-creep function enabling state in the aforementioned step 202, it is described that the current vehicle can be subjected to anti-creep control, and in order to further ensure the accuracy of the anti-creep control, it is excluded that the vehicle is in the anti-creep function enabling state but the anti-creep control is not required, and the step may be further performed to obtain the creep parameter information to determine whether the vehicle is in the creep state.
In addition, in the embodiment of the present invention, the slope slipping state includes a slope slipping manner in both the forward direction and the backward direction, and a specific slope slipping manner in which the vehicle is determined to be in the slope slipping state is not limited herein and may be determined according to an actual slope slipping parameter. Therefore, when the embodiment of the invention controls the vehicle to roll down the slope, the method according to the step can further judge whether the vehicle is in the slope rolling state after determining that the vehicle is in the slope rolling prevention function enabling state. Specifically, when the slope parameter information is the number of revolutions, the determining process may be: and judging whether the revolution of the slope slipping parameter exceeds a preset slope slipping threshold value, and if so, indicating that the vehicle is in a slope slipping state.
204. And if the vehicle is determined to be in the slope slipping state, controlling the vehicle to a zero rotating speed mode by using the motor controller so as to inhibit the vehicle from slipping on the slope by the zero rotating speed mode.
Specifically, after determining that the vehicle is in the anti-roll-off function enabled state, after the determination of the foregoing step 203, when determining that the current vehicle is in the roll-off state in the anti-roll-off function enabled state according to the roll-off parameter, the anti-roll-off control needs to be performed immediately, specifically, when controlling the vehicle to the zero rotation speed mode by using the motor controller, the method specifically includes: the speed loop is controlled by the motor controller to cause the motor controller to enter a zero revolution control mode. The description of the zero-rotation mode in the embodiment of the present invention is consistent with the description in step 103 in the foregoing embodiment, and is not repeated herein. Thus, in the embodiment of the invention, the motor controller directly controls the rotating speed ring to switch the motor from the torque control mode to the rotating speed control mode with the rotating speed of 0, and the rotating speed control mode with the rotating speed of 0 (zero rotating speed mode) is obviously faster than the torque control mode in the loading speed of the parking torque output by the motor, so that the motor controller directly controls the rotating speed ring to perform the slope slipping prevention control, the response time of the slope slipping prevention control process can be further reduced, the slope slipping distance can be further reduced, a user can respond in time when performing the slope slipping prevention control, and the driving experience is better.
Further, in order to ensure that the vehicle will not wear out due to the control overshoot when the vehicle is in the zero rotation mode, the operation time of the zero rotation mode may be controlled by the control time limit after the vehicle is started to be restrained from rolling down in the zero rotation mode in step 204, and specifically, the operation time may be controlled as shown in steps 205 to 209 described below.
205. And (4) timing after the motor controller controls the vehicle to enter a zero rotating speed mode by utilizing the timer to obtain a control time interval.
And after the vehicle enters a zero rotating speed mode, a timing function of a timer can be started to record the currently executed anti-slope-slipping control time, and the control time interval is obtained.
206. And judging whether the duration of the control time period exceeds the control time limit or not according to the comparison between the control time period and the preset control time limit.
And determining whether the duration of the control time period exceeds the preset control time limit or not by comparing the current control time period with the preset control time limit in real time.
207. And when the control time period duration is determined to exceed the control time limit, determining that the control time period when the vehicle is in the zero rotating speed mode exceeds the anti-slope-sliding control time limit.
When the control time period duration is determined to exceed the control time limit, the time of the vehicle entering the zero rotating speed mode exceeds a preset time period, and therefore the operation duration of the current vehicle for executing the anti-sliding control exceeds the preset duration.
208. And when the control duration of the vehicle in the zero rotating speed mode exceeds the anti-slope-sliding control time limit, controlling the motor controller to stop the zero rotating speed state.
When the control time of the vehicle in the zero rotating speed mode exceeds the anti-slope-sliding control time limit, the anti-slope-sliding control time of the vehicle is over long, if the anti-slope-sliding control is continued, the vehicle may be abraded, and therefore the motor controller needs to be controlled to stop the current zero rotating speed state. Therefore, the problem of vehicle motor abrasion caused by long-time slope slip prevention control can be solved by determining whether the control time limit is exceeded or not through the control time interval during slope slip prevention.
In a third aspect, according to the method shown in fig. 1 and fig. 2, another embodiment of the present disclosure further provides an anti-slope-slipping control device, as shown in fig. 3, the device mainly includes:
an acquisition unit 31 that can be used to acquire target parameter information of a vehicle;
the first determining unit 32 may be configured to add a corresponding parameter identifier to each vehicle parameter according to the target parameter information acquired by the acquiring unit 31, perform logical operation through multiple parameter identifiers, and determine whether the vehicle is in a slope-sliding prevention function enabling state, where the slope-sliding prevention function enabling state is used to represent that a current state of the vehicle meets a slope-sliding prevention control condition;
the control unit 33 may be configured to control the vehicle to a zero rotation speed mode using the motor controller so as to suppress the vehicle from rolling down through the zero rotation speed mode if the first determination unit 32 determines that the vehicle is in the anti-rolling function enabled state.
In some embodiments, as shown in fig. 4, the target parameter information is real-time information of vehicle parameters, each target parameter information corresponds to one vehicle parameter, and the target parameter information includes: and at least one of IGBT chip temperature information, hand brake information, motor revolution information, gear information and accelerator information.
In some embodiments, as shown in fig. 4, the apparatus further comprises:
a second determination unit 34, configured to obtain slope slip parameter information, and determine whether the vehicle is in a slope slip state according to the slope slip parameter information;
the control unit 33 may be specifically configured to control the vehicle to the zero rotation speed mode by using the motor controller so as to suppress the vehicle from rolling down the slope through the zero rotation speed mode if the second determination unit 34 determines that the vehicle is in the slope rolling state.
In some embodiments, as shown in fig. 4, the control unit 33 may be further configured to control the motor controller to terminate the zero rotation state when it is determined that the control period in which the vehicle is in the zero rotation mode exceeds the anti-creep control time limit.
In some embodiments, as shown in fig. 4, the apparatus further comprises:
the timing unit 36 may be configured to perform timing after the motor controller enters the zero rotation speed mode by using a timer, so as to obtain a control time period;
a fourth determining unit 37, configured to determine whether a duration of the control period exceeds a control time limit according to comparison between the control period obtained by the timing unit 36 and a preset control time limit;
the first determining unit 38 may be configured to determine that the control period duration in which the vehicle is in the zero-revolution mode exceeds the anti-creep control time limit if the fourth judging unit 37 determines that the control period duration exceeds the control time limit, so that the control unit 33 terminates the zero-revolution state.
In some embodiments, as shown in fig. 4, the control unit 33 may be specifically configured to control the rotation speed loop through the motor controller, so as to enable the motor controller to enter a zero-revolution control mode.
In some embodiments, as shown in fig. 4, the first determining unit 32 includes:
the first adding module 321 may be configured to add a parameter identifier 0 to the IGBT anti-slide over-temperature fault flag corresponding to the IGBT chip temperature information when the IGBT chip temperature information exceeds a preset IGBT anti-slide over-temperature fault threshold, and add a parameter identifier 1 to the IGBT anti-slide over-temperature fault flag corresponding to the IGBT chip temperature information when the IGBT chip temperature information does not exceed the preset IGBT anti-slide over-temperature fault threshold;
the second adding module 322 may be configured to add a parameter identifier 1 to the effective brake signal flag corresponding to the brake information when the brake information is that the brake function is started, and add a parameter identifier 0 to the effective brake signal flag corresponding to the brake information when the brake information is that the brake function is not started;
the third adding module 323 can be used for adding a parameter identifier 1 to the effective sign of the hand brake signal corresponding to the hand brake information when the hand brake information is that the hand brake function is started, and adding a parameter identifier 0 to the effective sign of the hand brake signal corresponding to the hand brake information when the hand brake information is that the hand brake function is not started;
a fourth adding module 324, configured to add a parameter identifier 0 to the backward slip speed limit flag corresponding to the information of the number of revolutions of the motor when the number of revolutions of the information of the number of revolutions of the motor exceeds the preset backward slip speed threshold, and add a parameter identifier 1 to the backward slip speed limit flag corresponding to the information of the number of revolutions of the motor when the number of revolutions of the information of the number of revolutions of the motor does not exceed the preset backward slip speed threshold;
a fifth adding module 325, configured to add a parameter identifier 0 to the gear shift effective flag corresponding to the gear information when it is determined that the gear of the vehicle changes within the preset time period according to the gear information, and add a parameter identifier 1 to the gear shift effective flag corresponding to the gear information when it is determined that the gear of the vehicle does not change within the preset time period according to the gear information;
the sixth adding module 326 may be configured to add a parameter identifier 1 to the accelerator pedal valid flag corresponding to the accelerator information when it is determined that the accelerator pedal is not changed according to the accelerator information, and add a parameter identifier 0 to the accelerator pedal valid flag corresponding to the accelerator information when it is determined that the accelerator pedal is changed according to the accelerator information, where the determination of whether the accelerator pedal is changed according to the accelerator information signal is determined based on whether the torque instructed by the accelerator signal is the same as the actual torque of the vehicle.
In some embodiments, as shown in fig. 4, the first determining unit 32 includes:
a calculating module 327, configured to perform an and operation on the parameter identifiers of the plurality of vehicle parameters, and determine whether the operation result is 1;
a determining module 328, configured to determine that the vehicle is in the anti-slope-slipping function enabling state if the determination result is 1; otherwise, it is determined that the vehicle is not in the anti-creep function enabling state.
The device comprises a processor and a storage medium, wherein the acquisition unit, the first judgment unit, the control unit and the like are stored in the storage medium as program units, and the processor executes the program units stored in the storage medium to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the storage medium. One or more kernels can be arranged, and the phenomenon that the backward slip distance is too large due to long reaction time in the existing anti-slip slope control process is solved by adjusting kernel parameters.
According to the anti-slope-slipping control method and device provided by the embodiment of the disclosure, firstly, target parameter information of a vehicle is obtained. And then, adding corresponding parameter identifications for each vehicle parameter according to the target parameter information, and performing logic operation through various parameter identifications to judge whether the vehicle is in a landslide prevention function enabling state. And finally, if the vehicle is determined to be in the anti-slope-slipping function enabling state, controlling the vehicle to a zero rotating speed mode by using the motor controller so as to restrain the vehicle from slipping on a slope through the zero rotating speed mode, and therefore the function of directly performing anti-slope-slipping control on the vehicle based on the motor controller is achieved. Because the control of the anti-slope sliding can be realized only through the motor controller MCU in the anti-slope sliding control process, compared with the anti-slope sliding control which needs to be carried out based on the interactive communication between the VCU and the motor controller of the vehicle controller in the prior art, the communication process between the VCU and the motor controller is not needed, thereby saving the processing period required by the communication process, directly carrying out the anti-slope sliding control after detecting that the vehicle has the anti-slope sliding phenomenon, reducing the response time in the anti-slope sliding control process, reducing the slope sliding distance, leading a user to carry out the anti-slope sliding control in time when the slope sliding phenomenon exists in the driving process, and improving the driving experience. In addition, in the invention, the judgment of whether the vehicle is in the anti-slope-slipping function enabling state is determined based on the calculation result calculated by the preset calculation logic based on the parameter identification of various parameters of the vehicle, so that comprehensive consideration can be carried out based on various parameters of the vehicle when the vehicle is checked to judge whether the anti-slope-slipping control is needed, the result of the slope slipping phenomenon is more accurate, and the subsequent anti-slope-slipping control process is more accurate.
The anti-slope-slipping control device provided in the foregoing embodiment may be used to execute the anti-slope-slipping control method provided in the foregoing embodiment of the corresponding end, and the related meanings and specific implementations may refer to the related descriptions in the embodiments of the first aspect and the second aspect, and will not be described in detail here.
In a fourth aspect, an embodiment of the present disclosure provides a storage medium including a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the anti-creep control method according to the first aspect and the second aspect.
The storage medium may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
In a fifth aspect, embodiments of the present disclosure provide a human-computer interaction system, where the apparatus includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the method of controlling hill-drop prevention according to the first aspect or the second aspect.
Embodiments of the present disclosure also provide a computer program product adapted to perform program code initializing the following method steps when executed on a human-computer interaction system:
acquiring target parameter information of a vehicle;
adding corresponding parameter identification for each vehicle parameter according to the target parameter information, performing logical operation through various parameter identifications, and judging whether the vehicle is in a slope-sliding prevention function enabling state, wherein the slope-sliding prevention function enabling state is used for representing that the current state of the vehicle meets a slope-sliding prevention control condition;
and if the vehicle is determined to be in the anti-slope-slipping function enabling state, controlling the vehicle to a zero rotating speed mode by using the motor controller so as to restrain the vehicle from slipping on a slope through the zero rotating speed mode.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one of skill in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (15)
1. An anti-creep control method, characterized in that the method comprises:
acquiring target parameter information of a vehicle through a motor controller, wherein the target parameter information comprises the temperature of an IGBT chip;
adding corresponding parameter identification for each vehicle parameter according to the target parameter information, performing logical operation through various parameter identifications, and judging whether the vehicle is in a slope-sliding prevention function enabling state, wherein the slope-sliding prevention function enabling state is used for representing that the current state of the vehicle meets a slope-sliding prevention control condition;
and if the vehicle is determined to be in the slope slipping prevention function enabling state, continuously judging whether the temperature of the IGBT chip exceeds the alarm temperature, controlling the power of the chip and limiting the maximum torque in the subsequent slope slipping prevention process when the temperature exceeds the alarm temperature, and controlling the vehicle to a zero rotating speed mode by utilizing the motor controller so as to inhibit the vehicle from slipping on a slope through the zero rotating speed mode.
2. The method of claim 1, wherein the target parameter information comprises: at least one of hand brake information, motor revolution information, gear information and accelerator information.
3. The method according to claim 2, wherein after the determining that the vehicle is in the anti-creep function enabled state, the method further comprises:
and acquiring the slope slipping parameter information, and judging whether the vehicle is in a slope slipping state according to the slope slipping parameter information.
4. The method of claim 3, wherein said controlling the vehicle to a zero speed mode with the motor controller to inhibit the vehicle from rolling downhill through the zero speed mode comprises:
and if the vehicle is determined to be in the slope slipping state, controlling the vehicle to a zero rotating speed mode by using the motor controller so as to inhibit the vehicle from slipping on the slope by the zero rotating speed mode.
5. The method of claim 4, further comprising:
and when the control duration that the vehicle is in the zero rotating speed mode is determined to exceed the slope sliding prevention control time limit, controlling the motor controller to stop the zero rotating speed state.
6. The method of claim 5, wherein prior to the control period when the vehicle is determined to be in the zero speed mode exceeding the anti-creep control time limit, the method further comprises:
timing by using a timer after the motor controller enters a zero rotating speed mode to obtain a control time period;
comparing the control time period with a preset control time limit, and judging whether the duration of the control time period exceeds the control time limit or not;
and if the control time period exceeds the control time limit, determining that the control time period when the vehicle is in the zero rotating speed mode exceeds the anti-slope-sliding control time limit.
7. The method of claim 6, wherein said controlling the vehicle to a zero speed mode with the motor controller comprises:
the speed loop is controlled by the motor controller so that the motor controller enters a zero speed control mode.
8. The method according to any one of claims 1-7, wherein the adding a corresponding parameter identifier for each vehicle parameter according to the target parameter information comprises:
when the temperature information of the IGBT chip exceeds a preset IGBT anti-slope and over-temperature fault threshold value, adding a parameter identifier 0 to an IGBT anti-slope and over-temperature fault mark corresponding to the temperature information of the IGBT chip, and when the temperature information of the IGBT chip does not exceed the preset IGBT anti-slope and over-temperature fault threshold value, adding a parameter identifier 1 to the IGBT anti-slope and over-temperature fault mark corresponding to the temperature information of the IGBT chip;
and/or the presence of a gas in the atmosphere,
when the braking information is that the braking function is started, adding a parameter identifier 1 to the effective mark of the braking signal corresponding to the braking information, and when the braking information is that the braking function is not started, adding a parameter identifier 0 to the effective mark of the braking signal corresponding to the braking information;
and/or the presence of a gas in the gas,
when the hand brake information is the hand brake function, adding a parameter identifier 1 to the effective hand brake signal mark corresponding to the hand brake information, and when the hand brake information is the hand brake function, adding a parameter identifier 0 to the effective hand brake signal mark corresponding to the hand brake information;
and/or the presence of a gas in the atmosphere,
when the revolution number of the motor revolution number information exceeds a preset rear slip revolution number threshold value, adding a parameter identifier 0 for a rear slip revolution speed limiting mark corresponding to the motor revolution number information, and when the revolution number of the motor revolution number information does not exceed the preset rear slip revolution number threshold value, adding a parameter identifier 1 for the rear slip revolution speed limiting mark corresponding to the motor revolution number information;
and/or the presence of a gas in the atmosphere,
when the gear of the vehicle is determined to be changed within a preset time period according to the gear information, adding a parameter identifier 0 to the gear switching effective mark corresponding to the gear information, and when the gear of the vehicle is determined not to be changed within the preset time period according to the gear information, adding a parameter identifier 1 to the gear switching effective mark corresponding to the gear information;
and/or the presence of a gas in the atmosphere,
when the accelerator pedal is determined to be unchanged according to the accelerator information, adding a parameter identifier 1 to the accelerator pedal effective identifier corresponding to the accelerator information, and when the accelerator pedal is determined to be changed according to the accelerator information, adding a parameter identifier 0 to the accelerator pedal effective identifier corresponding to the accelerator information, wherein the determination of whether the accelerator pedal is changed according to the accelerator information signal is based on the determination of whether the torque instructed by the accelerator signal is the same as the actual torque of the vehicle.
9. The method according to claim 8, wherein the step of adding a corresponding parameter identifier for each vehicle parameter according to the target parameter information and performing a logical operation through a plurality of parameter identifiers to determine whether the vehicle is in the anti-landslide function enabling state comprises the steps of:
performing AND operation on the parameter identifications of the various vehicle parameters, and determining whether the operation result is 1;
if the operation result is determined to be 1, determining that the vehicle is in the anti-slope-sliding function enabling state; otherwise, it is determined that the vehicle is not in the anti-creep function enabling state.
10. An anti-creep control device, comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring target parameter information of a vehicle through a motor controller, and the target parameter information comprises the temperature of an IGBT chip;
the first judgment unit is used for adding corresponding parameter identifiers for each vehicle parameter according to the target parameter information, performing logical operation through various parameter identifiers and judging whether the vehicle is in a slope slipping prevention function enabling state, wherein the slope slipping prevention function enabling state is used for representing that the current state of the vehicle meets a slope slipping prevention control condition;
and the control unit is used for continuously judging whether the temperature of the IGBT chip exceeds the alarm temperature if the vehicle is determined to be in the slope slipping prevention function enabling state, controlling the power of the chip and limiting the maximum torque in the subsequent slope slipping prevention process when the temperature exceeds the alarm temperature, and controlling the vehicle to be in a zero rotating speed mode by utilizing the motor controller so as to inhibit the vehicle from slipping on a slope through the zero rotating speed mode.
11. The apparatus of claim 10, wherein the target parameter information comprises: at least one of hand brake information, motor revolution information, gear information and accelerator information.
12. The apparatus according to claim 10, wherein the first determining unit comprises:
the first adding module is used for adding a parameter identifier 0 to the IGBT anti-slope and over-temperature fault mark corresponding to the IGBT chip temperature information when the IGBT chip temperature information exceeds a preset IGBT anti-slope and over-temperature fault threshold value, and adding a parameter identifier 1 to the IGBT anti-slope and over-temperature fault mark corresponding to the IGBT chip temperature information when the IGBT chip temperature information does not exceed the preset IGBT anti-slope and over-temperature fault threshold value;
the second adding module is used for adding a parameter identifier 1 to the effective brake signal mark corresponding to the brake information when the brake information is that the brake function is started, and adding a parameter identifier 0 to the effective brake signal mark corresponding to the brake information when the brake information is that the brake function is not started;
the third adding module is used for adding a parameter identifier 1 to the effective sign of the hand brake signal corresponding to the hand brake information when the hand brake information is that the hand brake function is started, and adding a parameter identifier 0 to the effective sign of the hand brake signal corresponding to the hand brake information when the hand brake information is that the hand brake function is not started;
a fourth adding module, configured to add a parameter identifier 0 to the post-slip speed limit flag corresponding to the information of the number of revolutions of the motor when the number of revolutions of the information of the number of revolutions of the motor exceeds a preset post-slip speed threshold, and add a parameter identifier 1 to the post-slip speed limit flag corresponding to the information of the number of revolutions of the motor when the number of revolutions of the information of the number of revolutions of the motor does not exceed the preset post-slip speed threshold;
the fifth adding module is used for adding a parameter identifier 0 to the gear switching effective mark corresponding to the gear information when the gear of the vehicle is determined to change within the preset time period according to the gear information, and adding a parameter identifier 1 to the gear switching effective mark corresponding to the gear information when the gear of the vehicle is determined not to change within the preset time period according to the gear information;
and the sixth adding module is used for adding a parameter identifier 1 to the accelerator pedal effective mark corresponding to the accelerator information when the accelerator pedal is determined to be unchanged according to the accelerator information, and adding a parameter identifier 0 to the accelerator pedal effective mark corresponding to the accelerator information when the accelerator pedal is determined to be changed according to the accelerator information, wherein the determination of whether the accelerator pedal is changed according to the accelerator information signal is based on the determination of whether the torque instructed by the accelerator signal is the same as the actual torque of the vehicle.
13. The apparatus according to claim 12, wherein the first determining unit comprises:
the calculation module is used for performing AND operation on the parameter identifications of the various vehicle parameters and determining whether the operation result is 1;
the determining module is used for determining that the vehicle is in the anti-slope-sliding function enabling state if the operation result is determined to be 1; and otherwise, determining that the vehicle is not in the anti-slope-slipping function enabling state.
14. A storage medium characterized by comprising a stored program, wherein an apparatus in which the storage medium is located is controlled to execute the landslide prevention control method according to any one of claims 1-9 when the program is executed.
15. A human-computer interaction system, characterized in that the system comprises a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the anti-creep control method of any one of claims 1-9.
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