CN110550031A - Vehicle ramp driving control method and corresponding electronic control unit - Google Patents

Abstract

The present invention provides a vehicle ramp driving control method and its corresponding electronic control unit. The method includes obtaining the gradient of the uphill road where the vehicle is currently located; calculating and compensating the driving force according to the gradient of the uphill road; Calculate the uphill compensation power of the vehicle based on the driving force, etc.; calculate the engine demand power of the vehicle on the current uphill road according to the vehicle uphill compensation power; Gear position and engine power are adjusted. The invention calculates the compensating driving force through the uphill road gradient of the vehicle, and calculates the required power of the engine, and adjusts the engine and the transmission according to the required power of the engine, so that the driver only partially increases the stepping depth of the accelerator when going uphill, and solves the problem There are technical problems that the driver needs to step on the accelerator pedal deeply to cause fatigue when going uphill, and the problem that poor driving can easily cause the vehicle to slide.

Description

A vehicle ramp driving control method and corresponding electronic control unit

technical field

The invention relates to the technical field of automobile control, in particular to a method for controlling vehicle slope driving and a corresponding electronic control unit.

Background technique

When the current vehicle detects that the road slope is greater than a certain value, in order to avoid frequent ups and downs of the transmission to ensure power, it generally delays upshifts and advances downshifts. This shift mode is generally called "slope mode".

"Slope mode" can ensure that there will be no frequent ups and downs when driving on a slope, but it does not adjust the relationship between engine torque and accelerator opening. Therefore, when driving uphill on an actual slope, in order to maintain a certain speed and acceleration, the accelerator pedal needs to be stepped on deeper than on flat roads, especially when the slope is relatively large, the driver's feet are prone to fatigue; in addition, for inexperienced The driver may also experience a landslide when the vehicle goes uphill because the accelerator pedal is not deep enough, causing injuries to the vehicle and other vehicles and pedestrians.

Contents of the invention

In order to solve the above technical problems, the present invention provides a method for controlling vehicle driving on a slope and a corresponding electronic control unit.

The present invention provides a vehicle slope driving control method, the method comprising:

Obtain the slope of the uphill road where the vehicle is currently located;

Compensating driving force is calculated according to the gradient of the uphill road, the vehicle mass and a preset compensation factor;

calculating the uphill compensation power of the vehicle according to the compensation driving force, the current speed of the vehicle and the efficiency of the transmission system of the vehicle;

According to the uphill compensation power of the vehicle, the current throttle opening and the engine required power when there is no road gradient at the current vehicle speed, calculate the engine required power of the vehicle on the current uphill road;

According to the engine demand power of the vehicle on the current uphill road, the current speed of the vehicle, the speed ratio corresponding to each gear, the main reduction ratio, the tire rolling radius, and the relationship between the speed and the maximum power of the engine, the transmission gear and engine power are adjusted. .

Further, the compensation driving force is calculated according to the current uphill road gradient, vehicle mass and preset compensation factors, specifically including the following steps:

Calculate the slope resistance according to the slope of the uphill road and the mass of the vehicle;

According to the relationship between the gradient of the uphill road and the preset compensation turning gradient, the corresponding compensating driving force is calculated by using the gradient resistance and the compensation factor.

Further, the calculation method of the slope resistance is:

Perform arctangent calculation on the slope of the uphill road to obtain the slope angle of the uphill road;

The gradient resistance is obtained by multiplying the vehicle mass by the acceleration of gravity and the sine value of the slope angle of the uphill road.

Further, the calculation method of the compensation driving force is:

When the gradient of the uphill road is smaller than the compensation turning gradient, the gradient resistance is multiplied by the compensation factor to obtain the compensation driving force, and the value range of the compensation factor is greater than 0 and less than 1;

When the gradient of the uphill road is greater than or equal to the compensation turning gradient, the compensation driving force is obtained by subtracting the compensation gradient resistance from the gradient resistance and adding the product of the compensation gradient resistance and the compensation factor , the compensation gradient resistance is the corresponding gradient resistance when the compensation turning gradient is taken as the gradient of an uphill road.

Further, the vehicle uphill compensation power is calculated according to the compensation driving force, the current speed of the vehicle and the efficiency of the vehicle transmission system, specifically:

The uphill compensation power of the vehicle is obtained by multiplying the compensation driving force by the ratio of the current speed of the vehicle to the efficiency of the transmission system of the vehicle.

Further, according to the uphill compensation power of the vehicle, the current accelerator opening and the engine power requirement when there is no road gradient at the current vehicle speed, the engine requirement power of the vehicle on the current uphill road is calculated, specifically:

The uphill compensation power of the vehicle and the required engine power of the engine under the current accelerator opening and current vehicle speed without road gradient are summed to obtain the required engine power of the vehicle on the uphill road currently located.

Further, according to the engine demand power of the vehicle on the current uphill road, the current speed of the vehicle, the speed ratio corresponding to each gear, the final reduction ratio, the rolling radius of the tire, and the relationship between the rotational speed and the maximum power of the engine, the gear position of the transmission is determined. And the engine power is adjusted, which specifically includes the following steps:

Calculate the speed corresponding to each gear according to the current speed of the vehicle, the speed ratio corresponding to each gear, the main reduction ratio, and the tire rolling radius;

According to the speed corresponding to each gear, the relationship between the speed and the maximum power of the engine, calculate the maximum power of the engine corresponding to each gear;

Among the maximum engine powers corresponding to the various gears, select all engine maximum powers greater than the engine demand power of the vehicle on the current uphill road, and select the corresponding highest gear according to the maximum power of all engines to adjust the transmission gear , adjusting the engine power to the engine power required by the vehicle on the current uphill road;

When the maximum power of the engine corresponding to each gear is less than the required engine power of the vehicle on the current uphill road, select the lowest gear of the vehicle to adjust the transmission gear, and adjust the engine power to the maximum engine power at the lowest gear.

The present invention provides an electronic control unit for driving a vehicle on a slope, and the electronic control unit includes:

An acquisition unit, configured to acquire the gradient of the uphill road where the vehicle is currently located;

a first calculation unit, configured to calculate the compensating driving force according to the gradient of the uphill road, the mass of the vehicle and a preset compensation factor;

A second calculation unit, configured to calculate the uphill compensation power of the vehicle according to the compensation driving force, the current speed of the vehicle and the efficiency of the transmission system of the vehicle;

The third calculation unit is used to calculate the engine demand power of the vehicle on the current uphill road according to the vehicle uphill compensation power, the current accelerator opening and the engine demand power when there is no road gradient at the current vehicle speed;

The adjustment unit is used to adjust the gear position of the transmission according to the engine demand power of the vehicle on the current uphill road, the current speed of the vehicle, the speed ratio corresponding to each gear position, the main reduction ratio, the rolling radius of the tire, and the relationship between the speed and the maximum power of the engine. and adjust engine power.

Further, the first computing unit includes a first computing module and a second computing module;

The first calculation module is used to calculate the gradient resistance according to the gradient of the uphill road and the mass of the vehicle;

The second calculation module is used to calculate the corresponding compensating driving force with the gradient resistance and the compensation factor according to the relationship between the gradient of the uphill road and the compensating turning gradient.

Further, the first computing module is specifically used for:

Perform arctangent calculation on the slope of the uphill road to obtain the slope angle of the uphill road;

The gradient resistance is obtained by multiplying the vehicle mass by the acceleration of gravity and the sine value of the slope angle of the uphill road.

Implement the present invention, have following beneficial effect:

The invention acquires the road gradient when the vehicle goes uphill through detection, calculates the compensation driving force according to the road gradient when going uphill, and calculates the required power of the engine based on the compensation driving force, and adjusts the engine and the transmission according to the required power of the engine to solve the problem There are problems in the prior art that the driver needs to deeply step on the accelerator pedal to cause fatigue when going uphill, and the problem that poor driving can easily cause the vehicle to slide.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a flow chart of a method for controlling vehicle slope driving provided by an embodiment of the present invention.

Fig. 2 is a schematic diagram of a vehicle running state provided by an embodiment of the present invention.

Fig. 3 is a relationship diagram between slope resistance and compensating driving force provided by the embodiment of the present invention.

Fig. 4 is a structural diagram of an electronic control unit for driving a vehicle on a slope according to an embodiment of the present invention.

Detailed ways

The core content of this patent is to give the vehicle driving force compensation when the vehicle goes uphill, calculate the compensation power when going uphill according to the driving force compensation, combine the vehicle's own power and the compensation power to obtain the engine demand power, and perform engine and transmission according to the demand power Adjustment, the specific implementation of the method and system will be further described below in conjunction with the accompanying drawings and embodiments.

The following will describe in detail a method for controlling vehicle driving on a slope and an embodiment of the corresponding electronic control unit provided by the present invention.

As shown in FIG. 1 , an embodiment of the present invention provides a method for controlling vehicle driving on a slope, and the method includes:

Step S101, obtaining the gradient of the uphill road where the vehicle is currently located.

It should be noted that the electronic control unit generally obtains the current uphill road gradient of the vehicle from tools such as sensors, gyroscopes or accelerometers, and the above-mentioned sensors, gyroscopes or accelerometers obtain the current uphill road gradient of the vehicle through detection means; Since the gradient of the uphill road where the vehicle is currently located is acquired, that is, before acquiring the gradient of the uphill road, the above-mentioned instruments and equipment have acquired that the driving state of the vehicle is an uphill state.

The driving state of the vehicle includes three states: no-slope driving state, uphill state and downhill state.

There are many ways to obtain the uphill state or the downhill state. Here are two methods as examples. The first method is to obtain the height of the top of the front and the top of the rear. When the height of the top of the front is higher than the height of the top of the rear , the vehicle is in an uphill state; when the height of the top of the front is lower than that of the rear, the vehicle is in a downhill state; when the height of the top of the front is the same as that of the rear, the vehicle is in a no-slope driving state The driving state refers to driving on flat ground with a slope of zero; the second mode is shown in Figure 2(a) to Figure 2(b), in Figure 2(a) the direction of vehicle travel is far away from the end point of the slope angle, and the vehicle is in the upper In Figure 2(b), the direction of travel of the vehicle is toward the end point of the slope angle, and the vehicle is in a downhill state; the slope angle is 30 degrees in both Figure 2(a) and Figure 2(b). Of course, the state of the vehicle can also be obtained by installing sensors at the center of gravity of the vehicle and other methods.

Step S102, calculating the compensating driving force according to the gradient of the uphill road, the mass of the vehicle and a preset compensation factor.

In this embodiment, the compensating driving force needs to be calculated only when going uphill, because the vehicle needs to perform braking when going downhill, and the braking of the vehicle generally depends on mechanical braking rather than engine power adjustment.

Specifically, calculating the compensation driving force according to the uphill road gradient, vehicle mass and preset compensation factors is specifically:

According to the slope of the uphill road and the mass of the vehicle, the slope resistance is calculated; in the present embodiment, first, the arc tangent of the slope of the uphill road needs to be calculated to obtain the slope angle of the uphill road; further, the mass of the vehicle is multiplied by the acceleration of gravity and The sine value of the gradient angle of the uphill road is used to obtain the gradient resistance.

For example, m is the mass of the vehicle itself, g is the acceleration of gravity, and i is the gradient of the current uphill road. Calculate the slope resistance F _i =mg sin(arctan(i)); Uncertain, so the mass of passengers and items carried is difficult to calculate and detect, so we generally ignore it. Of course, it can also be compensated by adding a preset mass to the mass of the vehicle itself.

According to the relationship between the gradient of the uphill road and the preset compensation turning gradient, the corresponding compensating driving force is calculated respectively with the gradient resistance and the compensation factor. In this embodiment, when the gradient of the road is less than the preset compensation When turning the slope, the slope resistance is multiplied by the compensation factor to obtain the compensation driving force, and the value range of the compensation factor is greater than 0 and less than 1; when the slope of the uphill road is greater than or equal to the preset When compensating the turning gradient, subtract the compensation gradient resistance from the gradient resistance, and add the product of the compensation gradient resistance and the compensation factor to obtain the compensation driving force, and the compensation gradient resistance is as follows: The corresponding ramp resistance when going uphill.

When i<i ₀ , the compensation driving force is F _s ＝k·F _i ; when i≥i ₀ , the compensation driving force The value range of the compensation factor k is (0, 1), and i ₀ is the preset compensation turning slope.

Step S103, calculating the uphill compensation power of the vehicle according to the compensation driving force, the current speed of the vehicle and the efficiency of the vehicle transmission system.

Specifically, the uphill compensation power of the vehicle is obtained by multiplying the compensation driving force by the current speed of the vehicle and the efficiency ratio of the vehicle transmission system, and the compensation power required by the vehicle for uphill is obtained by multiplying the compensation driving force by the current speed of the vehicle. The slope compensation power of the vehicle is obtained by the ratio of the compensation power of the vehicle to the efficiency of the vehicle transmission system. The vehicle uphill compensation power is the compensation power that the vehicle actually provides for uphill.

Step S104 , according to the uphill compensation power of the vehicle, the current accelerator opening and the engine required power at the current vehicle speed when there is no road gradient, calculate the engine required power of the vehicle on the current uphill road.

It should be noted that no road gradient means that the road gradient is zero; the engine demand power when there is no road gradient under the current accelerator opening and current vehicle speed refers to the engine power at the moment when the vehicle switches from a flat road to an uphill, and this power can be It is recorded and obtained by the vehicle; the vehicle's uphill compensation power, the current accelerator opening and the engine's required power when there is no road gradient at the current speed are summed to obtain the required engine power of the vehicle on the current uphill road.

P _E =P ₀ +F _s v/η, the P _E is the engine power required by the vehicle on the current uphill road, and the P ₀ is the engine when there is no road gradient at the current accelerator opening and the current speed Demand power, F _s is the compensation driving force, v is the current speed of the vehicle, and η is the efficiency of the vehicle transmission system.

In this method, the power of the vehicle driving on the flat road is added to the uphill compensation power of the vehicle to obtain the required power of the transmitter of the vehicle on the current uphill road, that is, the required power of the engine for the vehicle to go uphill. If the vehicle can provide this power, The driver does not need to step on the accelerator deeply as in the prior art, but only needs to increase the accelerator moderately to keep the vehicle going uphill smoothly, and there is no need to worry about landslides. Of course, our power compensation only needs to compensate part of the slope resistance In our formula, k is less than 1, so the driver needs to increase the depth of the accelerator when the vehicle is driven by the engine power demand on the current uphill road, and does not need to step on the accelerator as in the prior art Uncomfortably deep and avoid landslides.

Step S105, according to the engine demand power of the vehicle on the current uphill road, the current speed of the vehicle, the speed ratio corresponding to each gear, the main reduction ratio, the rolling radius of the tire, and the relationship between the rotational speed and the maximum power of the engine, the transmission gear and Engine power is regulated.

Specifically, calculate the rotational speed corresponding to each gear according to the current speed of the vehicle, the speed ratio corresponding to each gear, the final reduction ratio, and the tire rolling radius;

According to the speed corresponding to each gear, the relationship between the speed and the maximum power of the engine, calculate the maximum power of the engine corresponding to each gear;

Among the maximum engine powers corresponding to the various gears, select all engine maximum powers greater than the engine demand power of the vehicle on the current uphill road, and select the corresponding highest gear according to the maximum power of all engines to adjust the transmission gear position, adjust the engine power to the engine power required by the vehicle on the current uphill road;

When the maximum power of the engine corresponding to each gear is less than the required engine power of the vehicle on the current uphill road, select the lowest gear of the vehicle to adjust the transmission gear, and adjust the engine power to the maximum power of the engine at the lowest gear .

It should be noted that when adjusting the transmission gear, if the current gear is the target gear, the operation of adjusting the transmission gear is not required; if the current gear is not the target gear, it is necessary to request the transmission control unit (Transmission Control Unit, TCU ) to switch to the target gear.

In this embodiment, the formula for calculating the rotational speed corresponding to each gear is specifically:

v is the current speed of the vehicle, i _g is the speed ratio of the gear position g, and the gear position g generally refers to each gear position. According to different models, there are four gears, five gears, six gears and eight gears bit, i ₀ is the main reduction ratio, which is a fixed value for the same vehicle, and r is the rolling radius of the tire.

The result calculated by the above formula is the speed corresponding to each gear. Further, according to the speed corresponding to each gear, the relationship between the speed and the maximum power of the engine, the calculation of the maximum power of the engine corresponding to each gear is specifically based on the speed corresponding to each gear. , look up the table of the relationship between the speed and the maximum power of the engine, and calculate the maximum power of the engine corresponding to each gear through the linear relationship between the speed and the maximum power of the engine within the range of adjacent speeds.

Take the following table as an example to illustrate the calculation of the maximum engine power corresponding to each gear.

Speed/rpm 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 Power kW 11 25 36 47 58 69 80 91 98 95

According to the speed corresponding to each gear, look up the table of the relationship between the speed and the maximum power of the engine to obtain the range of the speed; according to the linear characteristic that the ratio of the power difference to the speed difference between two adjacent speeds is the same, find The maximum power of the engine corresponding to each gear; for example, there is a gear corresponding to a speed of 1200 rpm, 1200 rpm is between 1000 rpm and 1500 rpm, assuming that the maximum power of the engine corresponding to 1200 rpm is Pmax, Calculate Pmax as 16.6KW, and similarly, you can calculate the maximum power of the engine corresponding to other gears.

Select the maximum engine power that is greater than the engine demand power of the vehicle on the current uphill road at the maximum power of the engine corresponding to each gear, and select the corresponding highest gear according to the maximum power of the engine to adjust the transmission gear, and the engine power The adjustment is the required engine power of the vehicle on the current uphill road.

For example, a vehicle has six gears, and the calculated speeds corresponding to each gear are 4400 rpm, 3600 rpm, 3200 rpm, 2600 rpm, 1800 rpm, and 1200 rpm. The maximum power of the engine is 88.8KW, 71.2KW, 62.4KW, 49.2KW, 31.6KW and 16.6KW respectively, assuming that the engine demand power of the vehicle on the current uphill road is 45KW, only the first to fourth gears meet the requirements, so Select the highest fourth gear to adjust the transmission gear position in the first gear to the fourth gear, and adjust the engine power to the engine demand power of 45KW under the current uphill road of the vehicle.

Another possibility is that the vehicle still has six gears. The calculated speeds corresponding to each gear are 2200 rpm, 2100 rpm, 2000 rpm, 1900 rpm, 1800 rpm and 1700 rpm. The maximum power of the engine corresponding to the first to sixth gears is 40.4KW, 38.2KW, 33.8KW, 31.6KW and 29.4KW through speed calculation or table lookup. When the maximum power of the engine corresponding to the gear is less than the required engine power of the vehicle on the current uphill road, select the lowest gear of the vehicle to adjust the transmission gear, that is, adjust the transmission gear to first gear, and adjust the engine power to The maximum power of the engine is 40.4KW in the lowest gear.

When the maximum power of the engine cannot reach the required engine power of the vehicle on the current uphill road, the maximum power of the engine can be used to compensate as much as possible, which can still reduce the depth of the driver stepping on the accelerator and avoid landslides.

Obtain the required power of the engine through calculation, and actively adjust the gear position of the transmission and the power of the engine according to the above required power of the engine. The driver only needs to partially increase the pedaling depth to ensure that the vehicle can drive smoothly on the uphill road without driving fatigue. sense and the danger of landslides.

As shown in Figure 3, the embodiment of the present invention provides the relationship between the slope resistance and the compensating driving force. Before and after the turning slope, the slope is different, but it can be clearly known that even with the compensation driving force, it is still necessary to increase the accelerator pedaling depth. Technically, without using the compensation factor, it is completely possible to make the compensation driving force equal to the slope resistance, but this will make the driver forget that he is currently in an uphill state, which will pose a safety hazard.

As shown in FIG. 4 , an embodiment of the present invention provides an electronic control unit for driving a vehicle on a slope, and the electronic control unit includes:

An acquisition unit 41, configured to acquire the gradient of the uphill road where the vehicle is currently located;

The first calculation unit 42 is configured to calculate the compensation driving force according to the gradient of the uphill road, the vehicle mass and a preset compensation factor;

The second calculating unit 43 is used to calculate the uphill compensation power of the vehicle according to the compensation driving force, the current speed of the vehicle and the efficiency of the vehicle transmission system;

The third calculation unit 44 is used to calculate the engine required power of the vehicle on the current uphill road according to the vehicle's uphill compensation power, the current accelerator opening and the engine required power when there is no road gradient at the current vehicle speed;

The adjustment unit 45 is used to adjust the transmission speed according to the required engine power of the vehicle on the current uphill road, the current speed of the vehicle, the speed ratio corresponding to each gear, the final reduction ratio, the rolling radius of the tire, and the relationship between the rotational speed and the maximum power of the engine. Gear position and engine power are adjusted.

Further, the first calculation unit 42 includes a first calculation module 421 and a second calculation module 422, the first calculation module 421 is used to calculate the gradient resistance according to the gradient of the uphill road and the vehicle quality; The second calculation module 422 is configured to calculate the corresponding compensating driving force by using the gradient resistance and the compensation factor according to the relationship between the gradient of the uphill road and the preset compensation turning gradient.

Further, the first computing module 421 is specifically used for:

Perform arctangent calculation on the slope of the uphill road to obtain the slope angle of the uphill road;

The gradient resistance is obtained by multiplying the vehicle mass by the acceleration of gravity and the sine value of the slope angle of the uphill road.

Implement the present invention, have following beneficial effect:

The invention acquires the road gradient when the vehicle goes uphill through detection, calculates the compensation driving force according to the road gradient when going uphill, and calculates the required power of the engine based on the compensation driving force, and adjusts the engine and the transmission according to the required power of the engine to solve the problem There are problems in the prior art that the driver needs to deeply step on the accelerator pedal to cause fatigue when going uphill, and the problem that poor driving can easily cause the vehicle to slide.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deductions or substitutions can be made, which should be deemed to belong to the protection scope of the present invention.

Claims (10)

1. A vehicle ramp control method, characterized in that the method comprises: Obtain the slope of the uphill road where the vehicle is currently located; Compensating driving force is calculated according to the gradient of the uphill road, the vehicle mass and a preset compensation factor; calculating the uphill compensation power of the vehicle according to the compensation driving force, the current speed of the vehicle and the efficiency of the transmission system of the vehicle; According to the uphill compensation power of the vehicle, the current throttle opening and the engine required power when there is no road gradient at the current vehicle speed, calculate the engine required power of the vehicle on the current uphill road; According to the engine demand power of the vehicle on the current uphill road, the current speed of the vehicle, the speed ratio corresponding to each gear, the main reduction ratio, the tire rolling radius, and the relationship between the speed and the maximum power of the engine, the transmission gear and engine power are adjusted. . 2. The method according to claim 1, wherein the calculation of the compensating driving force according to the current uphill road gradient, vehicle mass and preset compensation factors specifically comprises the following steps: Calculate the slope resistance according to the slope of the uphill road and the mass of the vehicle; According to the relationship between the gradient of the uphill road and the preset compensation turning gradient, the corresponding compensating driving force is calculated by using the gradient resistance and the compensation factor. 3. method as claimed in claim 2, is characterized in that, the calculation mode of described slope resistance is: Perform arctangent calculation on the slope of the uphill road to obtain the slope angle of the uphill road; The gradient resistance is obtained by multiplying the vehicle mass by the acceleration of gravity and the sine value of the slope angle of the uphill road. 4. The method according to claim 2, wherein the calculation method of the compensating driving force is: When the gradient of the uphill road is smaller than the compensation turning gradient, the gradient resistance is multiplied by the compensation factor to obtain the compensation driving force, and the value range of the compensation factor is greater than 0 and less than 1; When the gradient of the uphill road is greater than or equal to the compensation turning gradient, the compensation driving force is obtained by subtracting the compensation gradient resistance from the gradient resistance and adding the product of the compensation gradient resistance and the compensation factor , the compensation gradient resistance is the corresponding gradient resistance when the compensation turning gradient is taken as the gradient of an uphill road. 5. The method according to any one of claims 1 to 4, wherein the calculation of the uphill compensation power of the vehicle according to the compensation driving force, the current speed of the vehicle and the efficiency of the vehicle transmission system is specifically: The uphill compensation power of the vehicle is obtained by multiplying the compensation driving force by the ratio of the current speed of the vehicle to the efficiency of the transmission system of the vehicle. 6. The method according to claim 5, characterized in that, according to the uphill compensation power of the vehicle, the current throttle opening and the engine demand power when there is no road gradient at the current vehicle speed, the vehicle is calculated at the current position. The required power of the engine on the uphill road is specifically: The uphill compensation power of the vehicle and the required engine power of the engine under the current accelerator opening and current vehicle speed without road gradient are summed to obtain the required engine power of the vehicle on the uphill road currently located. 7. The method according to claim 6, characterized in that, according to the engine demand power of the vehicle on the current uphill road, the current speed of the vehicle, the speed ratio corresponding to each gear, the main reduction ratio, and the tire rolling radius As well as the relationship between the speed and the maximum power of the engine, the gear position of the transmission and the power of the engine are adjusted, which specifically includes the following steps: Calculate the speed corresponding to each gear according to the current speed of the vehicle, the speed ratio corresponding to each gear, the main reduction ratio, and the tire rolling radius; According to the speed corresponding to each gear, the relationship between the speed and the maximum power of the engine, calculate the maximum power of the engine corresponding to each gear; Among the maximum engine powers corresponding to the various gears, select all engine maximum powers greater than the engine demand power of the vehicle on the current uphill road, and select the corresponding highest gear according to the maximum power of all engines to adjust the transmission gear , adjusting the engine power to the engine power required by the vehicle on the current uphill road; When the maximum power of the engine corresponding to each gear is less than the required engine power of the vehicle on the current uphill road, select the lowest gear of the vehicle to adjust the transmission gear, and adjust the engine power to the maximum engine power at the lowest gear. 8. An electronic control unit for vehicle slope driving, characterized in that the electronic control unit includes: An acquisition unit, configured to acquire the gradient of the uphill road where the vehicle is currently located; a first calculation unit, configured to calculate the compensating driving force according to the gradient of the uphill road, the mass of the vehicle and a preset compensation factor; A second calculation unit, configured to calculate the uphill compensation power of the vehicle according to the compensation driving force, the current speed of the vehicle and the efficiency of the transmission system of the vehicle; The third calculation unit is used to calculate the engine demand power of the vehicle on the current uphill road according to the vehicle uphill compensation power, the current accelerator opening and the engine demand power when there is no road gradient at the current vehicle speed; The adjustment unit is used to adjust the gear position of the transmission according to the engine demand power of the vehicle on the current uphill road, the current speed of the vehicle, the speed ratio corresponding to each gear position, the main reduction ratio, the rolling radius of the tire, and the relationship between the speed and the maximum power of the engine. and adjust engine power. 9. The electronic control unit according to claim 8, wherein the first computing unit comprises a first computing module and a second computing module; The first calculation module is used to calculate the gradient resistance according to the gradient of the uphill road and the mass of the vehicle; The second calculation module is used to calculate the corresponding compensating driving force by using the gradient resistance and the compensation factor according to the magnitude relationship between the gradient of the uphill road and the preset compensation turning gradient. 10. The electronic control unit according to claim 9, wherein the first computing module is specifically used for: Perform arctangent calculation on the slope of the uphill road to obtain the slope angle of the uphill road; The gradient resistance is obtained by multiplying the vehicle mass by the acceleration of gravity and the sine value of the slope angle of the uphill road.