Vehicle crawling control method, device and system and vehicle
A control method and technology of a control device are applied in the field of devices, systems, vehicles, and vehicle creep control methods, which can solve the problems of poor vehicle stability and comfort, large starting torque, etc., and achieve the effect of ensuring ride comfort.
Pending Publication Date: 2022-06-28
BEIJING ELECTRIC VEHICLE
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Problems solved by technology
[0004] The technical purpose to be achieved by the embodiments of the present application is to provide a vehicle creep control method, device, system and vehicle to solve the problem of excessive starting torque when the vehicle is creeping due to a large speed difference when the current vehicle starts. Problems leading to poor vehicle stability and comfort
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[0049] In order to make the technical problems, technical solutions and advantages to be solved by the present application more clear, the following will be described in detail with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided merely to assist in a comprehensive understanding of embodiments of the present application. Accordingly, it should be apparent to those skilled in the art that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
[0050] It is to be understood that reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic associated with the embodiment is included i...
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The invention provides a vehicle crawling control method, device and system and a vehicle. The method comprises the steps that when the vehicle is in a crawling mode, the first vehicle speed difference between the target vehicle speed and the current vehicle speed of the vehicle is obtained; determining a second vehicle speed difference according to the first vehicle speed difference and a preset vehicle speed difference range; pI calculation is conducted according to the second vehicle speed difference, and the target torque of the crawling mode is obtained and output to the driving device. The second vehicle speed difference can be limited through the preset vehicle speed difference range, the situation that the second vehicle speed difference is too large is avoided, then the initial value of the target torque is low, the situation that when the vehicle is just switched to the creeping mode, the vehicle accelerates too fast and too violently at the starting moment due to the fact that the target torque is too large, and driving smoothness is affected is avoided, and driving safety is improved. And the target torque is gradually increased in real-time PI calculation, so that the riding comfort of the vehicle is ensured. And meanwhile, the torque is not directly limited in the control process, so that the climbing performance of vehicle crawling cannot be influenced.
Description
technical field [0001] The present application relates to the technical field of vehicle control, and in particular, to a vehicle creep control method, device, system and vehicle. Background technique [0002] In the traditional creeping function, the vehicle takes the target speed as the control target, controls the vehicle power through a specific algorithm, and maintains the actual speed within a certain range near the target speed to realize the creeping function. [0003] This kind of algorithm that takes a fixed vehicle speed as the target and controls the actual vehicle speed on the target vehicle speed through closed-loop control is usually proportional-integral (PI) control. Therefore, when the deviation between the actual vehicle speed and the target vehicle speed is large, the calculated torque value will be too large. The actual vehicle performance is that when the vehicle starts from a standstill, the initial torque and acceleration are large, and when the vehic...
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IPC IPC(8): B60W30/18
CPCB60W30/18063B60W2520/10B60W2520/28B60W2720/10
Inventor 刘昕
Owner BEIJING ELECTRIC VEHICLE