A creeping control method, device, electric vehicle and storage medium

Abstract

The embodiment of the present invention discloses a creep control method, device, electronic device and storage medium, the method comprising: obtaining the measured value of the driving parameter of the electric vehicle during driving; obtaining the estimated value of the driving parameter according to the measured value of the driving parameter and the dynamic model of the slope road surface; obtaining the observed value of the driving parameter according to the estimated value of the driving parameter and the state observation model; calculating the approach control value of the electric vehicle on the slope road surface according to the measured value of the driving parameter, the estimated value of the driving parameter, the observed value of the driving parameter and the creeping condition of the electric vehicle during driving. In the above technical scheme, by obtaining the driving parameters of the electric vehicle and predicting the driving parameters, the approach control value of the electric vehicle on the slope road surface is finally obtained, the stability of the vehicle control is maintained, and various different conditions of the creeping process are coped with.

Description

Technical Field

[0001] The present invention relates to the technical field of creep control, and in particular to a creep control method, device, electronic equipment and storage medium. Background Art

[0002] Electric vehicles are taking up an increasingly larger share of the automotive market, and their fast response and low noise are gradually being accepted by users. When electric vehicles are in a crawling state during operation, it is necessary to accurately identify the road slope and vehicle speed, maintain the stability of vehicle control, and cope with various working conditions during the crawling process.

[0003] At present, for vehicle creep control, the existing technology adopts a method of obtaining torque based on the difference between the actual vehicle speed and the target vehicle speed, and obtains the target torque through proportional adjustment and slope adjustment. The process is too rough and has poor stability, and cannot better control the vehicle. Summary of the invention

[0004] The present invention provides a creep control method, device, electronic equipment and storage medium, which can cope with various working conditions in a creep process, so that an electric vehicle has a certain robustness in the creep control process.

[0005] In a first aspect, an embodiment of the present invention provides a creeping control method, which includes: obtaining measured values ​​of driving parameters of an electric vehicle during driving; obtaining estimated values ​​of the driving parameters based on the measured values ​​of the driving parameters and a dynamic model of the slope road surface; obtaining observed values ​​of the driving parameters based on the estimated values ​​of the driving parameters and a state observation model; and calculating an approach control value of the electric vehicle on a slope road surface based on the measured values ​​of the driving parameters, the estimated values ​​of the driving parameters, the observed values ​​of the driving parameters and the creeping condition of the electric vehicle during driving.

[0006] In the second aspect, an embodiment of the present invention further provides a creeping control device, which includes: a parameter acquisition module, used to obtain the measured values ​​of the driving parameters of the electric vehicle during driving; a first calculation module, used to obtain the estimated values ​​of the driving parameters based on the measured values ​​of the driving parameters and the dynamic model of the slope road surface; a second calculation module, used to obtain the observed values ​​of the driving parameters based on the estimated values ​​of the driving parameters and the state observation model; a third calculation module, used to calculate the approach control value of the electric vehicle on the slope road surface based on the measured values ​​of the driving parameters, the estimated values ​​of the driving parameters, the observed values ​​of the driving parameters and the creeping condition of the electric vehicle during driving.

[0007] In the third aspect, an embodiment of the present invention further provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the creeping control method of any embodiment of the present invention.

[0008] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the creep control method of any embodiment of the present invention when executed by a processor.

[0009] The technical solution of the embodiment of the present invention obtains the measured values ​​of the driving parameters of the electric vehicle during driving; obtains the estimated values ​​of the driving parameters according to the measured values ​​of the driving parameters and the dynamic model of the slope road surface; obtains the observed values ​​of the driving parameters according to the estimated values ​​of the driving parameters and the state observation model; and calculates the approach control value of the electric vehicle on the slope road surface according to the measured values ​​of the driving parameters, the estimated values ​​of the driving parameters, the observed values ​​of the driving parameters and the creeping condition of the electric vehicle during driving. On the basis of the above embodiment, by obtaining the driving parameters of the electric vehicle and predicting the driving parameters, the approach control value of the electric vehicle on the slope road surface is finally obtained, the stability of the vehicle control is maintained, and various different conditions of the creeping process are coped with.

[0010] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 is a flow chart of a creeping control method provided in an embodiment of the present invention;

[0013] Figure 2 is another flow chart of a creeping control method provided in an embodiment of the present invention;

[0014] Figure 3 is a structural schematic diagram of a creep control device provided in an embodiment of the present invention;

[0015] Figure 4It is a structural schematic diagram of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0017] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0018] Figure 1 is a flow chart of a creep control method provided in an embodiment of the present invention. This embodiment can be applied to various working conditions in the creep process. The method can be executed by a creep control device. The creep control device can be implemented in the form of hardware and / or software. The creep control device can be configured in an electronic device, such as Figure 1 As shown, the method of the embodiment of the present invention specifically includes the following steps:

[0019] S110: Obtaining measurement values ​​of driving parameters of the electric vehicle during driving.

[0020] Among them, the driving parameters include driving speed and driving acceleration. The driving speed can be used to indicate the speed of the electric vehicle during driving. The driving acceleration refers to the rate of change of the driving speed of the electric vehicle per unit time, which can reflect the motion state of the electric vehicle at a certain moment.

[0021] Specifically, during the driving of the electric vehicle, the measured value of the driving speed and the measured value of the driving acceleration of the electric vehicle are obtained according to the sensors of the electric vehicle.

[0022] S120: Obtain an estimated value of the driving parameter according to the measured value of the driving parameter and a dynamic model of the slope road surface.

[0023] Specifically, the estimated value of the driving speed is obtained based on the measured value of the driving speed, the measured value of the driving acceleration and the vehicle speed dynamics model. The vehicle speed dynamics model is: m is the mass of the electric vehicle, is the estimated value of the vehicle speed, V x is the measured value of the vehicle speed, M T,D is the motor torque, r is the wheel rolling radius, f r is the road rolling resistance coefficient, ρ is the air density, A is the windward area of ​​the electric vehicle, C D is the air resistance coefficient, θ is the measured value of the road slope, and x is the time.

[0024] Furthermore, the tire force of electric vehicles on flat roads And the driving acceleration of the electric vehicle is x With tire force F x The relationship between x =F x , then through the vehicle speed dynamics model Tire force and driving acceleration a x With tire force F x The relationship between x =F x Get an estimate of the vehicle speed At the same time, the driving acceleration measurement value a is obtained through the electric vehicle's sensor x Then, the estimated value of driving acceleration is determined by the difference between the driving acceleration at the next moment and the previous moment.

[0025] S130: Obtaining an observed value of the driving parameter according to the estimated value of the driving parameter and the state observation model.

[0026] Specifically, after obtaining the estimated value of the driving speed of the electric vehicle and estimated driving acceleration After that, further, according to the state observation model, the correction term is calculated, and the correction term includes the correction term of the driving speed and the correction term of the driving acceleration, which is used to estimate the driving speed of the electric vehicle. and estimated driving acceleration Correction is performed, and then the observed values ​​of the driving speed are obtained respectively and the observed values ​​of driving acceleration

[0027] S140, calculating a control value of the electric vehicle approaching the sloped road surface according to the measured value of the driving parameter, the estimated value of the driving parameter, the observed value of the driving parameter and the creeping condition of the electric vehicle during driving.

[0028] Specifically, after obtaining and calculating the measured value V of the vehicle speed, x , estimated value of driving speed Observed value of driving speed The measured value of driving acceleration a x , estimated value of driving acceleration and the observed values ​​of driving acceleration Afterwards, the approach control value of the electric vehicle on the slope road is further calculated according to the creeping condition of the electric vehicle during driving.

[0029] On the basis of the above embodiments, further, a sliding surface function is obtained according to the measured value of the driving parameter, the estimated value of the driving parameter, the observed value of the driving parameter and the sliding surface parameter; when the creeping condition of the electric vehicle is in a stable state, the sliding surface function is differentiated, and the sliding surface function and the estimated value of the driving speed are set equal to 0, and the approach control value of the electric vehicle on the slope road is calculated; when the creeping condition of the electric vehicle is in an unstable state, the sliding surface function is calculated by the power approach law to obtain the approach control value of the electric vehicle on the slope road.

[0030] Among them, the sliding surface parameter is C, which represents the slope of the creeping condition during the driving of the electric vehicle, and the sliding surface function Where, e = V x -V d , e represents the measured value V of the actual vehicle speed at time x x and the crawling target speed v d The difference, v d The target speed of the electric vehicle during the crawling process. is the estimated value of the driving speed and the creeping target speed V d Acceleration The difference.

[0031] Specifically, after determining the sliding surface function s, the sliding surface function s is further derived to obtain the sliding surface function When the electric car enters the sliding surface, let the derivative of the sliding surface function At the same time, the target speed is required to be a preset stable value, so the inverse of the creeping target speed of the electric vehicle is the creeping target speed v d Acceleration If it is 0, then Derived Combination The approach control value of the electric vehicle on a sloped road, that is, the motor torque of the electric vehicle, is derived.

[0032] On the basis of the above embodiment, further, when the creeping condition of the electric vehicle is in a stable state, for the creeping condition, the approach control value of the electric vehicle on the slope road is M T,D 1; When the creeping condition of the electric vehicle is in an unstable state, the approach control value of the electric vehicle on the slope road is M T,D 2.

[0033] Furthermore, when the creeping condition of the electric vehicle is in a stable state, for the creeping condition, the motor torque of the electric vehicle is That is, when the creeping condition of the electric vehicle is in an unstable state, the sliding surface function Among them, ε>0, 0<α<1, sgn represents the sign function, k is a constant term, when s>0, the sign function takes 1, when s<0, the sign function takes -1, and finally through and Deriving the motor torque for electric vehicles

[0034] The advantage of this setting is that the electric torque of the electric vehicle during creeping conditions can be calculated to maintain the stability of vehicle control.

[0035] The technical solution of the embodiment of the present invention obtains the measured values ​​of the driving parameters of the electric vehicle during driving; obtains the estimated values ​​of the driving parameters according to the measured values ​​of the driving parameters and the dynamic model of the slope road surface; obtains the observed values ​​of the driving parameters according to the estimated values ​​of the driving parameters and the state observation model; and calculates the approach control value of the electric vehicle on the slope road surface according to the measured values ​​of the driving parameters, the estimated values ​​of the driving parameters, the observed values ​​of the driving parameters and the creeping condition of the electric vehicle during driving. On the basis of the above embodiment, by obtaining the driving parameters of the electric vehicle and predicting the driving parameters, the approach control value of the electric vehicle on the slope road surface is finally obtained, the stability of the vehicle control is maintained, and various different conditions of the creeping process are coped with.

[0036] Figure 2 is another flow chart of a creep control method provided in an embodiment of the present invention. On the basis of the above embodiment, how to calculate the observed value of the driving parameter and the approach control value of the electric vehicle on the slope road according to the estimated value of the driving parameter is further optimized, such as Figure 2 As shown, the method specifically includes the following steps:

[0037] S210: Obtain measured values ​​of driving parameters of the electric vehicle during driving.

[0038] Specifically, during the driving of the electric vehicle, the measured value of the driving speed and the measured value of the driving acceleration of the electric vehicle are obtained according to the sensors of the electric vehicle.

[0039] S220: Obtain an estimated value of the driving parameter according to the measured value of the driving parameter and the dynamic model of the slope road surface.

[0040] Specifically, the estimated value of the driving speed is obtained based on the measured value of the driving speed, the measured value of the driving acceleration and the vehicle speed dynamics model. The vehicle speed dynamics model is: m is the mass of the electric vehicle, is the estimated value of the vehicle speed, V x is the measured value of the vehicle speed, M T,D is the motor torque, r is the wheel rolling radius, f r is the road rolling resistance coefficient, ρ is the air density, A is the windward area of ​​the electric vehicle, C D is the air resistance coefficient, θ is the measured value of the road slope, and x is the time.

[0041] Furthermore, the tire force of electric vehicles on flat roads And the driving acceleration of the electric vehicle is x With tire force F x The relationship between x =F x , then through the vehicle speed dynamics model Tire force and driving acceleration a x With tire force F x The relationship between x =F x Get an estimate of the vehicle speed At the same time, the driving acceleration measurement value a is obtained through the electric vehicle's sensor x Then, the estimated value of driving acceleration is determined by the difference between the driving acceleration at the next moment and the previous moment.

[0042] S230: Calculate a correction term according to the estimated value of the driving parameter and the state observation model.

[0043] The correction items include the correction item of the driving speed and the correction item of the driving acceleration.

[0044] Specifically, according to the measured value V of the vehicle speed x and estimated vehicle speed The correction term for determining the driving speed is Based on the measured value of driving acceleration a x and estimated driving acceleration The correction term for driving acceleration is determined as

[0045] S240. Obtain an observed value of the driving speed based on the estimated value of the driving speed and a correction item of the driving speed, and obtain an observed value of the driving acceleration based on the estimated value of the driving acceleration and the correction item of the driving acceleration.

[0046] Specifically, according to the state observation model of driving speed and the correction term of driving acceleration, Calculate the observed value of the driving speed According to the state observation model of driving acceleration and the correction term of driving speed, Calculate the observed value of driving acceleration

[0047] S250, calculating a control value of the electric vehicle on a sloped road surface according to the measured value of the driving parameter, the estimated value of the driving parameter, the observed value of the driving parameter and the creeping condition of the electric vehicle during driving.

[0048] Specifically, after obtaining and calculating the measured value V of the vehicle speed, x , estimated value of driving speed Observed value of driving speed The measured value of driving acceleration a x , estimated value of driving acceleration and the observed values ​​of driving acceleration Afterwards, the approach control value of the electric vehicle on the slope road is further calculated according to the creeping condition of the electric vehicle during driving.

[0049] The technical solution of the embodiment of the present invention obtains the measured value of the driving parameter of the electric vehicle during driving, obtains the estimated value of the driving parameter according to the measured value of the driving parameter and the dynamic model of the slope road surface, calculates the correction term according to the state observation model, obtains the observed value of the driving speed according to the estimated value of the driving speed and the correction term of the driving speed, and obtains the observed value of the driving acceleration according to the estimated value of the driving acceleration and the correction term of the driving acceleration, and calculates the approach control value of the electric vehicle on the slope road surface according to the measured value of the driving parameter, the estimated value of the driving parameter, the observed value of the driving parameter and the crawling condition of the electric vehicle during driving. On the basis of the above embodiment, by obtaining the driving parameters of the electric vehicle, and then further correcting the situation parameters through the correction term, and predicting the corrected driving parameters, the approach control value of the electric vehicle on the slope road surface is finally obtained, that is, the motor torque of the electric vehicle during the crawling process, so that the electric vehicle can maintain the stability of vehicle control and cope with various different conditions in the crawling process.

[0050] Figure 3is a schematic diagram of the structure of a crawling control device provided in an embodiment of the present invention, such as Figure 3 As shown, the device includes: a parameter acquisition module 310, a first calculation module 320, a second calculation module 330 and a third calculation module 340. Among them,

[0051] The parameter acquisition module 310 is used to obtain the measured values ​​of the driving parameters of the electric vehicle during the driving process.

[0052] The first calculation module 320 is used to obtain an estimated value of the driving parameter according to the measured value of the driving parameter and the dynamic model of the slope road surface.

[0053] The second calculation module 330 is used to obtain the observed value of the driving parameter according to the estimated value of the driving parameter and the state observation model.

[0054] The third calculation module 340 is used to calculate the approach control value of the electric vehicle on the slope road according to the measured value of the driving parameter, the estimated value of the driving parameter, the observed value of the driving parameter and the creeping condition of the electric vehicle during driving.

[0055] Optionally, the driving parameters include driving speed and driving acceleration.

[0056] Optionally, the first calculation module 320 is specifically used to: obtain an estimated value of the driving speed based on the measured value of the driving speed, the measured value of the driving acceleration and the vehicle speed dynamics model; and obtain an estimated value of the driving acceleration based on the measured value of the driving acceleration.

[0057] Optionally, the vehicle speed dynamics model is Where m is the mass of the electric vehicle, is the estimated value of the vehicle speed, v is the measured value of the vehicle speed, M T,D is the motor torque, r is the wheel rolling radius, f r is the road rolling resistance coefficient, ρ is the air density, A is the windward area of ​​the electric vehicle, C D is the air resistance coefficient and θ is the measured value of the road slope.

[0058] Optionally, the second calculation module 330 is specifically used to: calculate correction items based on the state observation model, the correction items including correction items for the vehicle speed and correction items for the vehicle acceleration; obtain the observed value of the vehicle speed based on the estimated value of the vehicle speed and the correction item for the vehicle speed, and obtain the observed value of the driving acceleration based on the estimated value of the driving acceleration and the correction item for the driving acceleration.

[0059] Optionally, the third calculation module 340 is specifically used to: obtain a sliding surface function based on measured values ​​of driving parameters, estimated values ​​of driving parameters, observed values ​​of driving parameters and sliding surface parameters; when the creeping condition of the electric vehicle is in a stable state, differentiate the sliding surface function, and set the sliding surface function and the estimated value of the driving speed to 0, and calculate the approach control value of the electric vehicle on the slope road; when the creeping condition of the electric vehicle is in an unstable state, perform a power approach law calculation on the sliding surface function to obtain the approach control value of the electric vehicle on the slope road.

[0060] Optionally, the third calculation module 340 is specifically used to: when the creeping condition of the electric vehicle is in a stable state, the approach control value of the electric vehicle on the slope road is M T,D 1; When the creeping condition of the electric vehicle is in an unstable state, the approach control value of the electric vehicle on the slope road is M T,D 2.

[0061] The creep control device provided in the embodiment of the present invention can execute the creep control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0062] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0063] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0064] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0065] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method crawl control.

[0066] In some embodiments, the method creep control may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method creep control described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method creep control in any other appropriate manner (e.g., by means of firmware).

[0067] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0068] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0069] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0070] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0071] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0072] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0073] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0074] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A creep control method, characterized in that: The method comprises: Acquire the measured values ​​of the driving parameters of the electric vehicle during driving; wherein the driving parameters include the driving speed and the driving acceleration; Obtaining an estimated value of the driving parameter according to the measured value of the driving parameter and a vehicle speed dynamics model; Obtaining an observed value of the driving parameter according to the estimated value of the driving parameter and the state observation model; Obtaining a sliding surface function according to the measured value of the driving parameter, the estimated value of the driving parameter, the observed value of the driving parameter and a sliding surface parameter; When the creeping condition of the electric vehicle is in a stable state, the sliding surface function is derived, and the sliding surface function and the estimated value of the driving speed are set to 0. The formula Calculate the approach control value of the electric vehicle on the slope road; where M T,D 1 is the approach control value of the electric vehicle when the creeping condition of the electric vehicle is in a stable state, r is the wheel rolling radius, c is the sliding film surface parameter, m is the mass of the electric vehicle, is the derivative of the estimated value of the vehicle speed, g is the acceleration due to gravity, and f r is the road rolling resistance coefficient, θ is the measured value of the road slope, ρ is the air density, A is the frontal area of ​​the electric vehicle, C D is the air resistance coefficient, V x is the measured value of the actual vehicle speed, and x is the time; When the creeping condition of the electric vehicle is in an unstable state, the sliding surface function is subjected to a power approach law calculation, and the formula Get the approach control value of the electric vehicle on the slope road; where M T,D 2 is the approach control value of the electric vehicle when the creeping condition of the electric vehicle is in an unstable state, is the derivative of the estimated value of the driving speed, ε is a constant greater than 0, s is the sliding surface function, α is a constant greater than 0 and less than 1, sgn represents the sign function, k is a constant term, m is the mass of the electric vehicle, g is the acceleration of gravity, and f r is the road rolling resistance coefficient, θ is the measured value of the road slope, ρ is the air density, A is the frontal area of ​​the electric vehicle, C D is the air resistance coefficient, V x is the measured value of the actual vehicle speed, and x is the time.

2. The method according to claim 1, characterized in that The step of obtaining an estimated value of the driving parameter based on the measured value of the driving parameter and the vehicle speed dynamics model comprises: Obtaining an estimated value of the driving speed according to the measured value of the driving speed, the measured value of the driving acceleration and the vehicle speed dynamics model; An estimated value of the driving acceleration is obtained based on the measured value of the driving acceleration.

3. The method according to claim 2, characterized in that The vehicle speed dynamics model is Wherein, m is the mass of the electric vehicle, is the estimated value of the driving speed, v is the measured value of the driving speed, M T,D is the motor torque, r is the wheel rolling radius, f r is the road rolling resistance coefficient, ρ is the air density, A is the windward area of ​​the electric vehicle, C D is the air resistance coefficient and θ is the measured value of the road slope.

4. The method according to claim 1, characterized in that: The step of obtaining the observed value of the driving parameter according to the estimated value of the driving parameter and the state observation model comprises: Calculating correction items according to the state observation model, wherein the correction items include correction items of driving speed and driving acceleration; The observed value of the driving speed is obtained based on the estimated value of the driving speed and the correction item of the driving speed, and the observed value of the driving acceleration is obtained based on the estimated value of the driving acceleration and the correction item of the driving acceleration.

5. A creep control device, used to implement the creep control method according to any one of claims 1 to 4, characterized in that: The device comprises: A parameter acquisition module is used to obtain the measured values ​​of the driving parameters of the electric vehicle during driving; A first calculation module, used for obtaining an estimated value of the driving parameter according to the measured value of the driving parameter and a vehicle speed dynamics model; A second calculation module, used for obtaining an observed value of the driving parameter according to the estimated value of the driving parameter and the state observation model; The third calculation module is used to calculate the approach control value of the electric vehicle on a slope road according to the measured value of the driving parameter, the estimated value of the driving parameter, the observed value of the driving parameter and the creeping condition of the electric vehicle during driving.

6. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the creep control method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the creep control method according to any one of claims 1 to 4 when executed.

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