Vehicle creep control method, device, storage medium, electronic device and vehicle

Abstract

The present disclosure provides a method, device, storage medium, electronic device and vehicle for controlling vehicle creep, the method comprising: obtaining a brake pedal state of a vehicle, the brake pedal state indicating whether the brake pedal of the vehicle is depressed; when the brake pedal state indicates that the brake pedal is depressed, obtaining an initial creep torque according to a driving speed and a brake master cylinder pressure, obtaining a target creep torque according to the driving speed and the initial creep torque, and controlling the vehicle to creep according to the target creep torque; when the brake pedal state indicates that the brake pedal is not depressed, obtaining a specified creep speed, obtaining the target creep torque according to the specified creep speed, and controlling the vehicle to creep according to the target creep torque.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control, and in particular, to a method, device, storage medium, electronic device, and vehicle for controlling vehicle creep. Background Art

[0002] There are currently a variety of vehicle creep control methods, but the applicable scenarios of these control methods are relatively simple. Some control methods cannot adapt to changes in road and vehicle parameters, and the control is not flexible enough. Some control methods only support working conditions when the brake pedal is not pressed. When the brake pedal is pressed, it is difficult to ensure stable vehicle speed.

[0003] In summary, the current control method of vehicle creep is not flexible enough, cannot adapt to different scenarios, and has great limitations. Summary of the Invention

[0004] In order to solve the above problems, the present disclosure provides a method, device, storage medium, electronic device and vehicle for controlling vehicle creep.

[0005] In a first aspect of the present disclosure, a method for controlling vehicle creep is provided, the method comprising:

[0006] Obtain a brake pedal state of the vehicle, wherein the brake pedal state indicates whether the brake pedal of the vehicle is depressed; when the brake pedal state indicates that the brake pedal is depressed, obtain an initial creep torque based on the driving speed and the brake master cylinder pressure, obtain a target creep torque based on the driving speed and the initial creep torque, and control the vehicle to creep according to the target creep torque; when the brake pedal state indicates that the brake pedal is not depressed, obtain a specified creep speed, obtain the target creep torque based on the specified creep speed, and control the vehicle to creep according to the target creep torque.

[0007] Optionally, obtaining the target creep torque based on the driving speed and the initial creep torque includes: when the vehicle creeps according to the initial creep torque, if the creep speed of the vehicle is less than or equal to a preset target speed, obtaining the acceleration of the vehicle; obtaining the compensation torque based on the initial creep torque, the preset target speed and the acceleration; compensating the initial creep torque based on the compensation torque to obtain the target creep torque.

[0008] Optionally, obtaining the compensation torque based on the initial creep torque, the preset target speed and the acceleration includes: calculating the torque difference between the torque corresponding to the preset target speed and the initial creep torque; and determining the compensation torque based on the torque difference and the acceleration.

[0009] Optionally, determining the compensation torque based on the torque difference and the acceleration includes: determining a target acceleration range to which the acceleration belongs from one or more preset acceleration ranges; determining a target difference range to which the torque difference belongs from one or more preset torque difference ranges; and determining the compensation torque through a preset torque correspondence based on the target acceleration range and the target difference range, wherein the preset torque correspondence includes a correspondence between one or more target acceleration ranges, the target difference range and the compensation torque.

[0010] Optionally, controlling the vehicle to creep according to the target creep torque includes: filtering the target creep torque through a preset filtering algorithm; and controlling the vehicle to creep according to the filtered target creep torque.

[0011] Optionally, the method further includes: determining whether the vehicle is shaking; and if the vehicle is shaking, adjusting the filter coefficient in the preset filtering algorithm to control the vehicle to stop shaking.

[0012] Optionally, adjusting the filter coefficient in the preset filtering algorithm includes: increasing the filter coefficient according to a preset coefficient adjustment value.

[0013] Optionally, determining whether the vehicle is shaking includes: periodically obtaining the motor speed within a preset time period; calculating the derivative of the motor speed obtained in each period to obtain multiple speed derivatives; and determining that the vehicle is shaking when the number of zero crossings of the multiple speed derivatives exceeds a preset number threshold.

[0014] In a second aspect of the present disclosure, a device for controlling vehicle creep is provided, the device comprising:

[0015] a state acquisition module, configured to acquire a brake pedal state of a vehicle, wherein the brake pedal state indicates whether the brake pedal of the vehicle is depressed;

[0016] a creep control module, configured to, when the brake pedal state indicates that the brake pedal is depressed, obtain an initial creep torque based on a driving speed and a brake master cylinder pressure, obtain a target creep torque based on the driving speed and the initial creep torque, and control the vehicle to creep according to the target creep torque;

[0017] The creep control module is further configured to obtain a specified creep speed when the brake pedal state indicates that the brake pedal is not depressed, obtain the target creep torque based on the specified creep speed, and control the vehicle to creep according to the target creep torque.

[0018] Optionally, the creep control module is used to obtain the acceleration of the vehicle if the creep speed of the vehicle is less than or equal to a preset target speed when the vehicle creeps according to the initial creep torque; obtain the compensation torque based on the initial creep torque, the preset target speed and the acceleration; and compensate the initial creep torque based on the compensation torque to obtain the target creep torque.

[0019] Optionally, the creep control module is configured to calculate a torque difference between the torque corresponding to the preset target speed and the initial creep torque, and determine the compensation torque based on the torque difference and the acceleration.

[0020] Optionally, the creep control module is used to determine the target acceleration range to which the acceleration belongs from one or more preset acceleration ranges; determine the target difference range to which the torque difference belongs from one or more preset torque difference ranges; and determine the compensation torque through a preset torque correspondence relationship based on the target acceleration range and the target difference range, wherein the preset torque correspondence relationship includes the correspondence between one or more target acceleration ranges, the target difference range and the compensation torque.

[0021] Optionally, the creep control module is configured to filter the target creep torque using a preset filtering algorithm, and control the vehicle to creep according to the filtered target creep torque.

[0022] Optionally, the device further comprises:

[0023] The filter adjustment module is used to determine whether the vehicle is shaking, and if the vehicle is shaking, adjust the filter coefficient in the preset filter algorithm to control the vehicle to stop shaking.

[0024] Optionally, the filter adjustment module is used to increase the filter coefficient according to a preset coefficient adjustment value.

[0025] Optionally, the filtering adjustment module is used to periodically obtain the motor speed within a preset time period; calculate the derivative of the motor speed obtained in each period to obtain multiple speed derivatives; when the number of zero crossings of the multiple speed derivatives exceeds a preset number threshold, it is determined that the vehicle is shaking.

[0026] In a third aspect of the present disclosure, a vehicle is provided, comprising a control device for realizing the above-mentioned vehicle creep.

[0027] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the method described in the first aspect are implemented.

[0028] In a fifth aspect of the present disclosure, an electronic device is provided, including:

[0029] A processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the method described in the first aspect.

[0030] The above technical solution can obtain the brake pedal state of the vehicle, where the brake pedal state indicates whether the brake pedal of the vehicle is depressed. When the brake pedal state indicates that the brake pedal is depressed, the initial creep torque is obtained based on the driving speed and the brake master cylinder pressure, and the target creep torque is obtained based on the driving speed and the initial creep torque, and the vehicle is controlled to creep according to the target creep torque. Alternatively, when the brake pedal state indicates that the brake pedal is not depressed, a specified creep speed is obtained, and the target creep torque is obtained based on the specified creep speed, and the vehicle is controlled to creep according to the target creep torque. In this way, by determining whether the brake pedal is depressed, different control methods can be flexibly adopted to control vehicle creep, allowing the vehicle to creep smoothly in different scenarios.

[0031] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0033] Figure 1 It is a flowchart of a first method for controlling vehicle creep according to an exemplary embodiment.

[0034] Figure 2 is a flow chart of a second torque control method according to an exemplary embodiment.

[0035] Figure 3 It is a schematic structural diagram of a first torque control device according to an exemplary embodiment.

[0036] Figure 4 3 is a schematic structural diagram of a second torque control device according to an exemplary embodiment.

[0037] Figure 5 is a schematic diagram of a vehicle according to an exemplary embodiment.

[0038] Figure 6 The figure is a schematic structural diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0039] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0040] First, the application scenarios of the present disclosure will be explained. The present disclosure can be applied to vehicle creep control. Currently, there are two main control methods for vehicle creep control: one method uses a table lookup to determine a target creep torque based on vehicle speed and brake master cylinder pressure, and controls the vehicle to maintain a constant speed based on the target creep torque. The other method uses the PI control method (Proportional Integration), which adjusts the PI parameters to determine the target creep torque so that the vehicle reaches the target creep speed.

[0041] However, the first control method mentioned above cannot adapt to changes in road and vehicle parameters, and the control is not flexible enough. The second control method only supports the working condition when the brake pedal is not pressed. When the brake pedal is pressed, it is difficult to stabilize the vehicle speed by controlling the torque through PI.

[0042] Figure 1 FIG. 1 is a flow chart of a method for controlling vehicle creep according to an exemplary embodiment of the present disclosure. Figure 1 As shown, the control method may include the following steps:

[0043] S101, obtaining the brake pedal status of the vehicle.

[0044] The brake pedal state indicates whether the brake pedal of the vehicle is depressed.

[0045] For example, the state of the brake pedal may be acquired via a brake pedal opening sensor.

[0046] S102 , when the brake pedal state indicates that the brake pedal is depressed, obtain an initial creep torque according to the driving speed and the brake master cylinder pressure.

[0047] In one possible implementation, the initial creep torque can be obtained through a preset torque correspondence based on the driving speed and the brake master cylinder pressure, wherein the preset torque correspondence includes the correspondence between the driving speed, the brake master cylinder pressure and the initial creep torque. For example, the preset torque correspondence can be a preset torque correspondence table. In this way, the initial creep torque can be quickly determined through the preset torque correspondence, thereby improving the control efficiency of the vehicle creep.

[0048] S103: Obtain a target creep torque according to the driving speed and the initial creep torque, and control the vehicle to creep according to the target creep torque.

[0049] S104 , when the brake pedal state indicates that the brake pedal is not depressed, obtaining the target creep torque according to the designated creep speed, and controlling the vehicle to creep according to the target creep torque.

[0050] In a possible implementation, the target creep torque can be obtained through a PI control method according to the specified creep speed. The specific implementation process of the PI control method can refer to the process of the PI control method in the relevant technology, which will not be repeated here.

[0051] By adopting the above solution, by judging whether the brake pedal is depressed, different control methods can be flexibly adopted to control the vehicle creeping, so that the vehicle can creep smoothly in different scenarios.

[0052] In some embodiments, the step of obtaining the target creep torque according to the driving speed and the initial creep torque in S103 can be implemented by the following steps:

[0053] S1 . When the vehicle is creeping according to the initial creep torque, if the creep speed of the vehicle is less than or equal to a preset target speed, obtaining the acceleration of the vehicle.

[0054] Here, the preset target speed may be the desired creep speed of the vehicle. If the creep speed of the vehicle is less than or equal to the preset target speed, it means that the current initial creep torque cannot control the vehicle to reach the desired creep speed. Therefore, the initial creep torque needs to be compensated through subsequent steps.

[0055] S2: Obtaining a compensation torque according to the initial creep torque, the preset target speed, and the acceleration.

[0056] In a possible implementation, a torque difference between the torque corresponding to the preset target speed and the initial creep torque may be calculated, and the compensation torque may be determined based on the torque difference and the acceleration.

[0057] For example, after the torque difference is calculated, the target acceleration range to which the acceleration belongs can be determined from one or more preset acceleration ranges; the target difference range to which the torque difference belongs can be determined from one or more preset torque difference ranges; and the compensation torque can be determined based on the target acceleration range and the target difference range through a preset torque correspondence, which includes a correspondence between one or more target acceleration ranges, the target difference range, and the compensation torque.

[0058] For example, the preset compensation torque correspondence relationship may be a preset compensation torque correspondence table, as shown in Table 1 below. Table 1 is a preset compensation torque correspondence table shown in an exemplary embodiment.

[0059] ΔV1 ΔV2 a1 ΔT11 ΔT12 a2 ΔT21 ΔT22

[0060] Table 1

[0061] As shown in Table 1, a1 and a2 represent different acceleration ranges, and ΔV1 and ΔV2 represent different torque difference ranges. When the target acceleration range is a1 and the target difference range is ΔV1, Table 1 can be used to determine the compensation torque as ΔT11. When the target acceleration range is a1 and the target difference range is ΔV2, Table 1 can be used to determine the compensation torque as ΔT12. When the target acceleration range is a2 and the target difference range is ΔV1, Table 1 can be used to determine the compensation torque as ΔT21. When the target acceleration range is a2 and the target difference range is ΔV2, Table 1 can be used to determine the compensation torque as ΔT22. Thus, Table 1 can be used to quickly determine the corresponding compensation torque, thereby improving vehicle creep control efficiency.

[0062] S3, compensating the initial creep torque according to the compensation torque to obtain a target creep torque.

[0063] For example, the initial creep torque and the compensation torque may be added to obtain the target creep torque.

[0064] In some embodiments, controlling the vehicle to creep according to the target creep torque in S103 and S104 may be achieved by the following steps:

[0065] First, the target creep torque is filtered using a preset filtering algorithm.

[0066] Among them, the preset filtering algorithm can be a first-order low-pass filtering algorithm. The specific implementation method of the first-order low-pass filtering algorithm can refer to the implementation method in the relevant technology, which will not be repeated here.

[0067] Secondly, the vehicle is controlled to creep according to the target creep torque after filtering.

[0068] In this way, by filtering the target creep torque, the vehicle creep can be ensured to be smooth and vehicle shaking can be avoided.

[0069] Considering that in related technologies, the filter coefficients in the preset filtering algorithms are often pre-set, the pre-set filter coefficients may not meet the filtering requirements in different scenarios, resulting in poor filtering effects. To address this issue, in other embodiments, it is possible to determine whether the vehicle is shaking. If the vehicle is shaking, the filter coefficients in the preset filtering algorithm are adjusted to control the vehicle to stop shaking. In this way, by adjusting the filter coefficients, the filtering of the target creep torque can be flexibly controlled to avoid vehicle shaking.

[0070] For example, the motor speed within a preset time period can be periodically obtained, and the derivative of the motor speed obtained in each period can be calculated to obtain multiple speed derivatives. When the number of zero crossings of multiple speed derivatives exceeds a preset number threshold, it is determined that the vehicle is shaking.

[0071] For example, the preset number threshold may be 8 times, that is, when the number of zero crossings of the plurality of speed derivatives exceeds 8 times, it is determined that the vehicle is shaking.

[0072] In some embodiments, when the vehicle is shaking, the filter coefficient may be increased according to a preset coefficient adjustment value.

[0073] For example, the preset coefficient adjustment value may be a preset percentage (such as 30%) of the filter coefficient, that is, the sum of the filter coefficient and 30% of the filter coefficient may be used as the adjusted filter coefficient.

[0074] Figure 2 is a flow chart showing another method for controlling vehicle creep according to an exemplary embodiment of the present disclosure, as shown in FIG. Figure 2 As shown, the control method may include the following steps:

[0075] S201. Obtain the brake pedal status of the vehicle.

[0076] S202: Determine whether the brake pedal state indicates that the vehicle's brake pedal is depressed.

[0077] When the brake pedal state indicates that the brake pedal of the vehicle is depressed, steps S203 to S205 are executed.

[0078] When the brake pedal state indicates that the brake pedal of the vehicle is not depressed, step S211 and steps S213 to S215 are executed.

[0079] S203 : Obtain the initial creep torque according to the driving speed and the master brake cylinder pressure through a preset torque correspondence.

[0080] The preset torque correspondence includes a correspondence between the driving speed, the master brake cylinder pressure and the initial creep torque.

[0081] S204: When the vehicle is creeping according to the initial creep torque, obtain the creep speed of the vehicle.

[0082] S205: Determine whether the creeping speed is less than or equal to a preset target speed.

[0083] If the creep speed is less than or equal to the preset target speed, executing steps S206 to S210 and steps S213 to S215;

[0084] When the creep speed is greater than the preset target speed, step S212 and steps S213 to S215 are executed.

[0085] S206: Calculate the torque difference between the torque corresponding to the preset target speed and the initial creep torque.

[0086] S207: Determine a target acceleration range to which the acceleration belongs from one or more preset acceleration ranges.

[0087] S208 : Determine a target difference range to which the torque difference belongs from one or more preset torque difference ranges.

[0088] S209 : Determine the compensation torque according to the target acceleration range and the target difference range through a preset torque correspondence.

[0089] The preset torque correspondence relationship includes one or more correspondences among the target acceleration range, the target difference range, and the compensation torque.

[0090] S210 : Compensate the initial creep torque according to the compensation torque to obtain a target creep torque.

[0091] S211 . Obtain the target creep torque through a PI control method according to the designated creep speed.

[0092] The specific implementation process of the PI control method can refer to the process of the PI control method in the related art, which will not be repeated here.

[0093] S212: Taking the initial creep speed as the target creep speed.

[0094] S213: Filter the target creep torque using a preset filtering algorithm.

[0095] S214: Control the vehicle to creep according to the filtered target creep torque.

[0096] S215 : While the vehicle is creeping according to the filtered target creep torque, determine whether the vehicle is shaking.

[0097] Among them, the motor speed within a preset time period can be periodically obtained, and the derivative of the motor speed obtained in each period can be calculated to obtain multiple speed derivatives. When the number of zero crossings of multiple speed derivatives exceeds a preset number threshold, it is determined that the vehicle is shaking.

[0098] For example, the preset number threshold may be 8 times, that is, when the number of zero crossings of the plurality of speed derivatives exceeds 8 times, it is determined that the vehicle is shaking.

[0099] If the vehicle is shaking, step S216 is executed.

[0100] If the vehicle does not vibrate, the process returns to step S213.

[0101] S216: Increase the filter coefficient in the preset filter algorithm according to the preset coefficient adjustment value, and return to step S213.

[0102] By adopting the above scheme, by judging whether the brake pedal is pressed, different control methods can be flexibly used to control the vehicle creep, so that the vehicle can creep smoothly in different scenarios. By adjusting the filter coefficient, the filtering of the target creep torque can be flexibly controlled to avoid vehicle shaking.

[0103] It should be noted that, for the sake of simplicity, the above method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0104] Figure 3 FIG. 3 is a block diagram of a vehicle creep control device 300 according to an exemplary embodiment of the present disclosure. Figure 3 As shown, the device 300 includes:

[0105] A state acquisition module 301 is used to acquire a brake pedal state of a vehicle, where the brake pedal state indicates whether the brake pedal of the vehicle is depressed.

[0106] a creep control module 302 for obtaining an initial creep torque based on a driving speed and a brake master cylinder pressure when the brake pedal state indicates that the brake pedal is depressed, obtaining a target creep torque based on the driving speed and the initial creep torque, and controlling the vehicle to creep according to the target creep torque;

[0107] The creep control module 302 is further configured to obtain a specified creep speed when the brake pedal state indicates that the brake pedal is not depressed, obtain the target creep torque based on the specified creep speed, and control the vehicle to creep according to the target creep torque.

[0108] Optionally, the creep control module 302 is used to obtain the acceleration of the vehicle if the creep speed of the vehicle is less than or equal to the preset target speed when the vehicle creeps according to the initial creep torque; obtain the compensation torque based on the initial creep torque, the preset target speed and the acceleration; and compensate the initial creep torque based on the compensation torque to obtain the target creep torque.

[0109] Optionally, the creep control module 302 is configured to calculate a torque difference between the torque corresponding to the preset target speed and the initial creep torque, and determine the compensation torque according to the torque difference and the acceleration.

[0110] Optionally, the creep control module 302 is used to determine the target acceleration range to which the acceleration belongs from one or more preset acceleration ranges; determine the target difference range to which the torque difference belongs from one or more preset torque difference ranges; and determine the compensation torque through a preset torque correspondence based on the target acceleration range and the target difference range, wherein the preset torque correspondence includes the correspondence between one or more target acceleration ranges, the target difference range and the compensation torque.

[0111] Optionally, the creep control module 302 is configured to filter the target creep torque using a preset filtering algorithm, and control the vehicle to creep according to the filtered target creep torque.

[0112] Alternatively, as Figure 4 As shown, the device also includes:

[0113] The filter adjustment module 303 is used to determine whether the vehicle is shaking, and if the vehicle is shaking, adjust the filter coefficient in the preset filter algorithm to control the vehicle to stop shaking.

[0114] Optionally, the filter adjustment module 303 is configured to increase the filter coefficient according to a preset coefficient adjustment value.

[0115] Optionally, the filter adjustment module 303 is used to periodically obtain the motor speed within a preset time period; calculate the derivative of the motor speed obtained in each period to obtain multiple speed derivatives; when the number of zero crossings of multiple speed derivatives exceeds a preset number threshold, it is determined that the vehicle is shaking.

[0116] By adopting the above device, by judging whether the brake pedal is depressed, different control methods can be flexibly adopted to control the vehicle creeping, so that the vehicle can creep smoothly in different scenarios.

[0117] It should be noted that the specific description of each module in the above device can refer to the description of the relevant steps in the above method, which will not be repeated here.

[0118] Figure 5 is a schematic diagram of a vehicle according to an exemplary embodiment of the present disclosure, the vehicle comprising Figure 3 or Figure 4 A control device 300 for vehicle creep.

[0119] Figure 6 FIG. 6 is a block diagram of an electronic device 600 according to an exemplary embodiment. Figure 6 As shown, the electronic device 600 may include: a processor 601 , a memory 602 , and may further include one or more of a multimedia component 603 , an input / output (I / O) interface 604 , and a communication component 605 .

[0120] The processor 601 is used to control the overall operation of the electronic device 600 to complete all or part of the steps in the vehicle creep control method described above. The memory 602 is used to store various types of data to support the operation of the electronic device 600. Such data may include, for example, instructions for any application or method operating on the electronic device 600, as well as application-related data, such as contact information, sent and received messages, pictures, audio, video, etc. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 603 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 602 or sent via the communication component 605. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 604 provides an interface between the processor 601 and other interface modules. The above-mentioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more thereof, is not limited here. Therefore, the corresponding communication component 605 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0121] In an exemplary embodiment, the electronic device 600 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned vehicle creep control method.

[0122] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a processor, the program instructions implement the steps of the vehicle creep control method described above. For example, the computer-readable storage medium may be the aforementioned memory 602 including the program instructions. The program instructions may be executed by the processor 601 of the electronic device 600 to implement the vehicle creep control method described above.

[0123] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for executing the above-mentioned vehicle creep control method when executed by the programmable device.

[0124] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0125] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0126] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for controlling vehicle creep, characterized in that: The method comprises: Acquiring a brake pedal state of a vehicle, where the brake pedal state indicates whether the brake pedal of the vehicle is depressed; When the brake pedal state indicates that the brake pedal is depressed, obtaining an initial creep torque according to a driving speed and a brake master cylinder pressure, obtaining a target creep torque according to the driving speed and the initial creep torque, and controlling the vehicle to creep according to the target creep torque; When the brake pedal state indicates that the brake pedal is not depressed, obtaining a specified creep speed, obtaining the target creep torque according to the specified creep speed, and controlling the vehicle to creep according to the target creep torque; The acquiring the target creep torque according to the driving speed and the initial creep torque includes: When the vehicle is creeping according to the initial creep torque, if the creep speed of the vehicle is less than or equal to a preset target speed, acquiring the acceleration of the vehicle; obtaining a compensation torque according to the initial creep torque, the preset target speed, and the acceleration; compensating the initial creep torque according to the compensation torque to obtain a target creep torque; The obtaining of the compensation torque according to the initial creep torque, the preset target speed, and the acceleration includes: Calculating a torque difference between the torque corresponding to the preset target speed and the initial creep torque; determining the compensation torque according to the torque difference and the acceleration; Determining the compensation torque according to the torque difference and the acceleration includes: From one or more preset acceleration ranges, a target acceleration range to which the acceleration belongs is determined; from one or more preset torque difference ranges, a target difference range to which the torque difference belongs is determined; based on the target acceleration range and the target difference range, the compensation torque is determined through a preset torque correspondence relationship, and the preset torque correspondence relationship includes a correspondence between one or more target acceleration ranges, the target difference range, and the compensation torque.

2. The method according to claim 1, characterized in that The controlling the vehicle to creep according to the target creep torque includes: Performing filtering processing on the target creep torque by using a preset filtering algorithm; The vehicle is controlled to creep according to the filtered target creep torque.

3. The method according to claim 2, characterized in that The method further comprises: determining whether the vehicle is vibrating; When the vehicle shakes, the filter coefficient in the preset filter algorithm is adjusted to control the vehicle to stop shaking.

4. The method according to claim 3, characterized in that The determining whether the vehicle is shaking includes: Periodically obtain the motor speed within a preset time period; Calculate the derivative of the motor speed obtained in each cycle to obtain multiple speed derivatives; When the number of zero crossings of the plurality of speed derivatives exceeds a preset number threshold, it is determined that the vehicle is shaking.

5. A vehicle creep control device, characterized in that: an acquisition module, configured to acquire a brake pedal state of a vehicle, wherein the brake pedal state indicates whether the brake pedal of the vehicle is depressed; a calculation module, configured to obtain an initial creep torque according to a driving speed and a brake master cylinder pressure when the brake pedal state indicates that the brake pedal is depressed, and to obtain a target creep torque according to the driving speed and the initial creep torque; When the brake pedal state indicates that the brake pedal is not depressed, obtaining a specified creep speed, and obtaining the target creep torque according to the specified creep speed; a control module, configured to control the vehicle to creep according to the target creep torque; The acquiring the target creep torque according to the driving speed and the initial creep torque includes: When the vehicle is creeping according to the initial creep torque, if the creep speed of the vehicle is less than or equal to a preset target speed, acquiring the acceleration of the vehicle; obtaining a compensation torque according to the initial creep torque, the preset target speed, and the acceleration; compensating the initial creep torque according to the compensation torque to obtain a target creep torque; The obtaining of the compensation torque according to the initial creep torque, the preset target speed, and the acceleration includes: Calculating a torque difference between the torque corresponding to the preset target speed and the initial creep torque; determining the compensation torque according to the torque difference and the acceleration; Determining the compensation torque according to the torque difference and the acceleration includes: From one or more preset acceleration ranges, a target acceleration range to which the acceleration belongs is determined; from one or more preset torque difference ranges, a target difference range to which the torque difference belongs is determined; based on the target acceleration range and the target difference range, the compensation torque is determined through a preset torque correspondence relationship, and the preset torque correspondence relationship includes a correspondence between one or more target acceleration ranges, the target difference range, and the compensation torque.

6. A vehicle, characterized in that: The vehicle includes the vehicle creep control device according to claim 5 .

7. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

8. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the steps of the method according to any one of claims 1 to 4.

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