Vehicle inching control method, device, equipment and storage medium

Abstract

This invention discloses a vehicle creep control method, apparatus, device, and storage medium. The method includes: when the current vehicle is in creep mode, acquiring target creep parameters of the current vehicle and transmission parameters of a target simulated vehicle, wherein the target simulated vehicle is the creep simulation object of the current vehicle; determining the output shaft torque of the current vehicle based on the current vehicle speed, target creep parameters, and transmission parameters; determining the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle; and controlling the current vehicle to simulate the creep of the target simulated vehicle based on the drive motor torque. This enables the current vehicle to simulate the creep characteristics of the target simulated vehicle when it is in creep mode, solving the technical problem in the prior art that the creep characteristics of the current vehicle under creep mode cannot meet the user's driving needs, and improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle crawl control method, device, equipment, and storage medium. Background Technology

[0002] Currently, with the development of power battery technology, electric vehicles are occupying an increasing share of the market, and the development of electric vehicle technology is also accelerating. Since electric vehicles drive the vehicle by outputting torque through a drive motor, there is a difference in the driving method of traditional vehicles. The driving experience of electric vehicles and traditional vehicles is also different. For the crawling condition, many users prefer the crawling characteristics of traditional vehicles, but electric vehicles have a different driving method than traditional vehicles and cannot meet users' driving needs for the crawling condition.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a vehicle crawl control method, device, equipment, and storage medium, which aims to solve the technical problem that electric vehicles cannot meet the driving needs of users under crawling conditions in the prior art.

[0005] To achieve the above objectives, the present invention provides a vehicle creep control method, the method comprising the following steps:

[0006] When the current vehicle is in a creeping state, the target creeping parameters of the current vehicle and the gear shifting parameters of the target simulated vehicle are obtained, wherein the target simulated vehicle is the creeping simulation object of the current vehicle;

[0007] The output shaft torque of the current vehicle is determined based on the current vehicle speed, the target creep parameter, and the transmission parameter.

[0008] The drive motor torque is determined based on the output shaft torque and the reduction ratio of the current vehicle, and the current vehicle is controlled to simulate the creep of the target simulated vehicle based on the drive motor torque.

[0009] Optionally, the target creep parameters include the target creep speed and the road gradient.

[0010] The step of determining the output shaft torque of the current vehicle based on the current vehicle speed, the target creep parameter, and the transmission parameter includes:

[0011] The simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle is determined based on the target creep speed and the slope of the driving road.

[0012] The simulated turbine speed of the hydraulic torque converter is determined based on the current vehicle speed.

[0013] The output shaft torque of the current vehicle is determined based on the simulated pump wheel speed, the simulated turbine speed, and the transmission parameters.

[0014] Optionally, the transmission parameters include the simulated final drive ratio and the simulated gearbox gear ratio;

[0015] The step of determining the output shaft torque of the current vehicle based on the simulated pump impeller speed, the simulated turbine speed, and the transmission parameters includes:

[0016] The simulated pump wheel torque of the hydraulic torque converter is determined based on the simulated pump wheel speed.

[0017] The simulated pitch ratio of the hydraulic torque converter is determined based on the simulated pump impeller speed and the simulated turbine speed.

[0018] The output shaft torque of the current vehicle is determined based on the simulated pump wheel torque, the simulated pitch ratio, the simulated final drive ratio, and the simulated gearbox gear ratio.

[0019] Optionally, the reduction ratio includes the vehicle's final drive ratio and the vehicle's transmission gear ratio;

[0020] The step of determining the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle, and controlling the current vehicle to simulate the creep of the target simulated vehicle based on the drive motor torque, includes:

[0021] The drive motor torque is determined based on the output shaft torque, the vehicle final drive ratio, and the vehicle gearbox gear ratio.

[0022] The motor controller drives the current vehicle to simulate the creeping motion of the target simulated vehicle based on the torque of the drive motor.

[0023] Optionally, before acquiring the target creep parameters of the current vehicle and the gear shift parameters of the target simulated vehicle when the current vehicle is in a creeping state, the method further includes:

[0024] Obtain the current gear shift lever position, brake pedal opening, and accelerator pedal opening of the vehicle;

[0025] When the gear shift lever position, the brake pedal opening, and the accelerator pedal opening meet the preset creep conditions, the current vehicle is determined to be in a creeping state.

[0026] Optionally, determining the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle based on the target creep speed and the road gradient includes:

[0027] Obtain the preset pump impeller speed mapping relationship;

[0028] The simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle is determined based on the mapping relationship between the target creep speed, the road gradient, and the preset pump wheel speed.

[0029] Optionally, determining the simulated pump wheel torque of the hydraulic torque converter based on the simulated pump wheel speed includes:

[0030] Obtain the preset pump wheel torque model;

[0031] The simulated pump wheel torque of the hydraulic torque converter is determined based on the simulated pump wheel speed, the simulated turbine speed, and the preset pump wheel torque model.

[0032] Furthermore, to achieve the above objectives, the present invention also proposes a vehicle crawl control device, the device comprising:

[0033] The acquisition module is used to acquire the target creep parameters of the current vehicle and the gear shift parameters of the target simulated vehicle when the current vehicle is in a creeping condition, wherein the target simulated vehicle is the creeping simulation object of the current vehicle;

[0034] The determination module is used to determine the output shaft torque of the current vehicle based on the current vehicle speed, the target creep parameter, and the transmission parameter;

[0035] The drive module is used to determine the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle, and to control the current vehicle to simulate the creep of the target simulated vehicle based on the drive motor torque.

[0036] Furthermore, to achieve the above objectives, the present invention also proposes a vehicle crawl control device, the device comprising: a memory, a processor, and a vehicle crawl control program stored in the memory and executable on the processor, the vehicle crawl control program being configured to implement the steps of the vehicle crawl control method as described above.

[0037] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a vehicle crawl control program, wherein the vehicle crawl control program, when executed by a processor, implements the steps of the vehicle crawl control method as described above.

[0038] This invention, when a vehicle is in a creeping state, acquires the target creeping parameters of the current vehicle and the transmission parameters of a target simulated vehicle, where the target simulated vehicle is the creeping simulation object of the current vehicle. It determines the output shaft torque of the current vehicle based on its current speed, the target creeping parameters, and the transmission parameters; determines the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle; and controls the current vehicle to simulate the creeping motion of the target simulated vehicle based on the drive motor torque. This invention, by determining the output shaft torque of the current vehicle based on its target creeping parameters, current speed, and the transmission parameters of the target simulated vehicle while the vehicle is in a creeping state, and determining the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle, and driving the current vehicle to simulate the creeping motion of the target simulated vehicle based on the drive motor torque, enables the current vehicle to simulate the creeping characteristics of the target simulated vehicle while in a creeping state. This solves the technical problem in the prior art where the creeping characteristics of the current vehicle under creeping conditions cannot meet the user's driving needs, thus improving the user experience. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a vehicle crawl control device in the hardware operating environment involved in the embodiments of the present invention;

[0040] Figure 2 This is a flowchart illustrating the first embodiment of the vehicle creep control method of the present invention;

[0041] Figure 3 This is a schematic diagram of an electric vehicle in one embodiment of the vehicle creep control method of the present invention;

[0042] Figure 4 This is a flowchart illustrating the second embodiment of the vehicle creep control method of the present invention;

[0043] Figure 5 This is a schematic diagram of a preset pump wheel torque model in one embodiment of the vehicle creep control method of the present invention;

[0044] Figure 6 This is a flowchart illustrating the third embodiment of the vehicle creep control method of the present invention;

[0045] Figure 7 This is a structural block diagram of the first embodiment of the vehicle crawl control device of the present invention.

[0046] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0048] Reference Figure 1 , Figure 1 This is a schematic diagram of the vehicle crawl control device structure in the hardware operating environment involved in the embodiments of the present invention.

[0049] like Figure 1 As shown, the vehicle crawl control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0050] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the vehicle crawl control device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0051] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle crawl control program.

[0052] exist Figure 1 In the vehicle crawl control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle crawl control device of the present invention can be set in the vehicle crawl control device, and the vehicle crawl control device calls the vehicle crawl control program stored in the memory 1005 through the processor 1001 and executes the vehicle crawl control method provided in the embodiment of the present invention.

[0053] This invention provides a vehicle creep control method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the vehicle creep control method of the present invention.

[0054] In this embodiment, the vehicle creep control method includes the following steps:

[0055] Step S10: When the current vehicle is in a creeping state, obtain the target creeping parameters of the current vehicle and the gear shifting parameters of the target simulated vehicle, wherein the target simulated vehicle is the creeping simulation object of the current vehicle.

[0056] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a vehicle controller, an on-board computer, or an electronic device or vehicle crawl control device capable of performing the above functions. The following description uses a vehicle controller as an example to illustrate this embodiment and the subsequent embodiments.

[0057] It is understood that the current vehicle can be an electric vehicle, a hybrid vehicle, or other new energy vehicle. This embodiment takes an electric vehicle as an example for explanation. The creeping condition can refer to the condition in which the vehicle overcomes certain road resistance and / or slope and automatically travels at a set speed without pressing the accelerator or brake. The target creeping parameter can be the target driving parameter of the current vehicle under the creeping condition, such as the target creeping speed. The current vehicle simulates the creeping of the target simulated vehicle under the creeping condition. The target simulated vehicle can be a conventional fuel-powered vehicle, such as a gasoline vehicle or a diesel vehicle. The transmission parameters include the final drive ratio and gear ratio of the target simulated vehicle.

[0058] Step S20: Determine the output shaft torque of the current vehicle based on the current vehicle speed, the target creep parameter, and the transmission parameter.

[0059] It is understood that the output shaft torque can be the torque that the current vehicle's output shaft needs to output under the creep condition, determined based on the current vehicle speed, target creep parameters, and transmission parameters. In this embodiment, the simulated output shaft torque of the target simulated vehicle's output shaft under the creep condition is determined based on the current vehicle speed, target creep parameters, and transmission parameters of the target simulated vehicle. This simulated output shaft torque is then used as the output shaft torque of the current vehicle. The simulated output shaft torque can be the torque that the target simulated vehicle's output shaft needs to output. By using the simulated output shaft torque of the target simulated vehicle as the output shaft torque of the current vehicle, the creep characteristics of the current vehicle under the creep condition can be controlled.

[0060] Step S30: Determine the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle, and control the current vehicle to simulate the creep of the target simulated vehicle based on the drive motor torque.

[0061] It is understandable that the reduction ratio of the current vehicle can be the reduction ratio of the reduction mechanism in the current vehicle; the torque of the drive motor can be the torque output by the drive motor in the current vehicle; the torque output by the drive motor in the current vehicle is determined based on the output shaft torque of the current vehicle and the reduction ratio of the reduction mechanism in the current vehicle.

[0062] In specific implementation, for example, if the current vehicle is an electric vehicle, refer to... Figure 3 , Figure 3 This is a simplified schematic diagram of an electric vehicle. The electric vehicle includes a drive motor, a reduction mechanism, a motor controller, and an IGBT module. The target simulated vehicle is a traditional gasoline-powered car. The vehicle controller determines the driving condition based on the vehicle's status information. When the driving condition is crawling, it acquires the target crawling speed and the final drive ratio and gear ratio of the gasoline-powered car used for crawling simulation. Based on the current vehicle speed, the target crawling speed, and the final drive ratio and gear ratio of the gasoline-powered car, it simulates the output shaft torque required by the gasoline-powered car under the current crawling condition. This simulated output shaft torque is used as the output shaft torque of the electric vehicle. Based on the output shaft torque and the reduction ratio of the reduction mechanism in the electric vehicle, it determines the drive motor torque required by the drive motor in the electric vehicle. The drive motor output torque is controlled based on the drive motor torque to drive the vehicle in crawling mode, thereby achieving the goal of controlling the electric vehicle to simulate the crawling characteristics of a gasoline-powered car under crawling conditions.

[0063] Furthermore, in order to accurately determine whether the current vehicle is in a creeping condition, before step S10, the method further includes: obtaining the current vehicle's gear shift lever position, brake pedal opening, and accelerator pedal opening; and determining that the current vehicle is in a creeping condition when the gear shift lever position, brake pedal opening, and accelerator pedal opening meet preset creeping conditions.

[0064] In practice, the vehicle controller obtains the current position of the gear shift lever, the opening of the brake pedal, and the opening of the accelerator pedal during the current vehicle's driving process. When the gear shift lever is in forward gear and the opening of the brake pedal and the opening of the accelerator pedal are both at their initial openings, it is determined that the current vehicle is in a creeping state. The initial opening can be the opening of the brake pedal and the accelerator pedal when no external force is applied.

[0065] This embodiment, when the current vehicle is in a creeping state, acquires the target creeping parameters of the current vehicle and the transmission parameters of the target simulated vehicle, where the target simulated vehicle is the creeping simulation object of the current vehicle; determines the output shaft torque of the current vehicle based on the current vehicle speed, the target creeping parameters, and the transmission parameters; determines the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle; and controls the current vehicle to simulate the creeping of the target simulated vehicle based on the drive motor torque. This embodiment, by determining the output shaft torque of the current vehicle based on the target creeping parameters, current vehicle speed, and transmission parameters of the target simulated vehicle when the current vehicle is in a creeping state, and determining the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle, and driving the current vehicle to simulate the creeping of the target simulated vehicle based on the drive motor torque, enables the current vehicle to simulate the creeping characteristics of the target simulated vehicle when in a creeping state. This solves the technical problem in the prior art where the creeping characteristics of the current vehicle under creeping conditions cannot meet the user's driving needs, thus improving the user experience.

[0066] refer to Figure 4 , Figure 4 This is a flowchart illustrating the second embodiment of the vehicle creep control method of the present invention.

[0067] Based on the first embodiment described above, in this embodiment, the target creep parameters include the target creep speed and the road gradient, and step S20 includes:

[0068] Step S201: Determine the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle based on the target creep speed and the slope of the driving road.

[0069] It should be noted that electric vehicles eliminate the engine and transmission mechanism such as the torque converter, and drive the vehicle only by transmitting power through the drive motor and reduction mechanism; in this embodiment, the simulated pump wheel speed of the torque converter in the target simulated vehicle is determined according to the current vehicle's target creep speed and the slope of the road.

[0070] Step S202: Determine the simulated turbine speed of the hydraulic torque converter based on the current vehicle speed.

[0071] In this embodiment, the simulated turbine speed of the hydraulic torque converter is determined based on the current vehicle speed and the corresponding relationship between vehicle speed and turbine speed.

[0072] Step S203: Determine the output shaft torque of the current vehicle based on the simulated pump wheel speed, the simulated turbine speed, and the transmission parameters.

[0073] In specific implementation, for example, the vehicle controller obtains the road gradient of the current vehicle's driving road through sensors, determines the simulated pump wheel speed corresponding to the target creep speed and driving road gradient based on the correspondence between creep speed, road gradient and pump wheel speed, determines the simulated turbine speed corresponding to the current vehicle speed based on the correspondence between vehicle speed and turbine speed, and determines the simulated output shaft torque of the target simulated vehicle based on the simulated pump wheel speed, simulated turbine speed and transmission parameters, and uses the simulated output shaft torque as the output shaft torque of the current vehicle.

[0074] Furthermore, in order to simulate the simulated pump wheel speed of the hydraulic torque converter based on the current target creep speed of the vehicle and the road slope, step S201 includes: obtaining a preset pump wheel speed mapping relationship; and determining the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle based on the target creep speed, the road slope, and the preset pump wheel speed mapping relationship.

[0075] It is understandable that the preset pump wheel speed mapping table can be a pre-set mapping relationship between crawling speed, road gradient and pump wheel speed, and the preset pump wheel speed mapping relationship can be obtained through pre-calibration.

[0076] In practice, the vehicle controller obtains the preset pump wheel speed mapping relationship obtained through calibration, searches for the pump wheel speed in the preset pump wheel speed mapping relationship according to the target creep speed and the road gradient, and uses the found pump wheel speed as the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle.

[0077] Furthermore, in order to determine the current vehicle's output shaft torque, the transmission parameters include the simulated final drive ratio and the simulated gearbox gear ratio. Step S203 includes: determining the simulated pump wheel torque of the hydraulic torque converter based on the simulated pump wheel speed; determining the simulated pitch ratio of the hydraulic torque converter based on the simulated pump wheel speed and the simulated turbine speed; and determining the current vehicle's output shaft torque based on the simulated pump wheel torque, the simulated pitch ratio, the simulated final drive ratio, and the simulated gearbox gear ratio.

[0078] In practice, the simulated pump wheel torque is determined based on the simulated pump wheel speed and the characteristics of the hydraulic torque converter in the target simulated vehicle. The simulated pitch ratio of the hydraulic torque converter is determined by looking up a table based on the simulated pump wheel speed and the simulated turbine speed. The simulated output shaft torque of the target simulated vehicle is determined based on the simulated pump wheel torque, the simulated pitch ratio, the simulated final drive ratio, and the simulated gearbox gear ratio. This simulated output shaft torque is then used as the output shaft torque of the electric vehicle.

[0079] Furthermore, in order to determine the simulated pump wheel torque of the hydraulic torque converter in the target simulated vehicle, the step of determining the simulated pump wheel torque of the hydraulic torque converter based on the simulated pump wheel speed includes: obtaining a preset pump wheel torque model; and determining the simulated pump wheel torque of the hydraulic torque converter based on the simulated pump wheel speed, the simulated turbine speed, and the preset pump wheel torque model.

[0080] It is understandable that the preset pump wheel torque model can be a model of the correspondence between pump wheel speed-speed ratio and pump wheel torque obtained in advance based on the characteristics of the hydraulic torque converter. In this embodiment, the simulated speed ratio is first determined based on the simulated turbine torque and the simulated pump wheel torque. The simulated speed ratio and the simulated pump wheel speed are then input into the preset pump wheel torque model to obtain the simulated pump wheel torque of the hydraulic torque converter.

[0081] It should be noted that currently, the control of electric vehicles under creeping conditions generally uses PI control to close-loop control the creeping speed. However, this creeping control method provides the user with a gradually increasing torque and acceleration experience, which differs from the driving experience of traditional cars, where the initial power is high and the acceleration gradually decreases as the creeping speed increases. This cannot meet the user's driving needs. Therefore, in this embodiment, when controlling the electric vehicle under creeping conditions, a simulated pump wheel speed is determined based on the target creeping speed and the road gradient. The simulated pump wheel speed is obtained based on the torque transmission characteristics of the hydraulic torque converter pump wheel and the pump wheel speed. The simulated pump wheel torque is calculated, and then the simulated output shaft torque is calculated based on the simulated pitch ratio of the hydraulic torque converter, the simulated gear reduction ratio of the transmission, and the simulated final drive ratio. The simulated output shaft torque is then used as the output shaft torque of the current vehicle, enabling electric vehicles to simulate the crawling characteristics of traditional vehicles under crawling conditions. This improves the drivability of electric vehicles under crawling conditions and also avoids the shortcomings of traditional power hydraulic torque converters, such as changes in ambient temperature, altitude, engine coolant temperature, and transmission temperature that cause changes in engine idle speed and thus crawling torque variations.

[0082] In specific implementation, for example Figure 5 This is a schematic diagram of a preset pump wheel torque model. The curves in the diagram represent the torque transmitted by the pump wheel at different speed ratios. The preset pump wheel torque model can be obtained through experimental calibration. Assuming the simulated pump wheel speed is 4000 rpm and the simulated turbine speed is 800 rpm, the simulated speed ratio determined by the simulated turbine speed and the simulated pump wheel speed is 0.2. Inputting the simulated speed ratio of 0.2 and the simulated pump wheel speed of 4000 rpm into the preset pump wheel torque model yields a simulated pump wheel torque of 100 Nm. The preset pump wheel torque model can also be in other forms, as long as it represents the torque transmission characteristics of the hydraulic torque converter. This embodiment does not impose any restrictions on this.

[0083] This embodiment determines the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle based on the target creep speed and the road gradient; it determines the simulated turbine speed of the hydraulic torque converter based on the current vehicle speed; and it determines the output shaft torque of the current vehicle based on the simulated pump wheel speed, the simulated turbine speed, and the transmission parameters. This embodiment simulates and determines the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle based on the target creep speed and the road gradient, determines the simulated turbine speed based on the current vehicle speed, and determines the simulated output shaft torque of the target simulated vehicle based on the simulated turbine speed, the simulated pump wheel speed, and the transmission parameters of the target simulated vehicle. This simulated output shaft torque is then used as the output shaft torque of the current vehicle, enabling the current vehicle to simulate the creep characteristics of the target simulated vehicle under creep conditions, meeting the user's driving needs and improving the user experience.

[0084] refer to Figure 6 , Figure 6 This is a flowchart illustrating the third embodiment of the vehicle creep control method of the present invention.

[0085] Based on the above embodiments, in this embodiment, the reduction ratio includes the vehicle's final reduction ratio and the vehicle's transmission gear ratio. Step S30 includes:

[0086] Step S301: Determine the drive motor torque based on the output shaft torque, the vehicle final drive ratio, and the vehicle gearbox gear ratio;

[0087] Step S302: Drive the current vehicle to simulate the creep of the target simulated vehicle according to the torque of the drive motor through the motor controller.

[0088] In practical implementation, for example, when the vehicle controller is in forward gear with the gear shift lever in position and the accelerator pedal and brake pedal at their initial openings, it determines that the electric vehicle has entered a creeping state. It obtains the target creeping speed and road gradient of the electric vehicle, looks up the simulated pump wheel speed in a table based on the target creeping speed and road gradient, determines the simulated turbine speed in a table based on the current speed of the electric vehicle, determines the simulated gear ratio based on the simulated turbine speed and simulated pump wheel speed, determines the simulated pump wheel torque based on the simulated pump wheel speed, simulated gear ratio, and a preset pump wheel torque model, obtains the simulated pitch ratio in a table based on the simulated turbine speed and simulated pump wheel speed, and calculates the simulated output shaft torque of the target simulated vehicle using Formula 1 based on the simulated pump wheel torque, simulated pitch ratio, simulated final drive ratio, and simulated gearbox gear ratio. This simulated output shaft torque is then used as the output shaft torque of the electric vehicle.

[0089] T O =T imp ×i T ×i g ×iF (Formula 1)

[0090] In the formula, T O To simulate the output shaft torque; T imp To simulate pump impeller torque; i T To simulate the pitch ratio; i g To simulate the gear ratio of a transmission; i F To simulate the final drive reduction ratio.

[0091] The vehicle controller calculates the drive motor torque using Formula 2 based on the output shaft torque, the final drive ratio of the electric vehicle, and the gear ratio of the vehicle's transmission.

[0092] T m =T O / (i n ×i D ) (Formula 2)

[0093] In the formula, T m For the drive motor torque; i n For the reduction ratio of the vehicle's transmission gears; i D The vehicle's final drive ratio;

[0094] The vehicle controller sends the drive motor torque to the motor controller, which then controls the drive motor to output the drive motor torque, so that the vehicle creeps under the drive of the output shaft torque and approaches the target creep speed.

[0095] This embodiment determines the drive motor torque based on the output shaft torque, the vehicle's final drive ratio, and the vehicle's transmission gear ratios. The motor controller then drives the current vehicle to simulate the creeping motion of the target simulated vehicle based on the drive motor torque, thus improving the user's driving experience.

[0096] Furthermore, this embodiment of the invention also proposes a storage medium storing a vehicle crawl control program, which, when executed by a processor, implements the steps of the vehicle crawl control method described above.

[0097] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the vehicle crawl control device of the present invention.

[0098] like Figure 7 As shown, the vehicle creep control device proposed in this embodiment of the invention includes:

[0099] The acquisition module 10 is used to acquire the target creep parameters of the current vehicle and the gear shift parameters of the target simulated vehicle when the current vehicle is in a creeping condition, wherein the target simulated vehicle is the creeping simulation object of the current vehicle.

[0100] The determining module 20 is used to determine the output shaft torque of the current vehicle based on the current vehicle speed, the target creep parameter, and the transmission parameter;

[0101] The drive module 30 is used to determine the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle, and to control the current vehicle to simulate the creep of the target simulated vehicle based on the drive motor torque.

[0102] This embodiment, when the current vehicle is in a creeping state, acquires the target creeping parameters of the current vehicle and the transmission parameters of the target simulated vehicle, where the target simulated vehicle is the creeping simulation object of the current vehicle; determines the output shaft torque of the current vehicle based on the current vehicle speed, the target creeping parameters, and the transmission parameters; determines the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle; and controls the current vehicle to simulate the creeping of the target simulated vehicle based on the drive motor torque. This embodiment, by determining the output shaft torque of the current vehicle based on the target creeping parameters, current vehicle speed, and transmission parameters of the target simulated vehicle when the current vehicle is in a creeping state, and determining the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle, and driving the current vehicle to simulate the creeping of the target simulated vehicle based on the drive motor torque, enables the current vehicle to simulate the creeping characteristics of the target simulated vehicle when in a creeping state. This solves the technical problem in the prior art where the creeping characteristics of the current vehicle under creeping conditions cannot meet the user's driving needs, thus improving the user experience.

[0103] Based on the first embodiment of the vehicle creep control device of the present invention described above, a second embodiment of the vehicle creep control device of the present invention is proposed.

[0104] In this embodiment, the determining module 20 is further configured to determine the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle based on the target creep speed and the road gradient; determine the simulated turbine speed of the hydraulic torque converter based on the current vehicle speed; and determine the output shaft torque of the current vehicle based on the simulated pump wheel speed, the simulated turbine speed, and the transmission parameters; the target creep parameters include the target creep speed and the road gradient.

[0105] The determining module 20 is further configured to determine the simulated pump wheel torque of the hydraulic torque converter based on the simulated pump wheel speed; determine the simulated pitch ratio of the hydraulic torque converter based on the simulated pump wheel speed and the simulated turbine speed; and determine the output shaft torque of the current vehicle based on the simulated pump wheel torque, the simulated pitch ratio, the simulated final drive ratio, and the simulated gearbox gear ratio; the transmission parameters include the simulated final drive ratio and the simulated gearbox gear ratio.

[0106] The drive module 30 is further configured to determine the drive motor torque based on the output shaft torque, the vehicle final reduction ratio, and the vehicle gearbox gear reduction ratio; and drive the current vehicle to simulate the creep of the target simulated vehicle based on the drive motor torque via the motor controller; the reduction ratio includes the vehicle final reduction ratio and the vehicle gearbox gear reduction ratio.

[0107] The acquisition module 10 is also used to acquire the current vehicle's gear shift lever position, brake pedal opening, and accelerator pedal opening; when the gear shift lever position, brake pedal opening, and accelerator pedal opening meet preset creeping conditions, the current vehicle is determined to be in a creeping condition.

[0108] The determining module 20 is further configured to obtain a preset pump wheel speed mapping relationship; and to determine the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle based on the target creeping speed, the road gradient, and the preset pump wheel speed mapping relationship.

[0109] The determining module 20 is further configured to acquire a preset pump wheel torque model; and to determine the simulated pump wheel torque of the hydraulic torque converter based on the simulated pump wheel speed, the simulated turbine speed, and the preset pump wheel torque model.

[0110] Other embodiments or specific implementations of the vehicle crawl control device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0111] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0112] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0113] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0114] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A vehicle creep control method, characterized in that, The method includes: When the current vehicle is in a crawling condition, the target crawling parameters of the current vehicle and the transmission parameters of the target simulated vehicle are obtained. The target simulated vehicle is the crawling simulation object of the current vehicle. The crawling condition refers to the condition in which the vehicle overcomes a certain road resistance and / or slope and automatically travels at a set speed without pressing the accelerator and brake. The target crawling parameters are the target driving parameters of the current vehicle in the crawling condition. The target crawling parameters include the target crawling speed and the road slope. The output shaft torque of the current vehicle is determined based on the current vehicle speed, the target creep parameter, and the transmission parameter. The drive motor torque is determined based on the output shaft torque and the reduction ratio of the current vehicle, and the current vehicle is controlled to simulate the creep of the target simulated vehicle based on the drive motor torque. The step of determining the output shaft torque of the current vehicle based on the current vehicle speed, the target creep parameter, and the transmission parameter includes: The simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle is determined based on the target creep speed and the slope of the driving road. The simulated turbine speed of the hydraulic torque converter is determined based on the current vehicle speed. The output shaft torque of the current vehicle is determined based on the simulated pump wheel speed, the simulated turbine speed, and the transmission parameters.

2. The method as described in claim 1, characterized in that, The transmission parameters include the simulated final drive ratio and the simulated gearbox gear ratio; The step of determining the output shaft torque of the current vehicle based on the simulated pump impeller speed, the simulated turbine speed, and the transmission parameters includes: The simulated pump wheel torque of the hydraulic torque converter is determined based on the simulated pump wheel speed. The simulated pitch ratio of the hydraulic torque converter is determined based on the simulated pump impeller speed and the simulated turbine speed. The output shaft torque of the current vehicle is determined based on the simulated pump wheel torque, the simulated pitch ratio, the simulated final drive ratio, and the simulated gearbox gear ratio.

3. The method as described in claim 1 or 2, characterized in that, The reduction ratio includes the vehicle's final reduction ratio and the vehicle's transmission gear ratio; The step of determining the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle, and controlling the current vehicle to simulate the creep of the target simulated vehicle based on the drive motor torque, includes: The drive motor torque is determined based on the output shaft torque, the vehicle final drive ratio, and the vehicle gearbox gear ratio. The motor controller drives the current vehicle to simulate the creeping motion of the target simulated vehicle based on the torque of the drive motor.

4. The method as described in claim 1 or 2, characterized in that, Before acquiring the target creep parameters of the current vehicle and the gear shift parameters of the target simulated vehicle when the current vehicle is in creep mode, the method further includes: Obtain the current gear shift lever position, brake pedal opening, and accelerator pedal opening of the vehicle; When the gear shift lever position, the brake pedal opening, and the accelerator pedal opening meet the preset creep conditions, the current vehicle is determined to be in a creeping state.

5. The method as described in claim 1, characterized in that, The step of determining the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle based on the target creep speed and the road gradient includes: Obtain the preset pump impeller speed mapping relationship; The simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle is determined based on the mapping relationship between the target creep speed, the road gradient, and the preset pump wheel speed.

6. The method as described in claim 2, characterized in that, The step of determining the simulated pump wheel torque of the hydraulic torque converter based on the simulated pump wheel speed includes: Obtain the preset pump wheel torque model; The simulated pump wheel torque of the hydraulic torque converter is determined based on the simulated pump wheel speed, the simulated turbine speed, and the preset pump wheel torque model.

7. A vehicle creep control device, characterized in that, The device includes: The acquisition module is used to acquire the target creep parameters of the current vehicle and the gear shift parameters of the target simulated vehicle when the current vehicle is in creep mode. The target simulated vehicle is the creep simulation object of the current vehicle. Creep mode refers to the condition in which the vehicle overcomes a certain road resistance and / or slope and automatically travels at a set speed without pressing the accelerator and brake. The target creep parameters are the target driving parameters of the current vehicle in creep mode. The target creep parameters include the target creep speed and the road slope. The determination module is used to determine the output shaft torque of the current vehicle based on the current vehicle speed, the target creep parameter, and the transmission parameter; The drive module is used to determine the drive motor torque based on the output shaft torque and the reduction ratio of the current vehicle, and to control the current vehicle to simulate the creep of the target simulated vehicle based on the drive motor torque; The determining module is further configured to determine the simulated pump wheel speed of the hydraulic torque converter in the target simulated vehicle based on the target creep speed and the road gradient; determine the simulated turbine speed of the hydraulic torque converter based on the current vehicle speed; and determine the output shaft torque of the current vehicle based on the simulated pump wheel speed, the simulated turbine speed, and the transmission parameters.

8. A vehicle creep control device, characterized in that, The device includes: a memory, a processor, and a vehicle crawl control program stored in the memory and executable on the processor, the vehicle crawl control program being configured to implement the steps of the vehicle crawl control method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a vehicle creep control program, which, when executed by a processor, implements the steps of the vehicle creep control method as described in any one of claims 1 to 6.

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