Vehicle crawl control methods, devices, electronic equipment and storage media

Abstract

This invention proposes a vehicle creep control method, device, electronic device, and storage medium, belonging to the field of vehicle control. The vehicle controller parses the current gear information of the vehicle's gear shifting device to obtain the vehicle's current gear. When it is determined that the current gear is idle and the vehicle's on-board instruments are fault-free, the target creep speed after the user changes it is sent to the motor controller. The motor controller then controls the vehicle's motor to creep at the target creep speed. This allows the user to directly change the creep speed according to their needs in different driving scenarios, thereby ensuring the availability of the creep function in various driving scenarios, improving the flexibility of creep speed changes, and adapting to the vehicle's operating needs in different driving scenarios.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically, to a vehicle crawl control method, device, electronic device, and storage medium. Background Technology

[0002] The vehicle's crawl mode, officially known as the low-speed cruise driving assistance system, allows the vehicle to automatically control the torque output of the engine / electric motor, the transmission system, and the brakes, enabling the vehicle to pass through rough road surfaces at a very slow speed, thus avoiding wheel slippage and getting stuck due to excessive speed.

[0003] Currently, in vehicle crawl control technology, the vehicle directly sends its idling crawl speed to the motor control unit (MCU) through the vehicle control unit (VCU). The MCU then sends the target speed or torque to the motor based on the parsed information, thereby achieving the crawl function. However, vehicle driving scenarios are diverse, and the current vehicle crawl method cannot adapt to the operational needs of different driving scenarios. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a vehicle crawling control method, device, electronic device and storage medium, which can improve the problem that the current vehicle crawling method cannot adapt to the operating requirements of different driving scenarios.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0006] In a first aspect, embodiments of the present invention provide a vehicle creep control method, applied to a vehicle controller, wherein the vehicle controller is communicatively connected to the vehicle's motor controller, gear shifting device, and on-board instrument cluster, and the method includes:

[0007] Obtain the current gear information of the gear shifting device, parse the gear information, and obtain the current gear of the vehicle;

[0008] Determine whether the current gear is idle, and check whether the vehicle instrument panel is faulty;

[0009] If the current gear is idle and the vehicle instrument is fault-free, the target creep speed is sent to the motor controller so that the motor controller controls the vehicle's motor to creep at the target creep speed.

[0010] The target creep speed is the latest creep change speed, which is sent by the vehicle instrument to the vehicle controller after the user changes the creep speed.

[0011] Furthermore, the method also includes:

[0012] The system receives creep change information sent by the vehicle instrument panel, parses the creep change information to obtain the creep change speed, and uses the creep change speed to overwrite the original target creep speed; wherein, the creep change information is sent by the vehicle instrument panel after determining that the user has changed the creep speed.

[0013] Furthermore, the vehicle controller is connected to the vehicle instrument cluster via a CAN bus;

[0014] The step of detecting whether the vehicle instrument panel is faulty includes:

[0015] Check if the vehicle instrument panel is missing; if the vehicle instrument panel is missing, then the vehicle instrument panel is faulty.

[0016] If the vehicle instrument panel is not missing, then check whether the communication between the vehicle instrument panel and the vehicle controller is faulty. If not, the vehicle instrument panel is not faulty; if so, the vehicle instrument panel is faulty.

[0017] Furthermore, the step of detecting whether the communication between the vehicle instrument cluster and the vehicle controller is faulty includes:

[0018] Obtain the CAN bus information at the current moment, and parse the CAN bus information to obtain the current life value of the vehicle instrument;

[0019] Determine whether the current life value of the vehicle instrument is the same as the previous life value. If so, the communication between the vehicle instrument and the vehicle controller is faulty; otherwise, the communication between the vehicle instrument and the vehicle controller is not faulty.

[0020] Furthermore, the step of detecting whether the vehicle instrument cluster is missing includes:

[0021] The system detects whether there is CAN bus information sent by the vehicle instrument cluster on the CAN bus. If so, the vehicle instrument cluster is not missing; otherwise, the vehicle instrument cluster is missing.

[0022] Furthermore, the method also includes:

[0023] If the current gear is idle and the vehicle instrument panel is faulty, the default creep speed is sent to the motor controller so that the motor controller controls the vehicle's motor to creep at the default creep speed.

[0024] Furthermore, the method also includes:

[0025] When the vehicle is in a creeping state, the vehicle receives creeping change information from the on-board instrument and sends the creeping change speed parsed from the creeping change information to the motor controller, so that the motor controller controls the vehicle's motor to switch to the creeping change speed.

[0026] Secondly, embodiments of the present invention provide a vehicle crawl control device, applied to a vehicle controller, wherein the vehicle controller is communicatively connected to the vehicle's motor controller, gear shifting device and on-board instrument, and the device includes a gear position analysis module, a judgment module and a crawl control module.

[0027] The gear position parsing module is used to obtain the current gear position information of the gear shifting device, parse the gear position information, and obtain the current gear position of the vehicle.

[0028] The judgment module is used to determine whether the current gear is idle gear and to detect whether the vehicle instrument is malfunctioning.

[0029] The creep control module is used to send the target creep speed to the motor controller if the current gear is idle and the vehicle instrument is fault-free, so that the motor controller controls the vehicle's motor to creep at the target creep speed.

[0030] The target creep speed is the latest creep change speed, which is sent by the vehicle instrument to the vehicle controller after the user changes the creep speed.

[0031] Thirdly, embodiments of the present invention provide an electronic device, including a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the vehicle crawl control method as described in the first aspect.

[0032] Fourthly, embodiments of the present invention provide a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle crawl control method as described in the first aspect.

[0033] The vehicle creep control method, device, electronic device, and storage medium provided in this invention analyze the current gear information of the vehicle's gear shifting device to obtain the vehicle's current gear. When it is determined that the current gear is idle and the vehicle's on-board instrument is fault-free, the target creep speed after the user changes the creep speed is sent to the motor controller. This allows the motor controller to control the vehicle's motor to creep at the target creep speed. This enables the user to directly change the creep speed according to their needs in different driving scenarios, thereby ensuring the availability of the creep function in various driving scenarios, improving the flexibility of creep speed changes, and adapting to the vehicle's operating needs in different driving scenarios.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A block diagram of a vehicle crawl control system provided in an embodiment of the present invention is shown.

[0037] Figure 2 This is a schematic flowchart of a vehicle creep control method provided in an embodiment of the present invention.

[0038] Figure 3 The second schematic flowchart of the vehicle creep control method provided in this embodiment of the invention is shown.

[0039] Figure 4 It shows Figure 2 or Figure 3 A flowchart illustrating some sub-steps of step S13.

[0040] Figure 5 It shows Figure 4 A flowchart illustrating some sub-steps of step S132.

[0041] Figure 6 The third schematic flowchart of the vehicle creep control method provided in this embodiment of the invention is shown.

[0042] Figure 7 A block diagram of a vehicle crawl control device provided in an embodiment of the present invention is shown.

[0043] Figure 8 A block diagram of an electronic device provided in an embodiment of the present invention is shown.

[0044] Reference numerals: 100-Vehicle crawl control system; 110-Vehicle controller; 120-Motor controller; 130-Shifting device; 140-On-board instrument; 150-Vehicle crawl control device; 160-Gear position analysis module; 170-Judgment module; 180-Crawling control module; 190-Electronic equipment. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0047] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0048] Currently, in vehicle crawl control technology, the vehicle directly sends its idle crawl speed to the motor control unit (MCU) through the vehicle control unit (VCU). The MCU then sends the target speed or torque to the motor based on the parsed information, thereby achieving the crawl function. However, once the control program is flashed into the vehicle control unit, the crawl speed cannot be changed.

[0049] However, vehicles operate in diverse scenarios. In certain situations, insufficient creep speed or corresponding creep torque can prevent the vehicle from creeping, thus hindering its creep function. Current creep mechanisms are ill-suited to the demands of different driving environments, negatively impacting the user experience.

[0050] Based on the above considerations, embodiments of the present invention provide a vehicle creep control method, which can improve the problem that current vehicle creep methods cannot adapt to the operational needs of different driving scenarios. The solution is described below.

[0051] The vehicle creep control method provided in this embodiment of the invention can be applied to, for example... Figure 1 The vehicle crawl control system 100 shown includes a vehicle controller 110, a motor controller 120, a gear shifting device 130, and an on-board instrument 140. The vehicle controller 110 can communicate with the motor controller 120, the gear shifting device 130, and the on-board instrument 140 via wired or wireless means.

[0052] Once the vehicle system is powered on, and the vehicle is fault-free and starts successfully, each device will perform the following tasks.

[0053] The gear shifting device 130 is used to switch the gears of the vehicle and send the gear information to the vehicle controller 110.

[0054] The on-board instrument 140 is used to acquire the creep change speed input by the user and send the creep change speed to the vehicle controller 110.

[0055] For example, a user can select the crawl speed change button (which can be a physical button or a control button) on the vehicle instrument cluster 140 to enter the crawl speed change interface, and then enter the crawl speed change value. After the user enters the crawl speed change value and clicks the confirmation button on the crawl speed change interface, the vehicle instrument cluster 140 obtains the crawl speed change value.

[0056] The vehicle controller 110 is used in the vehicle creep control method provided in the following embodiment of the present invention.

[0057] The motor controller 120 is used to receive the creep speed sent by the vehicle controller 110, convert the creep speed into the target torque or target speed of the motor, and send the target torque or target speed of the motor to the vehicle motor so that the vehicle motor rotates at the target torque or target speed.

[0058] In one possible implementation, refer to Figure 2 This invention provides a vehicle creep control method, comprising the following steps. In this embodiment, the vehicle creep control method can be applied to... Figure 1 The vehicle controller 110 in the middle.

[0059] S11: Obtain the current gear information of the gear shifting device, parse the gear information, and obtain the current gear of the vehicle.

[0060] The gear shifting device 130 may include a gear shift lever. After the user changes the vehicle's driving gear by using the gear shift lever, the gear shifting device 130 immediately sends the gear position information to the vehicle controller 110. The vehicle controller 110 parses the gear position information to obtain the vehicle's current gear.

[0061] S13 determines whether the current gear is idle and checks whether the vehicle's instrument panel is faulty.

[0062] In this embodiment, idle gear refers to a gear where the throttle opening is zero, including but not limited to: D and R gears. Vehicle gears generally include P, R, N, D, 2, and L gears. P is also called parking gear, R is reverse gear, N is neutral, D is drive gear, and L is low gear. This invention extends the creep function, enabling both D and R gears to have creep functionality.

[0063] S15, if the current gear is idle and the vehicle instrument is fault-free, the target creep speed is sent to the motor controller so that the motor controller controls the vehicle's motor to creep at the target creep speed.

[0064] In this embodiment, the target creep speed refers to the latest creep change speed, which is sent by the vehicle instrument 140 to the vehicle controller 110 after determining that the user has changed the creep speed.

[0065] The vehicle controller 110 parses the received vehicle gear information to obtain the current gear and determines whether it is idle. Simultaneously, it checks if the vehicle's instrument cluster 140 is malfunctioning. If it determines that the current gear is idle and the instrument cluster 140 is functioning correctly, it sends the user-modified target creep speed to the motor controller 120.

[0066] The motor controller 120 receives the target creep speed sent by the vehicle controller 110, converts the target creep speed into a target motor torque or target speed, and sends the target motor torque or target speed to the vehicle's motor. The vehicle motor rotates at the target motor torque or target speed, causing the vehicle to creep at the target creep speed in D or R gear.

[0067] Compared with traditional vehicle creep control methods, the vehicle control method provided in this embodiment of the invention enables users to directly change the creep speed according to their needs in different driving scenarios. When the vehicle's current gear is idle and the vehicle's on-board instruments are functioning properly, the motor controller controls the motor to perform creep movement at the target creep speed changed by the user. This ensures the availability of the creep function in various driving scenarios, improves the flexibility of creep speed changes, and thus adapts to the vehicle's operating needs in different driving scenarios.

[0068] Furthermore, referring to Figure 3 The vehicle creep control method provided in this embodiment of the invention may further include step S10.

[0069] S10 receives the creep change information sent by the vehicle instrument, parses the creep change information to obtain the creep change speed, and uses the creep change speed to overwrite the original target creep speed.

[0070] For step S10, the creep change information is issued by the vehicle instrument 140 after determining that the user has changed the creep speed.

[0071] When the vehicle is not in crawl mode, the user can change the crawl speed multiple times, and the later crawl speed change will override the earlier crawl speed change. That is, the final target crawl speed will always be the latest crawl speed change.

[0072] To ensure vehicle driving safety, in one possible implementation, the vehicle creep control method provided by the present invention may further include the following implementation: after receiving creep change information, if it is determined that the current gear of the vehicle is neutral, the original target creep speed is overwritten with the creep change speed parsed from the creep change information.

[0073] In neutral, the vehicle controller 110 will not send the parsed creep speed change to the motor controller 120, thereby avoiding driving safety accidents caused by sudden speed changes.

[0074] It should be noted that if the vehicle's current gear is neither neutral nor idle, the motor operating mode will be controlled according to the normal control procedure.

[0075] In one possible implementation, the user can click the creep speed change button (which can be a physical button or a control button) on the vehicle instrument panel 140 to enter the creep speed change interface, and input the creep speed change value. After the user inputs the creep speed change value and clicks the confirmation button on the creep speed change interface, the vehicle instrument panel 140 obtains the creep speed change value and sends it to the vehicle controller 110. The vehicle controller 110 then overwrites the original target creep speed with the received latest creep speed change value.

[0076] It should be noted that if the vehicle is currently in a crawling state, after executing step S10, steps S11 to S15 will be executed to change the target crawling speed. In other words, during the vehicle's crawling process, the user can change the target crawling speed multiple times to make the vehicle crawl at different target crawling speeds.

[0077] To allow users to adjust the crawling speed during crawling to adapt to different driving scenarios, in one possible implementation, refer to... Figure 3 The vehicle crawl control method provided in this embodiment of the invention may further include step S17, which may be executed after step S15.

[0078] S17: When the vehicle is in a creeping state, the vehicle receives creeping change information sent by the on-board instrument and sends the creeping change speed parsed from the creeping change information to the motor controller so that the motor controller controls the vehicle's motor to switch to the creeping change speed.

[0079] Through the above step S17, during the creeping process, the user can adjust the creeping speed on the vehicle instrument 140 as needed. The vehicle instrument 140 sends the creeping speed change to the vehicle controller 110. After receiving it, the vehicle controller 110 immediately sends the creeping speed change to the motor controller 120. After parsing, the motor controller 120 controls the motor to immediately change the torque or speed, thereby realizing the creeping speed change during the creeping process.

[0080] The method for detecting whether the vehicle instrument 140 is faulty can be flexibly set. For example, it can be determined based on communication information, or the status of the vehicle instrument 140 can be directly detected. In this embodiment, no specific limitation is made.

[0081] In one possible implementation, when the vehicle controller 110 is communicatively connected to the on-board instrument cluster 140 via a CAN bus, refer to Figure 4 The following steps can be used to check if the vehicle instrument panel 140 is faulty.

[0082] S131, check if the vehicle instrument cluster is missing. If the vehicle instrument cluster 140 is missing, the vehicle instrument cluster is faulty. If not, the vehicle instrument cluster is not missing, proceed to step S132.

[0083] S132 checks if there is a communication fault between the vehicle instrument cluster and the vehicle controller. If not, the vehicle instrument cluster is functioning correctly; if so, the vehicle instrument cluster is faulty.

[0084] In one possible implementation, step S131 above can be further implemented as: detecting whether there is CAN bus information sent by the vehicle instrument on the CAN bus; if so, it is determined that the vehicle instrument is missing; if not, it is determined that the vehicle instrument is not missing.

[0085] When the on-board instrument cluster 140 is missing, all CAN bus information related to the on-board instrument cluster 140 and transmitted to the vehicle controller 110 will be missing on the CAN bus. If the vehicle controller 110 cannot resolve any CAN bus information related to the on-board instrument cluster 140, it indicates that the on-board instrument cluster 140 is missing. Thus, it is possible to quickly determine whether the on-board instrument cluster 140 is missing.

[0086] In one possible implementation, refer to Figure 5 The above step S132 can be further implemented as the following steps.

[0087] S1321: Obtain the CAN bus information at the current moment, and parse the CAN bus information to obtain the current life value of the vehicle instrument.

[0088] The CAN bus information sent from the vehicle instrument cluster 140 to the vehicle controller 110 is obtained from the CAN bus information. The CAN bus information is then parsed to obtain the current life value of the vehicle instrument cluster 140.

[0089] S1322: Determine whether the current life value of the vehicle instrument is the same as the previous life value. If yes, the communication between the vehicle instrument and the vehicle controller is faulty. If no, the communication between the vehicle instrument and the vehicle controller is not faulty.

[0090] The time interval between the previous moment and the current moment can be flexibly set according to the requirements. For example, it can be 10 seconds or 2 seconds. In this embodiment, no specific limitation is made.

[0091] When the instrument life value in the CAN bus information of the vehicle instrument cluster 140 remains unchanged, it indicates a communication failure between the vehicle instrument cluster 140 and the vehicle controller 110. Therefore, the communication failure of the vehicle instrument cluster 140 can be detected by checking whether the life value in the CAN bus information sent by the vehicle instrument cluster 140 to the vehicle controller 110 changes between the current moment and the previous moment when the vehicle is ready. If there is no change, it indicates a communication failure.

[0092] Through the above steps S131-S132 and their sub-steps, it can be determined that the vehicle instrument is not faulty when it is determined that the vehicle instrument is not missing and the communication between the vehicle instrument and the vehicle controller is faultless. If the vehicle instrument is missing or the communication between the vehicle instrument and the vehicle controller is faulty, then the vehicle instrument is faulty.

[0093] When the vehicle controller communicates with the vehicle instrument panel wirelessly, it can detect whether the vehicle instrument panel is missing by using detection equipment, and detect whether there is a communication fault by detecting the status of the communication module between the vehicle instrument panel and the vehicle controller.

[0094] Considering the possibility of missing in-vehicle instrument clusters or communication failures between the in-vehicle instrument clusters and the vehicle controller, in order to ensure that the vehicle can enter crawl mode according to user needs to a certain extent, refer to Figure 6 The vehicle creep control method provided in this embodiment of the invention may further include step S16.

[0095] S16 If the current gear is idle and the vehicle instrument is faulty, the pre-stored default creep speed is sent to the motor controller so that the motor controller controls the vehicle's motor to creep at the default creep speed.

[0096] In step S16, when the vehicle is in idle mode and the on-board instrument is faulty, the motor controller controls the vehicle motor to perform creeping motion at the default creeping speed so that the vehicle can enter the creeping state.

[0097] The vehicle creep control method provided in this invention updates the target creep speed of the vehicle's motor by setting it on the vehicle's instrument panel. This allows users to directly change the creep speed according to their needs in different usage scenarios, ensuring the availability of the creep function in various scenarios, improving the flexibility of creep speed changes, and adapting to the creep operation requirements of the vehicle in different motion states. Simultaneously, in the event of missing vehicle instrument panels or communication failures, the vehicle controller sends the default motor creep speed to the motor controller to ensure the normal operation of the creep function.

[0098] Based on the inventive concept of the above-described vehicle creep control method, in one possible implementation, the present invention also provides a vehicle creep control device 150, which can be applied to... Figure 1 The vehicle controller 110 in the vehicle, refer to Figure 7 The vehicle crawl control device 150 may include a gear position analysis module 160, a judgment module 170, and a crawl control module 180.

[0099] The gear position parsing module 160 is used to obtain the current gear position information of the gear shifting device, parse the gear position information, and obtain the current gear position of the vehicle.

[0100] The judgment module 170 is used to determine whether the current gear is idle and to detect whether the vehicle instrument panel is faulty.

[0101] The creep control module 180 is used to send the target creep speed to the motor controller if the current gear is idle and the vehicle instrument is fault-free, so that the motor controller controls the vehicle's motor to creep at the target creep speed.

[0102] The target creep speed is the latest creep change speed, which is sent to the vehicle controller by the on-board instrument after it determines that the user has changed the creep speed.

[0103] In the aforementioned vehicle creep control device 150, through the coordinated action of the gear position analysis module 160, the judgment module 170, and the creep control module 180, the user can directly change the creep speed according to their needs in different driving scenarios. When the vehicle's current gear is idle and the vehicle's on-board instruments are functioning properly, the motor controller controls the motor to perform creeping motion at the target creep speed changed by the user. This ensures the availability of the creep function in various driving scenarios, improves the flexibility of creep speed changes, and thus adapts to the vehicle's operating needs in different driving scenarios.

[0104] Specific limitations regarding the vehicle crawl control device 150 can be found in the limitations regarding the vehicle crawl control method and index demodulation method described above, and will not be repeated here. Each module in the aforementioned vehicle crawl control device 150 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the electronic device, or stored in software in the memory of the electronic device, so that the processor can call and execute the corresponding operations of each module.

[0105] In one embodiment, an electronic device 190 is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8As shown, the electronic device 190 includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor of the electronic device 190 provides computing and control capabilities. The memory of the electronic device 190 includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the electronic device 190 is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, near-field communication (NFC), or other technologies. When the computer program is executed by the processor, it implements the vehicle crawl control method provided in the above embodiment.

[0106] Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the electronic device 190 to which the present invention is applied. The specific electronic device 190 may include, but is not limited to, the following: Figure 8 The diagram shows more or fewer components, or combinations of certain components, or different component arrangements.

[0107] In one embodiment, the vehicle crawl control device 150 provided by the present invention can be implemented as a computer program, which can be implemented in, for example... Figure 8 The electronic device 190 shown operates on this device. The memory of the electronic device 190 can store various program modules that make up the vehicle crawl control device 150, for example, Figure 7 The gear position analysis module 160, judgment module 170, and creep control module 180 are shown. The computer program composed of these modules causes the processor to execute the steps in the vehicle creep control method described in this specification.

[0108] For example, Figure 8 The electronic device 190 shown can be accessed via, for example... Figure 7 The gear position analysis module 160 in the vehicle creep control device 150 shown executes step S11. The electronic device 190 can execute step S13 through the judgment module 170. The electronic device 190 can execute step S15 through the creep control module 180.

[0109] In one embodiment, an electronic device 190 is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: acquiring the current gear information of the gear shifting device, parsing the gear information to obtain the current gear of the vehicle; determining whether the current gear is an idle gear and detecting whether the vehicle instrument is faulty; if the current gear is an idle gear and the vehicle instrument is fault-free, then sending the target creep speed to the motor controller so that the motor controller controls the vehicle's motor to creep at the target creep speed.

[0110] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it performs the following steps: obtaining the current gear information of the gear shifting device, parsing the gear information to obtain the current gear of the vehicle; determining whether the current gear is an idle gear and detecting whether the vehicle instrument is faulty; if the current gear is an idle gear and the vehicle instrument is fault-free, sending the target creep speed to the motor controller so that the motor controller controls the vehicle's motor to creep at the target creep speed.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0112] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0113] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0114] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vehicle creep control method, characterized in that, A vehicle controller applied to a vehicle, wherein the vehicle controller is communicatively connected to the vehicle's motor controller, gear shifting device, and on-board instrument cluster, and the vehicle controller is communicatively connected to the on-board instrument cluster via a CAN bus, the method comprising: The system receives creep change information sent by the vehicle instrument panel, parses the creep change information to obtain the creep change speed, and uses the creep change speed to overwrite the original target creep speed; wherein, the creep change information is sent by the vehicle instrument panel after determining that the user has changed the creep speed; Obtain the current gear position information of the gear shifting device, parse the gear position information, and obtain the current gear position of the vehicle; If it is determined that the vehicle's current gear is neutral, then only the operation of overriding the original target creep speed is performed, and the vehicle controller does not send the parsed creep speed change to the motor controller; The system determines whether the current gear is idle and checks whether the vehicle instrument cluster is faulty. The step of checking whether the vehicle instrument cluster is faulty includes: checking whether the vehicle instrument cluster is missing; if the vehicle instrument cluster is missing, then the vehicle instrument cluster is faulty; if the vehicle instrument cluster is not missing, then checking whether the communication between the vehicle instrument cluster and the vehicle controller is faulty; if not, then the vehicle instrument cluster is not faulty; if so, then the vehicle instrument cluster is faulty. If the current gear is idle and the vehicle instrument is fault-free, the target creep speed is sent to the motor controller so that the motor controller controls the vehicle's motor to creep at the target creep speed. If the current gear is idle and the vehicle instrument is faulty, the default creep speed is sent to the motor controller so that the motor controller controls the vehicle's motor to creep at the default creep speed. The target creep speed is the latest creep change speed, which is sent by the vehicle instrument to the vehicle controller after the user changes the creep speed.

2. The vehicle creep control method according to claim 1, characterized in that, The step of detecting whether the communication between the vehicle instrument panel and the vehicle controller is faulty includes: Obtain the CAN bus information at the current moment, and parse the CAN bus information to obtain the current life value of the vehicle instrument; Determine whether the current life value of the vehicle instrument is the same as the previous life value. If so, the communication between the vehicle instrument and the vehicle controller is faulty; otherwise, the communication between the vehicle instrument and the vehicle controller is not faulty.

3. The vehicle creep control method according to claim 1, characterized in that, The step of detecting whether the vehicle instrument cluster is missing includes: The system detects whether there is CAN bus information sent by the vehicle instrument cluster on the CAN bus. If so, the vehicle instrument cluster is not missing; otherwise, the vehicle instrument cluster is missing.

4. The vehicle creep control method according to claim 1, characterized in that, The method further includes: When the vehicle is in a creeping state, the vehicle receives creeping change information from the on-board instrument and sends the creeping change speed parsed from the creeping change information to the motor controller, so that the motor controller controls the vehicle's motor to switch to the creeping change speed.

5. A vehicle creep control device, characterized in that, A vehicle controller for use in vehicles, wherein the vehicle controller is communicatively connected to the vehicle's motor controller, gear shifting device and on-board instrument, and the vehicle controller is communicatively connected to the on-board instrument via a CAN bus, the device including a gear position analysis module, a judgment module and a creep control module; The gear analysis module is used to receive creep change information sent by the vehicle instrument, analyze the creep change information to obtain the creep change speed, and use the creep change speed to overwrite the original target creep speed; Obtain the current gear position information of the gear shifting device, parse the gear position information, and obtain the current gear position of the vehicle; If it is determined that the vehicle's current gear is neutral, then only the operation of overriding the original target creep speed is performed, and the vehicle controller does not send the parsed creep speed change to the motor controller; wherein, the creep change information is issued by the vehicle instrument after determining that the user has changed the creep speed; The judgment module is used to determine whether the current gear is idle gear and to detect whether the vehicle instrument is faulty. The step of detecting whether the vehicle instrument is faulty includes: detecting whether the vehicle instrument is missing; if the vehicle instrument is missing, the vehicle instrument is faulty; if the vehicle instrument is not missing, detecting whether the communication between the vehicle instrument and the vehicle controller is faulty; if not, the vehicle instrument is not faulty; if so, the vehicle instrument is faulty. The creep control module is configured to, if the current gear is idle and the vehicle instrument panel is fault-free, send a target creep speed to the motor controller so that the motor controller controls the vehicle's motor to creep at the target creep speed; if the current gear is idle and the vehicle instrument panel is faulty, send a default creep speed to the motor controller so that the motor controller controls the vehicle's motor to creep at the default creep speed. The target creep speed is the latest creep change speed, which is sent by the vehicle instrument to the vehicle controller after the user changes the creep speed.

6. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a computer program that can be executed by the processor to implement the vehicle crawl control method as described in any one of claims 1 to 4.

7. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle crawl control method as described in any one of claims 1 to 4.

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