Vehicle Creeping Control Method, Device, On-vehicle Controller and Storage Medium

Abstract

The present application relates to a vehicle creep control method, device, vehicle-mounted controller, storage medium, and computer program product. The method includes: obtaining vehicle state information of the vehicle, and determining whether a creep control activation condition is satisfied according to the vehicle state information; if it is determined that the creep control activation condition is satisfied, calculating a target resistance that the vehicle needs to overcome from a stationary state to a creeping state, and determining a creep torque according to the target resistance; determining whether a clutch protection condition is triggered according to the creep torque; if it is determined that the clutch protection condition is triggered, controlling the clutch of the vehicle to be fully opened and maintained for a preset time period; if it is determined that the clutch protection condition is not triggered, controlling the clutch to be in a target engagement degree based on the creep torque, and controlling the creep of the vehicle according to the target engagement degree of the clutch. Using this method can reduce the wear of the clutch during the creep of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle creep control method, device, vehicle-mounted controller and storage medium. Background Art

[0002] With the popularity of automobiles and people's pursuit of automobile driving performance, the requirements for automobile safety and reliability are getting higher and higher. Vehicle creep is to control the car to automatically run at a low speed and smoothly. Controlling the stability of vehicle creep is a very important link in measuring the safety and reliability of the car.

[0003] In conventional technology, the creep torque corresponding to the current vehicle speed is usually determined based on the current vehicle speed and the target vehicle speed to perform vehicle creep control. However, during the vehicle creep process, the driver may continuously step on and release the brake pedal, which may cause the clutch to be in a sliding state for a long time and increase wear during this process. Therefore, how to reduce clutch wear during vehicle creep control is a technical problem that needs to be solved urgently. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle creep control method, device, vehicle-mounted controller, computer-readable storage medium and computer program product that can reduce clutch wear in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a vehicle creep control method. The method comprises:

[0006] Acquiring vehicle state information of the vehicle, and determining whether a creep control activation condition is met according to the vehicle state information;

[0007] If it is determined that the creep control activation condition is met, calculating the target resistance that the vehicle needs to overcome from stationary to creeping, and determining the creep torque according to the target resistance;

[0008] determining whether to trigger a clutch protection condition according to the creep torque;

[0009] If it is determined that the clutch protection condition is triggered, controlling the clutch of the vehicle to be fully opened and maintained for a preset time period;

[0010] If it is determined that the clutch protection condition is not triggered, the clutch is controlled to be at a target engagement degree based on the creep torque, and the vehicle is controlled to creep according to the target engagement degree of the clutch.

[0011] In one embodiment, the vehicle state information includes clutch temperature, handbrake state, accelerator pedal state, brake pedal opening, target gear, maximum starting gear in the current shifting mode, rotational speed of the current gear, current vehicle speed, and the configurable final creep speed threshold for the current gear. Determining whether the creep control activation condition is satisfied based on the vehicle state information includes:

[0012] Determining whether the clutch temperature is less than the temperature threshold;

[0013] Determining whether the handbrake and the accelerator pedal are depressed;

[0014] Determining whether the target gear is less than the maximum starting gear in the current shifting mode;

[0015] Determining whether the rotational speed of the current gear is less than the creep rotational speed;

[0016] Determining whether the current vehicle speed is less than or equal to the configurable final creep speed threshold for the current gear;

[0017] If the clutch temperature is less than the temperature threshold, the handbrake and the accelerator pedal are not depressed, the target gear is less than the maximum starting gear in the current shifting mode, the rotational speed of the current gear is less than the creep rotational speed, and the current vehicle speed is less than or equal to the configurable final creep speed threshold for the current gear, then it is determined that the creep control activation condition is satisfied.

[0018] In one embodiment, the step of determining the creep rotational speed includes:

[0019] Looking up the target gear vehicle speed in a table according to the target gear and the brake pedal opening;

[0020] Calculating the creep rotational speed based on the target gear vehicle speed.

[0021] In one embodiment, the method further includes:

[0022] If the clutch temperature is greater than the temperature threshold, or the handbrake state is in the engaged state, or the accelerator pedal is depressed, or the target gear is greater than the maximum starting gear in the current shifting mode, then exit the vehicle creep control mode.

[0023] In one embodiment, calculating the target resistance that the vehicle needs to overcome from rest to creep, and determining the creep torque according to the target resistance includes:

[0024] Obtaining the resistance generated by the road slope where the vehicle is located, the theoretical resistance required when the vehicle accelerates at the target acceleration, the resistance generated during the vehicle's coasting, and the resistance generated by the rotational inertia;

[0025] Determine the target resistance that the vehicle needs to overcome from a stationary state to a creeping state based on the resistance generated by the road slope, the theoretical resistance required when the vehicle accelerates with a target acceleration, the resistance generated during the coasting of the vehicle, and the resistance generated by the rotational inertia;

[0026] Obtain the tire radius, the current gear transmission ratio, and the axle speed ratio;

[0027] Calculate the creeping torque based on the target resistance to be overcome during creeping, the tire radius, the current gear transmission ratio, and the axle speed ratio.

[0028] In one embodiment, it is characterized in that determining whether to trigger the clutch protection condition according to the creeping torque includes:

[0029] Determine whether the creeping torque is greater than the creeping torque threshold;

[0030] Determine whether the speed difference between the current gear speed and the output shaft speed of the vehicle is greater than the speed difference threshold;

[0031] Count the number of times that during the vehicle creeping process, the creeping torque is greater than the creeping torque threshold and the speed difference between the current gear speed and the output shaft speed is greater than the speed difference threshold;

[0032] If the counted number of times reaches the preset number of times, determine that the clutch protection condition is triggered.

[0033] In one embodiment, controlling the engagement degree of the clutch based on the creeping torque includes:

[0034] Look up a table based on the creeping torque to determine the target position of the clutch disc corresponding to the creeping torque;

[0035] Adopt a proportional-integral control method to control the clutch disc to reach the target position, so as to control the clutch to be in the target engagement degree.

[0036] In a second aspect, the present application also provides a vehicle creeping control device. The device includes:

[0037] An acquisition module, configured to acquire the vehicle state information of the vehicle and determine whether the creeping control activation condition is satisfied according to the vehicle state information;

[0038] A first determination module, configured to calculate the target resistance that the vehicle needs to overcome from a stationary state to a creeping state if it is determined that the creeping control activation condition is satisfied, and determine the creeping torque according to the target resistance;

[0039] A second determination module, configured to determine whether to trigger the clutch protection condition according to the creeping torque;

[0040] The first control module is configured to, if it is determined that the clutch protection condition is triggered, control the clutch of the vehicle to fully open and maintain for a preset time period;

[0041] The second control module is configured to, if it is determined that the clutch protection condition is not triggered, control the clutch to be at a target engagement degree based on the creep torque, and control the creep of the vehicle according to the target engagement degree of the clutch.

[0042] In a third aspect, the present application further provides a vehicle-mounted controller. The vehicle-mounted controller includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0043] Obtain the vehicle state information of the vehicle, and determine whether the creep control activation condition is satisfied according to the vehicle state information;

[0044] If it is determined that the creep control activation condition is satisfied, calculate the target resistance that the vehicle needs to overcome from a stationary state to a creeping state, and determine the creep torque according to the target resistance;

[0045] Determine whether the clutch protection condition is triggered according to the creep torque;

[0046] If it is determined that the clutch protection condition is triggered, control the clutch of the vehicle to fully open and maintain for a preset time period;

[0047] If it is determined that the clutch protection condition is not triggered, control the clutch to be at a target engagement degree based on the creep torque, and control the creep of the vehicle according to the target engagement degree of the clutch.

[0048] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0049] Obtain the vehicle state information of the vehicle, and determine whether the creep control activation condition is satisfied according to the vehicle state information;

[0050] If it is determined that the creep control activation condition is satisfied, calculate the target resistance that the vehicle needs to overcome from a stationary state to a creeping state, and determine the creep torque according to the target resistance;

[0051] Determine whether the clutch protection condition is triggered according to the creep torque;

[0052] If it is determined that the clutch protection condition is triggered, control the clutch of the vehicle to fully open and maintain for a preset time period;

[0053] If it is determined that the clutch protection condition is not triggered, the clutch is controlled to be in a target engagement degree based on the creep torque, and the creep of the vehicle is controlled according to the target engagement degree of the clutch.

[0054] In a fifth aspect, the present application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0055] Obtain the vehicle state information of the vehicle, and determine whether the creep control activation condition is satisfied according to the vehicle state information;

[0056] If it is determined that the creep control activation condition is satisfied, calculate the target resistance that the vehicle needs to overcome from a stationary state to a creeping state, and determine the creep torque according to the target resistance;

[0057] Determine whether the clutch protection condition is triggered according to the creep torque;

[0058] If it is determined that the clutch protection condition is triggered, control the clutch of the vehicle to fully open and maintain a preset time period;

[0059] If it is determined that the clutch protection condition is not triggered, the clutch is controlled to be in a target engagement degree based on the creep torque, and the creep of the vehicle is controlled according to the target engagement degree of the clutch.

[0060] The above vehicle creep control method, device, vehicle-mounted controller, storage medium, and computer program product obtain the vehicle state information of the vehicle, and determine whether the creep control activation condition is satisfied according to the vehicle state information. If it is determined that the creep control activation condition is satisfied, calculate the target resistance that the vehicle needs to overcome from a stationary state to a creeping state, and then determine the creep torque according to the target resistance, and determine whether the clutch protection condition is triggered according to the creep torque. If it is determined that the clutch protection condition is triggered, control the clutch of the vehicle to fully open and maintain a preset time period. If it is determined that the clutch protection condition is not triggered, the clutch is controlled to be in a target engagement degree based on the creep torque, and the creep of the vehicle is controlled according to the target engagement degree of the clutch. In this way, by setting the clutch protection condition, when the clutch protection condition is satisfied, the clutch is controlled to fully open until the preset time period is exceeded and then the clutch is controlled to engage, which can reduce the wear of the clutch when controlling the creep of the vehicle. Description of the Drawings

[0061] Figure 1 It is an application environment diagram of the vehicle creep control method in an embodiment;

[0062] Figure 2 It is a flowchart of the vehicle creep control method in an embodiment;

[0063] Figure 3 It is a schematic flowchart of a vehicle creep control method in another embodiment;

[0064] Figure 4 It is a structural block diagram of a vehicle creep control device in one embodiment;

[0065] Figure 5 It is an internal structure diagram of an in-vehicle controller in one embodiment. Detailed implementation manners

[0066] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0067] It should be noted that the terms "including", "comprising", "having" and any variations thereof used in the present application are intended to cover non-exclusive inclusion. For example, a process, method, product or device that includes a series of steps or devices does not necessarily have to be limited to the clearly listed steps, but may also include other steps or devices that are not clearly listed or are inherent to these processes, methods, products or devices. The term "and / or" used in the present application includes any and all combinations of one or more of the related listed items.

[0068] In addition, the terms "first", "second", etc. used in the present application are used to make naming distinctions for similar objects, but these objects themselves are not limited by these terms. It should be understood that these terms can be interchanged under appropriate circumstances without departing from the scope of the present application. For example, the "first determination module" can be described as the "second determination module", and similarly, the "second determination module" can be described as the "first determination module".

[0069] The vehicle creep control method provided by the embodiments of the present application can be applied to, for example Figure 1In the application environment shown. Among them, the vehicle-mounted controller 104 is arranged on the target vehicle 102, and the vehicle-mounted controller 104 can control the clutch of the target vehicle 102 to engage. The vehicle-mounted controller 104 obtains the vehicle state information of the vehicle, and then determines whether the creep control activation condition is satisfied according to the vehicle state information. If it is determined that the creep control activation condition is satisfied, the target resistance that the vehicle needs to overcome from rest to creep is calculated, and the creep torque is determined according to the target resistance. Furthermore, the vehicle-mounted controller 104 determines whether to trigger the clutch protection condition according to the creep torque. If it is determined that the clutch protection condition is triggered, the clutch of the vehicle is controlled to fully open and maintained for a preset time period. If it is determined that the clutch protection condition is not triggered, the clutch is controlled to be in the target engagement degree based on the creep torque, and then the creep of the vehicle is controlled according to the target engagement degree of the clutch. The vehicle-mounted controller 104 may specifically be a clutch controller.

[0070] In one embodiment, as Figure 2 shown, a vehicle creep control method is provided. Taking the vehicle-mounted controller in Figure 1 as an example for illustration, the method includes the following steps:

[0071] Step 202, obtain the vehicle state information of the vehicle, and determine whether the creep control activation condition is satisfied according to the vehicle state information.

[0072] Among them, the vehicle state information is information related to vehicle driving. The creep control activation condition is a condition for controlling the vehicle to enter the vehicle creep control mode.

[0073] Specifically, the vehicle-mounted controller is connected to the Controller Area Network (CAN) of the target vehicle to obtain the state information of the vehicle, and then make a judgment according to the vehicle state information to determine whether the creep control activation condition is satisfied.

[0074] In one embodiment, the vehicle state information includes clutch temperature, handbrake state, accelerator pedal state, brake pedal opening, target gear, maximum starting gear in the current shifting mode, rotational speed of the current gear, current vehicle speed, and the configurable final creep speed threshold for the current gear. Determining whether the creep control activation condition is met based on the vehicle state information includes: determining whether the clutch temperature is less than the temperature threshold; determining whether the handbrake and the accelerator pedal are depressed; determining whether the target gear is less than the maximum starting gear in the current shifting mode; determining whether the rotational speed of the current gear is less than the creep rotational speed; determining whether the current vehicle speed is less than or equal to the configurable final creep speed threshold for the current gear; if the clutch temperature is less than the temperature threshold, the handbrake and the accelerator pedal are not depressed, the target gear is less than the maximum starting gear in the current shifting mode, the rotational speed of the current gear is less than the creep rotational speed, and the current vehicle speed is less than or equal to the configurable final creep speed threshold for the current gear, then it is determined that the creep control activation condition is met.

[0075] Among them, the clutch temperature is collected by a temperature sensor provided at the clutch of the target vehicle. The target gear is the gear in which the driver wants to control the target vehicle. In an automatic vehicle, the in-vehicle controller automatically determines the target gear according to the current vehicle state. In a manual vehicle, the driver needs to manually adjust the vehicle gear to the target gear. The maximum starting gear in the current shifting mode is determined based on the current gear of the target vehicle. The configurable final creep speed threshold for the current gear is obtained through a large number of tests and pre-set in the in-vehicle controller.

[0076] Specifically, after the in-vehicle controller obtains the handbrake state, accelerator pedal state, brake pedal opening, target gear, maximum starting gear in the current shifting mode, rotational speed of the current gear, and current vehicle speed from the controller area network of the target vehicle, and obtains the clutch temperature from the clutch temperature sensor, it compares the clutch temperature with the preset temperature threshold, compares the target gear with the maximum starting gear in the current shifting mode, compares the rotational speed of the current gear with the creep rotational speed, compares the current vehicle speed with the configurable final creep speed threshold for the current gear, and determines the handbrake state and the accelerator pedal state. If the in-vehicle controller determines that the clutch temperature is less than the temperature threshold, the handbrake and the accelerator pedal are not depressed, the target gear is less than the maximum starting gear in the current shifting mode, the rotational speed of the current gear is less than the creep rotational speed, and the current vehicle speed is less than or equal to the configurable final creep speed threshold for the current gear, then it is determined that the creep control activation condition is met.

[0077] In this embodiment, by acquiring vehicle state information such as clutch temperature, handbrake state, accelerator pedal state, brake pedal opening, target gear, maximum starting gear in the current shifting mode, rotational speed of the current gear, current vehicle speed, and the final creep speed threshold configurable for the current gear, and determining whether to control the target vehicle to enter the vehicle creep control mode based on the vehicle state information, it is possible to enable the target vehicle to perform vehicle creep control only when the conditions are met, thereby reducing the wear degree of the clutch during the process of controlling vehicle creep.

[0078] Step 204, if it is determined that the creep control activation condition is satisfied, calculate the target resistance that the vehicle needs to overcome from stationary to creep, and determine the creep torque according to the target resistance.

[0079] Specifically, when the vehicle-mounted controller determines that the operating state of the target vehicle satisfies the creep control activation condition, it controls the target vehicle to enter the vehicle creep control mode. After the vehicle-mounted controller controls the vehicle to enter the vehicle creep control mode, the vehicle-mounted controller needs to calculate the target resistance that the vehicle needs to overcome from stationary to creep, and then determine the creep torque according to the target resistance.

[0080] Step 206, determine whether to trigger the clutch protection condition according to the creep torque.

[0081] Among them, the clutch protection condition is the condition for judging whether to activate the clutch protection function.

[0082] Specifically, after the vehicle-mounted controller determines the creep torque, it compares the creep torque with the creep torque threshold preset in the vehicle-mounted controller, and then determines whether to trigger the clutch protection condition according to the comparison result.

[0083] Step 208, if it is determined that the clutch protection condition is triggered, control the clutch of the vehicle to fully open and maintain for a preset time period.

[0084] Specifically, if the vehicle-mounted controller determines that the clutch protection condition is satisfied according to the comparison result of the creep torque and the creep torque threshold, the vehicle-mounted controller activates the clutch protection function. After the vehicle-mounted controller activates the clutch protection function, the vehicle-mounted controller controls the clutch to be in a fully open state and maintains for a preset time period.

[0085] Step 210, if it is determined that the clutch protection condition is not triggered, control the clutch to be in the target engagement degree based on the creep torque, and control the creep of the vehicle according to the target engagement degree of the clutch.

[0086] Among them, the target engagement degree is the state of the clutch when the clutch disc is in the target position.

[0087] Specifically, if the on-board controller determines that the target vehicle has not triggered the clutch protection condition based on the comparison result between the creep torque and the creep torque threshold, the on-board controller does not need to start the clutch protection function, but can control the clutch plate of the clutch to reach the target position based on the creep torque so that the clutch is in the target engagement degree, and then control the creep of the vehicle through the target engagement degree of the clutch.

[0088] The above-mentioned vehicle creep control method obtains the vehicle state information of the vehicle, and determines whether the creep control activation condition is met according to the vehicle state information. If it is determined that the creep control activation condition is met, the target resistance that the vehicle needs to overcome from stationary to creeping is calculated, and then the creep torque is determined according to the target resistance, and whether the clutch protection condition is triggered according to the creep torque. If it is determined that the clutch protection condition is triggered, the clutch of the vehicle is controlled to be fully opened and maintained for a preset time period. If it is determined that the clutch protection condition is not triggered, the clutch is controlled to be at a target engagement degree based on the creep torque, and the creep of the vehicle is controlled according to the target engagement degree of the clutch. In this way, by setting the clutch protection condition, the clutch is controlled to be fully opened when the clutch protection condition is met, and the clutch is controlled to engage again after exceeding the preset time period, which can reduce clutch wear when controlling the vehicle creep.

[0089] In one of the embodiments, the step of determining the creep speed includes: looking up a table to obtain the target gear vehicle speed according to the target gear and the brake pedal opening; and calculating the creep speed according to the target gear vehicle speed.

[0090] Specifically, after the onboard controller obtains the target gear and brake pedal opening from the controller local area network of the target vehicle, it queries the map table that has been fixed in the onboard controller based on the target gear and brake pedal opening to obtain the target gear vehicle speed corresponding to the target gear and brake pedal opening. Then, the onboard controller obtains the current gear transmission ratio, axle speed ratio and tire radius of the target vehicle, and processes the target gear vehicle speed according to formula (1) to obtain the creep speed.

[0091] (1)

[0092] in, is the creep speed, is the target gear speed, is the current gear ratio of the target vehicle, is the axle speed ratio, and R is the tire radius.

[0093] In this embodiment, the target gear speed is obtained by looking up a table according to the target gear and the brake pedal opening, and the creep speed is calculated according to the target gear speed. In this way, the creep speed obtained can be used to determine whether the target vehicle meets the creep control activation condition.

[0094] In one embodiment, the above vehicle creep control method further includes: if the clutch temperature is greater than the temperature threshold, or the handbrake state is in the engaged state, or the accelerator pedal is depressed, or the target gear is greater than the maximum starting gear in the current shifting mode, then the vehicle creep control mode is exited.

[0095] Specifically, after the vehicle-mounted controller controls the target vehicle to enter the vehicle creep control mode, the vehicle-mounted controller continues to obtain the handbrake state, the accelerator pedal state, and the target gear from the controller area network of the target vehicle, and obtains the clutch temperature from the clutch temperature sensor. When the vehicle-mounted controller determines that the clutch temperature is greater than the temperature threshold, or the handbrake state is in the engaged state, or the accelerator pedal is depressed, or the target gear is greater than the maximum starting gear in the current shifting mode, then the vehicle creep control mode is exited.

[0096] In this embodiment, if the clutch temperature is greater than the temperature threshold, or the handbrake state is in the engaged state, or the accelerator pedal is depressed, or the target gear is greater than the maximum starting gear in the current shifting mode, then the vehicle creep control mode is exited. In this way, after exiting the vehicle creep control mode, the vehicle-mounted controller no longer controls the target vehicle to creep, thereby being able to reduce the wear degree of the clutch during the process of controlling the vehicle to creep.

[0097] In one embodiment, calculating the target resistance that the vehicle needs to overcome from a stationary state to a creeping state, and determining the creeping torque according to the target resistance, includes: obtaining the resistance generated by the road gradient of the road where the vehicle is located, the theoretical resistance required when the vehicle accelerates at the target acceleration, the resistance generated during the vehicle's coasting process, and the resistance generated by the rotational inertia; determining the target resistance that the vehicle needs to overcome from a stationary state to a creeping state according to the resistance generated by the road gradient, the theoretical resistance required when the vehicle accelerates at the target acceleration, the resistance generated during the vehicle's coasting process, and the resistance generated by the rotational inertia; obtaining the tire radius, the current gear ratio, and the axle ratio; calculating the creeping torque based on the target resistance to be overcome during creeping, the tire radius, the current gear ratio, and the axle ratio.

[0098] Among them, the resistance generated by the road gradient is the resistance determined according to the gradient of the road where the target vehicle is located and the vehicle mass. The theoretical resistance required when the vehicle accelerates at the target acceleration is the resistance determined according to the acceleration collected by the acceleration sensor.

[0099] Specifically, when the vehicle-mounted controller determines that the target vehicle meets the creep control activation condition, it also obtains the resistance generated by the road slope where the vehicle is located, the theoretical resistance required for the vehicle to accelerate at the target acceleration, the resistance generated during the vehicle's coasting process, and the resistance generated by the rotational inertia. Then, it adds the resistance generated by the road slope where the vehicle is located, the theoretical resistance required for the vehicle to accelerate at the target acceleration, the resistance generated during the vehicle's coasting process, and the resistance generated by the rotational inertia to obtain the target resistance that the vehicle needs to overcome from a standstill to creep. After that, the vehicle-mounted controller processes the target resistance that the vehicle needs to overcome from a standstill to creep according to Equation (2) to obtain the creep torque.

[0100] (2)

[0101] Wherein, T is the creep torque, and F is the target resistance that the vehicle needs to overcome from a standstill to creep.

[0102] In one embodiment, after the vehicle-mounted controller calculates the creep torque, it can also perform filtering processing on the calculated creep torque to prevent the creep torque from oscillating.

[0103] In this embodiment, by obtaining the resistance generated by the road slope where the vehicle is located, the theoretical resistance required for the vehicle to accelerate at the target acceleration, the resistance generated during the vehicle's coasting process, and the resistance generated by the rotational inertia, and based on the resistance generated by the road slope, the theoretical resistance required for the vehicle to accelerate at the target acceleration, the resistance generated during the vehicle's coasting process, and the resistance generated by the rotational inertia, the target resistance that the vehicle needs to overcome from a standstill to creep is determined. Then, by obtaining the tire radius, the current gear transmission ratio, and the axle speed ratio, and based on the target resistance that needs to be overcome during creep, the tire radius, the current gear transmission ratio, and the axle speed ratio, the creep torque is calculated. In this way, the calculated creep torque can be used to determine whether to trigger the clutch protection condition, and then whether to activate the clutch protection function can be determined according to the judgment result.

[0104] In one embodiment, determining whether to trigger the clutch protection condition according to the creep torque includes: determining whether the creep torque is greater than the creep torque threshold; determining whether the speed difference between the current gear speed and the output shaft speed of the vehicle is greater than the speed difference threshold; counting the number of times that the creep torque is greater than the creep torque threshold and the speed difference between the current gear speed and the output shaft speed is greater than the speed difference threshold during the vehicle's creep process; if the counted number reaches the preset number, it is determined that the clutch protection condition is triggered.

[0105] Specifically, after the vehicle-mounted controller calculates the creep torque, it also obtains the engine output shaft speed of the target vehicle, subtracts the engine output shaft speed of the target vehicle from the current gear speed, and obtains the speed difference between the current gear speed and the output shaft speed of the target vehicle. Furthermore, the vehicle-mounted controller compares the calculated creep torque with the creep torque threshold preset in the vehicle-mounted controller, and compares the calculated speed difference between the current gear speed and the output shaft speed of the target vehicle with the speed difference threshold preset in the vehicle-mounted controller. During this process, the vehicle-mounted controller counts the number of times that the creep torque is greater than the creep torque threshold and the speed difference between the current gear speed and the output shaft speed is greater than the speed difference threshold, and when the counted number reaches the preset number, it determines that the target vehicle triggers the clutch protection condition, thereby activating the clutch protection function.

[0106] In this embodiment, by determining whether the creep torque is greater than the creep torque threshold and determining whether the speed difference between the current gear speed and the output shaft speed of the vehicle is greater than the speed difference threshold, and counting the number of times that the creep torque is greater than the creep torque threshold and the speed difference between the current gear speed and the output shaft speed is greater than the speed difference threshold during the vehicle creep process, when the counted number reaches the preset number, it is determined that the clutch protection condition is triggered. In this way, when the vehicle-mounted controller determines that the clutch protection condition is triggered, it can activate the clutch protection function, thereby reducing the number of times of clutch engagement and separation and clutch wear caused by factors such as improper driver operation, and prolonging the service life of the clutch.

[0107] In one of the embodiments, controlling the engagement degree of the clutch based on the creep torque includes: looking up a table based on the creep torque to determine the target position of the clutch disc corresponding to the creep torque; and using a proportional-integral control method to control the clutch disc to reach the target position to control the clutch to be in the target engagement degree.

[0108] Specifically, after the vehicle-mounted controller determines that the target vehicle does not trigger the clutch protection condition, it queries the map table that has been solidified in the vehicle-mounted controller based on the calculated creep torque to determine the target position of the clutch disc corresponding to the creep torque. Then, the vehicle-mounted controller uses a proportional-integral control method to control the clutch disc to reach the target position to control the clutch to be in the target engagement degree.

[0109] In this embodiment, by looking up a table based on the creep torque to determine the target position of the clutch disc corresponding to the creep torque, and using a proportional-integral control method to control the clutch disc to reach the target position to control the clutch to be in the target engagement degree, the creep control of the target vehicle is realized.

[0110] Next, refer to Figure 3 , and use a specific embodiment to further illustrate the vehicle creep control method of the present application in detail:

[0111] Step 1: According to the vehicle status information, determine whether the creep control activation conditions are met. The activation of the creep control function requires the simultaneous satisfaction of the following conditions:

[0112] (1) The clutch temperature is less than the preset temperature threshold (i.e., the clutch is not overheated);

[0113] (2) The handbrake is released and the accelerator pedal is not depressed;

[0114] (3) The target gear is less than the maximum starting gear in the current shifting mode;

[0115] (4) The current gear speed is less than the creep speed;

[0116] Among them, the creep speed is calculated based on the target gear speed after calculating the target gear speed according to the target gear and the brake pedal opening.

[0117] (5) The current vehicle speed is equal to or lower than the configurable final creep speed threshold based on the current gear.

[0118] Step 2: Enter the creep control mode, control the clutch to engage, and the vehicle creeps forward. To prevent the engine from stalling, the maximum engagement degree of the clutch depends on the engine speed.

[0119] After the vehicle-mounted controller controls the vehicle to enter the creep control mode, according to the vehicle longitudinal dynamics equation, the resistance generated by the road slope of the target vehicle's location, the theoretical resistance required for the target vehicle to accelerate the vehicle at the target acceleration, and the resistance generated by the target vehicle's coasting are added together to calculate the target resistance that the vehicle needs to overcome from a standstill to creep. Then, the target resistance that needs to be overcome during creep is used to calculate the creep torque according to Equation (2). To prevent the creep torque from oscillating, the calculated creep torque is filtered.

[0120] (2)

[0121] Among them, T is the creep torque, and F is the target resistance that the vehicle needs to overcome from a standstill to creep.

[0122] It should be noted that the resistance generated by the road slope is obtained based on the vehicle mass and the slope, and the theoretical resistance required for the target vehicle to accelerate with the target acceleration is determined according to the acceleration collected by the acceleration sensor. There may be errors in the initial calculation of the vehicle mass estimated by the acceleration sensor, and the mass does not converge. Therefore, the initial calculated creep torque is calculated based on the fully loaded condition of the vehicle, and the corresponding maximum creep torque is set, and it is adjusted to the actual value as the vehicle mass estimation converges. The filtered creep torque does not directly control the clutch. Considering that if the calculated creep torque is not sufficient to make the vehicle move, or the driver continuously presses and releases the brake pedal, or continuously activates and exits the creep state, or the vehicle is stationary for a long time, etc., then the clutch will be in the slip friction state for a long time, increasing the clutch wear. Therefore, a clutch protection function is set to reduce the creep torque capacity. When the filtered creep torque value is greater than a certain preset creep torque threshold, and the speed difference between the current gear speed and the output shaft speed is greater than the preset speed difference threshold, and when the above two conditions are met for a preset number of times, the clutch protection function is triggered. At this time, the clutch will be kept fully open until the clutch can transmit torque again after exceeding the preset time period. If the clutch protection function is not triggered, or after the clutch protection function is triggered, the speed difference between the current gear speed and the output shaft speed is less than the preset speed difference threshold, and the target vehicle reaches the final creep speed threshold configurable for the current gear, then the target position of the clutch disc corresponding to the filtered creep torque is obtained by looking up the map table based on the filtered creep torque, and the PID (Proportional-Integral-Differential) control method is used to control the clutch to reach the target engagement degree, so as to control the creep of the vehicle according to the target engagement degree of the clutch. During the control of the target vehicle's creep, if the engine speed drops too much below the idle speed, then the creep torque will be reduced at a preset decreasing rate until the creep torque threshold that can ensure that the engine does not stall is reached, to prevent the engine from stalling.

[0123] Step 3: According to the vehicle status information, determine whether the conditions for exiting the creep control mode are met. The conditions for exiting the creep control mode need to meet any of the following conditions:

[0124] (1) The clutch is overheated;

[0125] (2) The handbrake is engaged;

[0126] (3) The accelerator pedal is depressed;

[0127] (4) The target gear is greater than the maximum starting gear in the current shifting mode.

[0128] If satisfied, the vehicle-mounted controller controls the target vehicle to exit the creep control mode.

[0129] The above vehicle creep control method obtains the vehicle state information of the vehicle, determines whether the creep control activation condition is met according to the vehicle state information. If it is determined that the creep control activation condition is met, the target resistance that the vehicle needs to overcome from rest to creep is calculated, and then the creep torque is determined according to the target resistance, and whether the clutch protection condition is triggered is determined according to the creep torque. If it is determined that the clutch protection condition is triggered, the clutch of the vehicle is controlled to fully open and maintained for a preset time period. If it is determined that the clutch protection condition is not triggered, the clutch is controlled to be in the target engagement degree based on the creep torque, and the creep of the vehicle is controlled according to the target engagement degree of the clutch. In this way, by setting the clutch protection condition, when the clutch protection condition is met, the clutch is controlled to fully open until it exceeds the preset time period and then the clutch engagement is controlled, which can reduce the clutch wear when controlling the vehicle creep.

[0130] It should be understood that although the steps in the flowcharts involved in the above embodiments are sequentially shown according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0131] Based on the same inventive concept, in one embodiment, as Figure 4 shown, the embodiment of the present application further provides a vehicle creep control device 400, including: an acquisition module 401, a first determination module 402, a second determination module 403, a first control module 404, and a second control module 405, where:

[0132] The acquisition module is configured to acquire the vehicle state information of the vehicle and determine whether the creep control activation condition is met according to the vehicle state information.

[0133] The first determination module is configured to calculate the target resistance that the vehicle needs to overcome from rest to creep and determine the creep torque according to the target resistance if it is determined that the creep control activation condition is met.

[0134] The second determination module is configured to determine whether the clutch protection condition is triggered according to the creep torque.

[0135] The first control module is configured to control the clutch of the vehicle to fully open and maintain it for a preset time period if it is determined that the clutch protection condition is triggered.

[0136] A second control module, configured to, if it is determined that the clutch protection condition is not triggered, control the clutch to be in a target engagement degree based on the creep torque, and control the creep of the vehicle according to the target engagement degree of the clutch.

[0137] In one embodiment, the vehicle state information includes clutch temperature, handbrake state, accelerator pedal state, brake pedal opening, target gear, maximum starting gear in the current shifting mode, rotational speed of the current gear, current vehicle speed, and the final creep speed threshold configurable for the current gear. The acquisition module is further configured to determine whether the clutch temperature is less than the temperature threshold; determine whether the handbrake and the accelerator pedal are depressed; determine whether the target gear is less than the maximum starting gear in the current shifting mode; determine whether the rotational speed of the current gear is less than the creep rotational speed; determine whether the current vehicle speed is less than or equal to the final creep speed threshold configurable for the current gear; if the clutch temperature is less than the temperature threshold, the handbrake and the accelerator pedal are not depressed, the target gear is less than the maximum starting gear in the current shifting mode, the rotational speed of the current gear is less than the creep rotational speed, and the current vehicle speed is less than or equal to the final creep speed threshold configurable for the current gear, then determine that the creep control activation condition is satisfied.

[0138] In one embodiment, the acquisition module is further configured to look up a table to obtain the target gear vehicle speed according to the target gear and the brake pedal opening; and calculate the creep rotational speed based on the target gear vehicle speed.

[0139] In one embodiment, the first determination module is further configured to obtain the resistance generated by the road gradient of the road where the vehicle is located, the theoretical resistance required for the vehicle to accelerate at the target acceleration, the resistance generated during the coasting of the vehicle, and the resistance generated by the rotational inertia; determine the target resistance that the vehicle needs to overcome from a standstill to creep according to the resistance generated by the road gradient, the theoretical resistance required for the vehicle to accelerate at the target acceleration, the resistance generated during the coasting of the vehicle, and the resistance generated by the rotational inertia; obtain the tire radius, the current gear transmission ratio, and the axle ratio; and calculate the creep torque based on the target resistance to be overcome during creep, the tire radius, the current gear transmission ratio, and the axle ratio.

[0140] In one embodiment, the acquisition module is further configured to exit the vehicle creep control mode if the clutch temperature is greater than the temperature threshold, or the handbrake state is in the engaged state, or the accelerator pedal is depressed, or the target gear is greater than the maximum starting gear in the current shifting mode.

[0141] In one embodiment, the second determination module is further configured to determine whether the creep torque is greater than the creep torque threshold; determine whether the speed difference between the current gear speed and the output shaft speed of the vehicle is greater than the speed difference threshold; count the number of times that the creep torque is greater than the creep torque threshold and the speed difference between the current gear speed and the output shaft speed is greater than the speed difference threshold during the vehicle creep process; and if the counted number reaches a preset number, determine that the clutch protection condition is triggered.

[0142] In one embodiment, the second control module is further configured to perform a look-up table based on the creep torque to determine the target position of the clutch disc corresponding to the creep torque; and use a proportional-integral control method to control the clutch disc to reach the target position, so as to control the clutch to be in the target engagement degree.

[0143] Each module in the above vehicle creep control device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the vehicle-mounted controller in hardware form or independent of it, or stored in the memory of the vehicle-mounted controller in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0144] In one embodiment, a vehicle-mounted controller is provided, and its internal structure diagram can be as Figure 5 shown. The vehicle-mounted controller includes a processor, a memory, an input / output interface, etc. Among them, the memory is connected to the processor, and the processor is respectively connected to the input / output interface. The processor of the vehicle-mounted controller is used to provide computing and control capabilities. The memory of the vehicle-mounted controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the vehicle-mounted controller is used for the processor to communicate with other controllers. When the computer program is executed by the processor, it implements a vehicle creep control method.

[0145] Those skilled in the art can understand that Figure 5 the structure shown in

[0146] In one embodiment, a vehicle-mounted controller is provided, which includes a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented: obtaining vehicle state information of the vehicle, and determining whether a creep control activation condition is met according to the vehicle state information. If it is determined that the creep control activation condition is met, calculating a target resistance that the vehicle needs to overcome from a stationary state to a creeping state, and determining a creep torque according to the target resistance; determining whether a clutch protection condition is triggered according to the creep torque; if it is determined that the clutch protection condition is triggered, controlling the clutch of the vehicle to fully open and maintain a preset time period; if it is determined that the clutch protection condition is not triggered, controlling the clutch to be in a target engagement degree based on the creep torque, and controlling the creep of the vehicle according to the target engagement degree of the clutch.

[0147] In one embodiment, the vehicle state information includes clutch temperature, handbrake state, accelerator pedal state, brake pedal opening, target gear, maximum starting gear in the current shifting mode, rotational speed of the current gear, current vehicle speed, and the final creep speed threshold configurable for the current gear. When the processor executes the computer program, the following steps are also implemented: determining whether the clutch temperature is less than a temperature threshold; determining whether the handbrake and the accelerator pedal are depressed; determining whether the target gear is less than the maximum starting gear in the current shifting mode; determining whether the rotational speed of the current gear is less than the creep rotational speed; determining whether the current vehicle speed is less than or equal to the final creep speed threshold configurable for the current gear; if the clutch temperature is less than the temperature threshold, the handbrake and the accelerator pedal are not depressed, the target gear is less than the maximum starting gear in the current shifting mode, the rotational speed of the current gear is less than the creep rotational speed, and the current vehicle speed is less than or equal to the final creep speed threshold configurable for the current gear, then it is determined that the creep control activation condition is met.

[0148] In one embodiment, when the processor executes the computer program, the following steps are also implemented: looking up a target gear vehicle speed according to the target gear and the brake pedal opening; calculating a creep rotational speed according to the target gear vehicle speed.

[0149] In one embodiment, when the processor executes the computer program, the following steps are also implemented: if the clutch temperature is greater than the temperature threshold, or the handbrake state is in an engaged state, or the accelerator pedal is depressed, or the target gear is greater than the maximum starting gear in the current shifting mode, then exiting the vehicle creep control mode.

[0150] In one embodiment, when the processor executes the computer program, the following steps are further implemented: obtaining the resistance generated by the road slope of the road where the vehicle is located, the theoretical resistance required when the vehicle accelerates at the target acceleration, the resistance generated during the coasting process of the vehicle, and the resistance generated by the rotational inertia; determining the target resistance that the vehicle needs to overcome from a standstill to a creep according to the resistance generated by the road slope, the theoretical resistance required when the vehicle accelerates at the target acceleration, the resistance generated during the coasting process of the vehicle, and the resistance generated by the rotational inertia; obtaining the tire radius, the current gear transmission ratio, and the axle speed ratio; calculating the creep torque based on the target resistance to be overcome during creep, the tire radius, the current gear transmission ratio, and the axle speed ratio.

[0151] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining whether the creep torque is greater than the creep torque threshold; determining whether the speed difference between the current gear speed and the output shaft speed of the vehicle is greater than the speed difference threshold; counting the number of times that the creep torque is greater than the creep torque threshold and the speed difference between the current gear speed and the output shaft speed is greater than the speed difference threshold during the creep process of the vehicle; if the counted number reaches the preset number, determining that the clutch protection condition is triggered.

[0152] In one embodiment, when the processor executes the computer program, the following steps are further implemented: performing a look-up table based on the creep torque to determine the target position of the clutch disc; using a proportional-integral control method to control the clutch disc to reach the target position to control the clutch to be in the target engagement degree.

[0153] 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, the following steps are implemented: obtaining the vehicle state information of the vehicle and determining whether the creep control activation condition is satisfied according to the vehicle state information; if it is determined that the creep control activation condition is satisfied, calculating the target resistance that the vehicle needs to overcome from a standstill to a creep, and determining the creep torque according to the target resistance; determining whether the clutch protection condition is triggered according to the creep torque; if it is determined that the clutch protection condition is triggered, controlling the clutch of the vehicle to be fully opened and maintained for a preset time period; if it is determined that the clutch protection condition is not triggered, controlling the clutch to be in the target engagement degree based on the creep torque, and controlling the creep of the vehicle according to the target engagement degree of the clutch.

[0154] In one embodiment, the vehicle state information includes clutch temperature, handbrake state, accelerator pedal state, brake pedal opening, target gear, maximum starting gear in the current shifting mode, rotational speed of the current gear, current vehicle speed, and the configurable final creep speed threshold for the current gear. When the computer program is executed by the processor, the following steps are further implemented: determining whether the clutch temperature is less than the temperature threshold; determining whether the handbrake and the accelerator pedal are depressed; determining whether the target gear is less than the maximum starting gear in the current shifting mode; determining whether the rotational speed of the current gear is less than the creep rotational speed; determining whether the current vehicle speed is less than or equal to the configurable final creep speed threshold for the current gear; if the clutch temperature is less than the temperature threshold, the handbrake and the accelerator pedal are not depressed, the target gear is less than the maximum starting gear in the current shifting mode, the rotational speed of the current gear is less than the creep rotational speed, and the current vehicle speed is less than or equal to the configurable final creep speed threshold for the current gear, then determining that the creep control activation condition is satisfied.

[0155] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: looking up the target gear vehicle speed in a table according to the target gear and the brake pedal opening; calculating the creep rotational speed based on the target gear vehicle speed.

[0156] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: if the clutch temperature is greater than the temperature threshold, or the handbrake state is in the engaged state, or the accelerator pedal is depressed, or the target gear is greater than the maximum starting gear in the current shifting mode, then exiting the vehicle creep control mode.

[0157] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: obtaining the resistance generated by the road slope of the road where the vehicle is located, the theoretical resistance required for the vehicle to accelerate at the target acceleration, the resistance generated during the vehicle's coasting, and the resistance generated by the rotational inertia; determining the target resistance that the vehicle needs to overcome from a standstill to creep according to the resistance generated by the road slope, the theoretical resistance required for the vehicle to accelerate at the target acceleration, the resistance generated during the vehicle's coasting, and the resistance generated by the rotational inertia; obtaining the tire radius, the current gear transmission ratio, and the axle speed ratio; calculating the creep torque based on the target resistance to be overcome during creep, the tire radius, the current gear transmission ratio, and the axle speed ratio.

[0158] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining whether the creep torque is greater than the creep torque threshold; determining whether the speed difference between the rotational speed of the current gear of the vehicle and the rotational speed of the output shaft is greater than the speed difference threshold; counting the number of times that the creep torque is greater than the creep torque threshold and the speed difference between the rotational speed of the current gear and the rotational speed of the output shaft is greater than the speed difference threshold during the vehicle's creep; if the counted number of times reaches the preset number of times, then determining that the clutch protection condition is triggered.

[0159] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: performing a look-up table based on the creep torque to determine the target position of the clutch plate corresponding to the creep torque; adopting a proportional-integral control method to control the clutch plate to reach the target position, so as to control the clutch to be in the target engagement degree.

[0160] In one embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the following steps: obtaining vehicle state information of the vehicle, and determining whether the creep control activation condition is satisfied according to the vehicle state information; if it is determined that the creep control activation condition is satisfied, calculating the target resistance that the vehicle needs to overcome from a stationary state to a creep state, and determining the creep torque according to the target resistance; determining whether the clutch protection condition is triggered according to the creep torque; if it is determined that the clutch protection condition is triggered, controlling the clutch of the vehicle to be fully opened and maintained for a preset time period; if it is determined that the clutch protection condition is not triggered, controlling the clutch to be in the target engagement degree based on the creep torque, and controlling the creep of the vehicle according to the target engagement degree of the clutch.

[0161] In one embodiment, the vehicle state information includes the clutch temperature, the handbrake state, the accelerator pedal state, the brake pedal opening, the target gear, the maximum starting gear in the current shift mode, the current gear speed, the current vehicle speed, and the final creep speed threshold configurable for the current gear. When the computer program is executed by a processor, the following steps are further implemented: determining whether the clutch temperature is less than the temperature threshold; determining whether the handbrake and the accelerator pedal are depressed; determining whether the target gear is less than the maximum starting gear in the current shift mode; determining whether the current gear speed is less than the creep speed; determining whether the current vehicle speed is less than or equal to the final creep speed threshold configurable for the current gear; if the clutch temperature is less than the temperature threshold, the handbrake and the accelerator pedal are not depressed, the target gear is less than the maximum starting gear in the current shift mode, the current gear speed is less than the creep speed, and the current vehicle speed is less than or equal to the final creep speed threshold configurable for the current gear, then it is determined that the creep control activation condition is satisfied.

[0162] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: looking up the target gear vehicle speed in a table according to the target gear and the brake pedal opening; calculating the creep speed according to the target gear vehicle speed.

[0163] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: if the clutch temperature is greater than the temperature threshold, or the handbrake state is in the engaged state, or the accelerator pedal is depressed, or the target gear is greater than the maximum starting gear in the current shift mode, then the vehicle creep control mode is exited.

[0164] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: obtaining the resistance generated by the road gradient of the road where the vehicle is located, the theoretical resistance required when the vehicle accelerates at a target acceleration, the resistance generated during the coasting process of the vehicle, and the resistance generated by the rotational inertia; determining the target resistance that the vehicle needs to overcome to start creeping from a stationary state according to the resistance generated by the road gradient, the theoretical resistance required when the vehicle accelerates at a target acceleration, the resistance generated during the coasting process of the vehicle, and the resistance generated by the rotational inertia; obtaining the tire radius, the current gear ratio, and the axle ratio; calculating the creeping torque based on the target resistance to be overcome during creeping, the tire radius, the current gear ratio, and the axle ratio.

[0165] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: determining whether the creeping torque is greater than the creeping torque threshold; determining whether the speed difference between the current gear speed and the output shaft speed of the vehicle is greater than the speed difference threshold; counting the number of times that the creeping torque is greater than the creeping torque threshold and the speed difference between the current gear speed and the output shaft speed is greater than the speed difference threshold during the creeping process of the vehicle; if the counted number of times reaches the preset number of times, determining that the clutch protection condition is triggered.

[0166] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: looking up a table based on the creeping torque to determine the target position of the clutch disc; controlling the clutch disc to reach the target position by using a proportional-integral control method to control the clutch to be in the target engagement degree.

[0167] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., without limitation.

[0168] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0169] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A vehicle creep control method, characterized in that, The method includes: Obtaining vehicle state information of the vehicle, and determining whether a creep control activation condition is satisfied according to the vehicle state information; If it is determined that the creep control activation condition is satisfied, calculating a target resistance that the vehicle needs to overcome from a stationary state to a creeping state, and determining a creep torque according to the target resistance; Determining whether a clutch protection condition is triggered according to the creep torque; If it is determined that the clutch protection condition is triggered, controlling the clutch of the vehicle to be fully opened and maintained for a preset time period; If it is determined that the clutch protection condition is not triggered, controlling the clutch to be in a target engagement degree based on the creep torque, and controlling the creep of the vehicle according to the target engagement degree of the clutch; Among them, determining whether a clutch protection condition is triggered according to the creep torque includes: Determining whether the creep torque is greater than a creep torque threshold; Determining whether a speed difference between the current gear speed and the output shaft speed of the vehicle is greater than a speed difference threshold; Counting the number of times that during the creep process of the vehicle, the creep torque is greater than the creep torque threshold and the speed difference between the current gear speed and the output shaft speed is greater than the speed difference threshold; If the counted number of times reaches a preset number of times, determining that the clutch protection condition is triggered; Among them, controlling the clutch to be in a target engagement degree based on the creep torque includes: Performing a look-up table based on the creep torque to determine a target position of a clutch disc corresponding to the creep torque; Adopting a proportional-integral control method to control the clutch disc to reach the target position so as to control the clutch to be in a target engagement degree.

2. The method according to claim 1, wherein The vehicle state information includes clutch temperature, handbrake state, accelerator pedal state, brake pedal opening, target gear, maximum starting gear in the current shift mode, current gear speed, current vehicle speed, and the final creep speed threshold configurable for the current gear. Determining whether the creep control activation condition is satisfied according to the vehicle state information includes: Determining whether the clutch temperature is less than a temperature threshold; Determining whether the handbrake and the accelerator pedal are depressed; Determining whether the target gear is less than the maximum starting gear in the current shift mode; Determining whether the current gear speed is less than a creep speed; Determining whether the current vehicle speed is less than or equal to the final creep speed threshold configurable for the current gear; If the clutch temperature is less than the temperature threshold, the handbrake and the accelerator pedal are not depressed, the target gear is less than the maximum starting gear in the current shift mode, the current gear speed is less than the creep speed, and the current vehicle speed is less than or equal to the final creep speed threshold configurable for the current gear, then it is determined that the creep control activation condition is satisfied.

3. The method according to claim 2, wherein The determining steps of the creep speed include: According to the target gear and the brake pedal opening, looking up a table to obtain a target gear vehicle speed; Calculating the creep speed according to the target gear vehicle speed.

4. The method according to claim 2, wherein The method further includes: If the clutch temperature is greater than the temperature threshold, or the handbrake state is in an engaged state, or the accelerator pedal is depressed, or the target gear is greater than the maximum starting gear in the current shift mode, then exiting the vehicle creep control mode.

5. The method according to claim 1, characterized in that Calculating the target resistance that the vehicle needs to overcome from a stationary state to a creeping state, and determining the creeping torque according to the target resistance, includes: Obtaining the resistance generated by the road gradient of the road where the vehicle is located, the theoretical resistance required when the vehicle accelerates at a target acceleration, the resistance generated during the coasting of the vehicle, and the resistance generated by the rotational inertia; Determining the target resistance that the vehicle needs to overcome from a stationary state to a creeping state according to the resistance generated by the road gradient, the theoretical resistance required when the vehicle accelerates at a target acceleration, the resistance generated during the coasting of the vehicle, and the resistance generated by the rotational inertia; Obtaining the tire radius, the current gear ratio, and the axle ratio; Calculating the creeping torque based on the target resistance to be overcome during creeping, the tire radius, the current gear ratio, and the axle ratio.

6. A vehicle creep control device, characterized in that, The device includes: An acquisition module, configured to acquire the vehicle state information of the vehicle, and determine whether the creep control activation condition is satisfied according to the vehicle state information; A first determination module, configured to calculate the target resistance that the vehicle needs to overcome from a stationary state to a creeping state if it is determined that the creep control activation condition is satisfied, and determine the creeping torque according to the target resistance; A second determination module, configured to determine whether the clutch protection condition is triggered according to the creeping torque; A first control module, configured to control the clutch of the vehicle to fully open and maintain a preset time period if it is determined that the clutch protection condition is triggered; A second control module, configured to control the clutch to be at a target engagement degree based on the creeping torque if it is determined that the clutch protection condition is not triggered, and control the creep of the vehicle according to the target engagement degree of the clutch; Wherein, the second determination module is further configured to determine whether the creeping torque is greater than the creeping torque threshold; determine whether the speed difference between the current gear speed and the output shaft speed of the vehicle is greater than the speed difference threshold; count the number of times that the creeping torque is greater than the creeping torque threshold and the speed difference between the current gear speed and the output shaft speed is greater than the speed difference threshold during the creeping of the vehicle; if the counted number of times reaches a preset number of times, determine that the clutch protection condition is triggered; Wherein, the second control module is further configured to perform a look-up table based on the creeping torque to determine the target position of the clutch disc corresponding to the creeping torque; control the clutch disc to reach the target position by using a proportional-integral control method to control the clutch to be at the target engagement degree.

7. The device according to claim 6, characterized in that, The vehicle state information includes the clutch temperature, the handbrake state, the accelerator pedal state, the brake pedal opening, the target gear, the maximum starting gear in the current shifting mode, the current gear speed, the current vehicle speed, and the final creeping speed threshold configurable for the current gear. The acquisition module is further configured to determine whether the clutch temperature is less than the temperature threshold; Determine whether the handbrake and the accelerator pedal are depressed; Determine whether the target gear is less than the maximum starting gear in the current shifting mode; Determine whether the current gear speed is less than the creeping speed; Determine whether the current vehicle speed is less than or equal to the final creeping speed threshold configurable for the current gear; If the clutch temperature is less than the temperature threshold, the handbrake and the accelerator pedal are not depressed, the target gear is less than the maximum starting gear in the current shifting mode, the rotational speed of the current gear is less than the creep rotational speed, and the current vehicle speed is less than or equal to the final creep speed threshold configurable for the current gear, it is determined that the creep control activation condition is satisfied.

8. An in-vehicle controller, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 5.

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