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

Abstract

This application relates to a vehicle creep control method, apparatus, computer equipment, and storage medium. It includes: acquiring an initial base torque corresponding to a target vehicle; when the target vehicle meets a first speed condition, i.e., the absolute value of the difference between the current vehicle speed and the creep target speed is less than a first threshold, and the absolute value of the difference between the current vehicle speed and the first speed before a preset time period is less than a second threshold, updating the initial base torque based on the historical creep torque corresponding to the previous moment to obtain a target base torque; and determining the target creep torque at the current moment based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target speed; and then controlling the creep of the target vehicle based on the target creep torque. In this embodiment, the base torque is updated, making the finally acquired target creep torque more compatible with the current vehicle speed, thereby improving the smoothness of vehicle creep.

Description

Technical Field

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

[0002] Crawl refers to the phenomenon of a vehicle moving at extremely low speeds under specific conditions. Crawl speeds are typically much lower than normal driving speeds, requiring the vehicle to move slowly and smoothly. Ensuring smooth operation during crawling is crucial to improving the driver's experience.

[0003] In traditional technologies, the creep torque of a vehicle is typically determined based on its overall mass and the gradient, thereby controlling the vehicle's smooth creep. However, in scenarios where the vehicle's overall mass and gradient are unavailable, it is impossible to control the vehicle's smooth creep. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle crawling control method, device, computer equipment, and storage medium to address the above-mentioned technical problems, so as to control the smooth crawling of a vehicle without needing to obtain the vehicle's mass and slope.

[0005] In a first aspect, this application provides a vehicle creep control method, the method comprising:

[0006] Obtain the initial base torque corresponding to the target vehicle;

[0007] When the target vehicle meets the first speed condition, the initial base torque is updated according to the historical creep torque corresponding to the previous moment to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than a second threshold.

[0008] The target creep torque at the current moment is determined based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed.

[0009] The creep of the target vehicle is controlled according to the target creep torque.

[0010] In one embodiment, updating the initial base torque based on the historical creep torque corresponding to the previous moment to obtain the target base torque includes:

[0011] The torque correction value is determined based on the first preset calibration parameters and the historical creep torque corresponding to the previous moment;

[0012] The sum of the torque correction value and the initial base torque is taken as the target base torque.

[0013] In one embodiment, determining the target creep torque at the current moment based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed includes:

[0014] The integral torque and the proportional torque are determined based on the difference between the current motor speed corresponding to the current vehicle speed and the target motor speed corresponding to the creep target vehicle speed.

[0015] The target creep torque at the current moment is determined based on the target base torque, the proportional torque, and the integral torque.

[0016] In one embodiment, determining the target creep torque at the current moment based on the target base torque, the proportional torque, and the integral torque includes:

[0017] When the target vehicle meets the second speed condition, the integral torque is adjusted according to the dynamic coefficient to obtain a new integral torque; wherein, the dynamic coefficient is determined according to the second preset calibration parameter and the absolute value of the difference between the current vehicle speed and the creep target vehicle speed; the second speed condition is that the absolute value of the difference between the current vehicle speed and the creep target vehicle speed is less than a first threshold, and the difference between the current vehicle speed and the creep target vehicle speed is less than the difference between the second vehicle speed and the creep target vehicle speed at the previous moment;

[0018] The target creep torque is determined based on the target base torque, the proportional element torque, and the new integral element torque.

[0019] In one embodiment, determining the integral torque based on the difference between the current motor speed corresponding to the current vehicle speed and the target motor speed corresponding to the creep target vehicle speed includes:

[0020] Based on the correspondence between candidate speed difference and candidate torque, candidate torques corresponding to the difference between the current motor speed and the target motor speed are selected;

[0021] The selected candidate torques are used as the torques in the integral stage.

[0022] In one embodiment, controlling the creep of the target vehicle based on the target creep torque includes:

[0023] Determine the limiting slope corresponding to the target creeping torque;

[0024] The target creep torque is adjusted according to the limiting slope to obtain a new target creep torque;

[0025] The creep of the target vehicle is controlled according to the new target creep torque.

[0026] Secondly, this application also provides a vehicle crawl control device, the device comprising:

[0027] The acquisition module is used to acquire the initial base torque corresponding to the target vehicle;

[0028] The update module is used to update the initial base torque according to the historical creep torque corresponding to the previous moment when the target vehicle meets the first speed condition, so as to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than a second threshold.

[0029] The determination module is used to determine the target creep torque at the current moment based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed;

[0030] The control module is used to control the creep of the target vehicle according to the target creep torque.

[0031] Thirdly, this application also provides a computer device, the computer device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0032] Obtain the initial base torque corresponding to the target vehicle;

[0033] When the target vehicle meets the first speed condition, the initial base torque is updated according to the historical creep torque corresponding to the previous moment to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than a second threshold.

[0034] The target creep torque at the current moment is determined based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed.

[0035] The creep of the target vehicle is controlled according to the target creep torque.

[0036] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0037] Obtain the initial base torque corresponding to the target vehicle;

[0038] When the target vehicle meets the first speed condition, the initial base torque is updated according to the historical creep torque corresponding to the previous moment to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than a second threshold.

[0039] The target creep torque at the current moment is determined based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed.

[0040] The creep of the target vehicle is controlled according to the target creep torque.

[0041] Fifthly, this application also provides a computer program product, which includes a computer program that, when executed by a processor, performs the following steps:

[0042] Obtain the initial base torque corresponding to the target vehicle;

[0043] When the target vehicle meets the first speed condition, the initial base torque is updated according to the historical creep torque corresponding to the previous moment to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than a second threshold.

[0044] The target creep torque at the current moment is determined based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed.

[0045] The creep of the target vehicle is controlled according to the target creep torque.

[0046] The aforementioned vehicle creep control method, device, computer equipment, and storage medium acquire the initial base torque corresponding to the target vehicle. When the target vehicle meets a first speed condition (i.e., the absolute value of the difference between the current vehicle speed and the creep target speed is less than a first threshold, and the absolute value of the difference between the current vehicle speed and the first speed before a preset time period is less than a second threshold), the initial base torque is updated based on the historical creep torque corresponding to the previous moment to obtain the target base torque. Then, based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target speed, the target creep torque for the current moment is determined. Finally, the creep of the target vehicle is controlled according to the target creep torque. In this embodiment, the base torque is updated, making the finally acquired target creep torque more compatible with the current vehicle speed, thereby improving the smoothness of vehicle creep. Attached Figure Description

[0047] Figure 1 This is a flowchart illustrating a vehicle creep control method in one embodiment;

[0048] Figure 2 This is a flowchart illustrating the process of determining the target base torque in one embodiment;

[0049] Figure 3 This is a flowchart illustrating the process of determining the target creeping torque in another embodiment;

[0050] Figure 4 This is a flowchart illustrating the process of determining the target creeping torque in yet another embodiment;

[0051] Figure 5 This is a flowchart illustrating the process of determining the torque of the integral element in one embodiment;

[0052] Figure 6 This is a schematic diagram of the process for controlling the creeping of a target vehicle in one embodiment;

[0053] Figure 7 This is a schematic diagram illustrating the principle of determining the target creeping torque in one embodiment;

[0054] Figure 8 This is a structural block diagram of a vehicle crawl control device in one embodiment;

[0055] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0057] The vehicle creep control method provided in this application can be applied to scenarios where vehicle creep is controlled, such as when vehicles are in traffic jams or moving slowly. This method can be executed by the vehicle's overall controller.

[0058] In one embodiment, such as Figure 1 As shown, a vehicle creep control method is provided. Taking the application of this method to a vehicle controller as an example, the method includes the following steps:

[0059] S101, obtain the initial base torque corresponding to the target vehicle.

[0060] The target vehicle is the vehicle currently crawling, which can be of various models. The initial base torque can be understood as the feedforward base torque, which can be set according to the target vehicle's model and the driver's crawling driving habits. The initial base torque is preset and stored, and the vehicle controller can directly call it when obtaining the target vehicle's initial base torque.

[0061] S102, if the target vehicle meets the first speed condition, update the initial base torque according to the historical creep torque corresponding to the previous moment to obtain the target base torque.

[0062] The first speed condition is that the absolute value of the difference between the target vehicle's current speed and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before a preset time period is less than a second threshold. Optionally, the creep target speed is a preset expected vehicle speed after the vehicle enters creep mode. The first and second thresholds can be set based on empirical data or actual usage. The preset time period can be, for example, a time n seconds ago.

[0063] Optionally, the "previous moment" can be the previous calculation cycle. For example, the vehicle controller calculates a target creep torque every 10ms. In this case, the historical creep torque of the previous moment is the target creep torque calculated 10ms ago. When the target vehicle meets the first vehicle speed condition, the initial base torque is updated based on the historical creep torque corresponding to the previous moment to further obtain the target base torque.

[0064] S103, determine the target creep torque at the current moment based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed.

[0065] For example, the current motor speed corresponding to the current vehicle speed can be determined based on the correspondence between vehicle speed and motor speed; and the target motor speed corresponding to the creep target vehicle speed can also be determined. Then, the integral torque and proportional torque can be determined based on the current motor speed and the target motor speed, and finally, the target creep torque at the current moment can be determined based on the target base torque, integral torque, and proportional torque.

[0066] S104 controls the creep of the target vehicle based on the target creep torque.

[0067] For example, after determining the target creep torque, the creep of the target vehicle is controlled according to the target creep torque.

[0068] The aforementioned vehicle creep control method obtains the initial base torque corresponding to the target vehicle. When the target vehicle meets a first speed condition (i.e., the absolute value of the difference between the current vehicle speed and the creep target speed is less than a first threshold, and the absolute value of the difference between the current vehicle speed and the first speed before a preset time period is less than a second threshold), the initial base torque is updated based on the historical creep torque corresponding to the previous moment to obtain the target base torque. Then, based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target speed, the target creep torque for the current moment is determined. Finally, the target vehicle creeps according to the target creep torque. In this embodiment, the base torque is updated, making the final obtained target creep torque more compatible with the current vehicle speed, thereby improving the smoothness of vehicle creep.

[0069] In some alternative implementations, see [link to relevant documentation]. Figure 2 , Figure 2 A flowchart for obtaining the target base torque is provided, which specifically includes the following steps:

[0070] S201, determine the torque correction value based on the first preset calibration parameters and the historical creep torque corresponding to the previous moment.

[0071] For example, the first preset calibration parameter can be determined by calibration test based on the sample creep torque. For instance, if the first preset calibration parameter determined by the sample creep torque is 'a', then determining the torque correction value based on the first preset calibration parameter and the historical creep torque corresponding to the previous moment can be understood as using the product of the first preset calibration parameter and the historical creep torque corresponding to the previous moment as the torque correction value.

[0072] S202, the sum of the torque correction value and the initial base torque is used as the target base torque.

[0073] For example, the target base torque can be determined according to the following formula:

[0074] Tb+1 =T b +aT t

[0075] Among them, T b+1 For the target base torque, T b For the initial base torque, T t This represents the historical creep torque corresponding to the previous moment.

[0076] In this application embodiment, a method for updating the base torque is provided, so that the target creep torque determined based on the updated base torque is more compatible with the current vehicle speed, thereby improving the smoothness of vehicle creep.

[0077] In some alternative implementations, see [link to relevant documentation]. Figure 3 , Figure 3 A flowchart for determining the target creep torque is provided, which includes the following steps:

[0078] S301, based on the difference between the current motor speed corresponding to the current vehicle speed and the target motor speed corresponding to the creep target vehicle speed, determine the integral torque and the proportional torque.

[0079] For example, the difference between the current motor speed and the target motor speed can be calculated to obtain the difference between the two speeds. The integral torque and proportional torque can then be determined based on this difference. For instance, the integral torque and proportional torque can be calculated based on the difference using formulas; alternatively, the integral torque and proportional torque corresponding to the difference can be selected based on the correspondence between the difference and the integral and proportional torques.

[0080] S302, determine the target creep torque at the current moment based on the target base torque, proportional torque, and integral torque.

[0081] For example, the target base torque, proportional torque, and integral torque can be summed to obtain the target creep torque at the current moment.

[0082] In this embodiment of the application, a method is provided to determine the target creep torque at the current moment based on the target base torque, the proportional torque, and the integral torque. Specifically, this embodiment of the application uses a proportional-integral (PI) control method to determine the target creep torque at the current moment, so that the determined target creep torque is more compatible with the current vehicle speed, thereby improving the stability of vehicle creep.

[0083] In some alternative implementations, a method is provided to correct the determined integral torque in order to make the determined target creep torque more closely match the current vehicle speed.

[0084] For details, see Figure 4 , Figure 4 Another flowchart for determining the target creep torque is provided, which includes the following steps:

[0085] S401, when the target vehicle meets the second speed condition, adjusts the integral torque according to the dynamic coefficient to obtain a new integral torque.

[0086] The dynamic coefficient is determined based on the second preset calibration parameters and the absolute value of the difference between the current vehicle speed and the creep target vehicle speed. There can be two second preset calibration parameters, which can be determined through calibration tests based on sample vehicle speed differences. For example, the second preset calibration parameters determined based on sample vehicle speed differences are b and c.

[0087] The second speed condition is that the absolute value of the difference between the target vehicle's current speed and the creeping target speed is less than the first threshold, and the difference between the current speed and the creeping target speed is less than the difference between the second speed and the creeping target speed at the previous moment. It should be noted that the second speed condition reflects that the target vehicle's current speed and the creeping target speed are getting closer and closer.

[0088] For example, if the target vehicle meets the second speed condition, the integral torque can be adjusted according to the dynamic coefficient to obtain a new integral torque. For instance, the product of the dynamic coefficient and the integral torque can be used as the new integral torque. The expression for the dynamic coefficient is as follows:

[0089]

[0090] in, v is a dynamic coefficient. t v represents the current vehicle speed. tar The target speed for creeping movement.

[0091] S402, determine the target creep torque based on the target base torque, the proportional element torque, and the new integral element torque.

[0092] For example, the target base torque, the proportional torque, and the new integral torque can be summed to obtain the target creep torque.

[0093] In this embodiment, the torque of the integral link is corrected so that the target creep torque determined based on the corrected integral link torque is more compatible with the current vehicle speed, thereby improving the stability of vehicle creep.

[0094] In some alternative implementations, see [link to relevant documentation]. Figure 5 , Figure 5 A flowchart for determining the torque of the integral element is provided, which includes the following steps:

[0095] S501, based on the correspondence between candidate speed difference and candidate torque, selects candidate torque corresponding to the difference between the current motor speed and the target motor speed.

[0096] For example, the correspondence between candidate speed difference and candidate integral torque can be calibrated based on calibration tests, as can the correspondence between candidate speed difference and candidate proportional torque. For instance, sample difference data, sample integral torque, and proportional torque can be obtained for calibration. The sample difference and sample integral torque corresponding to when the vehicle can creep smoothly are recorded, as well as the sample difference and sample proportional torque. Then, the correspondence between the difference and candidate integral torque, and between the difference and candidate proportional torque, can be obtained from the records. Optionally, the correspondence between candidate speed difference and candidate integral torque, and between candidate speed difference and candidate proportional torque, can be stored in the form of graphs.

[0097] S502 uses the selected candidate torques as the torque in the integral phase.

[0098] For example, the selected candidate torques can be used as the torque in the integral stage.

[0099] In this embodiment of the application, a method is provided to determine the torque of the integral element based on the difference between the current motor speed and the target motor speed, which can improve the accuracy and efficiency of determining the torque of the integral element.

[0100] In some optional implementations, to further achieve smoother creeping of the target vehicle, the target creeping torque can be modified. The specific implementation process is as follows:

[0101] See Figure 6 , Figure 6 A flowchart illustrating the process of controlling the creeping motion of a target vehicle is provided, which specifically includes the following steps:

[0102] S601, determine the limiting slope corresponding to the target creep torque.

[0103] For example, a limiting slope corresponding to the target creep torque can be selected based on the correspondence between candidate creep torques and candidate slopes. The correspondence between candidate creep torques and candidate slopes can be determined through calibration experiments using sample creep torques and sample slopes. For instance, the sample creep torque and sample slope corresponding to the smooth creeping of the target vehicle can be recorded to obtain the correspondence between candidate creep torques and candidate slopes.

[0104] S602, adjust the target creep torque according to the limiting slope to obtain a new target creep torque.

[0105] For example, the product of the limiting slope and the target creep torque can be used as the new target creep torque to achieve a correction of the target creep torque.

[0106] S603 controls the creep of the target vehicle based on the new target creep torque.

[0107] Furthermore, the creep of the target vehicle can be controlled based on the new target creep torque to achieve a smoother creep of the target vehicle.

[0108] In this embodiment, the target creep torque is modified so that the target vehicle can be controlled to creep according to the new target creep torque, so that the target vehicle creeps more smoothly.

[0109] In some alternative implementations, see [link to relevant documentation]. Figure 7 , Figure 7 Another schematic diagram for determining the target creep torque is provided. Figure 7 The diagram shows that the target creep torque can be calculated based on the target base torque and the feedback compensation torque, where the feedback compensation torque includes the integral torque and the proportional torque.

[0110] Specifically, the target base torque can be determined based on the initial base torque and the torque correction value. The initial base torque can be the motor torque corresponding to the gearbox gear. The torque correction value can be based on the first preset calibration parameter and the historical creep torque corresponding to the previous moment.

[0111] For example, the feedback compensation torque is determined based on the integral torque and the proportional torque. The proportional torque can be determined based on the difference between the current motor speed and the target motor speed, and the correspondence between candidate differences and candidate proportional torques. The integral torque can be determined based on the difference between the current motor speed and the target motor speed, the correspondence between candidate differences and candidate integral torques, and the dynamic coefficient.

[0112] Furthermore, the target base torque, proportional torque, and corrected integral torque are summed to obtain the target creep torque, and the target creep torque is used to control the motor controller to achieve smooth creep of the target vehicle.

[0113] This application embodiment dynamically adjusts the base torque based on the vehicle speed and speed changes during crawling, which makes the process of starting the vehicle and reaching the target crawling speed smoother. This application embodiment also optimizes the calculation value of PI torque and restricts the calculation value of integral torque, which is beneficial for achieving crawling more smoothly and quickly for vehicles whose total vehicle mass and slope cannot be obtained.

[0114] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed 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 performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0115] Based on the same inventive concept, this application also provides a vehicle creep control device for implementing the vehicle creep control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more vehicle creep control device embodiments provided below can be found in the limitations of the vehicle creep control method described above, and will not be repeated here.

[0116] In one embodiment, such as Figure 8 As shown, a vehicle crawl control device is provided, comprising:

[0117] Module 10 is used to acquire the initial base torque corresponding to the target vehicle;

[0118] The update module 20 is used to update the initial base torque according to the historical creep torque corresponding to the previous moment when the target vehicle meets the first speed condition, so as to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than a second threshold.

[0119] The determining module 30 is used to determine the target creep torque at the current moment based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed;

[0120] The control module 40 is used to control the creep of the target vehicle according to the target creep torque.

[0121] The aforementioned vehicle creep control device acquires the initial base torque corresponding to the target vehicle. When the target vehicle meets a first speed condition (i.e., the absolute value of the difference between the current speed and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before a preset time period is less than a second threshold), the initial base torque is updated based on the historical creep torque corresponding to the previous moment to obtain the target base torque. Then, based on the target base torque, the current motor speed corresponding to the current speed, and the target motor speed corresponding to the creep target speed, the target creep torque for the current moment is determined. Finally, the target vehicle creeps according to the target creep torque. In this embodiment, the base torque is updated, making the final acquired target creep torque more compatible with the current speed, thereby improving the smoothness of vehicle creep.

[0122] In some alternative implementations, update module 20 is specifically used for:

[0123] Based on the first preset calibration parameters and the historical creep torque corresponding to the previous moment, a torque correction value is determined; the sum of the torque correction value and the initial base torque is taken as the target base torque.

[0124] In some alternative implementations, module 30 specifically includes:

[0125] The first determining unit is used to determine the integral torque and the proportional torque based on the difference between the current motor speed corresponding to the current vehicle speed and the target motor speed corresponding to the creeping target vehicle speed.

[0126] The second determining unit is used to determine the target creeping torque corresponding to the current moment based on the target base torque, the proportional element torque, and the integral element torque.

[0127] In some alternative implementations, the second determining unit is specifically used for:

[0128] When the target vehicle meets the second speed condition, the integral torque is adjusted according to a dynamic coefficient to obtain a new integral torque. The dynamic coefficient is determined based on a second preset calibration parameter and the absolute value of the difference between the current vehicle speed and the creep target speed. The second speed condition is that the absolute value of the difference between the current vehicle speed and the creep target speed is less than a first threshold, and the difference between the current vehicle speed and the creep target speed is less than the difference between the second vehicle speed and the creep target speed at the previous moment. The target creep torque is determined based on the target base torque, the proportional torque, and the new integral torque.

[0129] In some alternative implementations, the first determining unit is specifically used for:

[0130] Based on the correspondence between candidate speed difference and candidate torque, candidate torques corresponding to the difference between the current motor speed and the target motor speed are selected; the selected candidate torques are used as the torque of the integral element.

[0131] In some alternative implementations, the control module 40 is specifically used for:

[0132] Determine the limiting slope corresponding to the target creep torque; adjust the target creep torque according to the limiting slope to obtain a new target creep torque; control the creep of the target vehicle according to the new target creep torque.

[0133] Each module in the aforementioned vehicle crawl control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0134] In one embodiment, a computer device is provided, which may be a vehicle controller, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores torque data and vehicle speed data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a vehicle crawl control method.

[0135] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0136] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0137] Obtain the initial base torque corresponding to the target vehicle;

[0138] If the target vehicle meets the first speed condition, the initial base torque is updated based on the historical creep torque corresponding to the previous moment to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than the first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than the second threshold.

[0139] The target creep torque at the current moment is determined based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed.

[0140] Control the creep of the target vehicle based on the target creep torque.

[0141] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0142] Based on the first preset calibration parameters and the historical creep torque corresponding to the previous moment, the torque correction value is determined; the sum of the torque correction value and the initial base torque is taken as the target base torque.

[0143] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0144] Based on the difference between the current motor speed corresponding to the current vehicle speed and the target motor speed corresponding to the creep target vehicle speed, determine the integral torque and the proportional torque; based on the target base torque, the proportional torque and the integral torque, determine the target creep torque corresponding to the current moment.

[0145] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0146] When the target vehicle meets the second speed condition, the integral torque is adjusted according to the dynamic coefficient to obtain a new integral torque. The dynamic coefficient is determined based on the second preset calibration parameter and the absolute value of the difference between the current vehicle speed and the creep target speed. The second speed condition is that the absolute value of the difference between the target vehicle's current speed and the creep target speed is less than a first threshold, and the difference between the current vehicle speed and the creep target speed is less than the difference between the second vehicle speed and the creep target speed at the previous moment. The target creep torque is determined based on the target base torque, the proportional torque, and the new integral torque.

[0147] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0148] Based on the correspondence between candidate speed difference and candidate torque, candidate torques corresponding to the difference between the current motor speed and the target motor speed are selected; the selected candidate torques are used as the torque of the integral element.

[0149] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0150] Determine the limiting slope corresponding to the target creep torque; adjust the target creep torque according to the limiting slope to obtain a new target creep torque; control the creep of the target vehicle according to the new target creep torque.

[0151] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0152] Obtain the initial base torque corresponding to the target vehicle;

[0153] If the target vehicle meets the first speed condition, the initial base torque is updated based on the historical creep torque corresponding to the previous moment to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than the first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than the second threshold.

[0154] The target creep torque at the current moment is determined based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed.

[0155] Control the creep of the target vehicle based on the target creep torque.

[0156] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0157] Based on the first preset calibration parameters and the historical creep torque corresponding to the previous moment, the torque correction value is determined; the sum of the torque correction value and the initial base torque is taken as the target base torque.

[0158] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0159] Based on the difference between the current motor speed corresponding to the current vehicle speed and the target motor speed corresponding to the creep target vehicle speed, determine the integral torque and the proportional torque; based on the target base torque, the proportional torque and the integral torque, determine the target creep torque corresponding to the current moment.

[0160] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0161] When the target vehicle meets the second speed condition, the integral torque is adjusted according to the dynamic coefficient to obtain a new integral torque. The dynamic coefficient is determined based on the second preset calibration parameter and the absolute value of the difference between the current vehicle speed and the creep target speed. The second speed condition is that the absolute value of the difference between the target vehicle's current speed and the creep target speed is less than a first threshold, and the difference between the current vehicle speed and the creep target speed is less than the difference between the second vehicle speed and the creep target speed at the previous moment. The target creep torque is determined based on the target base torque, the proportional torque, and the new integral torque.

[0162] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0163] Based on the correspondence between candidate speed difference and candidate torque, candidate torques corresponding to the difference between the current motor speed and the target motor speed are selected; the selected candidate torques are used as the torque of the integral element.

[0164] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0165] Determine the limiting slope corresponding to the target creep torque; adjust the target creep torque according to the limiting slope to obtain a new target creep torque; control the creep of the target vehicle according to the new target creep torque.

[0166] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0167] Obtain the initial base torque corresponding to the target vehicle;

[0168] If the target vehicle meets the first speed condition, the initial base torque is updated based on the historical creep torque corresponding to the previous moment to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than the first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than the second threshold.

[0169] The target creep torque at the current moment is determined based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed.

[0170] Control the creep of the target vehicle based on the target creep torque.

[0171] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0172] Based on the first preset calibration parameters and the historical creep torque corresponding to the previous moment, the torque correction value is determined; the sum of the torque correction value and the initial base torque is taken as the target base torque.

[0173] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0174] Based on the difference between the current motor speed corresponding to the current vehicle speed and the target motor speed corresponding to the creep target vehicle speed, determine the integral torque and the proportional torque; based on the target base torque, the proportional torque and the integral torque, determine the target creep torque corresponding to the current moment.

[0175] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0176] When the target vehicle meets the second speed condition, the integral torque is adjusted according to the dynamic coefficient to obtain a new integral torque. The dynamic coefficient is determined based on the second preset calibration parameter and the absolute value of the difference between the current vehicle speed and the creep target speed. The second speed condition is that the absolute value of the difference between the target vehicle's current speed and the creep target speed is less than a first threshold, and the difference between the current vehicle speed and the creep target speed is less than the difference between the second vehicle speed and the creep target speed at the previous moment. The target creep torque is determined based on the target base torque, the proportional torque, and the new integral torque.

[0177] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0178] Based on the correspondence between candidate speed difference and candidate torque, candidate torques corresponding to the difference between the current motor speed and the target motor speed are selected; the selected candidate torques are used as the torque of the integral element.

[0179] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0180] Determine the limiting slope corresponding to the target creep torque; adjust the target creep torque according to the limiting slope to obtain a new target creep torque; control the creep of the target vehicle according to the new target creep torque.

[0181] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0182] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0183] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle creep control method, characterized in that, The method includes: Obtain the initial base torque corresponding to the target vehicle; When the target vehicle meets the first speed condition, the initial base torque is updated according to the historical creep torque corresponding to the previous moment to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than a second threshold. The target creep torque at the current moment is determined based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed. The creep of the target vehicle is controlled according to the target creep torque.

2. The method according to claim 1, characterized in that, The step of updating the initial base torque based on the historical creep torque corresponding to the previous moment to obtain the target base torque includes: The torque correction value is determined based on the first preset calibration parameters and the historical creep torque corresponding to the previous moment; The sum of the torque correction value and the initial base torque is taken as the target base torque.

3. The method according to claim 1, characterized in that, Determining the target creep torque at the current moment based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed includes: The integral torque and the proportional torque are determined based on the difference between the current motor speed corresponding to the current vehicle speed and the target motor speed corresponding to the creep target vehicle speed. The target creep torque at the current moment is determined based on the target base torque, the proportional torque, and the integral torque.

4. The method according to claim 3, characterized in that, The step of determining the target creep torque at the current moment based on the target base torque, the proportional torque, and the integral torque includes: When the target vehicle meets the second speed condition, the integral torque is adjusted according to the dynamic coefficient to obtain a new integral torque; wherein, the dynamic coefficient is determined according to the second preset calibration parameter and the absolute value of the difference between the current vehicle speed and the creep target vehicle speed; the second speed condition is that the absolute value of the difference between the current vehicle speed and the creep target vehicle speed is less than a first threshold, and the difference between the current vehicle speed and the creep target vehicle speed is less than the difference between the second vehicle speed and the creep target vehicle speed at the previous moment; The target creep torque is determined based on the target base torque, the proportional element torque, and the new integral element torque.

5. The method according to claim 3, characterized in that, The step of determining the integral torque based on the difference between the current motor speed corresponding to the current vehicle speed and the target motor speed corresponding to the creep target vehicle speed includes: Based on the correspondence between candidate speed difference and candidate torque, candidate torques corresponding to the difference between the current motor speed and the target motor speed are selected; The selected candidate torques are used as the torques in the integral stage.

6. The method according to claim 1, characterized in that, The step of controlling the creep of the target vehicle based on the target creep torque includes: Determine the limiting slope corresponding to the target creeping torque; The target creep torque is adjusted according to the limiting slope to obtain a new target creep torque; The creep of the target vehicle is controlled according to the new target creep torque.

7. A vehicle creep control device, characterized in that, The device comprises: The acquisition module is used to acquire the initial base torque corresponding to the target vehicle; The update module is used to update the initial base torque according to the historical creep torque corresponding to the previous moment when the target vehicle meets the first speed condition, so as to obtain the target base torque; wherein, the first speed condition is that the absolute value of the difference between the current speed of the target vehicle and the creep target speed is less than a first threshold, and the absolute value of the difference between the current speed and the first speed before the preset time period is less than a second threshold. The determination module is used to determine the target creep torque at the current moment based on the target base torque, the current motor speed corresponding to the current vehicle speed, and the target motor speed corresponding to the creep target vehicle speed; The control module is used to control the creep of the target vehicle according to the target creep torque.

8. A computer device comprising a memory and a processor, wherein the memory stores 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 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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