A Creeping Control Method and System for a New Energy Vehicle

Abstract

The present invention provides a creep control method and system for a new energy vehicle, including: obtaining the time-acceleration relationship curve of the new energy vehicle; obtaining a MAP graph of the new energy vehicle from the starting speed to the target creep speed and acceleration according to the time-acceleration relationship curve of the new energy vehicle; when the new energy vehicle enters the creep mode, determining the target torque of the new energy vehicle based on the MAP graph of the new energy vehicle from the starting speed to the target creep speed and acceleration, and performing creep control on the new energy vehicle based on the target torque; the present invention realizes creep control of the new energy vehicle through the target torque of the new energy vehicle, and can achieve an ideal speed and control the creep vehicle speed to run stably and smoothly under different loads and different working conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy electric control systems, and particularly relates to a creep control method and system for new energy vehicles. Background Art

[0002] At present, with the rise of the new energy market, commercial vehicles have also started to transform into new energy vehicles. The creep control of new energy vehicles is quite different from that of fuel vehicles. For the vehicle creep function, due to the load characteristics of commercial vehicles, it is necessary to meet different load conditions and adapt to various complex working conditions. At the same time, since the creep vehicle speed is relatively small, the feedback error of the motor speed is relatively large, and the required torque is relatively small. Therefore, it is very difficult to achieve an ideal effect by adjusting the vehicle speed through PID.

[0003] Therefore, how to ensure the stable and smooth operation of the creep vehicle speed under different loads and different working conditions is particularly important. The purpose of the present invention is to solve the problem of different load vehicles on various road surfaces such as small slopes, etc., to achieve a creep control effect close to that on a horizontal road without adding sensors, and at the same time ensure the vehicle can stop in case of emergencies. Summary of the Invention

[0004] The present invention provides a creep control method for new energy vehicles to solve the problem of different load vehicles on various road surfaces such as small slopes, etc., to achieve a creep control effect close to that on a horizontal road, including:

[0005] Obtain the time-acceleration relationship curve of the new energy vehicle;

[0006] According to the time-acceleration relationship curve of the new energy vehicle, obtain the MAP diagram of the new energy vehicle from the starting speed to the target creep speed and acceleration;

[0007] When the new energy vehicle enters the creep mode, based on the MAP diagram of the new energy vehicle from the starting speed to the target creep speed and acceleration, determine the target torque of the new energy vehicle, and based on the target torque, perform creep control on the new energy vehicle.

[0008] Optionally, the acquisition process of the time-acceleration relationship curve of the new energy vehicle includes the following:

[0009] Obtain the starting acceleration limit value of the new energy vehicle and the target time to reach the expected creep speed;

[0010] Based on the starting acceleration limit value of the new energy vehicle, perform acceleration matching for each time point in the target time to obtain the time-acceleration relationship curve of the new energy vehicle.

[0011] Optionally, obtaining the MAP graph of the acceleration of the new energy vehicle from the starting speed to the target creep speed based on the time-acceleration relationship curve of the new energy vehicle includes:

[0012] Determine the target creep speed of the new energy vehicle according to the time-acceleration relationship curve of the new energy vehicle;

[0013] Based on each time point, integrate the acceleration of the time-acceleration relationship curve of the new energy vehicle to obtain the MAP graph of the acceleration of the new energy vehicle from the starting speed to the target creep speed.

[0014] Optionally, the target creep speed is obtained according to the area included in the time-acceleration relationship curve.

[0015] Optionally, determining the target torque of the new energy vehicle based on the MAP graph of the acceleration of the new energy vehicle from the starting speed to the target creep speed includes:

[0016] Based on the MAP graph of the acceleration of the new energy vehicle from the starting speed to the target creep speed, obtain the expected acceleration difference of the new energy vehicle;

[0017] Determine the required acceleration force of the new energy vehicle according to the mass of the new energy vehicle and the expected acceleration difference;

[0018] Based on the required acceleration force, determine the target torque of the new energy vehicle.

[0019] Optionally, determining the required acceleration force of the new energy vehicle according to the mass of the new energy vehicle and the expected acceleration difference includes:

[0020] Multiply the mass of the new energy vehicle by the expected acceleration difference to obtain the required acceleration force of the new energy vehicle.

[0021] Optionally, determining the target torque of the new energy vehicle based on the required acceleration force includes:

[0022] Integrate and sum the required acceleration force and the obtained feedback torque of the new energy vehicle to obtain the target torque of the new energy vehicle.

[0023] Optionally, after performing creep control on the new energy vehicle based on the target torque, further includes:

[0024] Obtain the acceleration of the new energy vehicle, and when the acceleration of the new energy vehicle exceeds the abnormal limit value, start the anti-rollback mode.

[0025] Based on the same inventive concept, the present invention provides a creep control system for a new energy vehicle, comprising:

[0026] A data acquisition module: configured to acquire the time-acceleration relationship curve of the new energy vehicle;

[0027] An index decomposition module: configured to obtain the MAP graph of the acceleration from the starting speed to the target creep speed of the new energy vehicle according to the time-acceleration relationship curve of the new energy vehicle;

[0028] A creep control module: configured to, after the new energy vehicle enters the creep mode, determine the target torque of the new energy vehicle based on the MAP graph of the acceleration from the starting speed to the target creep speed of the new energy vehicle, and perform creep control on the new energy vehicle based on the target torque.

[0029] Optionally, the time-acceleration relationship curve of the new energy vehicle in the data acquisition module includes the following acquisition process:

[0030] Acquire the starting acceleration limit value of the new energy vehicle and the target time to reach the desired creep speed;

[0031] Based on the starting acceleration limit value of the new energy vehicle, perform acceleration matching for each time point in the target time to obtain the time-acceleration relationship curve of the new energy vehicle.

[0032] Optionally, the index decomposition module is specifically configured to:

[0033] Determine the target creep speed of the new energy vehicle according to the time-acceleration relationship curve of the new energy vehicle;

[0034] Integrate the acceleration of the time-acceleration relationship curve of the new energy vehicle based on each time point to obtain the MAP graph of the acceleration from the starting speed to the target creep speed of the new energy vehicle.

[0035] Optionally, the target creep speed in the index decomposition module is obtained according to the area included in the time-acceleration relationship curve.

[0036] Optionally, the creep control module is specifically configured to:

[0037] Obtain the expected acceleration difference of the new energy vehicle based on the MAP graph of the acceleration from the starting speed to the target creep speed of the new energy vehicle;

[0038] Determine the required acceleration force of the new energy vehicle according to the mass of the new energy vehicle and the expected acceleration difference;

[0039] Determine the target torque of the new energy vehicle based on the acceleration demand force;

[0040] Perform creep control on the new energy vehicle based on the target torque.

[0041] Optionally, in the creep control module, determining the acceleration demand force of the new energy vehicle according to the mass of the new energy vehicle and the expected acceleration difference includes:

[0042] Perform a multiplication operation on the mass of the new energy vehicle and the expected acceleration difference to obtain the acceleration demand force of the new energy vehicle.

[0043] Optionally, in the creep control module, determining the target torque of the new energy vehicle based on the acceleration demand force includes:

[0044] Perform integral summation on the acceleration demand force and the obtained feedback torque of the new energy vehicle to obtain the target torque of the new energy vehicle.

[0045] Optionally, after performing creep control on the new energy vehicle based on the target torque in the creep control module, it further includes:

[0046] Obtain the acceleration of the new energy vehicle, and when the acceleration of the new energy vehicle exceeds the abnormal limit value, start the anti-rollback mode.

[0047] Compared with the closest prior art, the beneficial effects of the present invention are as follows:

[0048] The present invention provides a creep control method and system for a new energy vehicle, including: obtaining the time-acceleration relationship curve of the new energy vehicle; obtaining the MAP diagram of the new energy vehicle from the starting speed to the target creep speed and acceleration according to the time-acceleration relationship curve of the new energy vehicle; when the new energy vehicle enters the creep mode, perform creep control on the new energy vehicle based on the MAP diagram of the new energy vehicle from the starting speed to the target creep speed and acceleration; the present invention realizes the creep control of the new energy vehicle through the target torque of the new energy vehicle, and further achieves that the ideal speed can control the creep vehicle speed to run stably and smoothly under different loads and different working conditions.

[0049] Other features of the present invention will be described in the subsequent specification, and part of them will become obvious from the specification or be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written specification and the drawings.

[0050] The technical solutions of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0051] The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the accompanying drawings:

[0052] Figure 1 It is a schematic flowchart of a creep control method for a new energy vehicle in an embodiment of the present invention;

[0053] Figure 2 It is a schematic diagram of the relationship curve between time and acceleration in a creep control method for a new energy vehicle in an embodiment of the present invention;

[0054] Figure 3 It is a schematic diagram of the relationship curve between speed and acceleration in a creep control method for a new energy vehicle in an embodiment of the present invention;

[0055] Figure 4 It is a schematic diagram of the structural composition of a creep control system for a new energy vehicle in an embodiment of the present invention. Specific Embodiments

[0056] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to explain and illustrate the present invention, and are not used to limit the present invention.

[0057] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The meaning of "a plurality" is two or more, unless otherwise specifically defined. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0058] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

[0059] Embodiment 1:

[0060] The present invention provides a creep control method for a new energy vehicle, including:

[0061] Step 1: Obtain the relationship curve between time and acceleration of the new energy vehicle;

[0062] Step 2: Obtain a MAP diagram of the acceleration of the new energy vehicle from the starting speed to the target creep speed according to the time-acceleration relationship curve of the new energy vehicle;

[0063] Step 3: After the new energy vehicle enters the creep mode, based on the MAP diagram of the acceleration of the new energy vehicle from the starting speed to the target creep speed, determine the target torque of the new energy vehicle, and perform creep control on the new energy vehicle based on the target torque.

[0064] In one implementation, the time-acceleration relationship curve of the new energy vehicle in Step 1 above may include the following acquisition process:

[0065] Obtain the starting acceleration limit value of the new energy vehicle and the target time to reach the desired creep speed;

[0066] Based on the starting acceleration limit value of the new energy vehicle, perform acceleration matching for each time point in the target time to obtain the time-acceleration relationship curve of the new energy vehicle.

[0067] In one implementation, the process of obtaining the MAP diagram of the acceleration of the new energy vehicle from the starting speed to the target creep speed according to the time-acceleration relationship curve of the new energy vehicle in Step 2 above may include:

[0068] Determine the target creep speed of the new energy vehicle according to the time-acceleration relationship curve of the new energy vehicle;

[0069] Based on each time point, integrate the acceleration of the time-acceleration relationship curve of the new energy vehicle to obtain the MAP diagram of the acceleration of the new energy vehicle from the starting speed to the target creep speed.

[0070] In this implementation, the above target creep speed is obtained according to the area included in the time-acceleration relationship curve;

[0071] In this implementation, by decomposing the performance indicators of the new energy vehicle, the time-acceleration relationship curve of the new energy vehicle is obtained, and then the MAP of the acceleration-speed matching is obtained according to the curve integral corresponding to the time and acceleration.

[0072] In one implementation, the process of determining the target torque of the new energy vehicle based on the MAP diagram of the acceleration of the new energy vehicle from the starting speed to the target creep speed in Step 3 above may include:

[0073] Based on the MAP diagram of the acceleration of the new energy vehicle from the starting speed to the target creep speed, obtain the expected acceleration difference of the new energy vehicle;

[0074] Determine the acceleration demand force of the new energy vehicle according to the mass of the new energy vehicle and the difference between the expected acceleration;

[0075] Based on the acceleration demand force, determine the target torque of the new energy vehicle;

[0076] Exemplarily, the calculation process of the difference between the expected accelerations of the above new energy vehicle may include:

[0077] The first step: Decompose the performance indicators to determine the creep vehicle speed and the stable creep speed time.

[0078] The second step: For a better driving experience, the starting acceleration is preferably controlled at 0.25 m / s 2 , and reach a maximum allowable acceleration (calibrated according to the actual situation) within 1 s. Further, according to the target creep speed and time, calculate the time to maintain the maximum acceleration, and then linearly decrease to 0 when just reaching the target creep. As Figure 2 shown, the horizontal axis represents time and the vertical axis represents acceleration. This solution can not only ensure the driving comfort, but also meet the design indicators at the same time. The parameters given in this solution are all empirical parameters and can be adjusted according to the actual situation. First, the ECU determines to enter the creep control mode according to the vehicle state, and further performs a series of torque calculations in the creep mode. The indicators and parameters mainly refer to the indicators set at the beginning of the vehicle design, such as the creep speed v0, the response time requirement t0, etc. The parameters include the speed ratio, the rolling radius, the vehicle mass m, the transmission efficiency, etc. The MAP table mainly draws the acceleration curve that can reach the target speed within the specified time based on the creep speed and the response time combined with the driving comfort. As shown in the following figure, the abscissa is time and the ordinate is acceleration. Considering driving comfort when the vehicle starts, the acceleration at the stationary moment is defined as a relatively small acceleration, preferably 0.025g (which can also be calibrated according to the actual state). The acceleration is adjusted to the maximum allowable acceleration in the creep state within t1 time. Combining the time and the expected speed, synchronously calculate the time to maintain the maximum acceleration. Finally, when the vehicle speed reaches the target speed within the specified time, the acceleration changes to 0g. Since the vehicle does not always enter the creep mode from the prohibited state, querying the acceleration based on time has great limitations. Therefore, the acceleration is integrated with respect to time to convert it into speed, and the abscissa is converted into the speed axis to obtain Figure 2 , the final MAP table, with the abscissa being speed and the ordinate being acceleration. When the speed reaches the target speed, the acceleration becomes 0g.

[0079] The third step: To ensure the adaptability of the algorithm to enter the creep mode in various states, the curve further calculates and converts the abscissa of the time axis into the abscissa of the speed axis, and integrates the acceleration into the speed horizontal axis. As Figure 3As shown, the horizontal axis represents speed and the vertical axis represents acceleration.

[0080] Step 4: After the vehicle enters the creep mode, obtain the current required acceleration by looking up the table according to the speed, specifically including:

[0081] 1) Acceleration required force

[0082] Through acceleration query, that is, use the real-time speed of the current new energy vehicle to query the MAP table to obtain an expected acceleration requirement a1;

[0083] S1: Directly calculate the real-time acceleration of the current vehicle according to the least squares method (if the real-time acceleration can be directly obtained by the sensor, then use the sensor value): Vehicle state feedback mainly includes speed v1 and motor feedback power tq_fbk.

[0084] For the acceleration calculation, use the real-time feedback speed information to calculate the current real-time acceleration a2 through the least squares method;

[0085] S2: Acceleration required force = (expected acceleration - real-time acceleration) * vehicle mass (load is unknown, default no-load mass). For example, the acceleration required force tq_a is obtained by multiplying the current vehicle mass by the difference between the expected acceleration and the current acceleration to obtain the power that satisfies the acceleration requirement compensation, which can be expressed as tq_a =

[0086] m(a1 - a2).

[0087] 2) Vehicle creep required power

[0088] Vehicle creep required power = vehicle feedback real-time driving force + acceleration required force = vehicle feedback real-time driving force + acceleration required force; For example, the vehicle creep required power tq is the sum of the motor driving force and the acceleration required force feedback in real time by the vehicle. Through continuous compensation of the acceleration required force, the vehicle speed can be stably maintained at the target speed, eliminating the differential influence of load and slope on the algorithm, that is, tq = tq_fbk + tq_a.

[0089] The required rotational speed tq_out mainly converts the vehicle creep required power unit into a motor torque signal according to the vehicle speed, transmission efficiency, etc.

[0090] 3) Upper limit restriction

[0091] Combined with the full-load common road conditions, set the maximum torque limit that meets the creep requirements. When exceeding the limit, it is limited to the limit value. When it is detected that the absolute value of the acceleration increases or decreases abnormally, the torque is removed and the creep mode is exited and the anti-rollback mode is automatically entered.

[0092] In this implementation, determining the acceleration demand force of the new energy vehicle based on the difference between the mass of the new energy vehicle and the expected acceleration may include:

[0093] Performing a multiplication operation on the mass of the new energy vehicle and the difference between the expected acceleration to obtain the acceleration demand force of the new energy vehicle. That is, the acceleration demand force of the new energy vehicle in the present invention can be obtained by multiplying the difference between the feedback real-time torque and the expected acceleration by the load and then summing them up;

[0094] In this implementation, determining the target torque of the new energy vehicle based on the acceleration demand force includes:

[0095] Performing an integral summation based on the acceleration demand force and the feedback torque of the obtained new energy vehicle to obtain the target torque of the new energy vehicle.

[0096] In this implementation, the new energy vehicle can enter the creep mode at any speed, and the target acceleration is obtained by querying according to the current speed.

[0097] After performing creep control on the new energy vehicle based on the target torque in step 3 above, it may further include:

[0098] Obtaining the acceleration of the new energy vehicle. When the acceleration of the new energy vehicle exceeds the abnormal limit value, withdraw the torque and start the anti-rollback mode for self-protection.

[0099] By setting the maximum torque limit that meets the creep requirements according to the full-load common road conditions, performing abnormal diagnosis on abnormal values, and then performing parking protection. For abnormal acceleration, mainly perform abnormal detection on the change rate of acceleration, such as sudden drop or sharp rise of acceleration. Set a threshold for such situations. When the change rate exceeds the threshold, directly exit the creep mode and enter the anti-rollback state.

[0100] The torque limit value tq_limit is mainly for vehicle driving protection to limit the creep torque. According to the full-load mass of the vehicle and common driving conditions, calibrate the maximum value that can meet the creep driving force requirements. When tq_out > tq_limit, output tq_limit; otherwise, output tq_out.

[0101] Implement vehicle creep control by combining the above algorithm methods.

[0102] In view of the problem that in the prior art, new energy vehicles cannot control the creep vehicle speed to run stably and smoothly under different loads and different working conditions, by obtaining the driving control core parameter - acceleration demand force according to the time-acceleration relationship curve of the new energy vehicle, and then controlling the acceleration through closed-loop torque, and further achieving the ideal speed, it is beneficial to realize the creep control effect of the new energy vehicle. At the same time, setting acceleration anomalies is beneficial to ensuring the parking effect in case of emergencies, increasing safety.

[0103] Embodiment 2:

[0104] The present invention provides a creep control system for a new energy vehicle, and the structural composition schematic diagram is as Figure 4 shown, including:

[0105] Data acquisition module: used to acquire the time-acceleration relationship curve of the new energy vehicle;

[0106] Index decomposition module: used to obtain the MAP graph of the new energy vehicle from the starting speed to the target creep speed and acceleration according to the time-acceleration relationship curve of the new energy vehicle;

[0107] Creep control module: used to determine the target torque of the new energy vehicle based on the MAP graph of the new energy vehicle from the starting speed to the target creep speed and acceleration when the new energy vehicle enters the creep mode, and perform creep control on the new energy vehicle based on the target torque.

[0108] The time-acceleration relationship curve of the new energy vehicle in the above data acquisition module includes the following acquisition process:

[0109] Obtain the starting acceleration limit value of the new energy vehicle and the target time to reach the desired creep speed;

[0110] Based on the starting acceleration limit value of the new energy vehicle, perform acceleration matching for each time point in the target time to obtain the time-acceleration relationship curve of the new energy vehicle.

[0111] The above index decomposition module is specifically used for:

[0112] Determine the target creep speed of the new energy vehicle according to the time-acceleration relationship curve of the new energy vehicle;

[0113] Based on each time point, integrate the acceleration of the time-acceleration relationship curve of the new energy vehicle to obtain the MAP graph of the new energy vehicle from the starting speed to the target creep speed and acceleration.

[0114] The target creep speed in the above-mentioned index decomposition module is obtained based on the area included in the time-acceleration relationship curve.

[0115] The above-mentioned creep control module is specifically configured to:

[0116] Based on the MAP graph of the acceleration of the new energy vehicle from the starting speed to the target creep speed, obtain the expected acceleration difference of the new energy vehicle;

[0117] According to the mass of the new energy vehicle and the expected acceleration difference, determine the required acceleration force of the new energy vehicle;

[0118] Based on the required acceleration force, determine the target torque of the new energy vehicle;

[0119] Based on the target torque, perform creep control on the new energy vehicle.

[0120] In the above-mentioned creep control module, according to the mass of the new energy vehicle and the expected acceleration difference, determining the required acceleration force of the new energy vehicle includes:

[0121] Perform a multiplication operation on the mass of the new energy vehicle and the expected acceleration difference to obtain the required acceleration force of the new energy vehicle.

[0122] In the above-mentioned creep control module, based on the required acceleration force, determining the target torque of the new energy vehicle includes:

[0123] Based on the required acceleration force and the feedback torque of the obtained new energy vehicle, perform integral summation to obtain the target torque of the new energy vehicle.

[0124] After performing creep control on the new energy vehicle based on the target torque in the above-mentioned creep control module, it further includes:

[0125] Obtain the acceleration of the new energy vehicle. When the acceleration of the new energy vehicle exceeds the abnormal limit value, start the anti-rollback mode.

[0126] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) containing computer-usable program codes.

[0127] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or a means for implementing the functions specified in one block or multiple blocks.

[0128] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means that implements the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or a means for implementing the functions specified in one block or multiple blocks.

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or a means for implementing the functions specified in one block or multiple blocks.

[0130] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A creep control method for a new energy vehicle, characterized in that: include: Obtain the time and acceleration relationship curve of new energy vehicles; According to the time and acceleration relationship curve of the new energy vehicle, a MAP diagram of the new energy vehicle from the starting speed to the target creeping speed and acceleration is obtained; When the new energy vehicle enters the creep mode, a target torque of the new energy vehicle is determined based on a MAP diagram of the new energy vehicle from a starting speed to a target creep speed and acceleration, and creep control is performed on the new energy vehicle based on the target torque; Wherein, determining the target torque of the new energy vehicle based on a MAP diagram of the new energy vehicle from a starting speed to a target creeping speed and acceleration includes: Based on a MAP diagram of the new energy vehicle from a starting speed to a target creeping speed and acceleration, obtaining an expected acceleration difference of the new energy vehicle; Determining the acceleration requirement of the new energy vehicle according to the mass of the new energy vehicle and the expected acceleration difference; Based on the acceleration demand force, a target torque of the new energy vehicle is determined.

2. The method according to claim 1, characterized in that The time and acceleration relationship curve of the new energy vehicle includes the following acquisition process: Obtaining a starting acceleration limit value and a target time for reaching a desired creeping speed of the new energy vehicle; Based on the starting acceleration limit of the new energy vehicle, acceleration matching is performed on each time point in the target time to obtain a time and acceleration relationship curve of the new energy vehicle.

3. The method according to claim 1, characterized in that The method of obtaining a MAP diagram of the new energy vehicle from a starting speed to a target creeping speed and acceleration according to the time and acceleration relationship curve of the new energy vehicle includes: Determining a target creeping speed of the new energy vehicle according to a time-acceleration relationship curve of the new energy vehicle; Based on each time point, the acceleration of the time-acceleration relationship curve of the new energy vehicle is integrated to obtain a MAP diagram of the new energy vehicle from a starting speed to a target creeping speed and acceleration.

4. The method according to claim 3, characterized in that The target creeping speed is obtained according to the area contained in the time-acceleration relationship curve.

5. The method according to claim 1, characterized in that The step of determining the acceleration requirement of the new energy vehicle according to the mass of the new energy vehicle and the expected acceleration difference comprises: The mass of the new energy vehicle is multiplied by the expected acceleration difference to obtain the acceleration requirement force of the new energy vehicle.

6. The method according to claim 1, characterized in that The step of determining the target torque of the new energy vehicle based on the acceleration demand force includes: The target torque of the new energy vehicle is obtained by performing integral summation based on the acceleration demand force and the acquired feedback torque of the new energy vehicle.

7. The method according to claim 1, characterized in that After the creep control of the new energy vehicle is performed based on the target torque, the method further includes: The acceleration of the new energy vehicle is obtained, and when the acceleration of the new energy vehicle exceeds an abnormal limit value, an anti-slope mode is started.

8. A new energy vehicle creep control system, characterized in that: include: Data acquisition module: used to obtain the time and acceleration relationship curve of new energy vehicles; An index decomposition module is used to obtain a MAP diagram of the new energy vehicle from a starting speed to a target creeping speed and acceleration according to a time-acceleration relationship curve of the new energy vehicle; A creep control module: used for determining the target torque of the new energy vehicle based on a MAP diagram of the new energy vehicle from a starting speed to a target creep speed and acceleration after the new energy vehicle enters a creep mode, and performing creep control on the new energy vehicle based on the target torque; The creep control module is specifically used for: Based on a MAP diagram of the new energy vehicle from a starting speed to a target creeping speed and acceleration, obtaining an expected acceleration difference of the new energy vehicle; Determining the acceleration requirement of the new energy vehicle according to the mass of the new energy vehicle and the expected acceleration difference; Determining a target torque of the new energy vehicle based on the acceleration demand force; Based on the target torque, creep control is performed on the new energy vehicle.

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