New energy commercial vehicle creep control method, electronic equipment, vehicle and storage medium

Abstract

The present invention discloses a creep control method for a new energy commercial vehicle, an electronic device, a vehicle and a storage medium. The method comprises: obtaining a first time when the vehicle enters a creep mode; determining a first target speed of the vehicle in the creep mode according to the first time; obtaining the real-time acceleration of the vehicle; determining the control parameters of a PID algorithm according to the real-time acceleration of the vehicle and a pre-configured acceleration threshold; calculating a first creep torque through a PID algorithm according to the first target speed and the control parameters of the PID algorithm; and controlling the vehicle according to the first creep torque. The present invention determines the control parameters of the PID algorithm according to the real-time acceleration of the vehicle and the pre-configured acceleration threshold, thereby avoiding a rapid increase in vehicle speed caused by PID control and improving the safety of the creep mode of new energy vehicles.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle control technology, and specifically relates to a creep control method, electronic equipment, vehicle and storage medium for a new energy commercial vehicle. Background Art

[0002] Currently, most new energy vehicles are equipped with a creeping mode. In creeping mode, the vehicle automatically travels at a stable low speed, which is mainly used in scenarios such as vehicle starting and slow following. The creeping mode of new energy vehicles usually uses a PID algorithm, and the maximum creeping speed is pre-set. After the creeping mode is activated, the PID algorithm controls the vehicle to quickly accelerate to the maximum creeping speed. The driving experience of the vehicle is poor during this acceleration phase, and the safety of the vehicle creeping is reduced due to the rapid increase in speed, which deviates from the original safety intention of the creeping function. At the same time, a single PID control parameter is difficult to adapt to complex and changeable working conditions and loads. Summary of the invention

[0003] An object of the present invention is to provide a new energy commercial vehicle creep control method, electronic equipment, vehicle and storage medium, which can solve the technical problem of reduced safety caused by controlling vehicle creep through PID algorithm in the prior art.

[0004] According to a first aspect of the present invention, a creep control method for a new energy commercial vehicle is provided, comprising:

[0005] Get the first time when the vehicle enters creep mode;

[0006] determining a first target vehicle speed of the vehicle in the creep mode according to the first time;

[0007] Obtaining the real-time acceleration of the vehicle;

[0008] Determining control parameters of a PID algorithm according to the real-time acceleration of the vehicle and a pre-configured acceleration threshold;

[0009] Calculating a first creep torque by using a PID algorithm according to the first target vehicle speed and a control parameter of the PID algorithm;

[0010] The vehicle is controlled based on the first creep torque.

[0011] Optionally, determining a first target vehicle speed of the vehicle in the creeping mode according to the first time includes:

[0012] The first target vehicle speed of the vehicle in the creeping mode is queried from a pre-configured first relationship table according to the first time, wherein the first relationship table stores a plurality of sets of corresponding data between time and vehicle speed.

[0013] Optionally, the preconfigured acceleration threshold includes a first acceleration and a second acceleration, the first acceleration is greater than the second acceleration, and the first acceleration is determined according to the first relationship table;

[0014] Determining the control parameters of the PID algorithm according to the real-time acceleration of the vehicle and a pre-configured acceleration threshold comprises:

[0015] When the real-time acceleration of the vehicle is equal to the first acceleration, selecting a preconfigured first set of control parameters as control parameters of the PID algorithm;

[0016] In a case where the real-time acceleration of the vehicle is less than the first acceleration and the real-time acceleration of the vehicle is greater than or equal to the second acceleration, selecting a preconfigured second set of control parameters as control parameters of the PID algorithm;

[0017] In a case where the real-time acceleration of the vehicle is less than the second acceleration, a preconfigured third group of control parameters is selected as the control parameters of the PID algorithm.

[0018] Optionally, the first group of control parameters are control parameters obtained by calibrating creep PID parameters of the vehicle on a flat road or in an unloaded state;

[0019] The second group of control parameters are control parameters obtained by calibrating creep PID parameters of the vehicle when the vehicle is going uphill at a small slope or in a half-load state;

[0020] The third group of control parameters are control parameters obtained by calibrating the creep PID parameters of the vehicle when going uphill at a steep slope or when the vehicle is fully loaded.

[0021] Optionally, before obtaining the first time when the vehicle enters the creep mode, the method further includes:

[0022] Get the first state of the vehicle;

[0023] determining whether a first preset condition for entering the creeping mode is met according to the first state of the vehicle, the first preset condition comprising that the vehicle high voltage is powered on, the vehicle power system has no faults, the vehicle is in a driving gear, the accelerator pedal is not depressed, and the vehicle speed is less than or equal to the maximum vehicle speed in the creeping mode;

[0024] When all the first preset conditions are met, the vehicle is controlled to enter a creep mode.

[0025] Optionally, when the vehicle is in creep mode, the method further comprises:

[0026] Obtaining a second state of the vehicle;

[0027] determining whether a second preset condition for exiting the creeping mode is satisfied according to the second state of the vehicle, the second preset condition comprising: the vehicle high voltage is powered off, the vehicle power system fails, the vehicle is in neutral, the accelerator pedal is depressed, and the vehicle speed is greater than the maximum vehicle speed in the creeping mode;

[0028] When any one of the second preset conditions is met, the vehicle is controlled to exit the creep mode.

[0029] Optionally, when the vehicle is in creep mode, the method further comprises:

[0030] After the vehicle speed reaches the maximum vehicle speed in the creep mode, detecting whether the brake pedal is depressed;

[0031] When it is detected that the brake pedal is stepped on, obtaining the opening degree of the brake pedal;

[0032] querying a second target vehicle speed from a pre-configured second relationship table according to the opening of the brake pedal, wherein the second relationship table stores a plurality of sets of corresponding data between the opening of the brake pedal and the vehicle speed;

[0033] Calculating a second creep torque by using a PID algorithm according to the second target vehicle speed and a control parameter of the PID algorithm;

[0034] The vehicle is controlled based on the second creep torque.

[0035] According to a second aspect of the present invention, an electronic device is provided, comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of a new energy commercial vehicle creep control method as described in the first aspect of the present invention are implemented.

[0036] According to a third aspect of the present invention, a vehicle is provided, comprising the electronic device according to the second aspect of the present invention.

[0037] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of a creep control method for a new energy commercial vehicle as described in the first aspect of the present invention are implemented.

[0038] The beneficial effect of the present invention is that the present invention determines the control parameters of the PID algorithm according to the real-time acceleration of the vehicle and the pre-configured acceleration threshold, thereby avoiding the rapid increase of vehicle speed caused by PID control and improving the safety of the creep mode of new energy vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1It is a flow chart of a creep control method for a new energy commercial vehicle in an embodiment of the present invention.

[0040] Figure 2 Schematic diagram of the relationship between creeping vehicle speed and time in an embodiment of the present invention.

[0041] Figure 3 Schematic diagram of the PID algorithm in an embodiment of the present invention.

[0042] Figure 4 It is a schematic diagram of the changing relationship between the creeping vehicle speed and the opening of the brake pedal in an embodiment of the present invention.

[0043] Figure 5 It is a flow chart of creep vehicle speed control during acceleration phase in an embodiment of the present invention.

[0044] Figure 6 It is a flow chart of creeping vehicle speed reduction in an embodiment of the present invention.

[0045] Figure 7 Schematic diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0047] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0048] The techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and devices should be considered as part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0049] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0050] In the specification and claims of the present invention, if the term "first" or "second" is involved, it may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects are in an "or" relationship.

[0051] like Figure 1 As shown, this embodiment introduces a creep control method for a new energy commercial vehicle, including steps 1100-1400.

[0052] Step 1100: Obtain the first time when the vehicle enters the creep mode.

[0053] In creep mode, the vehicle travels at a low speed. A creep mode switch can be set on the vehicle. When the driver determines that the vehicle needs to enter creep mode, the creep mode switch is turned on to enter the creep mode. The vehicle can also determine whether to enter creep mode based on the surrounding environment.

[0054] The creeping mode is usually used in low-speed driving scenarios. It can be a scene with congested traffic, such as a new energy commercial vehicle that needs to load cargo. When there are multiple commercial vehicles waiting in line to load cargo, the vehicles in the queue can enter the creeping mode. For rugged roads, the vehicle can also enter the creeping mode to ensure safety.

[0055] The first time refers to the time when the vehicle enters the creep mode, and the timing starts from when the vehicle enters the creep mode.

[0056] Step 1200: Determine a first target vehicle speed of the vehicle in the creep mode according to the first time.

[0057] The first target vehicle speed refers to the speed of the vehicle in the creeping mode. In the present invention, the corresponding relationship between the creeping vehicle speed and the time is pre-configured, and after the first time is obtained, the first target vehicle speed corresponding to the first time can be directly queried.

[0058] Step 1300: Obtain the real-time acceleration of the vehicle.

[0059] Step 1400: Determine control parameters of the PID algorithm according to the real-time acceleration of the vehicle and a pre-configured acceleration threshold.

[0060] The working principle of PID algorithm is based on the combination of proportional control, integral control and differential control. Proportional control directly adjusts the output according to the error size. Integral control is used to eliminate static error. Differential control is used to predict the change trend of error, adjust the output in advance, and reduce the adjustment time. Figure 3As shown, the control parameters of the PID algorithm include proportional gain (KP), integral gain (KI) and differential gain (KD).

[0061] Specifically, in the present invention, multiple groups of control parameters of the PID algorithm are preconfigured, and the corresponding control parameters are selected according to the comparison result by comparing the real-time acceleration of the vehicle with the preconfigured acceleration threshold.

[0062] Step 1500: Calculate a first creep torque using a PID algorithm according to the first target vehicle speed and control parameters of the PID algorithm.

[0063] Step 1600: Control the vehicle according to the first creep torque.

[0064] After obtaining the control parameters of the PID algorithm, the first creep torque is calculated by the PID algorithm, and the motor is controlled according to the first creep torque. Figure 3 As shown, Tq represents the torque output by the PID algorithm.

[0065] The present invention determines the control parameters of the PID algorithm according to the real-time acceleration of the vehicle and a pre-configured acceleration threshold, thereby avoiding a rapid increase in vehicle speed caused by PID control and improving the safety of the creep mode of new energy vehicles.

[0066] In this embodiment, the step 1200 includes: querying the first target vehicle speed of the vehicle in the creeping mode from a pre-configured first relationship table according to the first time, wherein the first relationship table stores a plurality of sets of corresponding data between time and vehicle speed.

[0067] like Figure 2 As shown in Figure 1 and Table 1, the creeping speed increases gradually with the increase of time, and reaches the maximum speed when the time reaches the time threshold of 10s. When the time exceeds the time threshold of 10s, the creeping speed maintains the maximum speed unchanged. For example, the maximum speed is 5km / h, and the creeping speed increases by 1km / h every 2s within 10s.

[0068] Table 1 Relationship between creeping speed and time

[0069] Time 0 1 2 3 4 5 6 7 8 9 10 11 Speed ​​km / h 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5

[0070] Each parameter in the first relationship table can be calibrated by the actual vehicle. For example, the maximum vehicle speed in the creep mode can be 5 km / h, or 6 km / h, or can be set to other values.

[0071] Furthermore, multiple tables storing the relationship between creeping speed and time data can be configured, and the corresponding tables can be queried for different scenarios. For different vehicle models and working conditions, the maximum speed and speed change rate in creeping mode can be calibrated and adjusted in a targeted manner.

[0072] The present invention obtains the target vehicle speed in the creep mode by adopting a time-vehicle speed lookup table, so that the maximum vehicle speed and vehicle speed change rate in the creep mode can be calibrated and adjusted in a targeted manner according to different vehicle models and working conditions, thereby ensuring that the technical solution has high portability.

[0073] In this embodiment, the preconfigured acceleration threshold includes a first acceleration and a second acceleration, the first acceleration is greater than the second acceleration, and the first acceleration is determined according to the first relationship table.

[0074] The step 1400 includes steps 1410 - 1430 .

[0075] Step 1410: When the real-time acceleration of the vehicle is equal to the first acceleration, select a preconfigured first set of control parameters as control parameters of the PID algorithm.

[0076] Step 1420: When the real-time acceleration of the vehicle is less than the first acceleration and the real-time acceleration of the vehicle is greater than or equal to the second acceleration, select a preconfigured second set of control parameters as control parameters of the PID algorithm.

[0077] Step 1430: When the real-time acceleration of the vehicle is less than the second acceleration, select a preconfigured third set of control parameters as control parameters of the PID algorithm.

[0078] As shown in Table 1, the creeping speed v and time t have the following relationship:

[0079] .

[0080] Then the vehicle speed change rate a in creep mode is expressed as:

[0081] .

[0082] Then the first acceleration can be set to 0.5m / s 2 The second acceleration is smaller than the first acceleration, for example, the second acceleration may be 0.3 m / s 2 The second acceleration can also be set to other values, and the specific value can be calibrated on the actual vehicle.

[0083] By comparing the real-time acceleration of the vehicle with the magnitude relationship between the first acceleration and the second acceleration, the corresponding control parameters are selected. The real-time acceleration of the vehicle is at, if at=0.5m / s 2 , then select the first set of pre-configured control parameters. If 0.3m / s 2 ≤at<0.5m / s2 , then select the pre-configured second set of control parameters. If at<0.3m / s 2 , then select the pre-configured third set of control parameters.

[0084] The first group of control parameters are control parameters obtained by calibrating creep PID parameters of the vehicle on a flat road or in an unloaded state.

[0085] The second group of control parameters are control parameters obtained by calibrating the creep PID parameters of the vehicle when it is going uphill at a small slope or in a half-load state.

[0086] The third group of control parameters are control parameters obtained by calibrating the creep PID parameters of the vehicle when going uphill at a steep slope or under a full load state.

[0087] A flat road means that the road slope is less than the first slope threshold, a large slope means that the road slope is greater than the second slope threshold, and a small slope means that the road slope is between the first slope threshold and the second slope threshold, and the second slope threshold is greater than the first slope threshold. Figure 5 As shown, the no-load control parameters are the first group of control parameters, the half-load control parameters are the second group of control parameters, and the full-load control parameters are the third group of control parameters.

[0088] The present invention can improve the adaptability of the vehicle creep function under different loads and operating scenarios by setting multiple groups of PID algorithm control parameters for different scenarios, and effectively solves the problem that a single PID parameter fails to respond in a timely manner to the creep torque demands of commercial vehicles under different loads and different operating conditions.

[0089] In this embodiment, before obtaining the first time when the vehicle enters the creep mode, the method further includes steps 2100-2300.

[0090] Step 2100: Obtain the first state of the vehicle.

[0091] Step 2200: Determine whether the first preset condition for entering the creep mode is met based on the first state of the vehicle, the first preset condition includes that the vehicle high voltage is powered on, the vehicle power system has no faults, the vehicle is in a drive gear, the accelerator pedal is not pressed, and the vehicle speed is less than or equal to the maximum vehicle speed in the creep mode.

[0092] Step 2300: When all the first preset conditions are met, control the vehicle to enter the creep mode.

[0093] The current state of the vehicle can be obtained through the vehicle controller. The first state is the current state of the vehicle. By collecting data from each sensor, it is confirmed whether there is a fault in the current state of the vehicle. The status and parameter feedback of key vehicle components such as the drive motor, power battery, and gearbox are received to confirm whether the vehicle is in a high-voltage power-on state.

[0094] If all the first preset conditions are met, the vehicle is allowed to enter the creeping mode. If some of the conditions are not met, the vehicle cannot enter the creeping mode.

[0095] The present invention obtains the current state of the vehicle and automatically determines whether to allow the vehicle to enter the creeping mode according to the pre-set conditions for entering the creeping mode. The creeping mode cannot be entered when the first preset condition is not met, thereby improving driving safety.

[0096] In this embodiment, when the vehicle is in creep mode, the method further includes steps 3100-3300.

[0097] Step 3100: Obtain the second state of the vehicle.

[0098] Step 3200: Determine whether a second preset condition for exiting the creep mode is met based on the second state of the vehicle, the second preset condition including the vehicle high voltage being powered off, a vehicle power system failure, the vehicle being in neutral, the accelerator pedal being pressed, and the vehicle speed being greater than the maximum vehicle speed in the creep mode.

[0099] Step 3300: When any one of the second preset conditions is met, control the vehicle to exit the creep mode.

[0100] After entering the creeping mode, it can be determined whether to exit the creeping mode according to the current state of the vehicle, and the second state is the current state of the vehicle. If any of the second preset conditions is not met, the vehicle is controlled to exit the creeping mode. For example, when the vehicle high voltage is powered off, the creeping mode is exited.

[0101] In this embodiment, when the vehicle is in creep mode, the method further includes steps 4100-4500.

[0102] Step 4100: After the vehicle speed reaches the maximum speed in the creep mode, detect whether the brake pedal is depressed.

[0103] Step 4200: When it is detected that the brake pedal is depressed, the opening degree of the brake pedal is obtained.

[0104] Step 4300: query a second target vehicle speed from a preconfigured second relationship table according to the opening of the brake pedal, wherein the second relationship table stores a plurality of sets of corresponding data of the brake pedal opening and the vehicle speed.

[0105] Step 4400: Calculate the second creep torque by using the PID algorithm according to the second target vehicle speed and the control parameters of the PID algorithm.

[0106] Step 4500: Control the vehicle according to the second creep torque.

[0107] like Figure 6 As shown, when the vehicle is in stable creeping mode, the driver can step on the brake pedal when the creeping speed needs to be reduced to reduce the creeping speed. Stable creeping means that the creeping speed of the vehicle has reached the maximum speed in the creeping mode.

[0108] After the driver steps on the brake pedal, the opening of the brake pedal can be obtained through the sensor. The opening of the brake pedal reflects the braking demand. In the present invention, a second relationship table is pre-configured to store the corresponding data of the brake pedal opening and the vehicle speed. After the opening of the brake pedal is obtained, the corresponding vehicle speed is queried from the second relationship table as the target vehicle speed in the creeping mode.

[0109] like Figure 4 As shown in Table 2, the target vehicle speed in creep mode is inversely proportional to the opening of the brake pedal. When the brake pedal is not pressed, the opening of the brake pedal is 0, and the target vehicle speed in creep mode is the maximum vehicle speed. As the opening of the brake pedal increases, the target vehicle speed in creep mode gradually decreases. When the opening of the brake pedal reaches 30%, the target vehicle speed in creep mode decreases to 0.

[0110] Table 2 Correspondence between creeping speed and brake pedal opening

[0111] Brake pedal opening % 30 27 24 21 18 15 12 9 6 3 0 Speed ​​km / h 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

[0112] In the present invention, when the driver wants to reduce the creeping speed or stop the vehicle, he only needs to step on the brake pedal as needed, and the vehicle controller linearly reduces the creeping speed or controls the vehicle to stop according to the opening of the brake pedal. This can avoid the problems of poor vehicle speed control accuracy and motor stalling caused by the opening of the brake pedal not being associated with the torque in other solutions.

[0113] like Figure 7 As shown, this embodiment introduces an electronic device, including a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of a new energy commercial vehicle creep control method as described in any embodiment of the present invention are implemented.

[0114] This embodiment introduces a vehicle, including the electronic device described in the embodiment of the present invention.

[0115] This embodiment introduces a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of a new energy commercial vehicle creep control method as described in any embodiment of the present invention are implemented.

[0116] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

[0117] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0118] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0119] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0120] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0121] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0122] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0123] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0124] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A creep control method for a new energy commercial vehicle, characterized in that: include: Get the first time when the vehicle enters creep mode; determining a first target vehicle speed of the vehicle in the creep mode according to the first time; Obtaining the real-time acceleration of the vehicle; Determining control parameters of a PID algorithm according to the real-time acceleration of the vehicle and a pre-configured acceleration threshold; Calculating a first creep torque by using a PID algorithm according to the first target vehicle speed and a control parameter of the PID algorithm; controlling the vehicle according to the first creep torque; The determining a first target vehicle speed of the vehicle in the creeping mode according to the first time includes: querying a first target vehicle speed of the vehicle in the creeping mode from a pre-configured first relationship table according to the first time, wherein the first relationship table stores corresponding data of multiple sets of time and vehicle speed; The preconfigured acceleration threshold includes a first acceleration and a second acceleration, the first acceleration is greater than the second acceleration, and the first acceleration is determined according to the first relationship table; Determining the control parameters of the PID algorithm according to the real-time acceleration of the vehicle and a pre-configured acceleration threshold comprises: When the real-time acceleration of the vehicle is equal to the first acceleration, selecting a preconfigured first set of control parameters as control parameters of the PID algorithm; In a case where the real-time acceleration of the vehicle is less than the first acceleration and the real-time acceleration of the vehicle is greater than or equal to the second acceleration, selecting a preconfigured second set of control parameters as control parameters of the PID algorithm; When the real-time acceleration of the vehicle is less than the second acceleration, selecting a third set of preconfigured control parameters as control parameters of the PID algorithm; When the vehicle is in creep mode, the method further comprises: After the vehicle speed reaches the maximum vehicle speed in the creep mode, detecting whether the brake pedal is depressed; When it is detected that the brake pedal is stepped on, obtaining the opening degree of the brake pedal; querying a second target vehicle speed from a pre-configured second relationship table according to the opening of the brake pedal, wherein the second relationship table stores a plurality of sets of corresponding data between the opening of the brake pedal and the vehicle speed; Calculating a second creep torque by using a PID algorithm according to the second target vehicle speed and a control parameter of the PID algorithm; controlling the vehicle according to the second creep torque; The first group of control parameters are control parameters obtained by calibrating creep PID parameters of the vehicle on a flat road or in an unloaded state; The second group of control parameters are control parameters obtained by calibrating creep PID parameters of the vehicle when the vehicle is going uphill at a small slope or in a half-load state; The third group of control parameters are control parameters obtained by calibrating the creep PID parameters of the vehicle when going uphill at a steep slope or when the vehicle is fully loaded.

2. The method according to claim 1, characterized in that Before obtaining the first time when the vehicle enters the creep mode, the method further includes: Get the first state of the vehicle; determining whether a first preset condition for entering the creeping mode is met according to the first state of the vehicle, the first preset condition comprising that the vehicle high voltage is powered on, the vehicle power system has no faults, the vehicle is in a driving gear, the accelerator pedal is not depressed, and the vehicle speed is less than or equal to the maximum vehicle speed in the creeping mode; When all the first preset conditions are met, the vehicle is controlled to enter a creep mode.

3. The method according to claim 1, characterized in that When the vehicle is in creep mode, the method further comprises: Obtaining a second state of the vehicle; determining whether a second preset condition for exiting the creeping mode is satisfied according to the second state of the vehicle, the second preset condition comprising: the vehicle high voltage is powered off, the vehicle power system fails, the vehicle is in neutral, the accelerator pedal is depressed, and the vehicle speed is greater than the maximum vehicle speed in the creeping mode; When any one of the second preset conditions is met, the vehicle is controlled to exit the creep mode.

4. An electronic device, characterized in that: It includes a processor and a memory, the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of a creep control method for a new energy commercial vehicle as described in any one of claims 1 to 3 are implemented.

5. A vehicle, characterized in that: The electronic device comprising the electronic device described in claim 4.

6. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of a creep control method for a new energy commercial vehicle as described in any one of claims 1 to 3 are implemented.

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