A method, device and electronic device for obtaining vehicle creep torque

Abstract

The present application provides a method, device and electronic device for obtaining the creep torque of a vehicle. When obtaining the creep activation signal of the vehicle, the present application obtains a feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value, and obtains a torque adjustment value based on the driving state parameter value; and obtains a target creep torque value based on the sum of the feedback torque value and the torque adjustment value. It reflects the influence of the acceleration pre-control torque value, the braking control torque value and the ramp assist torque value on the target creep torque value under various driving environments. By regulating the feedback torque value through the torque adjustment value, the influence of torque jitter on the target creep torque value is eliminated, and the robustness, objectivity and stability reliability of the target creep torque value are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle creep technology, and in particular, to a method, device, medium and electronic device for obtaining vehicle creep torque. Background Art

[0002] The vehicle's creep function achieves smooth control of the vehicle at low speeds by adjusting the motor torque and braking force. Through a reasonable control strategy, the vehicle can maintain a stable speed at low speeds.

[0003] However, if the vehicle is driving on special road conditions (such as a slope) and the control pedal needs to intervene, the creep function is difficult to control, resulting in torque jitter problems.

[0004] Therefore, the present application provides a method for obtaining vehicle creep torque to solve the above technical problems. Summary of the invention

[0005] The purpose of this application is to provide a method, device, medium and electronic device for obtaining vehicle creep torque, which can solve at least one of the above-mentioned technical problems. The specific solution is as follows:

[0006] According to a specific implementation of the present application, in a first aspect, the present application provides a method for obtaining a creep torque of a vehicle, comprising:

[0007] In response to obtaining a creep activation signal of the vehicle, detecting a driving control parameter value, a driving state parameter value, and a road state parameter value of the vehicle;

[0008] obtaining a feedback torque value based on the travel control parameter value, the travel state parameter value and the road state parameter value, and

[0009] obtaining a torque adjustment value based on the driving state parameter value;

[0010] A target creep torque value is obtained based on the sum of the feedback torque value and the torque adjustment value.

[0011] Optionally, obtaining the feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value includes:

[0012] obtaining an acceleration pre-control torque value and a braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value, and

[0013] obtaining a hill assist torque value of the vehicle based on the road state parameter value;

[0014] The feedback torque value is obtained based on the sum of the acceleration pre-control torque value, the brake control torque value and the hill assist torque value.

[0015] Optionally, the driving control parameter value at least includes a current driving torque value of the vehicle;

[0016] The driving state parameter value at least includes a current vehicle speed value collected at a current collection time point and a previous vehicle speed value collected at a previous collection time point immediately adjacent to the current collection time point;

[0017] Accordingly, the obtaining of the acceleration pre-control torque value of the vehicle based on the driving control parameter value and the driving state parameter value includes:

[0018] The acceleration pre-control torque value of the vehicle is obtained based on the current driving torque value, the current vehicle speed value, the previous vehicle speed value, a preset wheel rolling radius, and a preset vehicle mass value.

[0019] Optionally, the acceleration pre-control torque value of the vehicle is obtained based on the current driving torque value, the current vehicle speed value, the previous vehicle speed value, a preset wheel rolling radius, and a preset vehicle mass value, including the following formula:

[0020]

[0021] Among them, T represents the acceleration pre-control torque value, F represents the current driving torque value, R represents the preset wheel rolling radius, M represents the preset vehicle mass value, V represents the current vehicle speed value, and V0 represents the previous vehicle speed value.

[0022] Optionally, the driving control parameter value includes at least a brake pedal displacement;

[0023] The driving state parameter value at least includes the current vehicle speed value collected at the current collection time point;

[0024] Accordingly, the obtaining of the braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value comprises:

[0025] The brake pedal displacement and the current vehicle speed value are applied to a brake control torque model to obtain a brake control torque value of the vehicle.

[0026] Optionally, the road state parameter value includes at least a current road slope value;

[0027] Accordingly, obtaining the hill assist torque value of the vehicle based on the road state parameter value includes:

[0028] The current road gradient value is applied to a hill assist torque model to obtain a hill assist torque value of the vehicle.

[0029] Optionally, the driving state parameter value at least includes the vehicle speed value and the current driving gear state at each collection time point from the start collection time point to the current collection time point;

[0030] Accordingly, obtaining the torque adjustment value based on the driving state parameter value includes:

[0031] Applying the current vehicle speed value collected at the current collection time point and the current driving gear state to the PID coefficient model to obtain a proportional coefficient, an integral coefficient and a differential coefficient;

[0032] The vehicle speed value at each collection time point from the start collection time point to the current collection time point and the proportional coefficient, the integral coefficient and the differential coefficient are applied to the PID control model to obtain the torque adjustment value.

[0033] Optionally, before the step of detecting the driving control parameter value, the driving state parameter value and the road state parameter value of the vehicle in response to obtaining the creep activation signal of the vehicle, further comprises:

[0034] Get multiple activation parameter values ​​and multiple exit parameter values;

[0035] When the plurality of activation parameter values ​​all satisfy respective preset activation conditions, and the plurality of exit parameter values ​​all fail to satisfy respective preset exit conditions, a creep activation signal of the vehicle is generated.

[0036] According to a specific embodiment of the present application, in a second aspect, the present application provides a device for obtaining a creep torque of a vehicle, comprising:

[0037] a response unit, configured to detect a driving control parameter value, a driving state parameter value, and a road state parameter value of the vehicle in response to obtaining a creep activation signal of the vehicle;

[0038] a calculation unit, configured to obtain a feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value, and to obtain a torque adjustment value based on the driving state parameter value;

[0039] An obtaining unit is used to obtain a target creep torque value based on a sum of the feedback torque value and the torque adjustment value.

[0040] Optionally, obtaining the feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value includes:

[0041] obtaining an acceleration pre-control torque value and a braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value, and

[0042] obtaining a hill assist torque value of the vehicle based on the road state parameter value;

[0043] The feedback torque value is obtained based on the sum of the acceleration pre-control torque value, the brake control torque value and the hill assist torque value.

[0044] Optionally, the driving control parameter value at least includes a current driving torque value of the vehicle;

[0045] The driving state parameter value at least includes a current vehicle speed value collected at a current collection time point and a previous vehicle speed value collected at a previous collection time point immediately adjacent to the current collection time point;

[0046] Accordingly, the obtaining of the acceleration pre-control torque value of the vehicle based on the driving control parameter value and the driving state parameter value includes:

[0047] The acceleration pre-control torque value of the vehicle is obtained based on the current driving torque value, the current vehicle speed value, the previous vehicle speed value, a preset wheel rolling radius, and a preset vehicle mass value.

[0048] Optionally, the acceleration pre-control torque value of the vehicle is obtained based on the current driving torque value, the current vehicle speed value, the previous vehicle speed value, a preset wheel rolling radius, and a preset vehicle mass value, including the following formula:

[0049]

[0050] Among them, T represents the acceleration pre-control torque value, F represents the current driving torque value, R represents the preset wheel rolling radius, M represents the preset vehicle mass value, V represents the current vehicle speed value, and V0 represents the previous vehicle speed value.

[0051] Optionally, the driving control parameter value includes at least a brake pedal displacement;

[0052] The driving state parameter value at least includes the current vehicle speed value collected at the current collection time point;

[0053] Accordingly, the obtaining of the braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value comprises:

[0054] The brake pedal displacement and the current vehicle speed value are applied to a brake control torque model to obtain a brake control torque value of the vehicle.

[0055] Optionally, the road state parameter value includes at least a current road slope value;

[0056] Accordingly, obtaining the hill assist torque value of the vehicle based on the road state parameter value includes:

[0057] The current road gradient value is applied to a hill assist torque model to obtain a hill assist torque value of the vehicle.

[0058] Optionally, the driving state parameter value at least includes the vehicle speed value and the current driving gear state at each collection time point from the start collection time point to the current collection time point;

[0059] Accordingly, obtaining the torque adjustment value based on the driving state parameter value includes:

[0060] Applying the current vehicle speed value collected at the current collection time point and the current driving gear state to the PID coefficient model to obtain a proportional coefficient, an integral coefficient and a differential coefficient;

[0061] The vehicle speed value at each collection time point from the start collection time point to the current collection time point and the proportional coefficient, the integral coefficient and the differential coefficient are applied to the PID control model to obtain the torque adjustment value.

[0062] Optionally, before the step of detecting the driving control parameter value, the driving state parameter value and the road state parameter value of the vehicle in response to obtaining the creep activation signal of the vehicle, further comprises:

[0063] Get multiple activation parameter values ​​and multiple exit parameter values;

[0064] When the plurality of activation parameter values ​​all satisfy respective preset activation conditions, and the plurality of exit parameter values ​​all fail to satisfy respective preset exit conditions, a creep activation signal of the vehicle is generated.

[0065] According to the specific implementation of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method for obtaining the creep torque of the vehicle as described in any one of the above items is implemented.

[0066] According to the specific implementation of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method for obtaining the vehicle creep torque as described in any of the above items.

[0067] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0068] The present application provides a method, device, medium and electronic device for obtaining the creep torque of a vehicle. When obtaining the creep activation signal of the vehicle, the present application obtains a feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value, and obtains a torque adjustment value based on the driving state parameter value; and obtains a target creep torque value based on the sum of the feedback torque value and the torque adjustment value. It reflects the influence of the acceleration pre-control torque value, the braking control torque value and the ramp assist torque value on the target creep torque value under various driving environments. By regulating the feedback torque value through the torque adjustment value, the influence of torque jitter on the target creep torque value is eliminated, and the robustness, objectivity and stability reliability of the target creep torque value are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 A flow chart showing a method for obtaining vehicle creep torque according to an embodiment of the present application is shown;

[0070] Figure 2 A schematic diagram showing a braking control torque model of a method for obtaining a vehicle creep torque according to an embodiment of the present application;

[0071] Figure 3 A schematic diagram showing a hill assist torque model of a method for obtaining a vehicle creep torque according to an embodiment of the present application;

[0072] Figure 4 A unit block diagram of a device for obtaining vehicle creep torque according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0074] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0075] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0076] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0077] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0078] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0079] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0080] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0081] The embodiment provided in this application is an embodiment of a method for obtaining vehicle creep torque.

[0082] Combine the following Figure 1 The embodiments of the present application are described in detail.

[0083] Step S101, in response to obtaining a creep activation signal of a vehicle, detecting a driving control parameter value, a driving state parameter value and a road state parameter value of the vehicle.

[0084] Before obtaining the creep torque of the vehicle, the creep activation signal of the vehicle must be obtained. Only when the creep activation signal is obtained can the creep torque of the vehicle be obtained.

[0085] In some specific embodiments, before the step of detecting the driving control parameter value, the driving state parameter value and the road state parameter value of the vehicle in response to obtaining the creep activation signal of the vehicle, further comprises:

[0086] Step S100-1, obtaining multiple activation parameter values ​​and multiple exit parameter values.

[0087] The multiple activation parameter values ​​include: vehicle mode, current vehicle speed value and driving gear state.

[0088] The multiple exit parameter values ​​include: current vehicle condition, vehicle torque, non-driving gear state, EPB state, HHC state, brake pedal state, creep function control flag, forward gear to reverse gear control flag and reverse gear to forward gear control flag.

[0089] Step S100-2: When the plurality of activation parameter values ​​all satisfy their respective preset activation conditions, and the plurality of exit parameter values ​​all fail to satisfy their respective preset exit conditions, a creep activation signal of the vehicle is generated.

[0090] Preset activation conditions for vehicle mode: vehicle mode is factory mode;

[0091] The preset activation condition of the current vehicle speed value: the current vehicle speed value is less than the minimum vehicle speed value in the preset creeping vehicle speed range;

[0092] Preset activation condition of the drive gear state: the drive gear state is activated.

[0093] The preset exit condition of the current vehicle status: the current vehicle status is a fault state;

[0094] Preset exit condition of vehicle torque: vehicle torque exceeds the preset creep torque range;

[0095] Preset exit condition of the non-driving gear state: the non-driving gear state is inactive;

[0096] Preset exit conditions of EPB state: EPB state is parking state;

[0097] The preset exit condition of the combination of HHC state and brake pedal state: the HHC state is in the on state, and the brake pedal state is in the braking state;

[0098] The preset exit condition of the creep function control mark: the creep function control mark is the creep prohibition mark;

[0099] The preset exit condition of the creep control mark of the forward gear switching and reverse gear switching function: the creep control mark of the forward gear switching and reverse gear switching function is the creep prohibition mark;

[0100] The preset exit condition of the creep control mark of the reverse gear-to-forward gear function: the creep control mark of the reverse gear-to-forward gear function is the creep prohibition mark.

[0101] In this specific embodiment, a creep activation signal is generated by judging a variety of parameter values, which activates the creep function stably and reliably, and also provides an interface for controlling the creep function, effectively saving subsequent computing power.

[0102] Step S102 : obtaining a feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value, and obtaining a torque adjustment value based on the driving state parameter value.

[0103] In the embodiment of the present application, the influence of the driving control parameter value, the driving state parameter value and the road state parameter value on the feedback torque value is taken into consideration, the robustness of the feedback torque value is improved, and the stability and reliability of the creep function are ensured. At the same time, the torque adjustment value is obtained through the driving state parameter value, which reflects the influence of the adverse factors of torque jitter on the feedback torque value.

[0104] In some specific embodiments, obtaining the feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value includes:

[0105] Step S102-1, obtaining an acceleration pre-control torque value and a braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value, and obtaining a hill assist torque value of the vehicle based on the road state parameter value.

[0106] The acceleration pre-control torque value refers to the torque value obtained by the vehicle after the accelerator pedal is depressed, which reflects the torque value required for the vehicle to reach force balance.

[0107] The brake control torque value refers to the torque value obtained by the vehicle after the brake pedal is pressed.

[0108] Hill assist torque value refers to the torque value obtained by the vehicle on a slope.

[0109] In some specific embodiments, the driving control parameter value at least includes a current driving torque value of the vehicle.

[0110] The driving state parameter value at least includes the current vehicle speed value collected at the current collection time point and the previous vehicle speed value collected at the previous collection time point immediately before the current collection time point. For example, if the current collection time point is time point t, the previous collection time point immediately before the current collection time point is time point t-1.

[0111] Accordingly, the obtaining of the acceleration pre-control torque value of the vehicle based on the driving control parameter value and the driving state parameter value includes:

[0112] Step S102-1a, obtaining the acceleration pre-control torque value of the vehicle based on the current driving torque value, the current vehicle speed value and the previous vehicle speed value, as well as the preset wheel rolling radius and the preset vehicle mass value.

[0113] In this specific embodiment, the influence of the current driving torque value, the current vehicle speed value and the previous vehicle speed value as well as the preset wheel rolling radius and the preset vehicle mass value on the acceleration pre-control torque value is reflected.

[0114] In some specific embodiments, the acceleration pre-control torque value of the vehicle is obtained based on the current driving torque value, the current vehicle speed value, the previous vehicle speed value, a preset wheel rolling radius, and a preset vehicle mass value, including the following formula:

[0115]

[0116] Among them, T represents the acceleration pre-control torque value, F represents the current driving torque value, R represents the preset wheel rolling radius, M represents the preset vehicle mass value, V represents the current vehicle speed value, and V0 represents the previous vehicle speed value.

[0117] In some specific embodiments, the driving control parameter value at least includes a brake pedal displacement.

[0118] The driving state parameter value at least includes the current vehicle speed value collected at the current collection time point.

[0119] Accordingly, the obtaining of the braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value comprises:

[0120] Step S102-1b: Apply the brake pedal displacement and the current vehicle speed value to a braking control torque model to obtain a braking control torque value of the vehicle.

[0121] like Figure 2 As shown in the figure, the brake control torque model includes the corresponding relationship between the brake pedal displacement and the vehicle speed value and the brake control torque value. Within the creeping speed range, if the brake pedal is not pressed, the normal creeping starting torque is responded; if the brake pedal is pressed and the brake pedal pressing depth gradually increases, the brake control torque value is gradually reduced to ensure that the vehicle speed value is within the creeping speed range and ensure driving safety.

[0122] The braking control torque model is obtained through experiments to ensure the objectivity, stability and reliability of the obtained braking control torque value.

[0123] In some specific embodiments, the road state parameter value includes at least a current road slope value.

[0124] Accordingly, obtaining the hill assist torque value of the vehicle based on the road state parameter value includes:

[0125] Step S102-1c: applying the current road slope value to a hill assist torque model to obtain a hill assist torque value of the vehicle.

[0126] like Figure 3 As shown, the hill assist torque model includes the corresponding relationship between the road slope value and the hill assist torque value. When the road slope value of the vehicle going downhill is less than or equal to -2, the hill assist torque value is a fixed negative torque value; when the road slope value of the vehicle going downhill is within [-2, 0], as the road slope value increases, the hill assist torque value increases linearly from the fixed negative torque value to zero; when the vehicle goes uphill, as the road slope value increases, the hill assist torque value also increases linearly in the positive range. Ensure that the vehicle creeps up the slope stably and prevents slipping.

[0127] The hill assist torque model is obtained through experiments to ensure the objectivity, stability and reliability of the obtained hill assist torque value.

[0128] In some specific embodiments, the driving state parameter value at least includes the vehicle speed value and the current driving gear state at each collection time point from the start collection time point to the current collection time point.

[0129] Accordingly, obtaining the torque adjustment value based on the driving state parameter value includes:

[0130] Step S102-1d-1, applying the current vehicle speed value collected at the current collection time point and the current driving gear state to the PID coefficient model to obtain the proportional coefficient, integral coefficient and differential coefficient.

[0131] The PID coefficient model includes the corresponding relationship between the vehicle speed value and the driving gear state and the proportional coefficient, integral coefficient and differential coefficient.

[0132] The PID coefficient model is obtained through experiments to ensure the objectivity, stability and reliability of the obtained proportional coefficient, integral coefficient and differential coefficient.

[0133] In step S102-1d-2, the vehicle speed value at each collection time point from the start collection time point to the current collection time point and the proportional coefficient, the integral coefficient and the differential coefficient are applied to the PID control model to obtain the torque adjustment value.

[0134] This specific embodiment achieves the objectivity and stable reliability of the torque adjustment value through the PID control model.

[0135] In some specific embodiments, the vehicle speed value at each collection time point between the start collection time point and the current collection time point, as well as the proportional coefficient, the integral coefficient, and the differential coefficient are applied to the PID control model to obtain the torque adjustment value, including the following formula:

[0136]

[0137] Among them, u k represents the torque adjustment value at the kth time point, K p Represents the proportionality coefficient, K i Indicates the integral coefficient, K d represents the differential coefficient, e k represents the system error value at the kth time point, e k-1 represents the system error value at the k-1th time point, It represents the sum of the system error values ​​of each acquisition time point from the start acquisition time point to the kth time point. The kth time point may be the current acquisition time point.

[0138] The system error value is equal to the difference between the preset target creeping vehicle speed value and the vehicle speed value at the kth time point.

[0139] Step S102-2, obtaining the feedback torque value based on the sum of the acceleration pre-control torque value, the braking control torque value and the hill assist torque value.

[0140] In this specific embodiment, the influence of the acceleration pre-control torque value, the braking control torque value and the hill assist torque value on the feedback torque value under various driving environments is reflected, thereby improving the robustness of the feedback torque value.

[0141] Step S103: obtaining a target creep torque value based on the sum of the feedback torque value and the torque adjustment value.

[0142] In the embodiment of the present application, the feedback torque value is regulated by the torque adjustment value, thereby eliminating the influence of torque jitter on the target creep torque value and improving the robustness, objectivity and stability reliability of the target creep torque value.

[0143] When obtaining the creep activation signal of the vehicle, the embodiment of the present application obtains the feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value, and obtains the torque adjustment value based on the driving state parameter value; and obtains the target creep torque value based on the sum of the feedback torque value and the torque adjustment value. This reflects the influence of the acceleration pre-control torque value, the braking control torque value and the ramp assist torque value on the target creep torque value under various driving environments. By regulating the feedback torque value through the torque adjustment value, the influence of torque jitter on the target creep torque value is eliminated, and the robustness, objectivity and stability reliability of the target creep torque value are improved.

[0144] Optionally, the target creep torque value is coordinated with the coasting torque value to optimize the target creep torque value. If the current vehicle speed is lower than the preset target creep speed value, a creep demand torque value is established, and the coasting torque demand value is zero; if the current vehicle speed approaches the preset target creep speed value, the creep demand torque value gradually decreases; if the current vehicle speed is greater than the preset target creep speed value, the wheel-end creep demand torque value gradually decreases to zero, and the coasting recovery torque value is gradually established, and the higher the vehicle speed value, the greater the coasting recovery torque value. Specifically, the coasting torque value is obtained through a coasting torque model. The coasting torque model is obtained through experiments.

[0145] Optionally, the target creep torque value is coordinated with the EPB state to optimize the target creep torque value. If the EPB state is the handbrake pulled state, the target creep torque value is zero; if the EPB state is the handbrake released state, the target creep torque value is output with a delay according to the drive gear state being the activated state. For example, the delay time when the reverse gear state is the activated state is slightly longer than the delay time when the forward gear state is the activated state, for example, 0.1s to 0.5s longer.

[0146] During coordination, different working conditions are introduced for torque judgment to ensure that the target creep torque value is safe and reliable in the gliding state and the EPB state. At the same time, a filter can be used for filtering to output a smooth target creep torque value.

[0147] The present application also provides a device embodiment that is based on the above embodiment, which is used to implement the method steps described in the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

[0148] like Figure 4 As shown, the present application provides a device 400 for obtaining a creep torque of a vehicle, comprising:

[0149] A response unit 401, configured to detect a driving control parameter value, a driving state parameter value, and a road state parameter value of the vehicle in response to obtaining a creep activation signal of the vehicle;

[0150] a calculation unit 402, configured to obtain a feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value, and to obtain a torque adjustment value based on the driving state parameter value;

[0151] The obtaining unit 403 is used to obtain a target creep torque value based on the sum of the feedback torque value and the torque adjustment value.

[0152] Optionally, obtaining the feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value includes:

[0153] obtaining an acceleration pre-control torque value and a braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value, and

[0154] obtaining a hill assist torque value of the vehicle based on the road state parameter value;

[0155] The feedback torque value is obtained based on the sum of the acceleration pre-control torque value, the brake control torque value and the hill assist torque value.

[0156] Optionally, the driving control parameter value at least includes a current driving torque value of the vehicle;

[0157] The driving state parameter value at least includes a current vehicle speed value collected at a current collection time point and a previous vehicle speed value collected at a previous collection time point immediately adjacent to the current collection time point;

[0158] Accordingly, the obtaining of the acceleration pre-control torque value of the vehicle based on the driving control parameter value and the driving state parameter value includes:

[0159] The acceleration pre-control torque value of the vehicle is obtained based on the current driving torque value, the current vehicle speed value, the previous vehicle speed value, a preset wheel rolling radius, and a preset vehicle mass value.

[0160] Optionally, the acceleration pre-control torque value of the vehicle is obtained based on the current driving torque value, the current vehicle speed value, the previous vehicle speed value, a preset wheel rolling radius, and a preset vehicle mass value, including the following formula:

[0161]

[0162] Among them, T represents the acceleration pre-control torque value, F represents the current driving torque value, R represents the preset wheel rolling radius, M represents the preset vehicle mass value, V represents the current vehicle speed value, and V0 represents the previous vehicle speed value.

[0163] Optionally, the driving control parameter value includes at least a brake pedal displacement;

[0164] The driving state parameter value at least includes the current vehicle speed value collected at the current collection time point;

[0165] Accordingly, the obtaining of the braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value comprises:

[0166] The brake pedal displacement and the current vehicle speed value are applied to a brake control torque model to obtain a brake control torque value of the vehicle.

[0167] Optionally, the road state parameter value includes at least a current road slope value;

[0168] Accordingly, obtaining the hill assist torque value of the vehicle based on the road state parameter value includes:

[0169] The current road gradient value is applied to a hill assist torque model to obtain a hill assist torque value of the vehicle.

[0170] Optionally, the driving state parameter value at least includes the vehicle speed value and the current driving gear state at each collection time point from the start collection time point to the current collection time point;

[0171] Accordingly, obtaining the torque adjustment value based on the driving state parameter value includes:

[0172] Applying the current vehicle speed value collected at the current collection time point and the current driving gear state to the PID coefficient model to obtain a proportional coefficient, an integral coefficient and a differential coefficient;

[0173] The vehicle speed value at each collection time point from the start collection time point to the current collection time point and the proportional coefficient, the integral coefficient and the differential coefficient are applied to the PID control model to obtain the torque adjustment value.

[0174] Optionally, before the step of detecting the driving control parameter value, the driving state parameter value and the road state parameter value of the vehicle in response to obtaining the creep activation signal of the vehicle, further comprises:

[0175] Get multiple activation parameter values ​​and multiple exit parameter values;

[0176] When the plurality of activation parameter values ​​all satisfy respective preset activation conditions, and the plurality of exit parameter values ​​all fail to satisfy respective preset exit conditions, a creep activation signal of the vehicle is generated.

[0177] When obtaining the creep activation signal of the vehicle, the embodiment of the present application obtains the feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value, and obtains the torque adjustment value based on the driving state parameter value; and obtains the target creep torque value based on the sum of the feedback torque value and the torque adjustment value. This reflects the influence of the acceleration pre-control torque value, the braking control torque value and the ramp assist torque value on the target creep torque value under various driving environments. By regulating the feedback torque value through the torque adjustment value, the influence of torque jitter on the target creep torque value is eliminated, and the robustness, objectivity and stability reliability of the target creep torque value are improved.

[0178] Example 3

[0179] This embodiment provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps described in the above embodiment.

[0180] Example 4

[0181] An embodiment of the present application provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps described in the above embodiment.

[0182] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0183] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for obtaining a vehicle creep torque, characterized in that: include: In response to obtaining a creep activation signal of the vehicle, detecting a driving control parameter value, a driving state parameter value, and a road state parameter value of the vehicle; obtaining a feedback torque value based on the travel control parameter value, the travel state parameter value and the road state parameter value, and obtaining a torque adjustment value based on the driving state parameter value; A target creep torque value is obtained based on the sum of the feedback torque value and the torque adjustment value.

2. The method according to claim 1, characterized in that The obtaining of the feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value comprises: obtaining an acceleration pre-control torque value and a braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value, and obtaining a hill assist torque value of the vehicle based on the road state parameter value; The feedback torque value is obtained based on the sum of the acceleration pre-control torque value, the brake control torque value and the hill assist torque value.

3. The method according to claim 2, characterized in that The driving control parameter value at least includes a current driving torque value of the vehicle; The driving state parameter value at least includes a current vehicle speed value collected at a current collection time point and a previous vehicle speed value collected at a previous collection time point immediately adjacent to the current collection time point; Accordingly, the obtaining of the acceleration pre-control torque value of the vehicle based on the driving control parameter value and the driving state parameter value includes: The acceleration pre-control torque value of the vehicle is obtained based on the current driving torque value, the current vehicle speed value, the previous vehicle speed value, a preset wheel rolling radius, and a preset vehicle mass value.

4. The method according to claim 3, characterized in that The acceleration pre-control torque value of the vehicle is obtained based on the current driving torque value, the current vehicle speed value, the previous vehicle speed value, the preset wheel rolling radius, and the preset vehicle mass value, including the following formula: Among them, T represents the acceleration pre-control torque value, F represents the current driving torque value, R represents the preset wheel rolling radius, M represents the preset vehicle mass value, V represents the current vehicle speed value, and V0 represents the previous vehicle speed value.

5. The method according to claim 2, characterized in that: The driving control parameter value at least includes a brake pedal displacement; The driving state parameter value at least includes the current vehicle speed value collected at the current collection time point; Accordingly, the obtaining of the braking control torque value of the vehicle based on the driving control parameter value and the driving state parameter value comprises: The brake pedal displacement and the current vehicle speed value are applied to a brake control torque model to obtain a brake control torque value of the vehicle.

6. The method according to claim 2, characterized in that The road state parameter value at least includes the current road slope value; Accordingly, obtaining the hill assist torque value of the vehicle based on the road state parameter value includes: The current road gradient value is applied to a hill assist torque model to obtain a hill assist torque value of the vehicle.

7. The method according to claim 2, characterized in that The driving state parameter value at least includes the vehicle speed value and the current driving gear state at each collection time point from the start collection time point to the current collection time point; Accordingly, obtaining the torque adjustment value based on the driving state parameter value includes: Applying the current vehicle speed value collected at the current collection time point and the current driving gear state to the PID coefficient model to obtain a proportional coefficient, an integral coefficient and a differential coefficient; The vehicle speed value at each collection time point from the start collection time point to the current collection time point and the proportional coefficient, the integral coefficient and the differential coefficient are applied to the PID control model to obtain the torque adjustment value.

8. The method according to claim 1, characterized in that Before the method detects the driving control parameter value, driving state parameter value and road state parameter value of the vehicle in response to obtaining the creep activation signal of the vehicle, the method further includes: Get multiple activation parameter values ​​and multiple exit parameter values; When the plurality of activation parameter values ​​all satisfy respective preset activation conditions, and the plurality of exit parameter values ​​all fail to satisfy respective preset exit conditions, a creep activation signal of the vehicle is generated.

9. A device for obtaining creep torque of a vehicle, characterized in that: include: a response unit, configured to detect a driving control parameter value, a driving state parameter value, and a road state parameter value of the vehicle in response to obtaining a creep activation signal of the vehicle; a calculation unit, configured to obtain a feedback torque value based on the driving control parameter value, the driving state parameter value and the road state parameter value, and to obtain a torque adjustment value based on the driving state parameter value; An obtaining unit is used to obtain a target creep torque value based on a sum of the feedback torque value and the torque adjustment value.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 8.

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