Crawling speed control method and system and vehicle

Abstract

The invention relates to a creeping speed control method which comprises the following steps: when a vehicle enters a first creeping state, acquiring the current state of a plurality of preset driving influence factors; according to the current state of each preset driving influence factor and a plurality of preset rules corresponding to the preset driving influence factors, a plurality of crawling target vehicle speed calculation values corresponding to the preset driving influence factors are calculated; and taking the minimum value in the plurality of creeping target vehicle speed calculation values as the current creeping target vehicle speed of the vehicle. The invention further provides a crawling speed control system. The invention further provides a vehicle. According to the crawling speed control method provided by the invention, the appropriate current crawling target speed can be determined according to the current states of the plurality of preset driving influence factors, and the risk of accidents when the vehicle crashes in part of scenes can be reduced. According to the invention, multiple crawling modes are provided for the user, and the user experience can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a creeping vehicle speed control method, system and vehicle. Background Art

[0002] Vehicle creeping means that when the car is driving at a low speed, the driver does not need to step on the accelerator pedal, and the vehicle automatically outputs a certain torque to maintain a specific driving speed.

[0003] The creep control scheme of vehicles in the prior art usually has the following technical problems:

[0004] Existing solutions usually preset fixed creeping speeds for forward gear and reverse gear respectively to cope with low-speed following, climbing, parking and other scenarios. However, in actual driving, the two fixed creeping speeds are difficult to adapt to complex and changing environments and users' personalized needs, resulting in poor user experience.

[0005] Existing solutions fail to fully consider special scenarios such as the vehicle reversing downhill, dim light, creeping speed, and user fatigue. In these scenarios, using a preset fixed creeping speed to control vehicle operation may cause safety hazards and increase the risk of accidents. Summary of the invention

[0006] The purpose of the present invention is to provide a creeping vehicle speed control method, system and vehicle to alleviate or eliminate at least one of the above-mentioned technical problems.

[0007] A creeping vehicle speed control method according to the present invention comprises the following steps:

[0008] When the vehicle enters the first creeping state, obtaining current states of a plurality of preset driving influencing factors;

[0009] According to the current state of each of the preset driving influencing factors, and in accordance with a plurality of preset rules corresponding to the plurality of preset driving influencing factors, a plurality of creeping target vehicle speed calculation values ​​corresponding to the plurality of preset driving influencing factors are calculated;

[0010] The minimum value among the plurality of creep target vehicle speed calculation values ​​is used as the current creep target vehicle speed of the vehicle.

[0011] Optionally, multiple preset driving influencing factors include slope, light intensity, driver fatigue level and steering wheel angle.

[0012] Optionally, the step of calculating, according to the current state of each of the preset driving influencing factors and according to a plurality of preset rules corresponding to the plurality of preset driving influencing factors, a plurality of creeping target vehicle speed calculation values ​​corresponding to the plurality of preset driving influencing factors respectively comprises the following steps:

[0013] When the vehicle gear is in the forward gear, according to the formula V Dobj1 =k1×V D Calculate the creep target vehicle speed corresponding to the slope, according to the formula V Dobj2 =k2×V D Calculate the creeping target vehicle speed calculation value corresponding to the light intensity, according to the formula V Dobj3 =k3×V D Calculate the creeping target vehicle speed calculation value corresponding to the driver fatigue level, according to the formula V Dobj4 =k4×V D Calculating a creep target vehicle speed calculation value corresponding to the steering wheel angle;

[0014] Among them, V Dobj1 is the calculated value of the creep target vehicle speed corresponding to the slope in the forward gear, k1 is the correction coefficient corresponding to the slope in the forward gear, V D is the preset fixed value of creep target vehicle speed corresponding to the forward gear, V Dobj2 is the calculated value of the creeping target vehicle speed corresponding to the light intensity in the forward gear, k2 is the correction coefficient corresponding to the light intensity in the forward gear, V Dobj3 is the calculated value of the creeping target vehicle speed corresponding to the driver's fatigue level in the forward gear, k3 is the correction coefficient corresponding to the driver's fatigue level in the forward gear, V Dobj4 is the calculated value of the creep target vehicle speed corresponding to the steering wheel angle in the forward gear, and k4 is the correction coefficient corresponding to the steering wheel angle in the forward gear.

[0015] Optionally, the greater the slope, the smaller k1; the darker the light intensity, the smaller k2; the more severe the driver's fatigue, the smaller k3; the greater the steering wheel angle, the smaller k4.

[0016] Optionally, the step of calculating, according to the current state of each of the preset driving influencing factors and according to a plurality of preset rules corresponding to the plurality of preset driving influencing factors, a plurality of creeping target vehicle speed calculation values ​​corresponding to the plurality of preset driving influencing factors respectively comprises the following steps:

[0017] When the vehicle gear is the reverse gear, according to the formula V Robj1 =C1×V R Calculate the creep target vehicle speed corresponding to the slope, according to the formula V Robj2 =C2×V R Calculate the creeping target vehicle speed calculation value corresponding to the light intensity, according to the formula V Robj3 =C3×V RCalculate the creeping target vehicle speed calculation value corresponding to the driver fatigue level, according to the formula V Robj4 =C3×V R Calculating a creep target vehicle speed calculation value corresponding to the steering wheel angle;

[0018] Among them, V Robj1 is the calculated value of the creeping target vehicle speed corresponding to the slope in the reverse gear, C1 is the correction coefficient corresponding to the slope in the reverse gear, V R is the preset creeping target speed fixed value corresponding to the reverse gear, V Robj2 is the calculated value of the creeping target vehicle speed corresponding to the light intensity in the reverse gear, C2 is the correction coefficient corresponding to the light intensity in the reverse gear, V Robj3 is the calculated value of the creeping target vehicle speed corresponding to the driver's fatigue level when in reverse gear, C3 is the correction coefficient corresponding to the driver's fatigue level when in reverse gear, V Robj4 is the calculated value of the creep target vehicle speed corresponding to the steering wheel angle in the reverse gear, and C4 is the correction coefficient corresponding to the steering wheel angle in the reverse gear.

[0019] Optionally, the greater the slope, the smaller C1; the darker the light intensity, the smaller C2; the more severe the driver fatigue, the smaller C3; the greater the steering wheel angle, the smaller C4.

[0020] Optionally, the creeping vehicle speed control method further includes the following steps: when the vehicle enters the second creeping state, a preset creeping target vehicle speed fixed value is used as the current creeping target vehicle speed of the vehicle.

[0021] Optionally, the creeping vehicle speed control method further includes the following steps: when the vehicle enters the third creeping state, a user-defined creeping target vehicle speed definition value is used as the current creeping target vehicle speed of the vehicle.

[0022] The present invention also proposes a creeping vehicle speed control system, comprising:

[0023] An acquisition module, used to: when the vehicle enters the first creeping state, acquire the current states of a plurality of preset driving influencing factors;

[0024] A first calculation module is used to calculate a plurality of creeping target vehicle speed calculation values ​​respectively corresponding to the plurality of preset driving influencing factors according to the current state of each of the preset driving influencing factors and the preset rules corresponding to the plurality of preset driving influencing factors;

[0025] The second calculation module is used to: use the minimum value among the multiple creeping target vehicle speed calculation values ​​as the current creeping target vehicle speed of the vehicle.

[0026] The present invention also proposes a vehicle, characterized in that it comprises the above-mentioned creeping vehicle speed control system.

[0027] The creeping speed control method proposed in the present invention can determine a suitable current creeping target speed according to the current status of multiple preset driving influencing factors, and can reduce the risk of accidents when the vehicle is creeping in some scenarios. The present invention provides users with multiple creeping modes, which can improve user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a flow chart of a creeping vehicle speed control method described in some embodiments;

[0029] Figure 2 A flowchart of a vehicle entering a creeping state as described in a specific example;

[0030] Figure 3 Schematic diagram of the creeping vehicle speed control system described in some embodiments.

[0031] In the figure, 10 is a creeping vehicle speed control system, 20 is an acquisition module, 30 is a first calculation module, and 40 is a second calculation module. DETAILED DESCRIPTION

[0032] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0033] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0034] like Figure 1 A creeping vehicle speed control method shown includes the following steps:

[0035] S100: When the vehicle enters the first creeping state, obtaining current states of a plurality of preset driving influencing factors;

[0036] S200: calculating a plurality of creeping target vehicle speed calculation values ​​corresponding to the plurality of preset driving influencing factors respectively according to a plurality of preset rules corresponding to the plurality of preset driving influencing factors respectively according to the current state of each preset driving influencing factor;

[0037] S300: Taking the minimum value among the plurality of creep target vehicle speed calculation values ​​as the current creep target vehicle speed of the vehicle.

[0038] Driving influencing factors are factors that will affect the driver's driving behavior and driving experience during vehicle operation, especially factors that will affect the driver's driving behavior and driving experience when the vehicle is in a creeping state.

[0039] By adopting the above-mentioned creeping speed control method, a smaller current creeping target speed is determined according to the current status of multiple preset driving influencing factors. This can reduce the risk of accidents occurring when the vehicle is creeping in some scenarios where the driver's driving behavior and driving experience are affected. It can also help alleviate the problem of users perceiving the creeping speed to be too fast in specific scenarios, and help improve the adaptability and experience of the creeping function.

[0040] In some embodiments, the plurality of preset driving influencing factors include slope, light intensity, driver fatigue and steering wheel angle. Obviously, when the slope is large, the light intensity of the vehicle environment is low, the driver fatigue is serious and the vehicle turns sharply, these factors will have an adverse effect on the driver's driving behavior and driving experience. Using these factors as preset driving influencing factors will help reduce the risk of accidents when the vehicle is creeping. In specific implementation, the slope, light intensity, driver fatigue and steering wheel angle can be measured by the vehicle's onboard sensor device.

[0041] In some embodiments, according to the current state of each preset driving influencing factor and according to a plurality of preset rules corresponding to the plurality of preset driving influencing factors, calculating a plurality of creeping target vehicle speed calculation values ​​corresponding to the plurality of preset driving influencing factors respectively comprises the following steps:

[0042] When the vehicle is in forward gear, according to the formula V Dobj1 =k1×V D Calculate the creep target speed corresponding to the slope, according to the formula V Dobj2 =k2×V D Calculate the creeping target speed value corresponding to the light intensity, according to the formula V Dobj3 =k3×V D Calculate the creep target speed value corresponding to the driver's fatigue level according to the formula V Dobj4 =k4×V D Calculate the creep target vehicle speed value corresponding to the steering wheel angle;

[0043] Among them, V Dobj1 is the calculated value of the creep target speed corresponding to the slope in the forward gear, k1 is the correction coefficient corresponding to the slope in the forward gear, V D is the preset fixed value of creep target vehicle speed corresponding to the forward gear, V Dobj2 is the calculated value of the creeping target vehicle speed corresponding to the light intensity in the forward gear, k2 is the correction coefficient corresponding to the light intensity in the forward gear, V Dobj3 is the calculated value of the creeping target vehicle speed corresponding to the driver's fatigue level in the forward gear, k3 is the correction coefficient corresponding to the driver's fatigue level in the forward gear, V Dobj4 is the calculated value of the creep target vehicle speed corresponding to the steering wheel angle in the forward gear, and k4 is the correction coefficient corresponding to the steering wheel angle in the forward gear.

[0044] By adopting the above technical solution, the creep target vehicle speed calculation value corresponding to each preset driving influencing factor can be calculated more surely and accurately.

[0045] In specific implementation, when the vehicle enters the first creeping state and the vehicle gear is in the forward gear, after calculating V Dobj1 、V Dobj2 、V Dobj3 and V Dobj4 After that, the formula V can be used Dobj =min(V Dobj1 , V Dobj2 , V Dobj3 , V Dobj4 ) calculates the vehicle’s current creep target speed.

[0046] In some embodiments, the greater the slope, the smaller k1; the darker the light intensity, the smaller k2; the more serious the driver fatigue, the smaller k3; the greater the steering wheel angle, the smaller k4. Using the above rules, a creeping target speed calculation value that can better ensure driving safety can be calculated.

[0047] As a specific example, k1 is a correction coefficient obtained by looking up the following table according to the absolute value of the slope.

[0048] Absolute value of slope / % 0％ 10％ 20％ 30％ Correction factor 1 0.9 0.7 0.5

[0049] As a specific example, k2 is a correction coefficient obtained by looking up the following table according to the light intensity.

[0050] Light intensity / % 0 1 2 3 Correction factor 1 0.85 0.65 0.55

[0051] As a specific example, k3 is a correction coefficient obtained by looking up the following table according to the driver's fatigue level.

[0052] Driver fatigue level 0 1 2 3 Correction factor 1 0.8 0.6 0.4

[0053] As a specific example, k4 is a correction coefficient obtained by looking up the following table according to the absolute value of the steering wheel angle.

[0054] Steering wheel angle absolute value / ° 0 180 360 720 Correction factor 1 0.95 0.85 0.65

[0055] In some embodiments, according to the current state of each preset driving influencing factor and according to a plurality of preset rules corresponding to the plurality of preset driving influencing factors, calculating a plurality of creeping target vehicle speed calculation values ​​corresponding to the plurality of preset driving influencing factors respectively comprises the following steps:

[0056] When the vehicle is in reverse gear, according to the formula V Robj1 =C1×V R Calculate the creep target speed corresponding to the slope, according to the formula V Robj2 =C2×V R Calculate the creeping target speed value corresponding to the light intensity, according to the formula V Robj3 =C3×V R Calculate the creep target speed value corresponding to the driver's fatigue level according to the formula V Robj4 =C4×V R Calculate the creep target vehicle speed value corresponding to the steering wheel angle;

[0057] Among them, V Robj1 is the calculated value of the creeping target speed corresponding to the slope when in reverse gear, C1 is the correction coefficient corresponding to the slope when in reverse gear, V R is the preset creeping target speed fixed value corresponding to the reverse gear, V Robj2 is the calculated value of the creeping target vehicle speed corresponding to the light intensity when in reverse gear, C2 is the correction coefficient corresponding to the light intensity when in reverse gear, V Robj3 is the calculated value of the creeping target speed corresponding to the driver's fatigue level when in reverse gear, C3 is the correction coefficient corresponding to the driver's fatigue level when in reverse gear, V Robj4 is the calculated value of the creep target vehicle speed corresponding to the steering wheel angle when in reverse gear, and C4 is the correction coefficient corresponding to the steering wheel angle when in reverse gear.

[0058] By adopting the above technical solution, the creeping target speed calculation value corresponding to each preset driving influencing factor can be calculated more accurately and precisely. The present application sets calculation rules for reverse gear and forward gear respectively, which can obtain a more appropriate creeping target speed calculation value, and helps reduce the risk of accidents when the vehicle is creeping.

[0059] In some embodiments, when the vehicle enters the first creeping state and the vehicle gear is in the reverse gear, when V Robj1 、V Robj2 、V Robj3 and VRobj4 After that, the formula V can be used Robj =min(V Robj1 , V Robj2 , V Robj3 ,V Robj4 ) calculates the vehicle’s current creep target speed.

[0060] In some embodiments, the greater the slope, the smaller C1; the darker the light intensity, the smaller C2; the more serious the driver fatigue, the smaller C3; the greater the steering wheel angle, the smaller C4. Using the above rules, a creeping target speed calculation value that can better ensure driving safety can be calculated.

[0061] In specific implementation, C1, C2, C3 and C4 can be obtained by looking up a table.

[0062] In some embodiments, the creeping speed control method further comprises the following steps: when the vehicle enters the second creeping state, a preset creeping target speed fixed value is used as the current creeping target speed of the vehicle. By setting the second creeping state, more options can be provided to the user. In specific implementation, when the vehicle enters the second creeping state and the vehicle gear is in the forward gear, the creeping target speed fixed value is a preset V D ; When the vehicle enters the second creeping state and the vehicle gear is in reverse gear, the creeping target speed is fixed to the preset V R As a specific example, V D Can be set to 5km / h, V R Can be set to 4km / h.

[0063] In some embodiments, the creeping speed control method further includes the following steps: when the vehicle enters the third creeping state, the creeping target speed definition value defined by the user is used as the current creeping target speed of the vehicle. With the above technical solution, the user can set the creeping target speed definition value according to their own needs, which can provide users with more choices, meet the personalized needs of users, and improve user experience. The setting method of the creeping target speed definition value is not limited, and it can be set by physical buttons, virtual setting buttons, steering wheel shortcut keys, accelerator pedals, and brake pedals.

[0064] In specific implementation, three creeping modes can be set in the vehicle, namely the first creeping mode, the second creeping mode and the third creeping mode, the first creeping mode can also be called an adaptive creeping mode, the second creeping mode can also be called a fixed creeping mode, and the third creeping mode can also be called a custom creeping mode. Providing three creeping modes for users can improve user experience.

[0065] In specific implementation, when the vehicle is offline or leaves the factory, the creeping mode defaults to the second creeping mode; the user can choose whether to activate the first creeping mode and the third creeping mode through the vehicle computer, steering wheel buttons, or physical buttons on the vehicle; the user can choose whether to memorize the creeping mode. When the user chooses to memorize, the creeping mode when the vehicle is powered on again will be the creeping mode before power-off.

[0066] like Figure 2 As shown, as a specific example, the vehicle entering the creeping state includes the following steps:

[0067] S400: The user sets the creeping mode of the vehicle;

[0068] S501: When the user sets the creeping mode of the vehicle to the first creeping mode, the vehicle enters the first creeping mode;

[0069] S502: After the vehicle enters the first creeping mode, when the vehicle meets a preset creeping condition, the vehicle enters the first creeping state;

[0070] S601: When the user sets the creeping mode of the vehicle to the second creeping mode, the vehicle enters the second creeping mode;

[0071] S602: After the vehicle enters the second creeping mode, when the vehicle meets a preset creeping condition, the vehicle enters the second creeping state;

[0072] S701: When the user sets the creeping mode of the vehicle to the third creeping mode, the vehicle enters the third creeping mode;

[0073] S702: After the vehicle enters the third creeping mode, when the vehicle meets the preset creeping conditions, the vehicle enters the third creeping state.

[0074] When the current creep target speed of the vehicle is determined, the motor torque or speed can be controlled to achieve the set current creep target speed. The target motor torque can be obtained by looking up the table according to the vehicle speed, and the target motor torque can be calculated by using the feedforward + feedback PID method to perform vehicle speed or speed closed-loop control. Alternatively, the vehicle speed can be converted to speed and the target motor speed can be calculated using a speed closed-loop control method.

[0075] like Figure 3 As shown, the present invention also proposes a creeping vehicle speed control system 10, comprising:

[0076] The acquisition module 20 is used to: when the vehicle enters the first creeping state, acquire the current state of a plurality of preset driving influencing factors;

[0077] The first calculation module 30 is used to calculate a plurality of creeping target vehicle speed calculation values ​​corresponding to the plurality of preset driving influencing factors according to the current state of each preset driving influencing factor and the preset rules corresponding to the plurality of preset driving influencing factors;

[0078] The second calculation module 40 is used to: use the minimum value among the plurality of creeping target vehicle speed calculation values ​​as the current creeping target vehicle speed of the vehicle.

[0079] In specific implementation, the above-mentioned creeping vehicle speed control system 10 can be a processor or a controller. The processor can be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, and the like.

[0080] The present invention also provides a vehicle, comprising the above-mentioned creeping vehicle speed control system.

[0081] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. In the description of this specification, the description of reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics of the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

Claims

1. A creeping vehicle speed control method, characterized in that: The following steps are involved: When the vehicle enters the first creeping state, obtaining current states of a plurality of preset driving influencing factors; According to the current state of each of the preset driving influencing factors, and in accordance with a plurality of preset rules corresponding to the plurality of preset driving influencing factors, a plurality of creeping target vehicle speed calculation values ​​corresponding to the plurality of preset driving influencing factors are calculated; The minimum value among the plurality of creep target vehicle speed calculation values ​​is used as the current creep target vehicle speed of the vehicle.

2. The creeping vehicle speed control method according to claim 1, characterized in that: Multiple preset driving influences include slope, light intensity, driver fatigue and steering wheel angle.

3. The creeping vehicle speed control method according to claim 2, characterized in that: The step of calculating a plurality of creeping target vehicle speed calculation values ​​corresponding to a plurality of the preset driving influencing factors according to a plurality of preset rules corresponding to the plurality of the preset driving influencing factors respectively based on the current state of each of the preset driving influencing factors comprises the following steps: When the vehicle gear is in the forward gear, according to the formula V Dobj1 =k1×V D Calculate the creep target vehicle speed corresponding to the slope, according to the formula V Dobj2 =k2×V D Calculate the creeping target vehicle speed calculation value corresponding to the light intensity, according to the formula V Dobj3 =k3×V D Calculate the creeping target vehicle speed calculation value corresponding to the driver fatigue level, according to the formula V Dobj4 =k3×V D Calculating a creep target vehicle speed calculation value corresponding to the steering wheel angle; Among them, V Dobj1 is the calculated value of the creep target vehicle speed corresponding to the slope in the forward gear, k1 is the correction coefficient corresponding to the slope in the forward gear, V D is the preset fixed value of creep target vehicle speed corresponding to the forward gear, V Dobj2 is the calculated value of the creeping target vehicle speed corresponding to the light intensity in the forward gear, k2 is the correction coefficient corresponding to the light intensity in the forward gear, V Dobj3 is the calculated value of the creeping target vehicle speed corresponding to the driver's fatigue level in the forward gear, k3 is the correction coefficient corresponding to the driver's fatigue level in the forward gear, V Dobj4 is the calculated value of the creep target vehicle speed corresponding to the steering wheel angle in the forward gear, and k4 is the correction coefficient corresponding to the steering wheel angle in the forward gear.

4. The creeping vehicle speed control method according to claim 3, characterized in that: The greater the slope, the smaller k1; the darker the light intensity, the smaller k2; the more serious the driver's fatigue, the smaller k3; the greater the steering wheel angle, the smaller k4.

5. The creeping vehicle speed control method according to claim 2, characterized in that: The step of calculating a plurality of creeping target vehicle speed calculation values ​​corresponding to a plurality of the preset driving influencing factors according to a plurality of preset rules corresponding to the plurality of the preset driving influencing factors respectively based on the current state of each of the preset driving influencing factors comprises the following steps: When the vehicle gear is the reverse gear, according to the formula V Robj1 =C1×V R Calculate the creep target vehicle speed corresponding to the slope, according to the formula V Robj2 =C2×V R Calculate the creeping target vehicle speed calculation value corresponding to the light intensity, according to the formula V Robj3 =C3×V R Calculate the creeping target vehicle speed calculation value corresponding to the driver fatigue level, according to the formula V Robj4 =C4×V R Calculating a creep target vehicle speed calculation value corresponding to the steering wheel angle; Among them, V Robj1 is the calculated value of the creeping target vehicle speed corresponding to the slope in the reverse gear, C1 is the correction coefficient corresponding to the slope in the reverse gear, V R is the preset creeping target speed fixed value corresponding to the reverse gear, V Robj2 is the calculated value of the creeping target vehicle speed corresponding to the light intensity in the reverse gear, C2 is the correction coefficient corresponding to the light intensity in the reverse gear, V Robj3 is the calculated value of the creeping target vehicle speed corresponding to the driver's fatigue level when in reverse gear, C3 is the correction coefficient corresponding to the driver's fatigue level when in reverse gear, V Robj4 is the calculated value of the creep target vehicle speed corresponding to the steering wheel angle in the reverse gear, and C4 is the correction coefficient corresponding to the steering wheel angle in the reverse gear.

6. The creeping vehicle speed control method according to claim 5, characterized in that: The greater the slope, the smaller C1; the darker the light intensity, the smaller C2; the more serious the driver's fatigue, the smaller C3; the greater the steering wheel angle, the smaller C4.

7. The creeping vehicle speed control method according to claim 1, characterized in that: The following steps are also included: When the vehicle enters the second creeping state, a preset creeping target vehicle speed fixed value is used as the current creeping target vehicle speed of the vehicle.

8. The creeping vehicle speed control method according to claim 1, characterized in that: The following steps are also included: When the vehicle enters the third creeping state, a creeping target vehicle speed definition value defined by a user is used as the current creeping target vehicle speed of the vehicle.

9. A creeping vehicle speed control system, characterized in that: include: An acquisition module, used to: when the vehicle enters the first creeping state, acquire the current states of a plurality of preset driving influencing factors; A first calculation module is used to calculate a plurality of creeping target vehicle speed calculation values ​​respectively corresponding to the plurality of preset driving influencing factors according to the current state of each of the preset driving influencing factors and the preset rules corresponding to the plurality of preset driving influencing factors; The second calculation module is used to: use the minimum value among the multiple creeping target vehicle speed calculation values ​​as the current creeping target vehicle speed of the vehicle.

10. A vehicle, characterized in that: Including the creeping vehicle speed control system as described in claim 9.

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