A creeping speed control method, system and vehicle

Abstract

The present application relates to a kind of methods for controlling the speed of creeping vehicle, comprising the following steps: when vehicle enters first creeping state, the current state of multiple preset driving influence factors is obtained;According to the current state of each preset driving influence factor, according to multiple preset rules corresponding to multiple preset driving influence factors, multiple creeping target speed calculation values corresponding to multiple preset driving influence factors are calculated;The minimum value in multiple creeping target speed calculation values is used as the current creeping target speed of vehicle.The present application also proposes a kind of creeping speed control system.The present application also proposes a kind of vehicle.The creeping speed control method proposed by the present application can determine appropriate current creeping target speed according to the current state of multiple preset driving influence factors, and can reduce the risk of accident when vehicle creeps in some scenarios.The present application provides multiple creeping modes for users, which can improve user experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and specifically to a creeping speed control method, system, and vehicle. Background Technology

[0002] Crawl refers to a state in which a car maintains a specific speed by automatically outputting a certain amount of torque without the driver needing to press the accelerator pedal.

[0003] Existing vehicle crawl control schemes typically suffer from the following technical problems:

[0004] Existing solutions typically pre-set fixed creep speeds for forward and reverse gears to handle scenarios such as low-speed following, hill climbing, and parking. However, in actual driving, these two fixed creep speeds are difficult to adapt to complex and changing environments and users' personalized needs, resulting in a poor user experience.

[0005] The existing solution fails to fully consider special scenarios such as vehicles going downhill and backing up, low light, creeping at high speeds, and user fatigue. In these scenarios, controlling vehicle operation with a preset fixed creeping speed may lead to safety hazards and increase the risk of accidents. Summary of the Invention

[0006] The purpose of this invention is to provide a creeping speed control method, system, and vehicle to mitigate or eliminate at least one of the aforementioned technical problems.

[0007] The creeping speed control method of the present invention includes the following steps:

[0008] When the vehicle enters the first creep state, the current status of multiple preset driving influencing factors is obtained;

[0009] Based on the current state of each of the preset driving influencing factors, and according to multiple preset rules corresponding to the multiple preset driving influencing factors, multiple creep target vehicle speed calculation values ​​corresponding to the multiple preset driving influencing factors are calculated.

[0010] The minimum value among the multiple calculated creep target speed values ​​is taken as the current creep target speed of the vehicle.

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

[0012] Optionally, the step of calculating multiple creep target vehicle speed values ​​corresponding to the multiple preset driving influencing factors according to the current state of each preset driving influencing factor and according to multiple preset rules corresponding to the multiple preset driving influencing factors includes the following steps:

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

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

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

[0016] Optionally, the step of calculating multiple creep target vehicle speed values ​​corresponding to the multiple preset driving influencing factors according to the current state of each preset driving influencing factor and according to multiple preset rules corresponding to the multiple preset driving influencing factors includes the following steps:

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

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

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

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

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

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

[0023] The acquisition module is used to: acquire the current status of multiple preset driving influencing factors when the vehicle enters the first creep state;

[0024] The first calculation module is used to: calculate multiple creep target vehicle speed calculation values ​​corresponding to the multiple preset driving influencing factors according to the current state of each preset driving influencing factor and according to the preset rules corresponding to the multiple preset driving influencing factors;

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

[0026] The present invention also proposes a vehicle, characterized in that it includes the above-described creep speed control system.

[0027] The creep speed control method proposed in this invention can determine a suitable current creep target speed based on the current state of multiple preset driving influencing factors, thereby reducing the risk of accidents when the vehicle is creeping in certain scenarios. This invention provides users with multiple creep modes, which can improve the user experience. Attached Figure Description

[0028] Figure 1 This is a flowchart of the creeping speed control method described in some embodiments;

[0029] Figure 2 This is a flowchart illustrating a specific example of a vehicle entering a crawling state.

[0030] Figure 3 This is a schematic diagram of the crawling speed control system described in some embodiments.

[0031] In the diagram, 10—Crawling speed control system, 20—Acquisition module, 30—First calculation module, and 40—Second calculation module. Detailed Implementation

[0032] The embodiments of the present invention will be described below 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 content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed 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 and 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 representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0034] like Figure 1 The method for controlling crawling speed, as shown, includes the following steps:

[0035] S100: When the vehicle enters the first creep state, obtain the current state of multiple preset driving influencing factors;

[0036] S200: Based on the current state of each preset driving influencing factor, and according to multiple preset rules corresponding to the multiple preset driving influencing factors, calculate multiple creep target vehicle speed values ​​corresponding to the multiple preset driving influencing factors respectively;

[0037] S300: The minimum value among multiple calculated creep target speeds is taken as the current creep target speed of the vehicle.

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

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

[0040] In some embodiments, multiple preset driving influencing factors include slope, light intensity, driver fatigue level, and steering wheel angle. Clearly, factors such as a steep slope, dim ambient light, severe driver fatigue, and large steering inputs can negatively impact the driver's behavior and driving experience. Including these factors as preset driving influencing factors helps reduce the risk of accidents during vehicle creep. In practice, slope, light intensity, driver fatigue level, and steering wheel angle can be measured by the vehicle's onboard sensors.

[0041] In some embodiments, calculating multiple creep target vehicle speed values ​​corresponding to multiple preset driving influencing factors according to the current state of each preset driving influencing factor and according to multiple preset rules corresponding to the multiple preset driving influencing factors includes the following steps:

[0042] When the vehicle is in drive, according to 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 vehicle speed corresponding to the light intensity, according to the formula V. Dobj3 =k3×V D Calculate the creep target speed corresponding to the driver's fatigue level, according to formula V. Dobj4 =k4×V D Calculate the creep target speed corresponding to the steering wheel angle;

[0043] Among them, V Dobj1 V is the calculated creep target speed corresponding to the gradient in forward gear, k1 is the correction coefficient corresponding to the gradient in forward gear, and V D V is a preset fixed target creep speed corresponding to the forward gear. Dobj2 V is the calculated creep target speed corresponding to light intensity in forward gear, k2 is the correction coefficient corresponding to light intensity in forward gear, and V Dobj3 V is the calculated creep target speed corresponding to driver fatigue level in forward gear, k3 is the correction coefficient corresponding to driver fatigue level in forward gear, and V Dobj4 k is the calculated creep target speed corresponding to the steering wheel angle when in forward gear, and k4 is the correction coefficient corresponding to the steering wheel angle when in forward gear.

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

[0045] In practical implementation, when the vehicle enters the first creep state and the vehicle is in drive, V is calculated. Dobj1 V Dobj2 V Dobj3 and V Dobj4 Then, formula V can be used. Dobj =min(V Dobj1 V Dobj2 V Dobj3 V Dobj4 ) Calculate the vehicle's current creep target speed.

[0046] In some embodiments, the greater the slope, the smaller k1; the dimmer the light intensity, the smaller k2; the more severe the driver fatigue, the smaller k3; and the larger the steering wheel angle, the smaller k4. Using the above rules, a creep target speed value that better ensures driving safety can be calculated.

[0047] As a specific example, k1 is a correction factor obtained by looking up the table based on the absolute value of the slope.

[0048] absolute slope / % 0％ 10％ 20％ 30％ Correction coefficient 1 0.9 0.7 0.5

[0049] As a specific example, k2 is a correction factor obtained by looking up the table based on the light intensity.

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

[0051] As a specific example, k3 is a correction factor obtained by looking up the table below based on the driver's fatigue level.

[0052] driver fatigue 0 1 2 3 Correction coefficient 1 0.8 0.6 0.4

[0053] As a specific example, k4 is a correction factor obtained by looking up the table based on the absolute value of the steering wheel angle.

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

[0055] In some embodiments, calculating multiple creep target vehicle speed values ​​corresponding to multiple preset driving influencing factors according to the current state of each preset driving influencing factor and according to multiple preset rules corresponding to the multiple preset driving influencing factors includes the following steps:

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

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

[0058] By adopting the above technical solution, the creep target speed calculation value corresponding to each preset driving influencing factor can be calculated more definitively and accurately. This application sets separate calculation rules for reverse gear and forward gear, which can obtain more appropriate creep target speed calculation values ​​and help reduce the risk of accidents when the vehicle is creeping.

[0059] In some embodiments, when the vehicle enters the first creep state and the vehicle is in reverse gear, V is calculated. Robj1 V Robj2 V Robj3 and VRobj4 Then, formula V can be used. Robj =min(V Robj1 V Robj2 V Robj3 V Robj4 ) Calculate the vehicle's current creep target speed.

[0060] In some embodiments, the greater the slope, the smaller C1; the dimmer the light intensity, the smaller C2; the more severe the driver fatigue, the smaller C3; and the greater the steering wheel angle, the smaller C4. Using these rules, a creep target speed that better ensures driving safety can be calculated.

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

[0062] In some embodiments, the creep speed control method further includes the following step: when the vehicle enters a second creep state, a preset fixed value for the creep target speed is used as the vehicle's current creep target speed. By setting a second creep state, more options can be provided to the user. In a specific implementation, when the vehicle enters the second creep state and the vehicle is in drive, the fixed value for the creep target speed is a preset value of V. D When the vehicle enters the second creep mode and is in reverse gear, the target creep speed is fixed at a preset value of V. R As a concrete example, V D It can be set to 5km / h, V R It can be set to 4km / h.

[0063] In some embodiments, the creep speed control method further includes the following step: when the vehicle enters the third creep state, the user-defined creep target speed is used as the vehicle's current creep target speed. By adopting the above technical solution, users can set the creep target speed definition value according to their own needs, providing more choices, meeting users' personalized needs, and improving user experience. The method of setting the creep target speed definition value is not limited; it can be set using physical buttons, virtual setting buttons, steering wheel shortcut keys, the accelerator pedal, or the brake pedal.

[0064] In practical implementation, three crawling modes can be set in the vehicle: the first crawling mode, the second crawling mode, and the third crawling mode. The first crawling mode can also be called the adaptive crawling mode, the second crawling mode can also be called the fixed crawling mode, and the third crawling mode can also be called the custom crawling mode. These three crawling modes provide users with an improved user experience.

[0065] In practice, when a vehicle rolls off the production line or leaves the factory, the default crawl mode is the second crawl mode. Users can choose whether to activate the first crawl mode or the third crawl mode through the vehicle's infotainment system, steering wheel buttons, or physical buttons on the vehicle. Users can also choose whether to memorize the crawl mode. If a user chooses to memorize the crawl mode, the crawl mode when the vehicle is powered on again will be the same as the crawl mode before power-off.

[0066] like Figure 2 As shown, as a specific example, the process of a vehicle entering crawl mode includes the following steps:

[0067] S400: User-defined vehicle crawl mode;

[0068] S501: When the user sets the vehicle's crawl mode to the first crawl mode, the vehicle enters the first crawl mode;

[0069] S502: After the vehicle enters the first creep mode, when the vehicle meets the preset creep conditions, the vehicle enters the first creep state.

[0070] S601: When the user sets the vehicle's crawl mode to the second crawl mode, the vehicle enters the second crawl mode;

[0071] S602: After the vehicle enters the second creep mode, when the vehicle meets the preset creep conditions, the vehicle enters the second creep state;

[0072] S701: When the user sets the vehicle's crawl mode to the third crawl mode, the vehicle enters the third crawl mode;

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

[0074] Once the vehicle's current creep target speed is determined, the motor torque or speed can be controlled to achieve the set target creep target speed. The target motor torque can be obtained by looking up a table based on the vehicle speed, or it can be calculated using a feedforward + feedback PID method for closed-loop control of either vehicle speed or speed. Alternatively, the vehicle speed can be converted to speed, and the target motor speed can be calculated using a closed-loop speed 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: acquire the current status of multiple preset driving influencing factors when the vehicle enters the first creep state;

[0077] The first calculation module 30 is used to: calculate multiple creep target vehicle speed calculation values ​​corresponding to multiple preset driving influencing factors according to the current state of each preset driving influencing factor and according to the preset rules corresponding to the multiple preset driving influencing factors.

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

[0079] In practical implementation, the aforementioned creep speed control system 10 can be a processor or a controller. The processor can be a combination of components that perform computational functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc.

[0080] The present invention also proposes a vehicle including the above-described creep speed control system.

[0081] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. In the description of this specification, the reference to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that a specific feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

Claims

1. A method of controlling the speed of a crawling vehicle, characterized by, Includes the following steps: When the vehicle enters the first creep state, the current status of multiple preset driving influencing factors is obtained; Based on the current state of each of the preset driving influencing factors, and according to multiple preset rules corresponding to the multiple preset driving influencing factors, multiple creep target vehicle speed calculation values ​​corresponding to the multiple preset driving influencing factors are calculated. The minimum value among the multiple calculated creep target speed values ​​is taken as the current creep target speed of the vehicle; Several preset driving influencing factors include slope, light intensity, driver fatigue level, and steering wheel angle; The step of calculating multiple creep target vehicle speed values ​​corresponding to multiple preset driving influencing factors based on the current state of each preset driving influencing factor and according to multiple preset rules corresponding to each preset driving influencing factor includes the following steps: When the vehicle gear is forward, a target vehicle speed calculation value corresponding to the slope is calculated according to the formula a target vehicle speed calculation value corresponding to the light intensity is calculated according to the formula a target vehicle speed calculation value corresponding to the driver fatigue degree is calculated according to the formula a target vehicle speed calculation value corresponding to the steering wheel angle is calculated according to the formula ​ wherein a crawling target vehicle speed calculation value corresponding to the slope when in forward, a correction coefficient corresponding to the slope when in forward, a predetermined crawling target vehicle speed fixed value corresponding to forward, a crawling target vehicle speed calculation value corresponding to the light intensity when in forward, a correction coefficient corresponding to the light intensity when in forward, a crawling target vehicle speed calculation value corresponding to the driver fatigue degree when in forward, a correction coefficient corresponding to the driver fatigue degree when in forward, a crawling target vehicle speed calculation value corresponding to the steering wheel angle when in forward, a correction coefficient corresponding to the steering wheel angle when in forward.

2. The method of crawl speed control according to claim 1, wherein The greater the slope, the smaller the light intensity, the smaller the driver fatigue, the smaller the steering wheel angle, the smaller.

3. The method of crawl speed control according to claim 1, wherein, The step of calculating multiple creep target vehicle speed values ​​corresponding to multiple preset driving influencing factors based on the current state of each preset driving influencing factor and according to multiple preset rules corresponding to each preset driving influencing factor includes the following steps: When the vehicle gear is the reverse gear, a target vehicle speed calculation value corresponding to the slope is calculated according to the formula a target vehicle speed calculation value corresponding to the light intensity is calculated according to the formula a target vehicle speed calculation value corresponding to the driver fatigue degree is calculated according to the formula a target vehicle speed calculation value corresponding to the steering wheel angle is calculated according to the formula a target vehicle speed calculation value corresponding to the steering wheel angle is calculated according to the formula wherein, a crawling target vehicle speed calculation value corresponding to the slope when in the reverse gear, a correction coefficient corresponding to the slope when in the reverse gear, a predetermined crawling target vehicle speed fixed value corresponding to the reverse gear, a crawling target vehicle speed calculation value corresponding to the light intensity when in the reverse gear, a correction coefficient corresponding to the light intensity when in the reverse gear, a crawling target vehicle speed calculation value corresponding to the driver fatigue degree when in the reverse gear, a correction coefficient corresponding to the driver fatigue degree when in the reverse gear, a crawling target vehicle speed calculation value corresponding to the steering wheel angle when in the reverse gear, a correction coefficient corresponding to the steering wheel angle when in the reverse gear.

4. The method of crawl speed control according to claim 3, wherein, The greater the slope, the smaller the light intensity, the smaller the driver fatigue, the smaller the steering wheel angle, the smaller.

5. The method of crawl speed control according to claim 1, wherein It also includes the following steps: When the vehicle enters the second creep state, a preset creep target speed is used as the current creep target speed of the vehicle.

6. The method of crawl speed control according to claim 1, wherein It also includes the following steps: When the vehicle enters the third creep state, the user-defined creep target speed is used as the current creep target speed of the vehicle.

7. A system for controlling the speed of a crawling vehicle, characterized in that include: The acquisition module is used to: acquire the current status of multiple preset driving influencing factors when the vehicle enters the first creep state; The first calculation module is used to: calculate multiple creep target vehicle speed calculation values ​​corresponding to the multiple preset driving influencing factors according to the current state of each preset driving influencing factor and according to the preset rules corresponding to the multiple preset driving influencing factors; The second calculation module is used to: take the minimum value among the multiple calculated creep target vehicle speeds as the current creep target vehicle speed of the vehicle; Several preset driving influencing factors include slope, light intensity, driver fatigue level, and steering wheel angle; The step of calculating multiple creep target vehicle speed values ​​corresponding to multiple preset driving influencing factors based on the current state of each preset driving influencing factor and according to multiple preset rules corresponding to each preset driving influencing factor includes the following steps: When the vehicle gear is forward, a target vehicle speed calculation value corresponding to the slope is calculated according to the formula a target vehicle speed calculation value corresponding to the light intensity is calculated according to the formula a target vehicle speed calculation value corresponding to the driver fatigue degree is calculated according to the formula a target vehicle speed calculation value corresponding to the steering wheel angle is calculated according to the formula a target vehicle speed calculation value corresponding to the steering wheel angle is calculated according to the formula wherein, is a crawling target vehicle speed calculation value corresponding to the slope when in forward, is a correction coefficient corresponding to the slope when in forward, is a preset crawling target vehicle speed fixed value corresponding to forward, is a crawling target vehicle speed calculation value corresponding to the light intensity when in forward, is a correction coefficient corresponding to the light intensity when in forward, is a crawling target vehicle speed calculation value corresponding to the driver fatigue degree when in forward, is a correction coefficient corresponding to the driver fatigue degree when in forward, is a crawling target vehicle speed calculation value corresponding to the steering wheel angle when in forward, is a correction coefficient corresponding to the steering wheel angle when in forward.

8. A vehicle characterized by comprising: Including the creep speed control system as described in claim 7.

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