Crawling control method and device of vehicle, vehicle and storage medium

Abstract

The invention discloses a crawling control method and device for a vehicle, the vehicle and a storage medium, and the method comprises the steps: obtaining a reference vehicle speed and a reference acceleration according to the equivalent vehicle speed of the vehicle in the driving process of the vehicle; according to the actual vehicle speed and the preset driving parameters of the vehicle, the expected vehicle speed and the real-time target acceleration in the vehicle driving process are obtained; performing closed-loop proportional adjustment according to the expected vehicle speed and the reference vehicle speed to obtain proportional adjustment torque; performing closed-loop integral adjustment according to the real-time target acceleration and the reference acceleration to obtain an integral adjustment torque; and obtaining the crawling control torque according to the proportional adjustment torque and the integral adjustment torque. According to the technical scheme, the problem that in the crawling process of the vehicle, the crawling control precision and the crawling performance are low is solved.

Description

Technical Field

[0001] The present application relates to the field of automobile control technology, and in particular to a vehicle creep control method, device, vehicle and computer-readable storage medium. Background Art

[0002] The power source of the vehicle is changed from the engine to the electric motor, so some control strategies of the vehicle have changed. For example, during the creeping process of the traditional fuel vehicle, the engine and gearbox need to be controlled, while during the creeping process of the new energy vehicle, the creeping control is mainly based on the motor control strategy and the brake system control strategy.

[0003] However, the current motor control strategy of new energy vehicles has limited creep control accuracy during vehicle creep, which may result in low vehicle creep performance. Summary of the invention

[0004] In view of the above problems, the present application provides a vehicle creep control method, device, vehicle and computer-readable storage medium, which solve the problem of low creep control accuracy and creep performance of the vehicle during creep.

[0005] According to one aspect of an embodiment of the present application, a creep control method for a vehicle is provided, the method comprising:

[0006] During the driving of the vehicle, a reference vehicle speed and a reference acceleration are obtained according to an equivalent vehicle speed of the vehicle;

[0007] Obtaining a desired vehicle speed and a real-time target acceleration according to the actual vehicle speed and preset driving parameters during the vehicle driving process;

[0008] Performing closed-loop proportional adjustment according to the desired vehicle speed and the reference vehicle speed to obtain proportional adjustment torque;

[0009] Performing closed-loop integral regulation according to the real-time target acceleration and the reference acceleration to obtain integral regulation torque;

[0010] The creep control torque is obtained according to the proportional adjustment torque and the integral adjustment torque.

[0011] In an optional exemplary embodiment, the method further includes:

[0012] Obtaining a creep torque coefficient, a brake pedal coefficient, and a steering wheel angle coefficient of the vehicle;

[0013] Obtaining a desired vehicle speed according to the actual vehicle speed, the creep torque coefficient, the brake pedal coefficient, and the steering wheel angle coefficient;

[0014] A real-time target acceleration is obtained according to the expected vehicle speed.

[0015] In an optional exemplary embodiment, the method further includes:

[0016] Calibrate the creep torque coefficient based on the driving slope angle and vehicle speed of the vehicle to obtain a creep torque coefficient mapping table;

[0017] The creep torque coefficient is obtained by looking up the creep torque coefficient mapping table according to the current driving slope angle of the vehicle and the actual vehicle speed.

[0018] In an optional exemplary embodiment, the method further includes:

[0019] calibrating a brake pedal coefficient mapping table according to the brake pedal opening of the vehicle;

[0020] The brake pedal coefficient is obtained by looking up the brake pedal coefficient mapping table according to the current brake pedal opening of the vehicle.

[0021] In an optional exemplary embodiment, the equivalent vehicle speed of the vehicle is a rear wheel equivalent vehicle speed or a front wheel equivalent vehicle speed, and the method further includes:

[0022] Obtaining the left rear wheel speed and the right rear wheel speed of the vehicle;

[0023] Calculating the mean of the left rear wheel speed and the right rear wheel speed to obtain a reference speed of the vehicle;

[0024] Alternatively, obtaining the left front wheel speed and the right front wheel speed of the vehicle;

[0025] The left front wheel speed and the right front wheel speed are averaged to obtain a reference speed of the vehicle.

[0026] In an optional exemplary embodiment, the method further includes:

[0027] When the rear wheel speed sensor of the vehicle is abnormal, the equivalent vehicle speed is the front wheel equivalent vehicle speed; when the front wheel speed sensor of the vehicle is abnormal, the equivalent vehicle speed is the rear wheel equivalent vehicle speed.

[0028] In an optional exemplary embodiment, the method further includes:

[0029] Obtaining a reference duration of the vehicle relative to the reference vehicle speed;

[0030] The reference acceleration is obtained according to the reference duration and the reference vehicle speed.

[0031] According to another aspect of an embodiment of the present application, a creep control device for a vehicle is provided, the device comprising:

[0032] A first calculation module, used for obtaining a reference vehicle speed and a reference acceleration according to an equivalent vehicle speed of the vehicle during the driving process of the vehicle;

[0033] A second calculation module is used to obtain a desired vehicle speed and a real-time target acceleration according to the actual vehicle speed and preset driving parameters during the vehicle driving process;

[0034] A proportional adjustment module, used for performing closed-loop proportional adjustment according to the desired vehicle speed and the reference vehicle speed to obtain a proportional adjustment torque;

[0035] An integral adjustment module, used for performing closed-loop integral adjustment according to the real-time target acceleration and the reference acceleration to obtain an integral adjustment torque;

[0036] The torque control module is used to obtain the creep control torque according to the proportional adjustment torque and the integral adjustment torque.

[0037] According to another aspect of an embodiment of the present application, a vehicle is provided, comprising:

[0038] Controller;

[0039] The memory is used to store one or more programs. When the one or more programs are executed by the controller, the controller implements the above-mentioned vehicle creep control method.

[0040] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program includes at least one executable instruction. When the executable instruction is run on a creep control device of a vehicle / vehicle, the creep control device of the vehicle / vehicle performs the operation of the creep control method of the vehicle as described above.

[0041] The creep control method of the vehicle in the embodiment of the present application obtains a reference speed and a reference acceleration through the equivalent speed of the vehicle, and then obtains the desired speed and real-time target acceleration during the vehicle's driving process in combination with the actual speed and preset driving parameters; then the desired speed and the reference speed are closed-loop proportionally adjusted, and the real-time target acceleration and the reference acceleration are closed-loop integrally adjusted, so as to obtain a proportional adjustment torque and an integral adjustment torque through dual closed-loop control, and then obtain a creep control torque of dual closed-loop control; so as to achieve smooth and controllable closed-loop speed processing of the vehicle, and solve the problem that the motor control strategy of current new energy vehicles has limited creep control accuracy during the vehicle creep process, which may lead to low creep performance of the vehicle.

[0042] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0044] Figure 1 A schematic flow chart of an embodiment of a creep control method for a vehicle provided by the present application is shown;

[0045] Figure 2 Shows Figure 1 A flow chart of step S200 of an embodiment of a creep control method for a vehicle;

[0046] Figure 3 Shows Figure 2 A flow chart of step S210 of an embodiment of a creep control method for a vehicle;

[0047] Figure 4 Shows Figure 2 A flow chart of another embodiment of step S210 of the creep control method of the vehicle;

[0048] Figure 5 A schematic structural diagram of an embodiment of a creep control device for a vehicle provided by the present application is shown;

[0049] Figure 6 A schematic structural diagram of an embodiment of a vehicle provided by the present application is shown. DETAILED DESCRIPTION

[0050] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0051] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0052] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0053] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0054] First of all, it should be noted that the current motor control strategy of new energy vehicles has limited creep control accuracy during vehicle creeping, which may lead to low vehicle creeping performance. In related technologies, feedforward torque control is mainly used, which has high requirements for the accuracy of ramp signals, and thus has high requirements for the accuracy of sensors. Any error may lead to a decrease in creeping performance; for example, on fluctuating road surfaces, such as ice, snow, slippery roads, and extreme climates, motor control cannot guarantee smooth closed-loop control of vehicle creeping speed; at extremely low speeds, especially when starting and stopping on a slope, creep control accuracy is low; if a specific map creep torque control is used, the torque cannot be adjusted in time, and may not adapt to special extreme climate conditions such as cold or hot weather.

[0055] To solve the above problems, please refer to Figure 1 , the present application exemplarily shows a flow chart of a vehicle creep control method.

[0056] The execution subject of the creep control method of the vehicle may be a terminal device or a server or other processing device, wherein the terminal device may be a user equipment (UE), a computer, a mobile device, a user terminal, a terminal, a cellular phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The execution subject of the creep control method of the vehicle may also be a car. In some possible implementations, the creep control method of the vehicle may be implemented by a processor calling a computer-readable instruction stored in a memory.

[0057] Specifically, the creep control method of the vehicle of this embodiment can be executed by the vehicle, and includes the following steps:

[0058] Step S100, during the driving process of the vehicle, obtaining a reference vehicle speed and a reference acceleration according to the equivalent vehicle speed of the vehicle.

[0059] Among them, the equivalent speed of the vehicle can be the equivalent speed of the front and rear axles of the vehicle chassis, including the equivalent speed of the front axle of the vehicle chassis and the equivalent speed of the rear axle of the vehicle chassis, which is monitored by chassis wheel speed sensors arranged on the front axle of the vehicle chassis and the rear axle of the vehicle chassis; the actual speed of the vehicle can be directly monitored according to the speed sensor arranged on the vehicle, and can also be obtained through GPS data.

[0060] In some embodiments, the vehicle equivalent speed may be obtained by obtaining the left rear wheel speed and the right rear wheel speed of the vehicle, calculating the average of the left rear wheel speed and the right rear wheel speed, and obtaining the rear wheel equivalent speed as a reference speed of the vehicle.

[0061] Among them, the rear wheel equivalent speed obtained by averaging the left rear wheel speed and the right rear wheel speed of the vehicle is the equivalent speed of the rear axle of the vehicle chassis. The left rear wheel speed is monitored by a wheel speed sensor arranged on the left rear wheel of the vehicle, and the right rear wheel speed is monitored by a wheel speed sensor arranged on the right rear wheel. The monitored left rear wheel speed and right rear wheel speed are fed back to the body controller to realize the calculation of the equivalent speed, and finally the calculated equivalent speed is used as the reference speed. For example, the monitored left rear wheel speed is 50km / h and the right rear wheel speed is 48km / h. Then, by averaging the left rear wheel speed and the right rear wheel speed, the calculated vehicle equivalent speed is 49km / h, and the reference speed of the vehicle is 49km / h. The equivalent speed calculated by combining the left rear wheel speed and the right rear wheel speed in this application is used as the reference speed to improve the accuracy of subsequent creep control.

[0062] It is also possible that, when the rear wheel speed sensor of the vehicle is abnormal, the equivalent vehicle speed is the front wheel equivalent speed; at this time, in order to obtain the reference speed of the vehicle, it can include: obtaining the left front wheel speed and the right front wheel speed of the vehicle, calculating the average of the left front wheel speed and the right front wheel speed, and obtaining the front wheel equivalent speed as the reference speed of the vehicle.

[0063] Among them, the front wheel equivalent speed obtained by averaging the left front wheel speed and the right front wheel speed of the vehicle is the equivalent speed of the front axle of the vehicle chassis. The left front wheel speed is monitored by the wheel speed sensor set on the left front wheel of the vehicle, and the right front wheel speed is monitored by the wheel speed sensor of the right front wheel. The monitored left front wheel speed and right front wheel speed are fed back to the body controller to realize the calculation of the equivalent speed, and finally the calculated equivalent speed is used as the reference speed. For example, the monitored left front wheel speed is 46km / h and the right front wheel speed is 48km / h. Then, by averaging the left front wheel speed and the right front wheel speed, the calculated vehicle equivalent speed is 47km / h. At this time, the reference speed of the vehicle is 47km / h.

[0064] Similarly, when the front wheel speed sensor of the vehicle is abnormal, the rear wheel equivalent speed is used as the vehicle's equivalent speed, so that the front wheel equivalent speed and the rear wheel equivalent speed are redundant with each other, which can avoid the problem of abnormal front wheel speed sensor or rear wheel speed sensor of the vehicle and improve the redundancy of reference speed calculation.

[0065] In some embodiments, the reference acceleration may be obtained by obtaining a reference time relative to a reference vehicle speed, and the reference acceleration is obtained according to the reference time and the reference vehicle speed.

[0066] The reference duration may be a pre-set unit duration, for example, the reference duration may be but is not limited to 0.5s, 0.8s, 1s, etc.; based on the reference duration, the reference duration has a start time value and an end time value, then the reference speed may be a start reference speed corresponding to the start time value of the reference duration and an end reference speed corresponding to the end time value of the reference duration, thereby obtaining a reference speed difference through the end reference speed and the start reference speed. For example, if the reference duration is 1s and the reference speed difference is 18km / h, then the reference acceleration at this time is 5m / s 2 By obtaining the reference acceleration in this application, it is convenient to perform closed-loop integral adjustment in combination with the subsequent real-time target acceleration.

[0067] Step S200, obtaining a desired vehicle speed and a real-time target acceleration according to the actual vehicle speed and preset driving parameters during the vehicle driving process;

[0068] Among them, the vehicle's preset driving parameters may include the vehicle's creep torque coefficient, brake pedal coefficient, steering wheel angle coefficient, etc. The expected vehicle speed and real-time target acceleration during vehicle driving can be calculated by combining the vehicle's actual speed obtained by monitoring, as well as preset driving parameters such as creep torque coefficient, brake pedal coefficient, steering wheel angle coefficient, etc.

[0069] Preset driving parameters such as creep torque coefficient and brake pedal coefficient can be pre-calibrated in combination with the slope angle, vehicle speed, brake pedal opening, etc. of the vehicle, and the calibrated mapping table is stored in the vehicle so that the corresponding mapping table data stored in the vehicle can be directly called when the vehicle needs to calculate the expected vehicle speed and real-time acceleration. The steering wheel angle coefficient can be a fixed coefficient, such as 0.6, 0.75, 0.8, etc., which is not specifically limited here.

[0070] Step S300, performing closed-loop proportional adjustment according to the desired vehicle speed and the reference vehicle speed to obtain proportional adjustment torque;

[0071] Step S400, performing closed-loop integral regulation according to the real-time target acceleration and the reference acceleration to obtain integral regulation torque;

[0072] Among them, in combination with the expected vehicle speed and the reference vehicle speed obtained by the above calculation, the difference between the expected vehicle speed and the reference vehicle speed can be calculated to obtain the vehicle speed difference, and the vehicle speed difference can be closed-loop proportionally adjusted to obtain the proportional adjustment torque; at the same time, in combination with the real-time target acceleration and the reference acceleration obtained by the above calculation, the difference between the real-time target acceleration and the reference acceleration can be calculated to obtain the acceleration difference, and then the acceleration difference can be closed-loop integrally adjusted to obtain the integral adjustment torque.

[0073] Step S500: obtaining a creep control torque according to the proportional adjustment torque and the integral adjustment torque.

[0074] Among them, the proportional adjustment torque and the integral adjustment torque obtained by the closed-loop proportional adjustment and the closed-loop integral adjustment respectively can be summed and calculated, so that the total torque obtained by the summation can be used as the creep control torque during vehicle driving.

[0075] In summary, the creep control method of the vehicle of the present application obtains a reference speed and a reference acceleration through the equivalent speed of the vehicle. Since the calculated reference speed is the real-time actual speed calculated through the wheel speeds of each wheel of the vehicle, the expected speed and real-time target acceleration during the vehicle's driving process are obtained by combining the actual speed of the vehicle and the preset driving parameters; then the expected speed and the reference speed are closed-loop proportionally adjusted, and the real-time target acceleration and the reference acceleration are closed-loop integrally adjusted, so that the proportional adjustment torque and the integral adjustment torque are obtained through double closed-loop control, and then the creep control torque of the double closed-loop control is obtained; since the reference acceleration, expected speed, real-time target acceleration, as well as the proportional adjustment torque and the integral adjustment torque of the vehicle are all obtained based on the reference speed, a smooth and controllable closed-loop speed processing of the vehicle is achieved, so that no matter the vehicle is affected by wet, soft road surface, severe cold, hot weather, etc., the control speed of the vehicle creeping is the feedback of the real speed, which solves the problem that the motor control strategy of the current new energy vehicle has limited creep control accuracy during the vehicle creeping process, which may lead to low creep performance of the vehicle.

[0076] In some embodiments, see Figure 2 As shown, step S200: obtaining the expected vehicle speed and the real-time target acceleration according to the actual vehicle speed and the preset driving parameters during the vehicle driving process, at least includes steps S210 to S230, which are specifically as follows:

[0077] Step S210, obtaining a creep torque coefficient, a brake pedal coefficient, and a steering wheel angle coefficient of the vehicle;

[0078] Step S220, obtaining a desired vehicle speed according to the actual vehicle speed, the creep torque coefficient, the brake pedal coefficient and the steering wheel angle coefficient;

[0079] Step S220, obtaining a real-time target acceleration according to the expected vehicle speed.

[0080] Among them, in combination with the aforementioned embodiments, the creep torque coefficient, brake pedal coefficient, and steering wheel angle coefficient are all pre-stored in the vehicle. When it is necessary to calculate the expected vehicle speed and real-time acceleration, the corresponding mapping table data stored in the vehicle is directly called. After the creep torque coefficient, brake pedal coefficient and steering wheel angle coefficient of the vehicle in the current state are obtained, the expected vehicle speed and real-time target acceleration are calculated in combination with the actual vehicle speed.

[0081] For example, the expected speed of the vehicle during driving can be calculated by multiplying the actual speed of the vehicle, the creep torque coefficient, the brake pedal coefficient and the steering wheel angle coefficient, and the speed result of the product operation is the expected speed of the vehicle during driving. It can be understood that the calculation method of the real-time target acceleration of the vehicle is the same as the calculation method of the reference acceleration, which will not be repeated here.

[0082] Furthermore, the creep torque coefficient pre-stored in the vehicle can be calibrated in combination with the slope angle and the vehicle speed at different slope angles, as shown in FIG. Figure 3 As shown, at least step S2111 and step S2112 are included, which are specifically as follows:

[0083] Step S2111, calibrating the creep torque coefficient based on the driving slope angle and vehicle speed of the vehicle to obtain a creep torque coefficient mapping table;

[0084] Step S2112, looking up the creep torque coefficient mapping table according to the current driving slope angle of the vehicle and the actual vehicle speed to obtain the creep torque coefficient.

[0085] Among them, each driving ramp angle of the vehicle corresponds to a creep torque coefficient at different vehicle speeds; for example, if the vehicle is driving on a ramp angle of 4 degrees, when the vehicle speed is 5m / s, the corresponding creep torque coefficient is 0.6; when the vehicle speed is 6m / s, the corresponding creep torque coefficient is 0.5m / s; if the vehicle is driving on a ramp angle of 6 degrees, when the vehicle speed is 5m / s, the corresponding creep torque coefficient is 0.7; when the vehicle speed is 6m / s, the corresponding creep torque coefficient is 0.6. It should be noted that the creep torque coefficient corresponding to each driving ramp angle at different vehicle speeds is set according to the actual application situation to form a creep torque coefficient mapping table, which is only used as an example here and is not specifically limited.

[0086] After calculating the current driving slope angle and actual vehicle speed during the vehicle's driving process in combination with the aforementioned detection in this application, the current driving slope angle and actual vehicle speed can be brought into the preset creep torque coefficient mapping table for lookup to obtain the creep torque coefficient of the vehicle in the current state.

[0087] Furthermore, the brake pedal coefficient pre-stored in the vehicle can be calibrated in combination with the vehicle brake pedal opening, see Figure 4 As shown, it includes step S2121 and step S2122, which are specifically as follows:

[0088] Step S2121, calibrating a brake pedal coefficient mapping table according to the brake pedal opening of the vehicle;

[0089] Step S2122, looking up the brake pedal coefficient mapping table according to the current brake pedal opening of the vehicle to obtain the brake pedal coefficient.

[0090] Among them, different brake pedal openings of the vehicle correspond to different brake pedal coefficients; for example, if the brake pedal opening of the vehicle is 0, the brake pedal coefficient is 1; if the brake pedal opening of the vehicle is 5%, the brake pedal coefficient is 0.75; if the brake pedal opening of the vehicle is 10%, the brake pedal coefficient is 0.5; if the brake pedal opening of the vehicle is 20%, the brake pedal coefficient is 0; it should be noted that different brake pedal openings of the vehicle correspond to different brake pedal coefficients, and the brake pedal coefficient mapping table formed is set according to the actual application situation. This is only an example and is not specifically limited.

[0091] After the current brake pedal opening of the vehicle is detected as described above in this application, the current brake pedal opening can be brought into a preset brake pedal coefficient mapping table for lookup, thereby obtaining the brake pedal coefficient under the current state of the vehicle.

[0092] By obtaining the creep torque coefficient and the brake pedal coefficient, it is convenient to calculate the desired vehicle speed and the actual target acceleration in combination with the vehicle's reference speed, so as to obtain the proportional adjustment torque and the integral adjustment torque, so that a smooth and controllable closed-loop speed processing of the vehicle can be achieved, so that no matter the vehicle is affected by wet and soft roads, severe cold, hot weather, etc., the control speed of the vehicle's creep is the feedback of the real speed, which solves the problem that the current motor control strategy of new energy vehicles has limited creep control accuracy during the vehicle creep process, which may lead to low creep performance of the vehicle.

[0093] Figure 5 The schematic diagram of the structure of the embodiment of the creep control device of the vehicle of the present application is shown. Figure 5As shown, the creep control device 600 of the vehicle includes a first calculation module 610, a second calculation module 620, a proportional adjustment module 630, an integral adjustment module 640 and a torque control module 650;

[0094] A first calculation module 610 is used to obtain a reference vehicle speed and a reference acceleration according to an equivalent vehicle speed of the vehicle during the driving process of the vehicle;

[0095] A second calculation module 620, configured to obtain a desired vehicle speed and a real-time target acceleration according to the actual vehicle speed and preset driving parameters during the vehicle driving process;

[0096] A proportional adjustment module 630, configured to perform closed-loop proportional adjustment according to the desired vehicle speed and the reference vehicle speed to obtain a proportional adjustment torque;

[0097] An integral adjustment module 640 is used to perform closed-loop integral adjustment according to the real-time target acceleration and the reference acceleration to obtain an integral adjustment torque;

[0098] The torque control module 650 is used to obtain the creep control torque according to the proportional adjustment torque and the integral adjustment torque.

[0099] It should be noted that the vehicle creep control device 600 provided in the above embodiment and the vehicle creep control method provided in the aforementioned embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0100] Figure 6 A schematic diagram of the structure of an embodiment of the vehicle of the present application is shown, which shows a schematic diagram of the structure of a computer system of the vehicle suitable for implementing the embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the vehicle.

[0101] See also Figure 6 As shown, the vehicle includes: a controller; a memory for storing one or more programs, and when the one or more programs are executed by the controller, the above-mentioned vehicle creep control method is executed.

[0102] Please continue reading Figure 6As shown, the computer system 700 of the vehicle includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage part 708 to the random access memory (RAM) 703, such as executing the method in the above embodiment. In RAM 703, various programs and data required for system operation are also stored. CPU 701, ROM 702 and RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0103] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read therefrom is installed into the storage section 708 as needed.

[0104] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 709, and / or installed from a removable medium 711. When the computer program is executed by a central processing unit (CPU) 701, various functions defined in the system of the present application are executed.

[0105] Another aspect of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the creep control method of the vehicle as described above is implemented. The computer-readable storage medium may be included in the vehicle described in the above embodiment, or may exist independently without being assembled into the vehicle.

[0106] Another aspect of the present application further provides a computer program product or a computer program, the computer program product or the computer program comprising at least one executable instruction, when the executable instruction is run on a creep control device of a vehicle / a vehicle, the creep control device of the vehicle / the vehicle executes the creep control method of the vehicle as described below:

[0107] During the driving of the vehicle, a reference vehicle speed and a reference acceleration are obtained according to an equivalent vehicle speed of the vehicle;

[0108] Obtaining a desired vehicle speed and a real-time target acceleration according to the actual vehicle speed and preset driving parameters during the vehicle driving process;

[0109] Performing closed-loop proportional adjustment according to the desired vehicle speed and the reference vehicle speed to obtain proportional adjustment torque;

[0110] Performing closed-loop integral regulation according to the real-time target acceleration and the reference acceleration to obtain integral regulation torque;

[0111] The creep control torque is obtained according to the proportional adjustment torque and the integral adjustment torque.

[0112] In an optional manner, the executable instructions may also be used to enable the creep control device of the vehicle / the vehicle to perform the following operations:

[0113] Obtaining a creep torque coefficient, a brake pedal coefficient, and a steering wheel angle coefficient of the vehicle;

[0114] Obtaining a desired vehicle speed according to the actual vehicle speed, the creep torque coefficient, the brake pedal coefficient, and the steering wheel angle coefficient;

[0115] A real-time target acceleration is obtained according to the expected vehicle speed.

[0116] In an optional manner, the executable instructions may also be used to enable the creep control device of the vehicle / the vehicle to perform the following operations:

[0117] Calibrate the creep torque coefficient based on the driving slope angle and vehicle speed of the vehicle to obtain a creep torque coefficient mapping table;

[0118] The creep torque coefficient is obtained by looking up the creep torque coefficient mapping table according to the current driving slope angle of the vehicle and the actual vehicle speed.

[0119] In an optional manner, the executable instructions may also be used to enable the creep control device of the vehicle / the vehicle to perform the following operations:

[0120] calibrating a brake pedal coefficient mapping table according to the brake pedal opening of the vehicle;

[0121] The brake pedal coefficient is obtained by looking up the brake pedal coefficient mapping table according to the current brake pedal opening of the vehicle.

[0122] In an optional manner, the equivalent vehicle speed of the vehicle is the equivalent vehicle speed of the rear wheels or the equivalent vehicle speed of the front wheels, and the executable instruction can also be used to enable the creep control device of the vehicle / the vehicle to perform the following operations:

[0123] Obtaining the left rear wheel speed and the right rear wheel speed of the vehicle;

[0124] Calculating the mean of the left rear wheel speed and the right rear wheel speed to obtain a reference speed of the vehicle;

[0125] Alternatively, obtaining the left front wheel speed and the right front wheel speed of the vehicle;

[0126] The left front wheel speed and the right front wheel speed are averaged to obtain a reference speed of the vehicle.

[0127] In an optional manner, the executable instructions may also be used to enable the creep control device of the vehicle / the vehicle to perform the following operations:

[0128] When the rear wheel speed sensor of the vehicle is abnormal, the equivalent vehicle speed is the front wheel equivalent vehicle speed; when the front wheel speed sensor of the vehicle is abnormal, the equivalent vehicle speed is the rear wheel equivalent vehicle speed.

[0129] In an optional manner, the executable instructions may also be used to enable the creep control device of the vehicle / the vehicle to perform the following operations:

[0130] Obtaining a reference duration of the vehicle relative to the reference vehicle speed;

[0131] The reference acceleration is obtained according to the reference duration and the reference vehicle speed.

[0132] The vehicle creep control method of the embodiment of the present application obtains a reference speed and a reference acceleration through the equivalent speed of the vehicle, and then obtains the desired speed and real-time target acceleration during the vehicle's driving process in combination with the actual speed of the vehicle and preset driving parameters; then the desired speed and the reference speed are closed-loop proportionally adjusted, and the real-time target acceleration and the reference acceleration are closed-loop integrally adjusted, so as to obtain proportional adjustment torque and integral adjustment torque through double closed-loop control, and then obtain the creep control torque of double closed-loop control; so as to achieve smooth and controllable closed-loop speed processing of the vehicle, and solve the problem that the motor control strategy of current new energy vehicles has limited creep control accuracy during the vehicle creep process, which may lead to low creep performance of the vehicle.

[0133] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0134] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0135] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0136] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0137] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0138] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

[0139] The data collection and processing in this application should be strictly in accordance with the requirements of relevant national laws and regulations when applied in practice, and the informed consent or separate consent of the personal information subject should be obtained. Subsequent data use and processing should be carried out within the scope of authorization of laws and regulations and the personal information subject.

Claims

1. A creep control method for a vehicle, characterized in that: The method includes: During the driving of the vehicle, a reference vehicle speed and a reference acceleration are obtained according to an equivalent vehicle speed of the vehicle; Obtaining a desired vehicle speed and a real-time target acceleration according to the actual vehicle speed and preset driving parameters during the vehicle driving process; Performing closed-loop proportional adjustment according to the desired vehicle speed and the reference vehicle speed to obtain proportional adjustment torque; Performing closed-loop integral regulation according to the real-time target acceleration and the reference acceleration to obtain integral regulation torque; The creep control torque is obtained according to the proportional adjustment torque and the integral adjustment torque.

2. The vehicle creep control method according to claim 1, characterized in that: The method further comprises: Obtaining a creep torque coefficient, a brake pedal coefficient, and a steering wheel angle coefficient of the vehicle; Obtaining a desired vehicle speed according to the actual vehicle speed, the creep torque coefficient, the brake pedal coefficient, and the steering wheel angle coefficient; A real-time target acceleration is obtained according to the expected vehicle speed.

3. The vehicle creep control method according to claim 2, characterized in that: The method further comprises: Calibrate the creep torque coefficient based on the driving slope angle and vehicle speed of the vehicle to obtain a creep torque coefficient mapping table; The creep torque coefficient is obtained by looking up the creep torque coefficient mapping table according to the current driving slope angle of the vehicle and the actual vehicle speed.

4. The vehicle creep control method according to claim 2, characterized in that: The method further comprises: calibrating a brake pedal coefficient mapping table according to the brake pedal opening of the vehicle; The brake pedal coefficient is obtained by looking up the brake pedal coefficient mapping table according to the current brake pedal opening of the vehicle.

5. The vehicle creep control method according to claim 1, characterized in that: The equivalent vehicle speed of the vehicle is the equivalent vehicle speed of the rear wheels or the equivalent vehicle speed of the front wheels, and the method further includes: Obtaining the left rear wheel speed and the right rear wheel speed of the vehicle; Calculating the mean of the left rear wheel speed and the right rear wheel speed to obtain a reference speed of the vehicle; Alternatively, obtaining the left front wheel speed and the right front wheel speed of the vehicle; The left front wheel speed and the right front wheel speed are averaged to obtain a reference speed of the vehicle.

6. The vehicle creep control method according to claim 5, characterized in that: The method further comprises: When the rear wheel speed sensor of the vehicle is abnormal, the equivalent vehicle speed is the front wheel equivalent vehicle speed; when the front wheel speed sensor of the vehicle is abnormal, the equivalent vehicle speed is the rear wheel equivalent vehicle speed.

7. The vehicle creep control method according to claim 1, characterized in that: The method further comprises: Obtaining a reference duration of the vehicle relative to the reference vehicle speed; The reference acceleration is obtained according to the reference duration and the reference vehicle speed.

8. A creep control device for a vehicle, characterized in that: The device comprises: A first calculation module, used for obtaining a reference vehicle speed and a reference acceleration according to an equivalent vehicle speed of the vehicle during the driving process of the vehicle; A second calculation module is used to obtain a desired vehicle speed and a real-time target acceleration according to the actual vehicle speed and preset driving parameters during the vehicle driving process; A proportional adjustment module, used for performing closed-loop proportional adjustment according to the desired vehicle speed and the reference vehicle speed to obtain a proportional adjustment torque; An integral adjustment module, used for performing closed-loop integral adjustment according to the real-time target acceleration and the reference acceleration to obtain an integral adjustment torque; The torque control module is used to obtain the creep control torque according to the proportional adjustment torque and the integral adjustment torque.

9. A vehicle, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the creep control method of the vehicle as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which includes at least one executable instruction. When the executable instruction is run on the vehicle's creep control device / vehicle, the vehicle's creep control device / vehicle performs the operation of the vehicle's creep control method as described in any one of claims 1 to 7.

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