CN112428998A - Vehicle creep control method and apparatus - Google Patents
Vehicle creep control method and apparatus Download PDFInfo
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- CN112428998A CN112428998A CN201910779662.6A CN201910779662A CN112428998A CN 112428998 A CN112428998 A CN 112428998A CN 201910779662 A CN201910779662 A CN 201910779662A CN 112428998 A CN112428998 A CN 112428998A
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- 230000009193 crawling Effects 0.000 claims abstract description 93
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- 206010039203 Road traffic accident Diseases 0.000 abstract description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18063—Creeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The embodiment of the invention provides a vehicle crawling control method and device, wherein the method comprises the following steps: if the vehicle enters a crawling working condition, acquiring the speed of the vehicle; judging whether the vehicle speed is within a preset vehicle speed range or not; and if the speed is within the preset speed range, the speed is used as a crawling speed, and crawling control is performed on the vehicle according to the crawling speed, so that the crawling speed of the vehicle is close to the speed required by practical application, a driver does not need to step on a pedal to accelerate or decelerate at any time, and traffic accidents are reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle crawling control method and device.
Background
With the development of social economy, the living standard of people is continuously improved, vehicles are more and more popularized, and the vehicle becomes an important vehicle for people to go out. Generally, a vehicle passes through a bad road surface in a creeping mode, wherein the creeping mode is that the vehicle automatically controls the torque output of an engine to slowly run at a creeping speed, so that the phenomenon that wheels slip and sink due to the fact that the speed is too fast is avoided. The crawling vehicle speed is a preset value which is automatically reached by the vehicle within a certain time under the condition that the vehicle enters a crawling working condition and no driver intervenes.
At present, one or two preset vehicle speeds are generally set to control the crawling vehicle speed.
However, in the above method for controlling the creep vehicle speed, the creep vehicle speed can only be selected from the preset vehicle speeds, and the deviation from the vehicle speed required for practical application is large. In this way, the driver is often required to step on the pedal to accelerate or decelerate, which is distracting from the driver and is likely to cause a traffic accident.
Disclosure of Invention
The embodiment of the invention provides a vehicle crawling control method and device, which are used for solving the problem that the crawling speed of the existing vehicle crawling is larger in deviation with the speed required by practical application.
In a first aspect, an embodiment of the present invention provides a vehicle creep control method, including:
if the vehicle enters a crawling working condition, acquiring the speed of the vehicle;
judging whether the vehicle speed is within a preset vehicle speed range or not;
if the vehicle speed is within the preset vehicle speed range, taking the vehicle speed as a crawling vehicle speed;
and controlling the vehicle to creep according to the creep vehicle speed.
Optionally, after the creep controlling the vehicle according to the creep vehicle speed, the method further includes:
receiving a vehicle speed adjusting instruction;
determining a target vehicle speed of the vehicle according to the vehicle speed adjusting instruction;
judging whether the target vehicle speed is within the preset vehicle speed range or not;
if the target vehicle speed is within the preset vehicle speed range, taking the target vehicle speed as a target crawling vehicle speed;
and controlling the vehicle to creep according to the target creep vehicle speed.
Optionally, after the determining whether the vehicle speed is within a preset vehicle speed range, the method further includes:
and if the vehicle speed is less than or equal to the lower limit value of the preset vehicle speed range, taking the lower limit value as the crawling vehicle speed.
Optionally, after the determining whether the vehicle speed is within a preset vehicle speed range, the method further includes:
and if the vehicle speed is greater than or equal to the upper limit value of the preset vehicle speed range, taking the upper limit value as the crawling vehicle speed.
Optionally, after the creep controlling the vehicle according to the creep vehicle speed, the method further includes:
and sending prompt information to preset personnel, wherein the prompt information carries the crawling vehicle speed.
In a second aspect, an embodiment of the present invention provides a vehicle creep control apparatus, including:
the acquisition module is used for acquiring the speed of the vehicle if the vehicle enters a crawling working condition;
the judging module is used for judging whether the vehicle speed is within a preset vehicle speed range;
the first processing module is used for taking the vehicle speed as a crawling vehicle speed if the vehicle speed is within the preset vehicle speed range;
and the control module is used for controlling the crawling of the vehicle according to the crawling vehicle speed.
Optionally, the method further comprises: a second processing module for controlling the vehicle to creep according to the creep vehicle speed after the control module controls the vehicle to creep,
receiving a vehicle speed adjusting instruction;
determining a target vehicle speed of the vehicle according to the vehicle speed adjusting instruction;
judging whether the target vehicle speed is within a preset vehicle speed range or not;
if the target vehicle speed is within the preset vehicle speed range, taking the target vehicle speed as a target crawling vehicle speed;
and controlling the vehicle to creep according to the target creep vehicle speed.
Optionally, the method further comprises: and the third processing module is used for taking the lower limit value as the crawling vehicle speed if the vehicle speed is less than or equal to the lower limit value of the preset vehicle speed range.
Optionally, the method further comprises: and the fourth processing module is used for taking the upper limit value as the crawling vehicle speed if the vehicle speed is greater than or equal to the upper limit value of the preset vehicle speed range.
Optionally, the method further comprises: the prompting module is used for prompting the driver to creep the vehicle according to the creep vehicle speed,
and sending prompt information to preset personnel, wherein the prompt information carries the crawling vehicle speed.
In a third aspect, an embodiment of the present invention provides a vehicle creep control apparatus including: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the vehicle creep control method as set forth in the first aspect above and in various possible designs of the first aspect.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium, in which computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the vehicle creep control method according to the first aspect and various possible designs of the first aspect is implemented.
According to the vehicle crawling control method and device provided by the embodiment of the invention, the speed of the vehicle is obtained after the vehicle enters a crawling working condition; judging whether the vehicle speed is within a preset vehicle speed range; if the speed is within the preset speed range, taking the speed as the crawling speed; the vehicle is controlled to creep according to the creep vehicle speed, so that the creep vehicle speed of the vehicle is close to the vehicle speed required by practical application, the driver does not need to step on a pedal to accelerate or decelerate all the time, and traffic accidents are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a vehicle creep control system according to an embodiment of the present invention;
FIG. 2 is a first flowchart illustrating a method for controlling creep of a vehicle according to an embodiment of the present invention;
FIG. 3 is a second flowchart illustrating a method for controlling creep of a vehicle according to an embodiment of the present invention;
FIG. 4 is a third schematic flow chart illustrating a method for controlling creep of a vehicle according to an embodiment of the present invention;
FIG. 5 is a fourth flowchart illustrating a method for controlling creep of a vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a corresponding relationship between a creep vehicle speed and a current vehicle speed according to an embodiment of the present invention
FIG. 7 is a first schematic structural diagram of a vehicle creep control apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram II of a vehicle creep control apparatus according to an embodiment of the present invention;
fig. 9 is a schematic hardware structure diagram of a vehicle creep control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Usually, the vehicle passes through a bad road surface in a creeping mode, and the creeping mode is that the vehicle automatically controls the torque output of an engine to slowly run at a creeping speed so as to avoid the phenomenon that wheels slip and sink due to the fact that the speed of the vehicle is too high. The crawling vehicle speed is a preset value which is automatically reached by the vehicle within a certain time under the condition that the vehicle enters a crawling working condition and no driver intervenes.
At present, one or two preset vehicle speeds are generally set to control the crawling vehicle speed.
However, in the above method for controlling the creep vehicle speed, the creep vehicle speed can only be selected from the preset vehicle speeds, and the deviation from the vehicle speed required for practical application is large. In this way, the driver is often required to step on the pedal to accelerate or decelerate, which is distracting from the driver and is likely to cause a traffic accident.
Therefore, in view of the above problems, the present embodiment provides a vehicle creep control method, which obtains the vehicle speed of a vehicle when the vehicle enters a creep condition; judging whether the vehicle speed is within a preset vehicle speed range; if the speed is within the preset speed range, taking the speed as the crawling speed; the vehicle is controlled to creep according to the creep vehicle speed, so that the creep vehicle speed of the vehicle is close to the vehicle speed required by practical application, the driver does not need to step on a pedal to accelerate or decelerate all the time, and traffic accidents are reduced.
The embodiment provides a schematic structural diagram of a vehicle creep control system, which is shown in fig. 1 and can be applied to the vehicle creep control method provided by the embodiment of the invention, and as shown in fig. 1, the system provided by the embodiment includes a terminal 101. If the vehicle 102 enters a creeping condition, the terminal 101 may obtain a speed of the vehicle 102; whether the vehicle speed is within a preset vehicle speed range can be judged; if the vehicle speed is within the preset vehicle speed range, the terminal 101 can also use the vehicle speed as a crawling vehicle speed, and crawl the vehicle 102 according to the crawling vehicle speed. In this embodiment, an implementation manner of the terminal 101 is not particularly limited, the terminal 101 may be a Vehicle-mounted terminal, a computer, a mobile phone, and the like, for example, the Vehicle-mounted terminal includes a Vehicle Control Unit (VCU), and the VCU may acquire a Vehicle speed of the Vehicle after the Vehicle enters a creep working condition, and determine whether the Vehicle speed is within a preset Vehicle speed range, and if the Vehicle speed is within the preset Vehicle speed range, use the Vehicle speed as a creep Vehicle speed to control the Vehicle in a creep mode.
The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 2 is a flowchart illustrating a first method for controlling vehicle creep according to an embodiment of the present invention, where an execution main body of the embodiment may be the terminal 101 in the embodiment shown in fig. 1, for example, a VCU of a vehicle-mounted terminal, and the embodiment is not limited herein. As shown in fig. 2, the method may include:
s201: and if the vehicle enters a creeping working condition, acquiring the speed of the vehicle.
Here, the vehicle enters a creep condition, i.e., the vehicle is in a low-speed cruise drive assist mode. The terminal can acquire the tire state and the ground holding force of the vehicle sensed by the wheel end sensor to judge whether the vehicle enters the crawling working condition or not. For example: and if the grip force of the vehicle is smaller than a preset grip force threshold value, judging that the vehicle enters a creeping working condition, wherein the preset grip force threshold value can be set according to an actual application scene.
The application scenario corresponding to the creep condition may include, but is not limited to: steep slope, rain and snow road, rock road or sand ground, etc.
The vehicle speed of the vehicle is a current running speed of the vehicle.
For example, the terminal may obtain the vehicle speed of the vehicle through the CAN line.
S202: and judging whether the vehicle speed is within a preset vehicle speed range.
The preset vehicle speed range is a creep vehicle speed range which can be selected when the vehicle enters a creep working condition.
The preset vehicle speed range can be set according to actual application scenes, such as a rainy and snowy road, and is e-f; the preset speed range of the rock road is g-h and the like. This embodiment is not particularly limited thereto.
Illustratively, the current vehicle speed is a, the preset vehicle speed range is b-c, and whether a is in the range of b-c is judged.
S203: and if the vehicle speed is within the preset vehicle speed range, taking the vehicle speed as a crawling vehicle speed.
Illustratively, the current vehicle speed is a, the preset vehicle speed range is b-c, and if a is in the range of b-c, a is taken as the creep vehicle speed.
S204: and controlling the vehicle to creep according to the creep vehicle speed.
Controlling the vehicle to creep according to the creep vehicle speed: and if the vehicle speed is within the preset vehicle speed range, the terminal can maintain the current vehicle speed to creep the vehicle.
Optionally, after the creep controlling the vehicle according to the creep vehicle speed, the method further includes:
and sending prompt information to preset personnel, wherein the prompt information carries the crawling vehicle speed.
The preset personnel can receive prompt information to obtain the crawling vehicle speed. The preset personnel may preset according to an application scenario, and may be a driver or a co-driver, which is not limited in this embodiment.
By sending prompt information carrying the crawling vehicle speed to preset personnel, the preset personnel can obtain the current crawling vehicle speed in time, and control over vehicle crawling is enhanced.
According to the vehicle crawling control method provided by the embodiment of the invention, when the vehicle enters a crawling working condition, the speed of the vehicle is obtained; judging whether the vehicle speed is within a preset vehicle speed range; if the vehicle speed is within the preset vehicle speed range, taking the vehicle speed as a crawling vehicle speed; the vehicle is controlled to creep according to the creep vehicle speed, so that the creep vehicle speed of the vehicle is close to the vehicle speed required by practical application, the driver does not need to step on a pedal to accelerate or decelerate all the time, and traffic accidents are reduced.
Fig. 3 is a second flowchart of a vehicle creep control method according to an embodiment of the present invention, where an execution main body of the embodiment may be the terminal 101 in the embodiment shown in fig. 1, for example, a VCU of a vehicle-mounted terminal, and the embodiment is not limited herein. As shown in fig. 3, the method includes:
s301: and if the vehicle enters a creeping working condition, acquiring the speed of the vehicle.
S302: and judging whether the vehicle speed is within a preset vehicle speed range.
S303: and if the vehicle speed is within the preset vehicle speed range, taking the vehicle speed as a crawling vehicle speed.
S304: and controlling the vehicle to creep according to the creep vehicle speed.
The steps S301 to S304 are the same as the steps S201 to S204, and are not described herein again.
S305: and receiving a vehicle speed adjusting instruction.
Wherein receiving the adjustment instruction may be implemented by, but is not limited to:
the vehicle speed adjustment command is received by detecting that an accelerator pedal or a decelerator pedal is depressed. For example: receiving an acceleration instruction when the accelerator pedal is detected to be stepped; and receiving a deceleration command when the deceleration pedal is detected to be pressed down.
Or, receiving a vehicle speed adjusting instruction through a User Interface (UI for short);
the UI is a medium for interaction and information exchange between the system and the user, and enables conversion between an internal form of information and a human-acceptable form. Illustratively, receiving the vehicle speed adjustment command via the UI comprises: and monitoring whether a vehicle speed adjusting instruction is triggered on the UI, and if so, receiving the vehicle speed adjusting instruction.
The vehicle speed adjusting command carries target vehicle speed information. For example: when a vehicle speed adjusting instruction is received by detecting that an accelerator pedal or a decelerator pedal is stepped, the vehicle speed adjusting instruction carries a pedal identification and pedal opening information corresponding to the pedal identification; when the vehicle speed adjusting instruction is received through the UI, the vehicle speed adjusting instruction can carry a speed value of a target vehicle speed or a vehicle speed change value.
S306: determining a target vehicle speed of the vehicle according to the vehicle speed adjusting instruction; judging whether the target vehicle speed is within the preset vehicle speed range or not; if the target vehicle speed is within the preset vehicle speed range, taking the target vehicle speed as a target crawling vehicle speed; and controlling the vehicle to creep according to the target creep vehicle speed.
For example, if a vehicle speed adjusting instruction is received by detecting that an accelerator pedal is pressed down, a target vehicle speed is obtained according to the opening degree of the accelerator pedal; judging whether the target vehicle speed is within a preset vehicle speed range; if the target vehicle speed is within the preset vehicle speed range, taking the target vehicle speed as a target crawling vehicle speed, wherein the target vehicle speed is a’The preset vehicle speed range is b-c, if a’In the range of b-c, then a is’As a target creep speed; and (3) carrying out crawling control on the vehicle according to the target crawling vehicle speed, for example: the target crawling vehicle speed is a’And if the crawling vehicle speed is a, adjusting the vehicle speed of the vehicle to the target crawling vehicle speed.
The target speed of the vehicle is determined by receiving a speed adjusting instruction, and if the target speed is within a preset speed range, the target speed is used as the target crawling speed, so that the crawling speed is adjusted, and the target crawling speed of the vehicle is closer to the speed required by practical application.
According to the vehicle crawling control method provided by the embodiment of the invention, when the vehicle enters a crawling working condition, crawling control is carried out on the vehicle according to the crawling vehicle speed, a vehicle speed adjusting instruction can be received, the target vehicle speed of the vehicle is determined, and if the target vehicle speed is within a preset vehicle speed range, the target vehicle speed is taken as the target crawling vehicle speed, so that the crawling vehicle speed of the vehicle is close to the vehicle speed required by practical application, a driver does not need to step on a pedal for acceleration or deceleration at any time, and traffic accidents are reduced. And adjusting the creep running vehicle speed to enable the target creep running vehicle speed of the vehicle to be closer to the vehicle speed required by practical application.
Fig. 4 is a third schematic flowchart of a vehicle creep control method according to an embodiment of the present invention, where an execution main body of the embodiment may be the terminal 101 in the embodiment shown in fig. 1, for example, a VCU of a vehicle-mounted terminal, and the embodiment is not limited herein. As shown in fig. 4, the method includes:
s401: and if the vehicle enters a creeping working condition, acquiring the speed of the vehicle.
S402: and judging whether the vehicle speed is within a preset vehicle speed range.
The steps S401 to S402 are the same as the steps S201 to S202, and are not described herein again.
S403: and if the vehicle speed is less than or equal to the lower limit value of the preset vehicle speed range, taking the lower limit value as the crawling vehicle speed.
Illustratively, the current vehicle speed is a, the preset vehicle speed range is b-c (b is less than c), and if a is less than or equal to b, the b is taken as the creep vehicle speed.
If the vehicle speed is less than or equal to the lower limit value of the vehicle speed range, the vehicle speed required by practical application is low, and the lower limit value of the preset vehicle speed range is used as a creeping vehicle speed to enable the creeping vehicle speed of the vehicle to be close to the vehicle speed required by practical application.
S404: and controlling the vehicle to creep according to the creep vehicle speed.
The step S404 is the same as the step S204, and is not described herein again.
According to the vehicle crawling control method provided by the embodiment of the invention, when the vehicle enters a crawling working condition, the speed of the vehicle is obtained; judging whether the vehicle speed is within a preset vehicle speed range; if the vehicle speed is less than or equal to the lower limit value of the vehicle speed range, taking the lower limit value of the preset vehicle speed range as the crawling vehicle speed; the vehicle is controlled to creep according to the creep vehicle speed, so that the creep vehicle speed of the vehicle is close to the vehicle speed required by practical application, the driver does not need to step on a pedal to accelerate or decelerate all the time, and traffic accidents are reduced.
Fig. 5 is a fourth schematic flowchart of a vehicle creep control method according to an embodiment of the present invention, where an execution main body of the embodiment may be the terminal 101 in the embodiment shown in fig. 1, for example, a VCU of a vehicle-mounted terminal, and the embodiment is not limited herein. As shown in fig. 5, the method includes:
s501: and if the vehicle enters a creeping working condition, acquiring the speed of the vehicle.
S502: and judging whether the vehicle speed is within a preset vehicle speed range.
The steps S501 to S502 are the same as the steps S201 to S202, and are not described herein again.
S503: and if the vehicle speed is greater than or equal to the upper limit value of the preset vehicle speed range, taking the upper limit value as the crawling vehicle speed.
Illustratively, the current vehicle speed is a, the preset vehicle speed range is b-c (b is less than c), and if a is greater than or equal to c, c is taken as the creep vehicle speed.
If the vehicle speed is larger than or equal to the upper limit value of the vehicle speed range, the vehicle speed required by practical application is higher, and the upper limit value of the preset vehicle speed range is used as a creeping vehicle speed to enable the creeping vehicle speed of the vehicle to be close to the vehicle speed required by practical application.
S504: and controlling the vehicle to creep according to the creep vehicle speed.
The step S504 is the same as the step S204, and is not described herein again.
According to the vehicle crawling control method provided by the embodiment of the invention, when the vehicle enters a crawling working condition, the speed of the vehicle is obtained; judging whether the vehicle speed is within a preset vehicle speed range; if the vehicle speed is greater than or equal to the upper limit value of the vehicle speed range, taking the upper limit value of the preset vehicle speed range as the crawling vehicle speed; the vehicle is controlled to creep according to the creep vehicle speed, so that the creep vehicle speed of the vehicle is close to the vehicle speed required by practical application, the driver does not need to step on a pedal to accelerate or decelerate all the time, and traffic accidents are reduced.
Fig. 6 is a schematic diagram illustrating a corresponding relationship between a creep vehicle speed and a current vehicle speed according to an embodiment of the present invention. As shown in fig. 6, the vehicle speeds of different current vehicles correspond to different creep vehicle speeds.
The preset vehicle speed range is a-b km/h, and if the current vehicle speed is less than or equal to akm/h, the crawling vehicle speed is a km/h; when the speed a km/h is less than the current speed of the vehicle and is more than b km/h, the crawling speed is the current speed of the vehicle; when the current vehicle speed is more than or equal to b km/h, the crawling vehicle speed is b km/h.
Fig. 7 is a schematic structural diagram of a vehicle creep control device according to an embodiment of the present invention, which corresponds to the vehicle creep control method according to the foregoing embodiment, and for convenience of explanation, only the parts related to the embodiment of the present invention are shown. As shown in fig. 7, the vehicle creep control apparatus 70 includes: an obtaining module 701, a determining module 702, a first processing module 703 and a control module 704.
The acquiring module 701 is used for acquiring the speed of the vehicle if the vehicle enters a crawling working condition;
a judging module 702, configured to judge whether the vehicle speed is within a preset vehicle speed range;
the first processing module 703 is configured to, if the vehicle speed is within the preset vehicle speed range, use the vehicle speed as a crawling vehicle speed;
and the control module 704 is used for controlling the crawling of the vehicle according to the crawling vehicle speed.
The apparatus provided in the embodiment of the present invention may be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
Fig. 8 is a schematic structural diagram of a vehicle creep control device according to an embodiment of the present invention. As shown in fig. 8, the vehicle creep control apparatus 80 further includes, in addition to fig. 7: a second processing module 705, a third processing module 706, a fourth processing module 707, and a hinting module 708.
Optionally, the second processing module 705 is configured to, after the control module 704 performs the creep control on the vehicle according to the creep vehicle speed,
receiving a vehicle speed adjusting instruction;
determining a target vehicle speed of the vehicle according to the vehicle speed adjusting instruction;
judging whether the target vehicle speed is within a preset vehicle speed range or not;
if the target vehicle speed is within the preset vehicle speed range, taking the target vehicle speed as a target crawling vehicle speed;
and controlling the vehicle to creep according to the target creep vehicle speed.
Optionally, the third processing module 706 is configured to, if the vehicle speed is less than or equal to a lower limit of the preset vehicle speed range, use the lower limit as a creep speed.
Optionally, the fourth processing module 707 is configured to, if the vehicle speed is greater than or equal to an upper limit value of the preset vehicle speed range, use the upper limit value as a creep speed.
Optionally, the prompting module 708 is configured to, after the creep control is performed on the vehicle according to the creep vehicle speed,
and sending prompt information to preset personnel, wherein the prompt information carries the crawling vehicle speed.
The apparatus provided in the embodiment of the present invention may be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
Fig. 9 is a schematic hardware structure diagram of a vehicle creep control apparatus according to an embodiment of the present invention. As shown in fig. 9, the vehicle creep control apparatus 90 of the present embodiment includes: a processor 901 and a memory 902; wherein
A memory 902 for storing computer-executable instructions;
a processor 901 for executing computer-executable instructions stored in the memory to perform the steps of the vehicle creep control method in the above-described embodiments. Reference may be made in particular to the description relating to the method embodiments described above.
Alternatively, the memory 902 may be separate or integrated with the processor 901.
When the memory 902 is provided separately, the vehicle creep control apparatus further includes a bus 903 for connecting the memory 902 and the processor 901.
The embodiment of the invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the vehicle creep control method is realized.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute some steps of the methods according to the embodiments of the present invention.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the vehicle creep control method disclosed in connection with the present invention may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present invention are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.
Those of ordinary skill in the art will understand that: all or part of the steps of implementing each vehicle creep control method embodiment can be completed by hardware related to program instructions. The program may be stored in a computer-readable storage medium. When the program is executed, the steps of each embodiment of the vehicle creep control method are executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling creep in a vehicle, comprising:
if the vehicle enters a crawling working condition, acquiring the speed of the vehicle;
judging whether the vehicle speed is within a preset vehicle speed range or not;
if the vehicle speed is within the preset vehicle speed range, taking the vehicle speed as a crawling vehicle speed;
and controlling the vehicle to creep according to the creep vehicle speed.
2. The method of claim 1, further comprising, after said creep controlling the vehicle in accordance with the creep vehicle speed:
receiving a vehicle speed adjusting instruction;
determining a target vehicle speed of the vehicle according to the vehicle speed adjusting instruction;
judging whether the target vehicle speed is within the preset vehicle speed range or not;
if the target vehicle speed is within the preset vehicle speed range, taking the target vehicle speed as a target crawling vehicle speed;
and controlling the vehicle to creep according to the target creep vehicle speed.
3. The method according to claim 1, further comprising, after said determining whether the vehicle speed is within a preset vehicle speed range:
and if the vehicle speed is less than or equal to the lower limit value of the preset vehicle speed range, taking the lower limit value as the crawling vehicle speed.
4. The method according to claim 1, further comprising, after said determining whether the vehicle speed is within a preset vehicle speed range:
and if the vehicle speed is greater than or equal to the upper limit value of the preset vehicle speed range, taking the upper limit value as the crawling vehicle speed.
5. The method of claim 1, further comprising, after said creep controlling the vehicle in accordance with the creep vehicle speed:
and sending prompt information to preset personnel, wherein the prompt information carries the crawling vehicle speed.
6. A vehicle creep control apparatus, comprising:
the acquisition module is used for acquiring the speed of the vehicle if the vehicle enters a crawling working condition;
the judging module is used for judging whether the vehicle speed is within a preset vehicle speed range;
the first processing module is used for taking the vehicle speed as a crawling vehicle speed if the vehicle speed is within the preset vehicle speed range;
and the control module is used for controlling the crawling of the vehicle according to the crawling vehicle speed.
7. The apparatus of claim 6, further comprising: a second processing module for controlling the vehicle to creep according to the creep vehicle speed after the control module controls the vehicle to creep,
receiving a vehicle speed adjusting instruction;
determining a target vehicle speed of the vehicle according to the vehicle speed adjusting instruction;
judging whether the target vehicle speed is within a preset vehicle speed range or not;
if the target vehicle speed is within the preset vehicle speed range, taking the target vehicle speed as a target crawling vehicle speed;
and controlling the vehicle to creep according to the target creep vehicle speed.
8. The apparatus of claim 6, further comprising: a third processing module and/or a fourth processing module;
the third processing module is used for taking the lower limit value as a crawling vehicle speed if the vehicle speed is less than or equal to the lower limit value of the preset vehicle speed range;
and the fourth processing module is used for taking the upper limit value as the crawling vehicle speed if the vehicle speed is greater than or equal to the upper limit value of the preset vehicle speed range.
9. A vehicle creep control apparatus, characterized by comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the vehicle creep control method according to any one of claims 1 to 5.
10. A computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a processor, implement a vehicle creep control method according to any one of claims 1 to 5.
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| CN201910779662.6A CN112428998A (en) | 2019-08-22 | 2019-08-22 | Vehicle creep control method and apparatus |
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| CN201910779662.6A CN112428998A (en) | 2019-08-22 | 2019-08-22 | Vehicle creep control method and apparatus |
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