CN113320533B - Crawling vehicle speed control system and control method thereof - Google Patents

Crawling vehicle speed control system and control method thereof Download PDF

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Publication number
CN113320533B
CN113320533B CN202110877903.8A CN202110877903A CN113320533B CN 113320533 B CN113320533 B CN 113320533B CN 202110877903 A CN202110877903 A CN 202110877903A CN 113320533 B CN113320533 B CN 113320533B
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vehicle speed
crawling
correction
preset
value
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CN113320533A (en
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熊峰
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Nantong Ruidong New Energy Technology Co ltd
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Nantong Ruidong New Energy Technology Co ltd
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18063—Creeping
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed

Abstract

The invention discloses a creeping vehicle speed control system, which comprises: the judging module detects whether the current vehicle state meets the correction condition of the crawling vehicle speed; the triggering module generates a triggering instruction when the current vehicle state meets the correction condition of the crawling vehicle speed; the method comprises the steps that when an interruption module detects that the current vehicle state does not meet the correction condition of the crawling vehicle speed, an interruption instruction is generated; the acquisition processing module acquires and processes crawling parameter information in time period data according to the trigger instruction and the interrupt instruction; when the number of times of identifying the crawling information acquired by the acquisition module reaches a preset value, the control processing module processes the acquired crawling parameter information to generate a correction control instruction; and the crawling correction module corrects the target crawling vehicle speed according to the correction control instruction and a preset correction rule. The invention can reduce the frequency of operating an accelerator and braking by a driver during crawling, reduce the driving strength, better realize the real-time adjustment of the target crawling vehicle speed and meet the differential requirements of the driver on the crawling vehicle speed.

Description

Crawling vehicle speed control system and control method thereof
Technical Field
The invention relates to the technical field of automobile control, in particular to a crawling vehicle speed control system and a crawling vehicle speed control method.
Background
The conventional creeping vehicle speed control method comprises multiple methods, namely, the method is controlled by a basic creeping torque or a basic creeping torque plus a compensation torque, and the control method can provide the same creeping target torque under the same road condition so as to drive the vehicle to achieve the same target creeping vehicle speed; the creep vehicle speed control is realized through a rotating speed or vehicle speed closed loop, the control mode controls the output torque through the difference value of the current rotating speed (or vehicle speed) and the target rotating speed (or vehicle speed), and the same target creep vehicle speed can be realized under different road conditions.
Meanwhile, the conventional crawling vehicle speed control method considers external factors such as vehicles or roads and the like so as to expect to obtain a relatively fixed target crawling vehicle speed without considering the differentiation requirements of different drivers. In reality, drivers with different proficiency levels have different requirements on the crawling vehicle speed, and the same driver has different requirements on the crawling vehicle speed in the forward direction and the backward direction of the vehicle, so that the existing crawling vehicle speed control method cannot meet the requirement of the driver on the difference of the crawling vehicle speed.
Disclosure of Invention
The present disclosure is directed to one or more of the above-described conventional problems and a creep vehicle speed control system and a control method thereof.
According to an aspect of the present invention, there is provided a creep vehicle speed control system, including:
the judging module is used for detecting whether the current vehicle state meets the correction condition of the crawling vehicle speed;
the triggering module is used for generating a triggering instruction when the current vehicle state meets the correction condition of the crawling vehicle speed;
the interrupt module is used for generating an interrupt instruction when detecting that the current vehicle state does not meet the correction condition of the crawling vehicle speed;
the timing module is used for recording time period data between each generated trigger instruction and the corresponding generated interrupt instruction;
the acquisition processing module is used for acquiring and processing crawling parameter information in the time section data according to the trigger instruction and the interrupt instruction;
the control processing module is used for processing the acquired crawling parameter information to generate a correction control instruction when the number of times of recognizing the crawling information acquired by the acquisition module reaches a preset value; and the crawling correction module is used for correcting the target crawling vehicle speed according to the correction control instruction and a preset correction rule.
In some embodiments, the correction condition includes a preset vehicle speed range, a preset road gradient range, a preset accelerator pedal opening range, a preset brake pedal opening range, and a preset gear mode.
In some embodiments, the acquisition processing module comprises an acquisition unit for acquiring the data t over the time periodnAcquiring real-time vehicle speed and road gradient according to a fixed time interval;
a first processing unit for processing the time period data tnThe calculated arithmetic mean value of all the vehicle speeds and road gradients collected in the interior is used as the average vehicle speed VnAnd road average gradient in；
A second processing unit for generating an average vehicle speed VnComparing with the pre-stored creeping target vehicle speed V to obtain a difference value delta Vn。
In some embodiments, the control processing module comprises:
the identification unit is used for judging whether the times of the acquired crawling information reach a preset value or not; a table look-up unit for acquiring each crawling information when the number of times of the crawling information reaches a preset value
Secondary-collected road average gradient inCorresponding ramp weight coefficient lambdan；
A calculating unit for calculating the ramp weight coefficient lambda of multi-time collection when the number of times of the collected crawling information reaches a preset valuenWith corresponding difference value deltaVn The arithmetic mean of the products of (a);
the comparison unit is used for comparing the obtained arithmetic mean value a with the set correction value variation b, and taking the smaller of the obtained arithmetic mean value a and the set correction value variation b as the variation of the creep running vehicle speed target value;
and the command generating unit is used for generating a correction control command according to the sum of the acquired variation of the target value of the crawling vehicle speed and the current target vehicle speed.
In some embodiments, the preset modification rule is a set creep target vehicle speed range.
In a second aspect, the invention provides a crawling vehicle speed control method, comprising the following steps:
detecting whether the current vehicle state meets the correction condition of the crawling vehicle speed;
when the current vehicle state meets the correction condition of the crawling vehicle speed, generating a trigger instruction;
when the current vehicle state is detected not to meet the correction condition of the crawling vehicle speed, an interruption instruction is generated;
recording time period data between each generated trigger instruction and the corresponding generated interrupt instruction;
acquiring and processing crawling parameter information in the time section data according to the trigger command and the interrupt command;
when the number of times of the acquired crawling information is recognized to reach a preset value, processing the acquired crawling parameter information to generate a correction control instruction; and updating the corrected crawling vehicle speed according to the correction control instruction and a preset correction rule.
In some embodiments, the acquiring and processing creep parameter information in the time period data according to the triggering instruction and the interrupt instruction comprises the following steps:
at time period data tnAcquiring real-time vehicle speed and road gradient according to a fixed time interval;
calculating data t at time periodsnThe arithmetic mean value of all the vehicle speeds and road gradients is collected in the interior and is used as the average vehicle speed Vn and the average road gradient in(ii) a Average vehicle speed V to be generatednComparing with the pre-stored creeping target vehicle speed V to obtain a difference value delta Vn。
In some embodiments, when the number of times of recognizing the collected crawling information reaches a preset value, processing the acquired crawling parameter information to generate a correction control instruction includes:
judging whether the number of times of the acquired crawling information reaches a preset value or not; acquiring average gradient i of road collected each timenCorresponding ramp weight coefficient lambdan；
When the times of the acquired crawling information reach a preset value, calculating a ramp weight coefficient lambda acquired for multiple timesnWith corresponding difference value deltaVnThe arithmetic mean of the products of (a);
comparing the obtained arithmetic mean value a with the set correction value variable quantity b, and taking the smaller of the obtained arithmetic mean value a and the set correction value variable quantity b as the variable quantity of the creep speed target value;
and taking the sum of the obtained variation of the creep running vehicle speed target value and the current target vehicle speed as a target vehicle speed correction value c, and generating a correction control instruction according to the target vehicle speed correction value c.
In some embodiments, the updating the corrected creep vehicle speed according to the correction control instruction and according to a preset correction rule, where the preset correction rule is a preset creep vehicle speed limit range, specifically includes:
and comparing the obtained target vehicle speed correction value c with a preset creep speed limiting range, and correcting the target creep speed according to the target vehicle speed correction value c if the target vehicle speed correction value c is within the preset creep speed limiting range.
According to a third aspect of the present invention, there is provided a terminal comprising: at least one processor; and a memory storing program instructions, wherein the program instructions are configured to be executed by the at least one processor, the program instructions including instructions for performing the creep vehicle speed control method described above.
The invention has the beneficial effects that:
the crawling vehicle speed control system provided by the invention detects whether the current vehicle state meets the correction condition of the crawling vehicle speed through the judging module, generates a trigger instruction when the trigger module identifies that the current vehicle state meets the correction condition of the crawling vehicle speed, generates an interrupt instruction when the interrupt module detects that the current vehicle state does not meet the correction condition of the crawling vehicle speed, so as to acquire and process crawling parameter information in time period data according to the trigger instruction and the interrupt instruction, processes the acquired crawling parameter information to generate a correction control instruction when the number of times of recognizing the crawling information acquired by the acquisition module through the control processing module reaches a preset value, and corrects the target crawling vehicle speed according to the correction control instruction and a preset correction rule through the crawling correction module. Therefore, the crawling vehicle speed is controlled and corrected according to the correction control instruction and the correction rule by acquiring and processing crawling parameter information in time period data according to the trigger instruction and the interrupt instruction and when the number of times of acquisition reaches the preset value according to judgment, so that the frequency of operating an accelerator and braking by a driver during crawling can be reduced, the driving strength is reduced, the real-time adjustment of the target crawling vehicle speed is better realized, the crawling vehicle speed required by the driver is achieved, and the differential requirement of the driver on the crawling vehicle speed is met.
Drawings
FIG. 1 is a schematic diagram of a creep vehicle speed control system;
FIG. 2 is a schematic structural diagram of an embodiment of an acquisition processing module of a crawling vehicle speed control system;
FIG. 3 is a schematic structural diagram of an embodiment of a control processing module of the crawling vehicle speed control system;
FIG. 4 is a schematic flow chart illustrating a creep vehicle speed control method according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating another exemplary embodiment of a creep vehicle speed control method according to the present invention;
FIG. 6 is a flowchart illustrating a creep vehicle speed control method according to another embodiment of the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
The technical scheme of the application is further explained in detail with reference to the attached drawings.
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.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. In case of conflict, features of the following embodiments and embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Example one
FIG. 1 is a schematic structural diagram of a creep vehicle speed control system according to an embodiment of the present invention; the embodiment provides a creep vehicle speed control system, which comprises:
the judgment module 1 is used for detecting whether the current vehicle state meets the correction condition of the crawling vehicle speed;
the triggering module 2 is used for generating a triggering instruction when the current vehicle state meets the correction condition of the crawling vehicle speed;
the interrupt module 3 is used for generating an interrupt instruction when detecting that the current vehicle state does not meet the correction condition of the crawling vehicle speed;
the timing module 4 is used for recording time period data between each generated trigger instruction and the corresponding generated interrupt instruction;
the acquisition processing module 5 is used for acquiring and processing crawling parameter information in time period data according to the trigger instruction and the interrupt instruction;
the control processing module 6 is used for processing the acquired crawling parameter information to generate a correction control instruction when the number of times of recognizing the crawling information acquired by the acquisition module reaches a preset value; and the crawling correction module 7 is used for correcting the target crawling vehicle speed according to the correction control instruction and a preset correction rule.
The crawling vehicle speed control system provided by this embodiment detects whether the current vehicle state meets the correction condition of the crawling vehicle speed through the judgment module, generates a trigger instruction when the trigger module identifies that the current vehicle state meets the correction condition of the crawling vehicle speed, generates an interrupt instruction when the interrupt module detects that the current vehicle state does not meet the correction condition of the crawling vehicle speed, so as to acquire and process crawling parameter information in time period data according to the trigger instruction and the interrupt instruction, processes the acquired crawling parameter information to generate a correction control instruction when the number of times of recognizing the crawling information acquired by the acquisition module through the control processing module reaches a preset value, and corrects the target crawling vehicle speed according to the correction control instruction and a preset correction rule through the crawling correction module. Therefore, according to the embodiment, the crawling parameter information in the time period data is collected and processed according to the trigger command and the interrupt command, and the crawling vehicle speed is controlled and corrected according to the correction control command and the correction rule when the collection times reach the preset value according to judgment, so that the frequency of operating an accelerator and braking by a driver during crawling is reduced, the driving strength is reduced, the real-time adjustment of the target crawling vehicle speed is better realized, the crawling vehicle speed required by the driver is achieved, and the differential requirement of the driver on the crawling vehicle speed is met.
Further, the correction conditions include a preset vehicle speed range, a preset road gradient range, a preset accelerator pedal opening range, a preset brake pedal opening range, and a preset shift pattern. For example, the following steps are carried out: the speed is within the range of 2-12km/h, the road gradient is within the range of 0-8%, the opening degree of an accelerator pedal is within the range of 0-10%, the opening degree of a brake pedal is within the range of 0-10%, a gear is in a driving gear (a D gear or an R gear), and when all the conditions are met, the correction condition is met. Therefore, the correction process is safer and more reliable, and the damage to vehicle components and the unsafe condition caused by the correction process under other conditions are avoided.
Example two
As a way of realization, as can be seen by referring to FIGS. 2-3 on the basis of the above-mentioned embodiment, in order to further improve the reliability of the creep vehicle speed control system, the acquisition processing module 5 comprises an acquisition unit 51 for acquiring data t in time periodsnReal-time vehicle speed and road gradient are collected according to a fixed time interval, and the fixed time interval can be calibrated, such as 0.1S;
a first processing unit 52 for processing the time period data tnThe arithmetic mean value of all the vehicle speeds and road gradients is collected in the interior and is used as the average vehicle speed VnAnd road average gradient in(ii) a A second processing unit 53 for generating an average vehicle speed VnComparing with the pre-stored creeping target vehicle speed V to obtain a difference value delta Vn。
The control processing module 6 includes:
the identification unit 61 is used for judging whether the times of the acquired crawling information reach a preset value; a table look-up unit 62 for obtaining the acquired crawling information when the number of times of judging the acquired crawling information reaches a preset value
Average road gradient i collected each timenCorresponding ramp weight coefficient lambdan；
A calculating unit 63 for acquiring the crawling information with a preset number of timesIn time of value, the slope weight coefficient lambda of multiple acquisition is calculatednWith corresponding difference value deltaVn The arithmetic mean of the products of (a);
the comparison unit 64 is used for comparing the obtained arithmetic mean value a with the set correction value variation b, and taking the smaller of the obtained arithmetic mean value a and the set correction value variation b as the variation of the creep running vehicle speed target value;
and the instruction generating unit 65 is used for generating a correction control instruction according to the sum of the acquired variation of the target value of the crawling vehicle speed at this time and the current target vehicle speed.
Specifically, the preset correction rule is a set creep target vehicle speed range.
In the crawling vehicle speed control system provided by the embodiment, the acquisition and processing module acquires the average vehicle speed V in each time periodnAnd road average gradient inObtaining a difference value delta V between the speed of the crawling target vehicle and the pre-stored crawling target vehicle speednWhen the number of times of judging the acquired crawling information reaches a preset value, the control processing module acquires the average gradient i of the road acquired each timenCorresponding ramp weight coefficient lambdanCalculating the ramp weight coefficient lambda of multiple acquisitionsnWith corresponding difference value deltaVn The comparison unit compares the obtained arithmetic mean value a with the set correction value variation b, the smaller of the obtained arithmetic mean value a and the set correction value variation b is taken as the variation of the creep running vehicle speed target value, and the instruction generation unit generates the correction control instruction according to the sum of the obtained variation of the creep running vehicle speed target value and the current target vehicle speed.
EXAMPLE III
FIG. 4 is a flow chart illustrating a creep vehicle speed control method according to an embodiment of the present invention; the embodiment provides a crawling vehicle speed control method, an execution main body of the crawling vehicle speed control method can be a crawling vehicle speed control system, and the crawling vehicle speed control method specifically comprises the following steps:
s100, detecting whether the current vehicle state meets the correction condition of the crawling vehicle speed;
s200, when the current vehicle state meets the correction condition of the crawling vehicle speed, generating a trigger instruction;
s300, generating an interruption instruction when detecting that the current vehicle state does not meet the correction condition of the crawling vehicle speed;
s400, recording time period data between each generated trigger instruction and the corresponding generated interrupt instruction;
s500, acquiring and processing crawling parameter information in time period data according to a trigger instruction and an interrupt instruction;
s600, when the number of times of the acquired crawling information reaches a preset value, processing the acquired crawling parameter information to generate a correction control instruction; and S700, updating the corrected crawling vehicle speed according to the correction control instruction and a preset correction rule.
According to the crawling vehicle speed control method provided by the embodiment, when the current vehicle state is detected to meet the correction condition of the crawling vehicle speed, a trigger instruction is generated, when the current vehicle state is detected to not meet the correction condition of the crawling vehicle speed, an interrupt instruction is generated, time period data between the trigger instruction generated each time and the interrupt instruction generated correspondingly is recorded, crawling parameter information in the time period data is collected and processed according to the trigger instruction and the interrupt instruction, when the number of times of collecting crawling information reaches a preset value is identified, the obtained crawling parameter information is processed to generate a correction control instruction, and the corrected crawling vehicle speed is updated according to the correction control instruction and a preset correction rule. Therefore, when the number of times of recognizing the acquired crawling information reaches a preset value, the method processes the acquired crawling parameter information to generate a correction control instruction, updates the corrected crawling vehicle speed according to the correction control instruction and a preset correction rule, better meets the control requirement of the crawling vehicle speed, improves the control safety and controllability of the crawling vehicle speed, and further improves the intelligent degree of the control method of the crawling vehicle speed.
As shown in fig. 5, specifically, acquiring and processing creep parameter information in time period data according to a trigger instruction and an interrupt instruction includes:
s501, data t in time periodnThe real-time speed and road gradient are collected according to a fixed time interval, and the fixed time interval can be calibratedE.g., 0.1S;
s502, calculating data t in time periodnThe arithmetic mean value of all the vehicle speeds and road gradients is collected in the interior and is used as the average vehicle speed VnAnd road average gradient in(ii) a S503, generating an average vehicle speed VnComparing with the pre-stored creeping target vehicle speed V to obtain a difference value delta Vn。
As shown in fig. 6, when it is recognized that the number of times of the collected crawling information reaches a preset value, the obtained crawling parameter information is processed to generate a correction control instruction, which includes:
s601, judging whether the number of the acquired crawling information reaches a preset value; s602, acquiring average gradient i of road collected each timenCorresponding ramp weight coefficient lambdan；
S603, when the number of times of the acquired crawling information reaches a preset value, calculating a ramp weight coefficient lambda acquired for multiple timesnWith corresponding difference value deltaVnThe arithmetic mean of the products of (a);
s604, comparing the obtained arithmetic mean value a with a set correction value variable quantity b, and taking the smaller of the obtained arithmetic mean value a and the set correction value variable quantity b as the variable quantity of the creep speed target value;
and S605, taking the sum of the obtained variation of the crawling vehicle speed target value and the current target vehicle speed as a target vehicle speed correction value c, and generating a correction control instruction according to the target vehicle speed correction value c.
Therefore, when the number of times of acquiring the crawling information reaches a preset value, the average gradient i of the road acquired each time is acquirednCorresponding ramp weight coefficient lambdanCalculating the ramp weight coefficient lambda of multiple acquisitionsnWith corresponding difference value deltaVnThe obtained arithmetic mean value a is compared with the set correction value variation b, if the arithmetic mean value a is larger than the correction value variation b, the correction value variation b is taken, if the arithmetic mean value a is smaller than the correction value variation b, the arithmetic mean value a is taken, thereby realizing that the smaller one of the arithmetic mean value a and the correction value variation b is taken as the variation of the target value of the current crawling vehicle speed, and the variation of the target value of the current crawling vehicle speed obtained is compared with the variation of the current target vehicle speedAnd taking the sum of the speeds as a target vehicle speed correction value c, and generating a correction control command according to the target vehicle speed correction value c.
Specifically, the method for correcting the creep vehicle speed according to the correction control instruction and according to the preset correction rule updates the corrected creep vehicle speed, wherein the preset correction rule is a preset creep vehicle speed limit range, and specifically comprises the following steps:
and comparing the acquired target vehicle speed correction value c with a preset creep speed limiting range, and correcting the target creep speed according to the target vehicle speed correction value c if the target vehicle speed correction value c is within the preset creep speed limiting range.
Thus, the creep vehicle speed is limited in a range of a preset creep vehicle speed and compared with the target vehicle speed correction value c, and if the target vehicle speed correction value c is within the range of the preset creep vehicle speed, the target creep vehicle speed is corrected according to the target vehicle speed correction value c, so that the target creep vehicle speed can be further corrected, and if the target creep vehicle speed is not within the range, the correction is not performed.
Example four
The present invention also provides a terminal, comprising: at least one processor; and a memory storing program instructions, wherein the program instructions are configured to be executed by the at least one processor, the program instructions including instructions for performing the creep vehicle speed control method described above.
The print processing method shown in this embodiment can be executed in the creep vehicle speed control in the embodiment shown in fig. 1 or fig. 2, and the implementation principle and the technical effect are the same, and are not described herein again.
An embodiment of the present invention further provides a storage medium, including:
a readable storage medium and a computer program stored on the readable storage medium, the computer program being for implementing the creep vehicle speed control method in the above embodiments.
An embodiment of the present invention further provides a program product, including:
a computer program (i.e., executing instructions) stored in a readable storage medium. The computer program may be read from a readable storage medium by at least one processor of the encoding apparatus, and the execution of the computer program by the at least one processor causes the encoding apparatus to implement the creep vehicle speed control method provided by the foregoing various embodiments.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; 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.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.

Claims (10)

1. A creep vehicle speed control system, comprising:
the judging module is used for detecting whether the current vehicle state meets the correction condition of the crawling vehicle speed;
the triggering module is used for generating a triggering instruction when the current vehicle state meets the correction condition of the crawling vehicle speed;
the interrupt module is used for generating an interrupt instruction when detecting that the current vehicle state does not meet the correction condition of the crawling vehicle speed;
a timing module for recording each generationAnd the time period data t between the trigger instruction of (a) and the correspondingly generated interrupt instructionn；
The acquisition processing module is used for acquiring and processing crawling parameter information in the time section data according to the trigger instruction and the interrupt instruction;
the control processing module is used for processing the acquired crawling parameter information to generate a correction control instruction when the number of times of recognizing the crawling information acquired by the acquisition module reaches a preset value; and the crawling correction module is used for correcting the target crawling vehicle speed according to the correction control instruction and a preset correction rule.
2. The creep vehicle speed control system according to claim 1, wherein the correction conditions include a preset vehicle speed range, a preset road gradient range, a preset accelerator pedal opening range, a preset brake pedal opening range, and a preset shift pattern.
3. The crawling vehicle speed control system according to claim 1, wherein the acquisition processing module comprises an acquisition unit for acquiring data t in a time periodnAcquiring real-time vehicle speed and road gradient according to a fixed time interval;
a first processing unit for processing the time period data tnCalculating arithmetic mean value of all vehicle speeds and road gradients collected in the vehicle as average vehicle speed VnAnd road average gradient in(ii) a A second processing unit for generating an average vehicle speed VnComparing with the pre-stored creeping target vehicle speed V to obtain a difference value delta Vn。
4. The crawling vehicle speed control system of claim 3, wherein the control processing module comprises:
the identification unit is used for judging whether the times of the acquired crawling information reach a preset value or not;
the table look-up unit is used for acquiring a ramp weight coefficient lambdan corresponding to the road average gradient in acquired each time when the number of times of judging the acquired crawling information reaches a preset value;
a calculating unit for calculating the ramp weight coefficient lambda of multi-time collection when the number of times of the collected crawling information reaches a preset valuenWith corresponding difference value deltaVnThe arithmetic mean of the products of (a);
the comparison unit is used for comparing the obtained arithmetic mean value a with the set correction value variation b, and taking the smaller of the obtained arithmetic mean value a and the set correction value variation b as the variation of the creep running vehicle speed target value;
and the command generating unit is used for generating a correction control command according to the sum of the acquired variation of the target value of the crawling vehicle speed and the current target vehicle speed.
5. The creep vehicle speed control system according to claim 2, wherein the preset correction rule is a set creep target vehicle speed range.
6. A creep vehicle speed control method is characterized by comprising the following steps:
detecting whether the current vehicle state meets the correction condition of the crawling vehicle speed;
when the current vehicle state meets the correction condition of the crawling vehicle speed, generating a trigger instruction;
when the current vehicle state is detected not to meet the correction condition of the crawling vehicle speed, an interruption instruction is generated;
recording time period data between each generated trigger instruction and the corresponding generated interrupt instruction;
acquiring and processing crawling parameter information in the time section data according to the trigger command and the interrupt command;
when the number of times of the acquired crawling information is recognized to reach a preset value, processing the acquired crawling parameter information to generate a correction control instruction; and updating the corrected crawling vehicle speed according to the correction control instruction and a preset correction rule.
7. The creep vehicle speed control method according to claim 6, wherein the step of collecting and processing creep parameter information in the time period data according to the triggering command and the interruption command comprises the following steps:
at time period data tnAcquiring real-time vehicle speed and road gradient according to a fixed time interval;
calculating data t at time periodsnThe arithmetic mean value of all the vehicle speeds and road gradients is collected in the interior and is used as the average vehicle speed VnAnd road average gradient in(ii) a Average vehicle speed V to be generatednComparing with the pre-stored creeping target vehicle speed V to obtain a difference value delta Vn。
8. The crawling vehicle speed control method according to claim 6, wherein when the number of times of recognizing the collected crawling information reaches a preset value, the obtained crawling parameter information is processed to generate a correction control command, and the method comprises the following steps:
judging whether the number of times of the acquired crawling information reaches a preset value or not; acquiring average gradient i of road collected each timenCorresponding ramp weight coefficient lambdan；
When the times of the acquired crawling information reach a preset value, calculating a ramp weight coefficient lambda acquired for multiple timesnWith corresponding difference value deltaVnThe arithmetic mean of the products of (a);
comparing the obtained arithmetic mean value a with the set correction value variable quantity b, and taking the smaller of the obtained arithmetic mean value a and the set correction value variable quantity b as the variable quantity of the creep speed target value;
and taking the sum of the obtained variation of the creep running vehicle speed target value and the current target vehicle speed as a target vehicle speed correction value c, and generating a correction control instruction according to the target vehicle speed correction value c.
9. The creep vehicle speed control method according to claim 8, wherein the creep vehicle speed after being modified is updated according to the modification control instruction and a preset modification rule, and the preset modification rule is a preset creep vehicle speed limit range, and specifically comprises:
and comparing the obtained target vehicle speed correction value c with a preset creep speed limiting range, and correcting the target creep speed according to the target vehicle speed correction value c if the target vehicle speed correction value c is within the preset creep speed limiting range.
10. A terminal, comprising: at least one processor; and a memory storing program instructions, wherein the program instructions are configured to be executed by the at least one processor, the program instructions comprising instructions for performing the creep vehicle speed control method of any of claims 6-9.
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