CN113335283A - Control method and system for crawling with brake and computer readable storage medium - Google Patents
Control method and system for crawling with brake and computer readable storage medium Download PDFInfo
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- CN113335283A CN113335283A CN202110671488.0A CN202110671488A CN113335283A CN 113335283 A CN113335283 A CN 113335283A CN 202110671488 A CN202110671488 A CN 202110671488A CN 113335283 A CN113335283 A CN 113335283A
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- 230000009193 crawling Effects 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000003860 storage Methods 0.000 title claims abstract description 16
- 238000013016 damping Methods 0.000 claims description 46
- 238000004590 computer program Methods 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 17
- 238000013507 mapping Methods 0.000 claims description 14
- 150000001875 compounds Chemical class 0.000 claims description 3
- 230000011664 signaling Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
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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
- 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
- B60W30/18109—Braking
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a method and a system for controlling crawling with a brake and a computer readable storage medium, and relates to the technical field of vehicle driving crawling control. The control method comprises the following steps: acquiring a vehicle running condition, and judging the vehicle running condition; when the vehicle meets a crawling condition, acquiring a brake pedal switch signal; and controlling the vehicle to creep according to the acquired brake pedal switch signal. According to the method for controlling the crawling vehicle with the brake, the crawling vehicle is controlled to run by acquiring the brake pedal switch signal and controlling the crawling vehicle according to the acquired brake pedal switch signal, two driving modes of braking and crawling are considered, the crawling vehicle speed can be controlled by a driver with the brake, the requirement on the crawling vehicle speed is lowered, and the complaint of clients and the occurrence of driving rear-end accidents are reduced.
Description
Technical Field
The invention relates to the technical field of vehicle crawling control, in particular to a method and a system for controlling crawling with a brake and a computer readable storage medium.
Background
In the new energy automobile industry, the whole automobile has a crawling function, the requirements of a driver on automobile following and backing at a low speed can be met, crawling torque can be eliminated after braking is effective in the crawling process of most of the whole automobiles at present, and the whole automobiles are in a sliding state and gradually tend to stop.
The control method for creep without the brake has the following defects: the control method is reasonable in control in a normally open environment, but when a driver drives a vehicle in a limited space area, the creep target vehicle speed is higher, and the driver needs to drive at a speed lower than the creep vehicle speed, the phenomenon that the vehicle cannot be controlled can cause the complaint of customers and even the occurrence of accidents.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art, and providing a method, a system and a computer readable storage medium for controlling creep with brake.
In a first aspect, the invention provides a creep control method with a brake, which comprises the following steps:
acquiring a vehicle running condition, and judging the vehicle running condition;
when the vehicle meets a crawling condition, acquiring a brake pedal switch signal;
and controlling the vehicle to creep according to the acquired brake pedal switch signal.
According to the first aspect, in a first possible implementation manner of the first aspect, the step of controlling the vehicle to creep according to the acquired brake pedal switch signal specifically includes the following steps:
when the brake pedal switch signal is invalid, controlling the vehicle to creep under a preset creep torque;
when a brake pedal switch is effective, acquiring real-time brake cylinder pressure;
and controlling the vehicle to creep and run during braking according to the obtained real-time brake cylinder pressure.
According to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of controlling the vehicle to creep during braking according to the obtained real-time brake cylinder pressure specifically includes the following steps:
obtaining an attenuation coefficient according to the obtained real-time brake cylinder pressure;
obtaining an attenuation creep torque according to the obtained attenuation coefficient;
and controlling the vehicle to creep with the creep damping torque during braking according to the obtained creep damping torque.
According to the second possible implementation manner of the first aspect, in the second possible implementation manner of the first aspect, the step of "obtaining a damping coefficient according to the obtained brake cylinder pressure" specifically includes the following steps:
acquiring a mapping relation corresponding to the brake cylinder pressure and the attenuation coefficient;
and obtaining an attenuation coefficient corresponding to the real-time brake cylinder pressure according to the obtained real-time brake cylinder pressure and the mapping relation.
According to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the step of obtaining a mapping relation between brake cylinder pressure and attenuation coefficient specifically includes the following steps:
obtaining the mapping relation corresponding to the brake cylinder pressure and the attenuation coefficient as follows:
when the real-time brake cylinder pressure is the maximum brake pressure, the attenuation coefficient is 0 percent;
when the real-time brake cylinder pressure is 0, the attenuation coefficient is 100 percent;
and when the real-time brake cylinder pressure is between 0 and the maximum brake pressure, obtaining the attenuation coefficient corresponding to the real-time brake cylinder pressure by using an interpolation method.
According to the second possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the step of obtaining the creep torque according to the obtained damping coefficient specifically includes the following steps:
obtaining the damping creep torque T according to the obtained damping coefficient nAttenuation ofThe following were used:
Tattenuation of＝n*TPreset ofThe compound of the formula (1),
in the formula, TPreset ofIs a preset creep torque value.
The invention discloses a brake crawling control system, which comprises a driving condition acquisition module, a brake signal acquisition module and a crawling control module, wherein the driving condition acquisition module is used for acquiring the driving condition of a vehicle and judging the running condition of the vehicle; the brake signal acquisition module is in communication connection with the running condition acquisition module and is used for acquiring a brake pedal switch signal when the vehicle meets a crawling condition; the crawling control module is in communication connection with the brake signal acquisition module and is used for controlling the vehicle to crawl according to the acquired brake pedal switch signal.
According to the second aspect, in a first possible implementation manner of the second aspect, the creep control module comprises a brake ineffective creep control unit, a brake cylinder pressure acquisition unit and a brake effective creep control unit, wherein the brake ineffective creep control unit is in communication connection with the brake signal acquisition module and is used for controlling the vehicle to creep at a preset creep torque when a brake pedal switch signal is ineffective; the brake cylinder pressure acquisition unit is in communication connection with the brake signal acquisition module and is used for acquiring real-time brake cylinder pressure when a brake pedal switch is effective; the brake effective crawling control unit and the brake cylinder pressure acquisition unit are used for controlling the vehicle to crawl during braking according to the obtained real-time brake cylinder pressure.
According to the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the brake effective creep control unit further includes an attenuation coefficient obtaining subunit, an attenuation creep torque obtaining subunit, and an attenuation creep control subunit, where the attenuation coefficient obtaining subunit is connected in communication with the brake cylinder pressure obtaining unit, and is configured to obtain an attenuation coefficient according to the obtained real-time brake cylinder pressure; the damping creep torque acquisition subunit is in communication connection with the damping coefficient acquisition subunit and is used for acquiring damping creep torque according to the obtained damping coefficient; the creep-damping control subunit and the creep-damping torque acquisition subunit are used for controlling the vehicle to creep by using the creep-damping torque during braking according to the obtained creep-damping torque.
In a third aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out all the method steps of the method for controlling creep with brakes as described above.
Compared with the prior art, the invention has the following advantages:
according to the method for controlling the crawling vehicle with the brake, the crawling vehicle is controlled to run by acquiring the brake pedal switch signal and controlling the crawling vehicle according to the acquired brake pedal switch signal, two driving modes of braking and crawling are considered, the crawling vehicle speed can be controlled by a driver with the brake, the requirement on the crawling vehicle speed is lowered, and the complaint of clients and the occurrence of driving rear-end accidents are reduced.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling creep with a brake according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another method for controlling creep with brake according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a mapping relationship between brake cylinder pressure and damping coefficient provided by an embodiment of the present invention;
fig. 4 is a functional block diagram of a creep control system with brakes according to an embodiment of the present invention.
In the figure, 100, a driving condition obtaining module; 200. a brake signal acquisition module; 300. a crawling control module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the present invention provides a creep control method with a brake, including the following steps:
s100, obtaining a vehicle running condition and judging a vehicle running condition;
s200, when the vehicle meets a crawling condition, acquiring a brake pedal switch signal;
and S300, controlling the vehicle to creep according to the acquired brake pedal switch signal.
According to the method for controlling the crawling vehicle with the brake, the crawling vehicle is controlled to run by acquiring the brake pedal switch signal and controlling the crawling vehicle according to the acquired brake pedal switch signal, two driving modes of braking and crawling are considered, the crawling vehicle speed can be controlled by a driver with the brake, the requirement on the crawling vehicle speed is lowered, and the complaint of clients and the occurrence of driving rear-end accidents are reduced.
Referring to fig. 2, the step of controlling the vehicle to creep according to the acquired brake pedal switch signal includes the following steps:
s310, when the brake pedal switch signal is invalid, controlling the vehicle to creep under a preset creep torque;
s321, when a brake pedal switch is effective, acquiring real-time brake cylinder pressure;
and S322, controlling the vehicle to creep during braking according to the obtained real-time brake cylinder pressure.
According to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of controlling the vehicle to creep during braking according to the obtained real-time brake cylinder pressure specifically includes the following steps:
obtaining an attenuation coefficient according to the obtained real-time brake cylinder pressure;
obtaining an attenuation creep torque according to the obtained attenuation coefficient;
and controlling the vehicle to creep with the creep damping torque during braking according to the obtained creep damping torque.
In an embodiment, the step of "obtaining a damping coefficient according to the obtained brake cylinder pressure" includes the following steps:
acquiring a mapping relation corresponding to the brake cylinder pressure and the attenuation coefficient;
and obtaining an attenuation coefficient corresponding to the real-time brake cylinder pressure according to the obtained real-time brake cylinder pressure and the mapping relation.
As described above, the mapping relationship between the brake cylinder pressure and the damping coefficient is obtained through a real vehicle test.
In a specific embodiment, a brake cylinder pressure signal and a creep control torque attenuation coefficient map are formulated by combining a brake pedal switch signal and a brake cylinder pressure signal fed back by an ABS, and a reasonable attenuation coefficient map, namely a corresponding relation map of the brake cylinder pressure and the attenuation coefficient, is obtained through real-vehicle calibration, as shown in FIG. 3, when the real-time brake cylinder pressure is the maximum brake pressure P4, the attenuation coefficient is 0%; when the real-time brake cylinder pressure is P3, the attenuation coefficient is n 3; when the real-time brake cylinder pressure is P2, the attenuation coefficient is n 2; when the real-time brake cylinder pressure is P1, the attenuation coefficient is n 1; when the real-time brake cylinder pressure is 0, the attenuation coefficient is 100%, and then a relation curve of the attenuation coefficient and the brake cylinder pressure is drawn by a curve fitting method, so that a control scheme of creep with a brake is finally realized, the control requirement of a driver on creep with the brake can be met, and the complaints of customers and driving accidents are reduced.
In an embodiment, the step of obtaining the mapping relationship corresponding to the brake cylinder pressure and the damping coefficient includes the following steps:
obtaining the mapping relation corresponding to the brake cylinder pressure and the attenuation coefficient as follows:
when the real-time brake cylinder pressure is the maximum brake pressure, the attenuation coefficient is 0%, the creeping running function is not executed, and the vehicle is in a complete brake state;
when the pressure of the real-time brake cylinder is 0, the attenuation coefficient is 100%, namely the brake signal is invalid, the preset creep torque is not attenuated, the vehicle executes the creep running function of the whole vehicle, and the creep torque is the preset creep torque;
and when the real-time brake cylinder pressure is between 0 and the maximum brake pressure, obtaining the attenuation coefficient corresponding to the real-time brake cylinder pressure by using an interpolation method.
In one embodiment, the step of obtaining the creep torque according to the obtained damping coefficient specifically includes the following steps:
obtaining the damping creep torque T according to the obtained damping coefficient nAttenuation ofThe following were used:
Tattenuation of＝n*TPreset ofThe compound of the formula (1),
in the formula, TPreset ofIs a preset creep torque value.
As described above, according to the present application,
when the real-time brake cylinder pressure is 0, the attenuation coefficient is 100%, and the creep torque value in the current state is TP1When the real-time brake cylinder pressure of the vehicle is controlled to be 0, the vehicle is in a full braking state, and the crawling running function is not executed;
when the real-time brake cylinder pressure is P1, the attenuation coefficient is n1, and the creep torque value in the current state is TP1＝n1*TPreset ofThat is, when the vehicle is controlled to be at the real-time brake cylinder pressure P1, the output creep torque value is TP1Creeping to run while braking;
when the real-time brake cylinder pressure is P2, the attenuation coefficient is n1, and the creep torque value in the current state is TP1＝n1*TPreset ofThat is, when the vehicle is controlled to be at the real-time brake cylinder pressure P1, the output creep torque value is TP1Creeping to run while braking;
when the real-time brake cylinder pressure is P3, the attenuation coefficient is n1, and the creep torque value in the current state is TP1＝n1*TPreset ofThat is, when the vehicle is controlled to be at the real-time brake cylinder pressure P1, the output creep torque value is TP1Creeping to run while braking;
when the real-time brake cylinder pressure is P4, the attenuation coefficient is 0, and the creep torque value in the current state is TP1＝TPreset ofI.e. controlling the vehicle to output creep torque at TPreset ofAnd (5) normal creeping running.
Based on the same inventive concept, please refer to fig. 4, the invention also discloses a crawling control system with a brake, comprising a driving condition obtaining module 100, a brake signal obtaining module 200 and a crawling control module 300, wherein the driving condition obtaining module 100 is used for obtaining the driving condition of the vehicle and judging the running condition of the vehicle; the braking signal acquisition module 200 is in communication connection with the driving condition acquisition module 100, and is used for acquiring a braking pedal switch signal when the vehicle meets a crawling condition; the crawling control module 300 is in communication connection with the brake signal acquisition module 200, and is used for controlling the vehicle to crawl according to the acquired brake pedal switch signal.
In one embodiment, the crawling control module comprises a brake ineffective crawling control unit, a brake cylinder pressure acquisition unit and a brake effective crawling control unit, wherein the brake ineffective crawling control unit is in communication connection with the brake signal acquisition module and is used for controlling the vehicle to crawl at a preset crawling torque when a brake pedal switch signal is ineffective; the brake cylinder pressure acquisition unit is in communication connection with the brake signal acquisition module and is used for acquiring real-time brake cylinder pressure when a brake pedal switch is effective; the brake effective crawling control unit and the brake cylinder pressure acquisition unit are used for controlling the vehicle to crawl during braking according to the obtained real-time brake cylinder pressure.
In an embodiment, the brake effective creep control unit further includes an attenuation coefficient obtaining subunit, an attenuation creep torque obtaining subunit, and an attenuation creep control subunit, where the attenuation coefficient obtaining subunit is communicatively connected to the brake cylinder pressure obtaining unit, and is configured to obtain an attenuation coefficient according to the obtained real-time brake cylinder pressure; the damping creep torque acquisition subunit is in communication connection with the damping coefficient acquisition subunit and is used for acquiring damping creep torque according to the obtained damping coefficient; the creep-damping control subunit and the creep-damping torque acquisition subunit are used for controlling the vehicle to creep by using the creep-damping torque during braking according to the obtained creep-damping torque.
Based on the same inventive concept, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out all the method steps of the method for controlling creep with brake as described above.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain content that is appropriately increased or decreased as required by the acquired jurisdictional legislation and patent practice, for example, in some jurisdictions, the computer readable medium may not contain electrical carrier signals or telecommunication signals in accordance with the acquired legislation and patent practice.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the acquired use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to acquired embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A creep control method with a brake is characterized by comprising the following steps:
acquiring a vehicle running condition, and judging the vehicle running condition;
when the vehicle meets a crawling condition, acquiring a brake pedal switch signal;
and controlling the vehicle to creep according to the acquired brake pedal switch signal.
2. The method for controlling crawling with brake according to claim 1, wherein the step of controlling crawling of the vehicle according to the acquired brake pedal switch signal comprises the following steps:
when the brake pedal switch signal is invalid, controlling the vehicle to creep under a preset creep torque;
when a brake pedal switch is effective, acquiring real-time brake cylinder pressure;
and controlling the vehicle to creep and run during braking according to the obtained real-time brake cylinder pressure.
3. The method for controlling creep with brake according to claim 2, wherein the step of controlling the vehicle to creep during braking according to the obtained real-time brake cylinder pressure comprises the following steps:
obtaining an attenuation coefficient according to the obtained real-time brake cylinder pressure;
obtaining an attenuation creep torque according to the obtained attenuation coefficient;
and controlling the vehicle to creep with the creep damping torque during braking according to the obtained creep damping torque.
4. The method for controlling creep with brake according to claim 3, wherein the step of obtaining the damping coefficient according to the obtained brake cylinder pressure comprises the following steps:
acquiring a mapping relation corresponding to the brake cylinder pressure and the attenuation coefficient;
and obtaining an attenuation coefficient corresponding to the real-time brake cylinder pressure according to the obtained real-time brake cylinder pressure and the mapping relation.
5. The method for controlling creep with a brake according to claim 4, wherein the step of obtaining the mapping relationship between the brake cylinder pressure and the damping coefficient comprises the following steps:
obtaining the mapping relation corresponding to the brake cylinder pressure and the attenuation coefficient as follows:
when the real-time brake cylinder pressure is the maximum brake pressure, the attenuation coefficient is 0 percent;
when the real-time brake cylinder pressure is 0, the attenuation coefficient is 100 percent;
and when the real-time brake cylinder pressure is between 0 and the maximum brake pressure, obtaining the attenuation coefficient corresponding to the real-time brake cylinder pressure by using an interpolation method.
6. The creep control method with the brake according to claim 3, wherein the step of obtaining the creep torque according to the obtained damping coefficient comprises the following steps:
obtaining the damping creep torque T according to the obtained damping coefficient nAttenuation ofThe following were used:
Tattenuation of＝n*TPreset ofThe compound of the formula (1),
in the formula, TPreset ofIs a preset creep torque value.
7. A creep control system with brake, comprising:
the driving condition acquisition module is used for acquiring the driving condition of the vehicle and judging the running condition of the vehicle;
the brake signal acquisition module is in communication connection with the running condition acquisition module and is used for acquiring a brake pedal switch signal when the vehicle meets a crawling condition;
and the crawling control module is in communication connection with the brake signal acquisition module and is used for controlling the vehicle to crawl according to the acquired brake pedal switch signal.
8. The creep control system with brake of claim 7, wherein the creep control module comprises:
the brake invalid creep control unit is in communication connection with the brake signal acquisition module and is used for controlling the vehicle to creep under a preset creep torque to run when the brake pedal switch signal is invalid;
the brake cylinder pressure acquisition unit is in communication connection with the brake signal acquisition module and is used for acquiring real-time brake cylinder pressure when a brake pedal switch is effective;
and the brake effective crawling control unit and the brake cylinder pressure acquisition unit are used for controlling the vehicle to crawl during braking according to the obtained real-time brake cylinder pressure.
9. The braking creep control system of claim 8, wherein the brake-effective creep control unit further comprises:
the attenuation coefficient obtaining subunit is in communication connection with the brake cylinder pressure obtaining unit and is used for obtaining an attenuation coefficient according to the obtained real-time brake cylinder pressure;
the damping creep torque acquisition subunit is in communication connection with the damping coefficient acquisition subunit and is used for acquiring damping creep torque according to the obtained damping coefficient;
and the creep-damping control subunit and the creep-damping torque acquisition subunit are used for controlling the vehicle to creep by using the creep-damping torque during braking according to the obtained creep-damping torque.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out all the method steps of the method for controlling creep with brakes according to any one of claims 1 to 6.
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| CN202110671488.0A CN113335283A (en) | 2021-06-17 | 2021-06-17 | Control method and system for crawling with brake and computer readable storage medium |
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| CN114633636A (en) * | 2022-03-25 | 2022-06-17 | 珠海格力电器股份有限公司 | Electric vehicle control method and device, storage medium and vehicle control unit |
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| CN111660825A (en) * | 2019-12-05 | 2020-09-15 | 摩登汽车有限公司 | Method and system for controlling crawling vehicle speed |
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