CN115782616B - Control method, device, computer equipment and medium for vehicle creep - Google Patents
Control method, device, computer equipment and medium for vehicle creep Download PDFInfo
- Publication number
- CN115782616B CN115782616B CN202211515747.1A CN202211515747A CN115782616B CN 115782616 B CN115782616 B CN 115782616B CN 202211515747 A CN202211515747 A CN 202211515747A CN 115782616 B CN115782616 B CN 115782616B
- Authority
- CN
- China
- Prior art keywords
- current
- vehicle speed
- torque
- target
- current vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000013507 mapping Methods 0.000 claims abstract description 145
- 238000012937 correction Methods 0.000 claims description 77
- 230000001133 acceleration Effects 0.000 claims description 62
- 238000004590 computer program Methods 0.000 claims description 26
- 238000001914 filtration Methods 0.000 claims description 13
- 230000010354 integration Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000004069 differentiation Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000004043 responsiveness Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application relates to a control method, a device, computer equipment and a medium for vehicle creep. The method comprises the following steps: collecting the current pressure of a brake cylinder; acquiring a current vehicle speed and a preset first mapping table, and searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating the mapping relation among the current pressure, the current vehicle speed and the first request torque; acquiring a gradient value of the current road condition and a preset second mapping table, and searching in the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, wherein the second mapping table is used for indicating the mapping relation of the gradient value of the current road condition, the current vehicle speed and the second request torque; and superposing the first request torque and the second request torque to obtain a first target torque, and controlling a driving motor of the current vehicle to respond to the first target torque. By adopting the method, the control efficiency in the vehicle creeping mode can be improved.
Description
Technical Field
The application relates to the technical field of control of electric automobiles, in particular to a control method, a device, computer equipment and a medium for controlling creep of a vehicle.
Background
The creeping mode of the electric automobile refers to a low-speed cruising driving auxiliary system, which ensures that wheels cannot slip and sink into bad road conditions due to the fact that the running speed of the electric automobile is too high. Therefore, the vehicle needs to ensure the responsiveness and the stability of the vehicle speed simultaneously in the creeping mode, so that the change of the throttle opening caused by jolt is effectively reduced under special road conditions such as steep slopes, rain and snow roads, rock roads, sand and the like, and the vehicle is ensured to stably pass through.
However, the prior art has difficulty in ensuring responsiveness based on a closed loop PID (P: proport, i.e., proportional, I: integration, D: differential, i.e., derivative) control manner, and difficulty in ensuring vehicle speed stability based on an open loop control manner.
Therefore, the prior art also has a phenomenon of low control efficiency in the creep mode of the vehicle.
Disclosure of Invention
Based on the control method, the control device, the computer equipment and the medium for controlling the creep of the vehicle are provided, so that the control efficiency in the creep mode of the vehicle is improved.
In a first aspect, a method for controlling creep of a vehicle is provided, the method comprising:
collecting the current pressure of a brake cylinder;
acquiring a current vehicle speed and a preset first mapping table, and searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating a mapping relation among the current pressure, the current vehicle speed and the first request torque;
acquiring a gradient value of a current road condition and a preset second mapping table, and searching in the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, wherein the second mapping table is used for indicating a mapping relation among the gradient value of the current road condition, the current vehicle speed and the second request torque;
and superposing the first request torque and the second request torque to obtain a first target torque, and controlling a driving motor of the current vehicle to respond to the first target torque.
With reference to the first aspect, in a first implementation manner of the first aspect, the step of obtaining the current vehicle speed includes:
acquiring a first rotating speed, a first speed ratio and a wheel radius of a driving motor positioned on a front axle of the current vehicle, and acquiring a first vehicle speed of the driving motor positioned on the front axle of the current vehicle according to the first rotating speed, the first speed ratio and the wheel radius;
Acquiring a second rotating speed, a second speed ratio and a wheel radius of a driving motor positioned on a rear axle of the current vehicle, and acquiring a second vehicle speed of the driving motor positioned on the rear axle of the current vehicle according to the second rotating speed, the second speed ratio and the wheel radius;
and obtaining the current vehicle speed according to the average value of the sum of the first vehicle speed and the second vehicle speed.
With reference to the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the step of obtaining the gradient value of the current road condition includes:
performing differential calculation on the current vehicle speed to obtain the running acceleration of the current vehicle;
collecting the current acceleration of the current vehicle, wherein the current acceleration is obtained by collecting the acceleration of the current vehicle in the running direction according to at least one sensor;
obtaining a gradient value of the current road condition according to the running acceleration and the current acceleration, wherein obtaining the mathematical expression of the gradient value of the current road condition comprises:
θ is the gradient value of the current road condition, a 0 For the current acceleration, a v And g is gravitational acceleration, which is the running acceleration.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the method further includes:
acquiring a current gear and a preset third mapping table corresponding to the current gear, and searching in the third mapping table based on the current vehicle speed in the current gear to obtain a first correction torque, wherein the third mapping table is used for indicating the mapping relation between the current vehicle speed in the current gear and the first correction torque;
and superposing the first target torque and the first correction torque to obtain a second target torque, and controlling the driving motor of the current vehicle to respond to the second target torque.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the method further includes:
acquiring a current steering wheel angle and a preset fourth mapping table, and searching in the fourth mapping table based on the current steering wheel angle to obtain a second correction torque, wherein the fourth mapping table is used for indicating the mapping relation between the current steering wheel angle and the second correction torque;
and superposing the second target torque and the second correction torque to obtain a third target torque, and controlling the driving motor of the current vehicle to respond to the third target torque.
With reference to the first aspect or any one of the first to fourth possible implementation manners of the first aspect, in a fifth possible implementation manner of the first aspect, the method further includes:
acquiring a preset target vehicle speed, comparing the current vehicle speed with the target vehicle speed, and acquiring a preset proportionality constant, an integral constant and a differential constant when a difference exists between the current vehicle speed and the target vehicle speed;
obtaining a third correction torque based on the proportional constant, the integral constant, the differential constant, and a difference between the current vehicle speed and the target vehicle speed;
and superposing the third correction torque and the third target torque to obtain a fourth target torque, and controlling a driving motor of the current vehicle to respond to the fourth target torque so as to enable the current vehicle speed to be consistent with the target vehicle speed.
With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the method further includes:
obtaining a preset filter coefficient, filtering the fourth target torque based on the filter coefficient, and combining with a historical target torque to obtain a fifth target torque, wherein the historical target torque is obtained by filtering the fourth target torque at the moment before the current moment;
Acquiring a preset torque threshold, comparing the fifth target torque with the torque threshold, and judging whether the fifth target torque is smaller than or equal to the torque threshold;
if yes, controlling a driving motor of the current vehicle to respond to the fifth target torque;
and if not, controlling the driving motor of the current vehicle to respond to the torque threshold value.
In a second aspect, there is provided a control device for controlling creep of a vehicle, the device comprising:
the pressure sensor is electrically connected with a brake cylinder of the current vehicle and is used for collecting the current pressure of the brake cylinder;
the vehicle controller is electrically connected with the pressure sensor and used for acquiring a current vehicle speed and a preset first mapping table, searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating a mapping relation among the current pressure, the current vehicle speed and the first request torque;
the vehicle controller is further configured to obtain a gradient value of a current road condition and a preset second mapping table, and search the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, where the second mapping table is used to indicate a mapping relationship between the gradient value of the current road condition, the current vehicle speed and the second request torque;
The whole vehicle controller is further electrically connected with the driving motor of the current vehicle and is used for superposing the first request torque and the second request torque to obtain a first target torque, and the driving motor of the current vehicle is controlled to respond to the first target torque.
In a third aspect, a computer device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the control method of vehicle creep of the first aspect or in combination with any one of the first to sixth possible embodiments of the first aspect when the computer program is executed.
In a fourth aspect, a computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method for controlling creep of a vehicle of the first aspect or in combination with any one of the first to sixth possible embodiments of the first aspect.
The control method, the device, the computer equipment and the medium for the creep of the vehicle, wherein the control method comprises the following steps: collecting the current pressure of a brake cylinder; acquiring a current vehicle speed and a preset first mapping table, and searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating the mapping relation among the current pressure, the current vehicle speed and the first request torque; acquiring a gradient value of the current road condition and a preset second mapping table, and searching in the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, wherein the second mapping table is used for indicating a mapping relation among the gradient value of the current road condition, the current vehicle speed and the second request torque; and then superposing the first request torque and the second request torque to obtain a first target torque, and controlling a driving motor of the current vehicle to respond to the first target torque. The current pressure of the brake cylinder is determined according to the depth of the brake pedal, so that the control method is matched with the corresponding first request torque according to the depth of the brake pedal, is matched with the corresponding second request torque according to the gradient value of the current road condition, and corrects the first request torque according to the second request torque to obtain the first target torque. Therefore, compared with the prior art, the control method improves the control efficiency in the creeping mode.
Drawings
FIG. 1 is a flow chart of a method of controlling creep of a vehicle in one embodiment;
FIG. 2 is a block diagram of a control device for controlling creep of a vehicle in one embodiment;
FIG. 3 is a block diagram of a control device for controlling creep of a vehicle in one embodiment;
FIG. 4 is a block diagram of a control device for controlling creep of a vehicle in another embodiment;
fig. 5 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and are not intended to limit the scope of the application, which is defined by the claims, but rather by the claims.
References in this specification to orientations or positional relationships as "upper", "lower", "left", "right", "intermediate", "longitudinal", "transverse", "horizontal", "inner", "outer", "radial", "circumferential", etc., are based on the orientation or positional relationships shown in the drawings, are also for convenience of description only, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore are not to be construed as limiting the application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The creeping mode of the electric automobile refers to a low-speed cruising driving auxiliary system, which ensures that wheels cannot slip and sink into severe road conditions due to the fact that the running speed of the vehicle is too high, so that the vehicle needs to have both response and stability of the vehicle speed in the creeping mode. However, in the prior art, the responsiveness is difficult to ensure in a mode based on closed loop control, and the stability of the vehicle speed is difficult to ensure in a mode based on open loop control. Therefore, the prior art also has a phenomenon of low control efficiency in the creep mode of the vehicle.
Therefore, the application provides a control method, a device, computer equipment and a medium for vehicle creep, wherein the method collects the current pressure of a corresponding brake cylinder through the depth of a brake pedal which is stepped on, matches a corresponding first request torque according to the current pressure, matches a corresponding second request torque according to the gradient value of a current road condition, corrects the first request torque through the second request torque to obtain a first target torque, and can meet the response of a whole vehicle and the stability of the vehicle speed when a driving motor responds to the first target torque so as to avoid the phenomenon of sliding. Therefore, compared with the prior art, the control method improves the control efficiency in the creeping mode. Next, the present application will be described in detail by the following examples.
In one embodiment, as shown in fig. 1, a method for controlling creep of a vehicle is provided, and an execution subject of a control device for controlling creep of a vehicle to which the method is applied is described, including the following steps:
s1: the current pressure of the brake cylinder is collected.
The current pressure of the brake cylinder is determined according to the depth of the brake pedal, and is proportional to the depth of the brake pedal, and the deeper the brake pedal is, the larger the corresponding current pressure of the brake cylinder is.
S2: acquiring a current vehicle speed and a preset first mapping table, and searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating the mapping relation among the current pressure, the current vehicle speed and the first request torque.
The first mapping table takes the current pressure of the brake cylinder as an abscissa, the current vehicle speed as an ordinate, and the first request torque as a value. The first mapping table is obtained by taking road conditions with small smooth road or gradient fluctuation as main materials to perform real vehicle test and considering the response of the whole vehicle and the stability of the vehicle speed. Therefore, the current pressure and the current vehicle speed at the current moment are determined, and the first request torque obtained by searching the first mapping table can reach the response of the whole vehicle and can also run at a relatively stable vehicle speed on the road condition with small flat road or gradient fluctuation.
In one embodiment, the step of obtaining the current vehicle speed includes:
acquiring a first rotating speed, a first speed ratio and a wheel radius of a driving motor positioned on a front axle of a current vehicle, and acquiring a first vehicle speed of the driving motor positioned on the front axle of the current vehicle according to the first rotating speed, the first speed ratio and the wheel radius, wherein acquiring mathematical expression of the first vehicle speed comprises:
v mf For the first vehicle speed, n f For the first rotation speed, i f For the first speed ratio, r f For the wheel radius, pi is the circumference ratio, r for the first vehicle speed result to be more accurate f The radius of the wheel which is installed and connected with the front axle of the current vehicle can be taken;
obtaining a second rotating speed, a second speed ratio and a wheel radius of a driving motor positioned on a current vehicle rear axle, and obtaining a second vehicle speed of the driving motor positioned on the current vehicle rear axle according to the second rotating speed, the second speed ratio and the wheel radius, wherein obtaining the mathematical expression of the second vehicle speed comprises:
v mr for the second vehicle speed, n r For the second rotation speed, i r For the second speed ratio, r r For the wheel radius, pi is the circumference ratio, r for the second vehicle speed result to be more accurate r The radius of the wheel which is installed and connected with the rear axle of the current vehicle can be taken;
and obtaining the current vehicle speed according to the average value of the sum of the first vehicle speed and the second vehicle speed.
S3: obtaining a gradient value of a current road condition and a preset second mapping table, and searching in the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, wherein the second mapping table is used for indicating a mapping relation among the gradient value of the current road condition, the current vehicle speed and the second request torque.
The second mapping table takes the gradient value of the current road condition as an abscissa, the current vehicle speed as an ordinate and the second request torque as a value. The second mapping table is obtained by taking the road conditions of the ramp (including an ascending ramp road and a descending ramp road) as main materials and carrying out real vehicle test and considering the response of the whole vehicle and the stability of the vehicle speed. Therefore, the second request torque obtained by searching the second mapping table is used for correcting the first request torque, and the vehicle can travel at a relatively stable vehicle speed while achieving the responsiveness of the whole vehicle on the road condition of the ramp.
In an embodiment, the step of obtaining the gradient value of the current road condition includes:
performing differential calculation on the current vehicle speed to obtain the running acceleration of the current vehicle, wherein obtaining the mathematical expression of the running acceleration comprises:
a v for the running acceleration, v veh To be the instituteThe current vehicle speed, t is the duration corresponding to the current vehicle running at the current vehicle speed;
collecting the current acceleration of the current vehicle, wherein the current acceleration is obtained by collecting the acceleration of the current vehicle in the running direction according to at least one sensor;
Obtaining a gradient value of the current road condition according to the running acceleration and the current acceleration, wherein obtaining the mathematical expression of the gradient value of the current road condition comprises:
θ is the gradient value of the current road condition, a 0 For the current acceleration, a v For the running acceleration, g is gravity acceleration, and the value of g can be 9.8m/s 2 。
S4: and superposing the first request torque and the second request torque to obtain a first target torque, and controlling a driving motor of the current vehicle to respond to the first target torque.
According to the control method for the creep of the vehicle, on one hand, the current pressure of the brake cylinder is collected through the depth of the brake pedal which is stepped on, and then the corresponding first request torque is matched according to the current pressure of the brake cylinder; on the other hand, the corresponding second request torque is matched according to the gradient value of the current road condition, and the first request torque is corrected through the second request torque to obtain the first target torque, so that the driving motor can meet the response of the whole vehicle and the stability of the vehicle speed when responding to the first target torque, and the phenomenon of sliding slope is avoided. Therefore, compared with the prior art, the control method improves the control efficiency in the creeping mode.
Preferably, the method further comprises: acquiring a current gear and a preset third mapping table corresponding to the current gear, and searching in the third mapping table based on the current vehicle speed in the current gear to obtain a first correction torque, wherein the third mapping table is used for indicating the mapping relation between the current vehicle speed in the current gear and the first correction torque; and superposing the first target torque and the first correction torque to obtain a second target torque, and controlling the driving motor of the current vehicle to respond to the second target torque. The third mapping table takes the current vehicle speed in the current gear as an abscissa, the first correction torque is a value, and the current gear comprises a forward gear and a reverse gear.
Preferably, the method further comprises: acquiring a current steering wheel angle and a preset fourth mapping table, and searching in the fourth mapping table based on the current steering wheel angle to obtain a second correction torque, wherein the fourth mapping table is used for indicating the mapping relation between the current steering wheel angle and the second correction torque; and superposing the second target torque and the second correction torque to obtain a third target torque, and controlling the driving motor of the current vehicle to respond to the third target torque. The fourth mapping table takes the current steering wheel angle as an abscissa, and the second correction torque is a value.
In other embodiments, the method may also correct the first target torque by only the second correction torque, namely: and superposing the first target torque and the second correction torque to obtain a sixth target torque, and controlling a driving motor of the current vehicle to respond to the sixth target torque. From the viewpoint of improving the control accuracy and efficiency, the present embodiment corrects by the first correction torque and the second correction torque, which will be described later.
In order to further improve the control accuracy and efficiency, in a preferred embodiment, the third target torque is further corrected by closed-loop PID (P: process, i.e., proportional, I: integration, D: differential, i.e., derivative) control.
Specifically, the method further comprises the following steps:
acquiring a preset target vehicle speed, comparing the current vehicle speed with the target vehicle speed, and acquiring a preset proportionality constant, an integral constant and a differential constant when a difference exists between the current vehicle speed and the target vehicle speed;
obtaining a third correction torque based on the proportionality constant, the integration constant, the differentiation constant, and a difference between the current vehicle speed and the target vehicle speed, wherein obtaining a mathematical expression of the third correction torque includes:
U (t) K is the third correction torque at the current moment p E is the proportionality constant (t) K is the difference between the current vehicle speed and the target vehicle speed i E is the integral constant (i) K is the difference between the current vehicle speed and the target vehicle speed d E is the differential constant (t-1) Is the difference between the current vehicle speed and the target vehicle speed at the previous moment;
and superposing the third correction torque and the third target torque to obtain a fourth target torque, and controlling a driving motor of the current vehicle to respond to the fourth target torque so as to enable the current vehicle speed to be consistent with the target vehicle speed.
It should be noted that, the executing step of the closed-loop control is executed in a time period when the current vehicle speed does not reach the target vehicle speed, if the current vehicle speed reaches the target vehicle speed, the next executing step is entered, the current vehicle speed is continuously monitored, and once the current vehicle speed is lower than the target vehicle speed, the closed-loop control is started again, so that the current vehicle speed reaches the target vehicle speed. The above-described proportional constant, integral constant, and differential constant are determined by: the real vehicle test is passed, and proportional control is used as main material, so that the real vehicle speed can be stably close to the target vehicle speed, the proportional constant and the integral constant refer to the difference value between the actual vehicle speed and the target vehicle speed, and the differential constant refers to the change rate of the difference value between the actual vehicle speed and the target vehicle speed. The target vehicle speed is obtained by adding a correction vehicle speed to a vehicle speed threshold, wherein the correction vehicle speed is obtained by looking up a fifth mapping table with the abscissa being the current brake cylinder pressure and the value being the correction vehicle speed.
Further, in order to make the torque output smoother, the fourth target torque may be subjected to low-pass filtering, and the filtered output value is limited by a torque threshold of the driving motor, so as to obtain a final torque, where the torque threshold is used to indicate the maximum response torque of the driving motor. Specifically, the method further comprises the following steps: obtaining a preset filter coefficient, filtering the fourth target torque based on the filter coefficient, and combining with a historical target torque to obtain a fifth target torque, wherein the historical target torque is obtained by filtering the fourth target torque at a moment before the current moment, and obtaining the mathematical expression of the fifth target torque comprises:
y (t) ＝K*u (t) +(1-K)*y (t-1)
y (t) for the fifth target torque, K is the filter coefficient, u (t) For the fourth target torque, y (t-1) Is the historical target torque; acquiring a preset torque threshold, comparing the fifth target torque with the torque threshold, and judging whether the fifth target torque is smaller than or equal to the torque threshold; if yes, controlling a driving motor of the current vehicle to respond to the fifth target torque; and if not, controlling the driving motor of the current vehicle to respond to the torque threshold value.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 2, there is provided a control device for controlling creep of a vehicle, including:
the pressure sensor is electrically connected with a brake cylinder of the current vehicle and is used for collecting the current pressure of the brake cylinder;
the vehicle controller is electrically connected with the pressure sensor and used for acquiring a current vehicle speed and a preset first mapping table, searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating a mapping relation among the current pressure, the current vehicle speed and the first request torque;
The vehicle controller is further configured to obtain a gradient value of a current road condition and a preset second mapping table, and search the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, where the second mapping table is used to indicate a mapping relationship between the gradient value of the current road condition, the current vehicle speed and the second request torque;
the whole vehicle controller is further electrically connected with the driving motor of the current vehicle and is used for superposing the first request torque and the second request torque to obtain a first target torque, and the driving motor of the current vehicle is controlled to respond to the first target torque.
Specifically, referring to fig. 3, the device further includes a first rotational speed sensor and a second rotational speed sensor, where the first rotational speed sensor is electrically connected to the vehicle controller and the driving motor located on the front axle of the current vehicle, and is configured to collect a first rotational speed of the driving motor located on the front axle of the current vehicle; the second rotating speed sensor is respectively and electrically connected with the whole vehicle sensor and the driving motor positioned on the rear axle of the current vehicle and is used for collecting the second rotating speed of the driving motor positioned on the rear axle of the current vehicle. On the basis, the step of acquiring the current vehicle speed by the whole vehicle controller comprises the following steps:
Acquiring a first rotating speed, a first speed ratio and a wheel radius of a driving motor positioned on a front axle of a current vehicle, and acquiring a first vehicle speed of the driving motor positioned on the front axle of the current vehicle according to the first rotating speed, the first speed ratio and the wheel radius, wherein acquiring mathematical expression of the first vehicle speed comprises:
v mf for the first vehicle speed, n f For the first rotation speed, i f For the first speed ratio, r f For the wheel radius, pi is the circumference ratio, r for the first vehicle speed result to be more accurate f The radius of the wheel which is installed and connected with the front axle of the current vehicle can be taken;
obtaining a second rotating speed, a second speed ratio and a wheel radius of a driving motor positioned on a current vehicle rear axle, and obtaining a second vehicle speed of the driving motor positioned on the current vehicle rear axle according to the second rotating speed, the second speed ratio and the wheel radius, wherein obtaining the mathematical expression of the second vehicle speed comprises:
v mr for the second vehicle speed, n r For the second rotation speed, i r For the second speed ratio, r r For the wheel radius, pi is the circumference ratio, r for the second vehicle speed result to be more accurate r The radius of the wheel which is installed and connected with the rear axle of the current vehicle can be taken;
And obtaining the current vehicle speed according to the average value of the sum of the first vehicle speed and the second vehicle speed.
Specifically, referring to fig. 4, the device further includes an acceleration sensor, where the acceleration sensor is electrically connected to the vehicle controller, and the step of obtaining the gradient value of the current road condition includes:
the vehicle controller is configured to perform differential calculation on the current vehicle speed to obtain a running acceleration of the current vehicle, where obtaining a mathematical expression of the running acceleration includes:
a v for the running acceleration, v veh T is the duration corresponding to the running of the current vehicle at the current vehicle speed;
the acceleration sensor is used for collecting the current acceleration of the current vehicle in the running direction;
the vehicle controller is further configured to obtain a gradient value of a current road condition according to the running acceleration and the current acceleration, where obtaining a mathematical expression of the gradient value of the current road condition includes:
θ is the gradient value of the current road condition, a 0 For the current acceleration, a v For the running acceleration, g is gravity acceleration, and the value of g can be 9.8m/s 2 。
Specifically, the vehicle controller is further configured to obtain a current gear and a preset third mapping table corresponding to the current gear, and search the third mapping table based on a current vehicle speed in the current gear to obtain a first correction torque, where the third mapping table is used to indicate a mapping relationship between the current vehicle speed in the current gear and the first correction torque; and superposing the first target torque and the first correction torque to obtain a second target torque, and controlling the driving motor of the current vehicle to respond to the second target torque.
Specifically, the vehicle controller is further configured to obtain a current steering wheel angle and a preset fourth mapping table, and search the fourth mapping table based on the current steering wheel angle to obtain a second correction torque, where the fourth mapping table is used to indicate a mapping relationship between the current steering wheel angle and the second correction torque; and superposing the second target torque and the second correction torque to obtain a third target torque, and controlling the driving motor of the current vehicle to respond to the third target torque.
Specifically, the vehicle controller is further configured to obtain a preset target vehicle speed, compare the current vehicle speed with the target vehicle speed, and obtain a preset proportional constant, an integral constant and a differential constant when a difference exists between the current vehicle speed and the target vehicle speed; obtaining a third correction torque based on the proportionality constant, the integration constant, the differentiation constant, and a difference between the current vehicle speed and the target vehicle speed, wherein obtaining a mathematical expression of the third correction torque includes:
U (t) k is the third correction torque at the current moment p E is the proportionality constant (t) K is the difference between the current vehicle speed and the target vehicle speed i E is the integral constant (i) K is the difference between the current vehicle speed and the target vehicle speed d E is the differential constant (t-1) Is the difference between the current vehicle speed and the target vehicle speed at the previous moment; and superposing the third correction torque and the third target torque to obtain a fourth target torque, and controlling a driving motor of the current vehicle to respond to the fourth target torque so as to enable the current vehicle speed to be consistent with the target vehicle speed.
Specifically, the vehicle controller is further configured to obtain a preset filter coefficient, perform a filtering process on the fourth target torque based on the filter coefficient, and combine a historical target torque to obtain a fifth target torque, where the historical target torque is obtained by filtering the fourth target torque at a time previous to the current time, and obtaining a mathematical expression of the fifth target torque includes:
y (t) ＝K*u (t) +(1-K)*y (t-1)
y (t) for the fifth target torque, K is the filter coefficient, u (t) For the fourth target torque, y (t-1) Is the historical target torque; acquiring a preset torque threshold, comparing the fifth target torque with the torque threshold, and judging whether the fifth target torque is smaller than or equal to the torque threshold; if yes, controlling a driving motor of the current vehicle to respond to the fifth target torque; and if not, controlling the driving motor of the current vehicle to respond to the torque threshold value.
For specific limitations on the control device for vehicle creep, reference may be made to the above limitations on the control method for vehicle creep, and no further description is given here. The various components in the control device for vehicle creep described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above devices may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above devices.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of controlling creep of a vehicle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 5 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of when executing the computer program:
collecting the current pressure of a brake cylinder;
acquiring a current vehicle speed and a preset first mapping table, and searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating a mapping relation among the current pressure, the current vehicle speed and the first request torque;
acquiring a gradient value of a current road condition and a preset second mapping table, and searching in the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, wherein the second mapping table is used for indicating a mapping relation among the gradient value of the current road condition, the current vehicle speed and the second request torque;
And superposing the first request torque and the second request torque to obtain a first target torque, and controlling a driving motor of the current vehicle to respond to the first target torque.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring a first rotating speed, a first speed ratio and a wheel radius of a driving motor positioned on a front axle of a current vehicle, and acquiring a first vehicle speed of the driving motor positioned on the front axle of the current vehicle according to the first rotating speed, the first speed ratio and the wheel radius, wherein acquiring mathematical expression of the first vehicle speed comprises:
v mf for the first vehicle speed, n f For the first rotation speed, i f For the first speed ratio, r f For the wheel radius, pi is the circumference ratio, r for the first vehicle speed result to be more accurate f The radius of the wheel which is installed and connected with the front axle of the current vehicle can be taken;
obtaining a second rotating speed, a second speed ratio and a wheel radius of a driving motor positioned on a current vehicle rear axle, and obtaining a second vehicle speed of the driving motor positioned on the current vehicle rear axle according to the second rotating speed, the second speed ratio and the wheel radius, wherein obtaining the mathematical expression of the second vehicle speed comprises:
v mr For the second vehicle speed, n r For the second rotation speed, i r For the second speed ratio, r r For the wheel radius, pi is the circumference ratio, r for the second vehicle speed result to be more accurate r The radius of the wheel which is installed and connected with the rear axle of the current vehicle can be taken;
and obtaining the current vehicle speed according to the average value of the sum of the first vehicle speed and the second vehicle speed.
In one embodiment, the processor when executing the computer program further performs the steps of:
performing differential calculation on the current vehicle speed to obtain the running acceleration of the current vehicle, wherein obtaining the mathematical expression of the running acceleration comprises:
a v for the rowAcceleration of driving, v veh T is the duration corresponding to the running of the current vehicle at the current vehicle speed;
collecting the current acceleration of the current vehicle, wherein the current acceleration is obtained by collecting the acceleration of the current vehicle in the running direction according to at least one sensor;
obtaining a gradient value of the current road condition according to the running acceleration and the current acceleration, wherein obtaining the mathematical expression of the gradient value of the current road condition comprises:
θ is the gradient value of the current road condition, a 0 For the current acceleration, a v And g is gravitational acceleration, which is the running acceleration.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring a current gear and a preset third mapping table corresponding to the current gear, and searching in the third mapping table based on the current vehicle speed in the current gear to obtain a first correction torque, wherein the third mapping table is used for indicating the mapping relation between the current vehicle speed in the current gear and the first correction torque;
and superposing the first target torque and the first correction torque to obtain a second target torque, and controlling the driving motor of the current vehicle to respond to the second target torque.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring a current steering wheel angle and a preset fourth mapping table, and searching in the fourth mapping table based on the current steering wheel angle to obtain a second correction torque, wherein the fourth mapping table is used for indicating the mapping relation between the current steering wheel angle and the second correction torque;
and superposing the second target torque and the second correction torque to obtain a third target torque, and controlling the driving motor of the current vehicle to respond to the third target torque.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring a preset target vehicle speed, comparing the current vehicle speed with the target vehicle speed, and acquiring a preset proportionality constant, an integral constant and a differential constant when a difference exists between the current vehicle speed and the target vehicle speed;
obtaining a third correction torque based on the proportionality constant, the integration constant, the differentiation constant, and a difference between the current vehicle speed and the target vehicle speed, wherein obtaining a mathematical expression of the third correction torque includes:
U (t) k is the third correction torque at the current moment p E is the proportionality constant (t) K is the difference between the current vehicle speed and the target vehicle speed i E is the integral constant (i) K is the difference between the current vehicle speed and the target vehicle speed d E is the differential constant (t-1) Is the difference between the current vehicle speed and the target vehicle speed at the previous moment;
and superposing the third correction torque and the third target torque to obtain a fourth target torque, and controlling a driving motor of the current vehicle to respond to the fourth target torque so as to enable the current vehicle speed to be consistent with the target vehicle speed.
In one embodiment, the processor when executing the computer program further performs the steps of:
obtaining a preset filter coefficient, filtering the fourth target torque based on the filter coefficient, and combining with a historical target torque to obtain a fifth target torque, wherein the historical target torque is obtained by filtering the fourth target torque at a moment before the current moment, and obtaining the mathematical expression of the fifth target torque comprises:
y (t) ＝K*u (t) +(1-K)*y (t-1)
y (t) for the fifth target torque, K is the filter coefficient, u (t) For the fourth target torque, y (t-1) Is the historical target torque;
acquiring a preset torque threshold, comparing the fifth target torque with the torque threshold, and judging whether the fifth target torque is smaller than or equal to the torque threshold;
if yes, controlling a driving motor of the current vehicle to respond to the fifth target torque;
and if not, controlling the driving motor of the current vehicle to respond to the torque threshold value.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
collecting the current pressure of a brake cylinder;
Acquiring a current vehicle speed and a preset first mapping table, and searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating a mapping relation among the current pressure, the current vehicle speed and the first request torque;
acquiring a gradient value of a current road condition and a preset second mapping table, and searching in the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, wherein the second mapping table is used for indicating a mapping relation among the gradient value of the current road condition, the current vehicle speed and the second request torque;
and superposing the first request torque and the second request torque to obtain a first target torque, and controlling a driving motor of the current vehicle to respond to the first target torque.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a first rotating speed, a first speed ratio and a wheel radius of a driving motor positioned on a front axle of a current vehicle, and acquiring a first vehicle speed of the driving motor positioned on the front axle of the current vehicle according to the first rotating speed, the first speed ratio and the wheel radius, wherein acquiring mathematical expression of the first vehicle speed comprises:
v mf For the first vehicle speed, n f For the first rotation speed, i f For the first speed ratio, r f For the wheel radius, pi is the circumference ratio, r for the first vehicle speed result to be more accurate f The radius of the wheel which is installed and connected with the front axle of the current vehicle can be taken;
obtaining a second rotating speed, a second speed ratio and a wheel radius of a driving motor positioned on a current vehicle rear axle, and obtaining a second vehicle speed of the driving motor positioned on the current vehicle rear axle according to the second rotating speed, the second speed ratio and the wheel radius, wherein obtaining the mathematical expression of the second vehicle speed comprises:
v mr for the second vehicle speed, n r For the second rotation speed, i r For the second speed ratio, r r For the wheel radius, pi is the circumference ratio, r for the second vehicle speed result to be more accurate r The radius of the wheel which is installed and connected with the rear axle of the current vehicle can be taken;
and obtaining the current vehicle speed according to the average value of the sum of the first vehicle speed and the second vehicle speed.
In one embodiment, the computer program when executed by the processor further performs the steps of:
performing differential calculation on the current vehicle speed to obtain the running acceleration of the current vehicle, wherein obtaining the mathematical expression of the running acceleration comprises:
a v For the running acceleration, v veh T is the duration corresponding to the running of the current vehicle at the current vehicle speed;
collecting the current acceleration of the current vehicle, wherein the current acceleration is obtained by collecting the acceleration of the current vehicle in the running direction according to at least one sensor;
obtaining a gradient value of the current road condition according to the running acceleration and the current acceleration, wherein obtaining the mathematical expression of the gradient value of the current road condition comprises:
θ is the gradient value of the current road condition, a 0 For the current acceleration, a v For the running acceleration, g is gravity acceleration, and the value of g can be 9.8m/s 2 。
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a current gear and a preset third mapping table corresponding to the current gear, and searching in the third mapping table based on the current vehicle speed in the current gear to obtain a first correction torque, wherein the third mapping table is used for indicating the mapping relation between the current vehicle speed in the current gear and the first correction torque;
and superposing the first target torque and the first correction torque to obtain a second target torque, and controlling the driving motor of the current vehicle to respond to the second target torque.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a current steering wheel angle and a preset fourth mapping table, and searching in the fourth mapping table based on the current steering wheel angle to obtain a second correction torque, wherein the fourth mapping table is used for indicating the mapping relation between the current steering wheel angle and the second correction torque;
and superposing the second target torque and the second correction torque to obtain a third target torque, and controlling the driving motor of the current vehicle to respond to the third target torque.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a preset target vehicle speed, comparing the current vehicle speed with the target vehicle speed, and acquiring a preset proportionality constant, an integral constant and a differential constant when a difference exists between the current vehicle speed and the target vehicle speed;
obtaining a third correction torque based on the proportionality constant, the integration constant, the differentiation constant, and a difference between the current vehicle speed and the target vehicle speed, wherein obtaining a mathematical expression of the third correction torque includes:
U (t) K is the third correction torque at the current moment p E is the proportionality constant (t) K is the difference between the current vehicle speed and the target vehicle speed i E is the integral constant (i) K is the difference between the current vehicle speed and the target vehicle speed d E is the differential constant (t-1) Is the difference between the current vehicle speed and the target vehicle speed at the previous moment;
and superposing the third correction torque and the third target torque to obtain a fourth target torque, and controlling a driving motor of the current vehicle to respond to the fourth target torque so as to enable the current vehicle speed to be consistent with the target vehicle speed.
In one embodiment, the computer program when executed by the processor further performs the steps of:
obtaining a preset filter coefficient, filtering the fourth target torque based on the filter coefficient, and combining with a historical target torque to obtain a fifth target torque, wherein the historical target torque is obtained by filtering the fourth target torque at a moment before the current moment, and obtaining the mathematical expression of the fifth target torque comprises:
y (t) ＝K*u (t) +(1-K)*y (t-1)
y (t) for the fifth target torque, K is the filter coefficient, u (t) For the fourth target torque, y (t-1) Is the historical target torque;
acquiring a preset torque threshold, comparing the fifth target torque with the torque threshold, and judging whether the fifth target torque is smaller than or equal to the torque threshold;
if yes, controlling a driving motor of the current vehicle to respond to the fifth target torque;
and if not, controlling the driving motor of the current vehicle to respond to the torque threshold value.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (7)
1. A method of controlling creep of a vehicle, the method comprising:
collecting the current pressure of a brake cylinder;
acquiring a current vehicle speed and a preset first mapping table, and searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating a mapping relation among the current pressure, the current vehicle speed and the first request torque;
Acquiring a gradient value of a current road condition and a preset second mapping table, and searching in the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, wherein the second mapping table is used for indicating a mapping relation among the gradient value of the current road condition, the current vehicle speed and the second request torque;
superposing the first request torque and the second request torque to obtain a first target torque, and controlling a driving motor of the current vehicle to respond to the first target torque;
acquiring a current gear and a preset third mapping table corresponding to the current gear, and searching in the third mapping table based on the current vehicle speed in the current gear to obtain a first correction torque, wherein the third mapping table is used for indicating the mapping relation between the current vehicle speed in the current gear and the first correction torque;
superposing a first target torque and the first correction torque to obtain a second target torque, and controlling a driving motor of the current vehicle to respond to the second target torque;
acquiring a current steering wheel angle and a preset fourth mapping table, and searching in the fourth mapping table based on the current steering wheel angle to obtain a second correction torque, wherein the fourth mapping table is used for indicating the mapping relation between the current steering wheel angle and the second correction torque;
Superposing the second target torque and the second correction torque to obtain a third target torque, and controlling a driving motor of the current vehicle to respond to the third target torque;
acquiring a preset target vehicle speed, comparing the current vehicle speed with the target vehicle speed, and acquiring a preset proportionality constant, an integral constant and a differential constant when a difference exists between the current vehicle speed and the target vehicle speed;
obtaining a third correction torque based on the proportionality constant, the integration constant, the differentiation constant, and a difference between the current vehicle speed and the target vehicle speed, wherein obtaining a mathematical expression of the third correction torque includes:
U (t) k is the third correction torque at the current moment p E is the proportionality constant (t) K is the difference between the current vehicle speed and the target vehicle speed i E is the integral constant (i) K is the difference between the current vehicle speed and the target vehicle speed d E is the differential constant (t-1) Is the difference between the current vehicle speed and the target vehicle speed at the previous moment;
and superposing the third correction torque and the third target torque to obtain a fourth target torque, and controlling a driving motor of the current vehicle to respond to the fourth target torque so as to enable the current vehicle speed to be consistent with the target vehicle speed.
2. The method for controlling creep of a vehicle according to claim 1, wherein the step of obtaining the current vehicle speed includes:
acquiring a first rotating speed, a first speed ratio and a wheel radius of a driving motor positioned on a front axle of the current vehicle, and acquiring a first vehicle speed of the driving motor positioned on the front axle of the current vehicle according to the first rotating speed, the first speed ratio and the wheel radius;
acquiring a second rotating speed, a second speed ratio and a wheel radius of a driving motor positioned on a rear axle of the current vehicle, and acquiring a second vehicle speed of the driving motor positioned on the rear axle of the current vehicle according to the second rotating speed, the second speed ratio and the wheel radius;
and obtaining the current vehicle speed according to the average value of the sum of the first vehicle speed and the second vehicle speed.
3. The method for controlling creep of a vehicle according to claim 2, wherein the step of obtaining the gradient value of the current road condition includes:
performing differential calculation on the current vehicle speed to obtain the running acceleration of the current vehicle;
collecting the current acceleration of the current vehicle, wherein the current acceleration is obtained by collecting the acceleration of the current vehicle in the running direction according to at least one sensor;
Obtaining a gradient value of the current road condition according to the running acceleration and the current acceleration, wherein obtaining the mathematical expression of the gradient value of the current road condition comprises:
θ is the gradient value of the current road condition, a 0 For the current acceleration, a v And g is gravitational acceleration, which is the running acceleration.
4. The method of controlling creep of a vehicle of claim 1, further comprising:
obtaining a preset filter coefficient, filtering the fourth target torque based on the filter coefficient, and combining with a historical target torque to obtain a fifth target torque, wherein the historical target torque is obtained by filtering the fourth target torque at the moment before the current moment;
acquiring a preset torque threshold, comparing the fifth target torque with the torque threshold, and judging whether the fifth target torque is smaller than or equal to the torque threshold;
if yes, controlling a driving motor of the current vehicle to respond to the fifth target torque;
and if not, controlling the driving motor of the current vehicle to respond to the torque threshold value.
5. A control device for controlling creep of a vehicle, the device comprising:
The pressure sensor is electrically connected with a brake cylinder of the current vehicle and is used for collecting the current pressure of the brake cylinder;
the vehicle controller is electrically connected with the pressure sensor and used for acquiring a current vehicle speed and a preset first mapping table, searching in the first mapping table based on the current vehicle speed and the current pressure to obtain a corresponding first request torque, wherein the first mapping table is used for indicating a mapping relation among the current pressure, the current vehicle speed and the first request torque;
the vehicle controller is further configured to obtain a gradient value of a current road condition and a preset second mapping table, and search the second mapping table based on the gradient value of the current road condition and the current vehicle speed to obtain a corresponding second request torque, where the second mapping table is used to indicate a mapping relationship between the gradient value of the current road condition, the current vehicle speed and the second request torque;
the whole vehicle controller is further electrically connected with the driving motor of the current vehicle and is used for superposing the first request torque and the second request torque to obtain a first target torque, and the driving motor of the current vehicle is controlled to respond to the first target torque;
The vehicle controller is further configured to obtain a current gear and a preset third mapping table corresponding to the current gear, and search the third mapping table based on a current vehicle speed in the current gear to obtain a first correction torque, where the third mapping table is used to indicate a mapping relationship between the current vehicle speed in the current gear and the first correction torque;
the whole vehicle controller is also used for superposing a first target torque and the first correction torque to obtain a second target torque, and controlling a driving motor of the current vehicle to respond to the second target torque;
the whole vehicle controller is further used for acquiring a current steering wheel angle and a preset fourth mapping table, searching is conducted in the fourth mapping table based on the current steering wheel angle to obtain a second correction torque, and the fourth mapping table is used for indicating a mapping relation between the current steering wheel angle and the second correction torque; superposing the second target torque and the second correction torque to obtain a third target torque, and controlling a driving motor of the current vehicle to respond to the third target torque;
the vehicle controller is further used for acquiring a preset target vehicle speed, comparing the current vehicle speed with the target vehicle speed, and acquiring a preset proportionality constant, an integral constant and a differential constant when a difference exists between the current vehicle speed and the target vehicle speed;
The vehicle control unit is further configured to obtain a third correction torque based on the proportionality constant, the integration constant, the differentiation constant, and a difference between the current vehicle speed and the target vehicle speed, where obtaining a mathematical expression of the third correction torque includes:
U (t) k is the third correction torque at the current moment p E is the proportionality constant (t) K is the difference between the current vehicle speed and the target vehicle speed i E is the integral constant (i) K is the difference between the current vehicle speed and the target vehicle speed d E is the differential constant (t-1) Is the difference between the current vehicle speed and the target vehicle speed at the previous moment;
the whole vehicle controller is further used for superposing the third correction torque and the third target torque to obtain a fourth target torque, and controlling the driving motor of the current vehicle to respond to the fourth target torque so as to enable the current vehicle speed to be consistent with the target vehicle speed.
6. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method for controlling creep of a vehicle according to any one of claims 1 to 4 when the computer program is executed.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the control method of vehicle creep according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211515747.1A CN115782616B (en) | 2022-11-29 | 2022-11-29 | Control method, device, computer equipment and medium for vehicle creep |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211515747.1A CN115782616B (en) | 2022-11-29 | 2022-11-29 | Control method, device, computer equipment and medium for vehicle creep |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115782616A CN115782616A (en) | 2023-03-14 |
| CN115782616B true CN115782616B (en) | 2023-12-05 |
Family
ID=85443371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211515747.1A Active CN115782616B (en) | 2022-11-29 | 2022-11-29 | Control method, device, computer equipment and medium for vehicle creep |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115782616B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116039648B (en) * | 2023-04-03 | 2023-06-27 | 成都赛力斯科技有限公司 | Gradient calculation method and device based on weight and vehicle |
| CN116572755B (en) * | 2023-05-19 | 2024-03-19 | 重庆赛力斯凤凰智创科技有限公司 | Shaft end target torque control method and device in escaping mode and new energy automobile |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107839688A (en) * | 2017-10-19 | 2018-03-27 | 吉林大学 | A kind of electric automobile crawling method for controlling driving speed |
| CN110745010A (en) * | 2019-10-30 | 2020-02-04 | 奇瑞商用车（安徽）有限公司 | Creep torque control method for electric vehicle |
| CN113844278A (en) * | 2021-09-23 | 2021-12-28 | 智新控制系统有限公司 | Method and system for rapidly controlling creep torque of vehicle |
| CN114834268A (en) * | 2022-06-06 | 2022-08-02 | 东风汽车集团股份有限公司 | Creep control method based on PI |
| CN115092147A (en) * | 2022-06-29 | 2022-09-23 | 北汽福田汽车股份有限公司 | Method and device for controlling creep of vehicle, storage medium, electronic equipment and vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101230903B1 (en) * | 2010-12-08 | 2013-02-07 | 현대자동차주식회사 | Control method for creep torque of electric vehicle |
-
2022
- 2022-11-29 CN CN202211515747.1A patent/CN115782616B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107839688A (en) * | 2017-10-19 | 2018-03-27 | 吉林大学 | A kind of electric automobile crawling method for controlling driving speed |
| CN110745010A (en) * | 2019-10-30 | 2020-02-04 | 奇瑞商用车（安徽）有限公司 | Creep torque control method for electric vehicle |
| CN113844278A (en) * | 2021-09-23 | 2021-12-28 | 智新控制系统有限公司 | Method and system for rapidly controlling creep torque of vehicle |
| CN114834268A (en) * | 2022-06-06 | 2022-08-02 | 东风汽车集团股份有限公司 | Creep control method based on PI |
| CN115092147A (en) * | 2022-06-29 | 2022-09-23 | 北汽福田汽车股份有限公司 | Method and device for controlling creep of vehicle, storage medium, electronic equipment and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115782616A (en) | 2023-03-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115782616B (en) | Control method, device, computer equipment and medium for vehicle creep | |
| CN111717214B (en) | Vehicle mass estimation method and device, electronic equipment and storage medium | |
| US10814907B2 (en) | Steering correction for steer-by-wire | |
| CN111731265A (en) | Method and system for predicting stability state of autonomous vehicle | |
| US20230139179A1 (en) | Architecture and methodology of adaptive tire force prediction for integrated vehicle motion control | |
| CN115817481B (en) | Control method, system, equipment and medium for vehicle creep | |
| DE102022122643A1 (en) | Architecture and methodology based on model predictive control to manage chassis and powertrain actuators | |
| CN114670855A (en) | Method, device, equipment and medium for determining vehicle quality | |
| CN114475604B (en) | Vehicle anti-skid method, apparatus, device, storage medium, and program product | |
| CN115489335B (en) | Torque control method, device, equipment and medium based on energy recovery | |
| CN113561980A (en) | Vehicle creep control method and device, computer equipment and storage medium | |
| CN115973272B (en) | Control method and device for automobile turning | |
| CN108520096B (en) | Method for estimating optimal speed of automobile running | |
| CN108759952B (en) | Sectional oil consumption estimation method based on rotating speed and torque of automobile engine | |
| KR20210105412A (en) | Apparatus and method for monitoring the trajectory of a car | |
| CN116039648B (en) | Gradient calculation method and device based on weight and vehicle | |
| CN114248774A (en) | Vehicle curve control method and device, computer equipment and storage medium | |
| CN114684109A (en) | Electric automobile yaw stability control method and device | |
| JP2018091754A (en) | Device and method for estimation of vehicle weight | |
| CN116494987A (en) | Gradient calculation method and device based on vehicle condition and vehicle | |
| CN114212081B (en) | Vehicle lateral control method, apparatus, computer device, and readable storage medium | |
| CN115489321B (en) | Vehicle energy recovery control method, device, computer equipment and storage medium | |
| CN115675114A (en) | Parking control method and device for new energy automobile, computer equipment and storage medium | |
| CN116278802A (en) | Control method and device for vehicle hill start | |
| US20240092371A1 (en) | Universal machine learning based system for estimating a vehicle state |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240113 Address after: No. 13 Xingxiang Road, Zengjia Town, High tech Zone, Jiulongpo District, Chongqing, 400039 Patentee after: Chongqing Selis Phoenix Intelligent Innovation Technology Co.,Ltd. Address before: 610095 No. 2901, floor 29, unit 1, building 1, No. 151, Tianfu Second Street, high tech Zone, China (Sichuan) pilot Free Trade Zone, Chengdu, Sichuan Province Patentee before: Chengdu Thalys Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |