WO2018177391A1

WO2018177391A1 - Method and device for controlling creep vehicle speed, motor vehicle, and computer readable medium

Info

Publication number: WO2018177391A1
Application number: PCT/CN2018/081241
Authority: WO
Inventors: 周德祥; 刘宇玲; 贺庆书; 吴广; 陈磊; 刘喜明
Original assignee: 长城汽车股份有限公司
Priority date: 2017-03-30
Filing date: 2018-03-30
Publication date: 2018-10-04
Also published as: CN108068811A; KR20190130025A; KR102273477B1; CN108068811B

Abstract

Provided are a method and device for controlling a creep vehicle speed, a motor vehicle, and a computer readable medium. The method for controlling a creep vehicle speed comprises: when a motor vehicle enters a creep state, acquiring operating condition information and driving state information of the motor vehicle; and controlling a creep vehicle speed according to a rule corresponding to the operating condition information and the driving state information of the motor vehicle, wherein the operating condition information comprises a gear position and/or a creep mode, and the driving state information comprises a brake cylinder pressure and/or a steering angle. In the method, a creep vehicle speed is controlled according to different rules corresponding to different operating condition information and driving state information of a motor vehicle, such that torque ripple and fluctuation caused as a result of entrance to or exit from a creep state can be prevented, thereby providing the motor vehicle with a certain buffer for entering and leaving the creep state, reducing torque fluctuation caused by constant stopping-and-starting of the motor vehicle due to operations conditions such as traffic congestion, enhancing comfort for a driver, and improving driver experience.

Description

Method, device, motor vehicle and computer readable medium for creeping speed

Technical field

The invention relates to the technical field of motor vehicles, in particular to a method and a device for controlling a creeping vehicle speed, a motor vehicle and a computer readable medium.

Background technique

The creep function can play a role in stopping and stopping the traffic jam and starting the slope to prevent the slope. The creep function is generally achieved by PI (proportional-integral) adjustment, which is to adjust the creep torque to operate the vehicle at a specific creep speed.

The existing method for controlling the creeping speed is generally to control the creeping speed by the driver pressing the brake pedal, and the control method of the existing creeping speed is poorly controllable, resulting in entering and exiting the creeping state. The torque is not smooth, and it has a great influence on the driver's comfort under the conditions of traffic jams.

Summary of the invention

The embodiment of the invention provides a control method for the creeping vehicle speed to solve the problem that the control method of the prior art has poor controllability on the creeping vehicle speed.

The embodiment of the invention provides a control device for the creeping vehicle speed, so as to solve the problem that the control device of the prior art has poor controllability for the creeping vehicle speed.

The embodiment of the invention provides a motor vehicle to solve the problem that the controllability of the prior art motor vehicle to the creeping speed is poor.

The embodiment of the invention provides a computer readable medium to solve the problem that the prior art motor vehicle has poor controllability to the creep speed.

In a first aspect, a method for controlling a creeping vehicle speed is provided for a motor vehicle, the method comprising: acquiring information of working condition and driving state of the motor vehicle when the vehicle enters a creeping state; Controlling the creeping vehicle speed according to a rule corresponding to the working condition information and the driving state information of the motor vehicle; wherein the working condition information includes: a gear position and/or a creep mode; the driving state information includes: Master cylinder pressure and / or steering angle.

Preferably, before the step of acquiring the operating condition information and the driving state information of the motor vehicle when the motor vehicle enters a creeping state, the method further comprises: acquiring a brake master cylinder pressure of the motor vehicle If 0 ≤ p ≤ P ₁ , it is determined that the motor vehicle enters a creep state; wherein p is the brake master cylinder pressure of the motor vehicle; and P ₁ is the brake master cylinder pressure entering the creep state Maximum preset value.

Preferably, the step of controlling the creeping vehicle speed according to a rule corresponding to the working condition information and the running state information of the motor vehicle includes: determining whether the brake master cylinder pressure of the motor vehicle is 0; If the brake master cylinder pressure of the motor vehicle is 0, the first creeping vehicle speed is controlled according to the first rule according to the gear position, the creep mode and the steering angle of the motor vehicle; if the brake master of the motor vehicle If the cylinder pressure is not 0, it is determined whether the steering angle of the motor vehicle is 0; if the steering angle of the motor vehicle is 0, according to the gear position, the creep mode and the brake master cylinder pressure of the motor vehicle, Controlling the second creeping speed according to the second rule; if the steering angle of the motor vehicle is not 0, according to the third rule of the vehicle's gear position, creep mode, steering angle and brake master cylinder pressure Control the third creep speed.

Preferably, the step of controlling the first creeping vehicle speed according to the first rule according to the gear position, the creep mode and the steering angle of the motor vehicle comprises: obtaining a steering angle of the motor vehicle; if 0°≤r ≤200°, according to the gear position and creep mode of the motor vehicle, the first creeping vehicle speed v ₁ =a is controlled; if 200°<r<600°, according to the gear position of the motor vehicle a creep mode, controlling the first creeping speed v ₁ = (ba) × r / 400 + (3a - b) × 2; if r ≥ 600 °, controlling the first creeping speed v ₁ = b Where r is the steering angle of the motor vehicle; a is the preset creeping speed defined by the gear and creep mode of the motor vehicle; b is the minimum value of the creeping speed defined by the steering angle.

Preferably, the step of controlling the second creeping vehicle speed according to the second rule according to the gear position, the creep mode and the brake master cylinder pressure of the motor vehicle comprises: acquiring the brake master cylinder pressure of the motor vehicle a change condition; if 0 ≤ p ≤ P ₁ , the brake master cylinder pressure of the motor vehicle changes for the first time and the change is a process in which the brake master cylinder pressure decreases, according to the gear position of the motor vehicle And a creep mode, controlling the second creeping speed v ₂ = (ca) × p / P ₁ + a; if 0 ≤ p ≤ P ₂ , except for the first change of the brake master cylinder pressure of the motor vehicle The change is that the brake master cylinder pressure is reduced, and the second creeping vehicle speed v ₂ = (ca) × p / P ₂ + is controlled according to the gear position and the creep mode of the motor vehicle. a; wherein P ₂ is a preset value of the brake master cylinder pressure in the exit creep state; c is a minimum value of the creeping vehicle speed defined by the brake master cylinder pressure.

Preferably, the step of controlling the third creeping vehicle speed according to the third rule according to the gear position, the creep mode, the steering angle and the brake master cylinder pressure of the motor vehicle comprises: according to the gear position of the motor vehicle , creep mode, and steering angle, determining the first creep speed v _1; according to the shift of the motor vehicle, a creep mode and the brake master cylinder pressure, determining a second creep vehicle speed v _2; Comparative a magnitude of the first creeping vehicle speed v ₁ and the second creeping vehicle speed v ₂ ; if v ₁ <v ₂ , controlling the third creeping vehicle speed v _{3 to} be v ₁ ; if v ₂ <v ₁ And controlling the third creeping vehicle speed v _{3 to} be v ₂ ; if v ₁ = v ₂ , controlling the third creeping vehicle speed v _{3 to} be v ₁ or v ₂ .

Preferably, the gears include: a forward gear and a reverse gear; the creep mode includes: a start creep mode and a coast creep mode.

In a second aspect, a control device for a creeping vehicle speed is provided for a motor vehicle, the device comprising: a first acquisition module configured to acquire a working condition of the motor vehicle when the motor vehicle enters a creep state Information and driving status information; the control module is configured to control the creeping vehicle speed according to a rule corresponding to the working condition information and the driving state information of the motor vehicle; wherein the working condition information comprises: a gear and/or Creep mode; the driving state information includes: brake master cylinder pressure and/or steering angle.

Preferably, the method further includes: a second acquiring module configured to acquire the brake master cylinder of the motor vehicle before acquiring the working condition information and the driving state information of the motor vehicle when the motor vehicle enters creeping a pressure determining module configured to determine that the vehicle enters a creep mode if 0 ≤ p ≤ P ₁ ; wherein p is the brake master cylinder pressure of the motor vehicle; and P ₁ is the entering creep mode The maximum preset value of the brake master cylinder pressure.

Preferably, the control module includes: a first determining module configured to determine whether the brake master cylinder pressure of the motor vehicle is 0; the first control module is configured to: if the brake master cylinder pressure of the motor vehicle is 0, the first creeping vehicle speed is controlled according to the first rule according to the gear position, the creep mode and the steering angle of the motor vehicle; and the second determining module is configured to: if the brake master cylinder pressure of the motor vehicle is not 0, determining whether the steering angle of the motor vehicle is 0; the second control module is configured to be based on the gear position, the creep mode and the brake master of the motor vehicle if the steering angle of the motor vehicle is 0 The cylinder pressure controls the second creeping vehicle speed according to the second rule; the third control module is configured to: according to the vehicle's gear position, the creep mode, the steering angle, and if the steering angle of the motor vehicle is not zero The brake master cylinder pressure controls the third creeping speed according to the third rule.

Preferably, the first control module includes: an angle acquisition module configured to acquire a steering angle of the motor vehicle; and a first vehicle speed control module configured to be 0°≤r≤200°, according to the motor vehicle a gear and a creep mode, controlling the first creeping speed v ₁ =a; and a second vehicle speed control module configured to be 200°<r<600° according to the gear and the creep mode of the motor vehicle Controlling the first creeping speed v ₁ =(ba)×r/400+(3a-b)×2; the third vehicle speed control module is configured to control the first creep if r≥600° Vehicle speed v ₁ = b; where r is the steering angle of the motor vehicle; a is the preset creeping speed defined by the gear and creep mode of the motor vehicle; b is the creep speed defined by the steering angle The minimum value.

Preferably, the second control module includes: a pressure change acquisition module configured to acquire a change in the brake master cylinder pressure of the motor vehicle; and a fourth vehicle speed control module configured to be 0 ≤ p ≤ P ₁ When the brake master cylinder pressure of the motor vehicle changes for the first time and the change is the process of reducing the brake master cylinder pressure, the second creep speed is controlled according to the gear position and the creep mode of the motor vehicle. v ₂ = (ca) × p / P ₁ + a; a fifth vehicle speed control module configured such that if 0 ≤ p ≤ P ₂ , the brake master cylinder pressure of the motor vehicle changes for the first time and the change is In addition to the process of reducing the brake master cylinder pressure, the second creeping vehicle speed v ₂ = (ca) × p / P ₂ + a is controlled according to the gear position and the creep mode of the motor vehicle; wherein, P ₂ is a preset value of the brake master cylinder pressure in the creep state, and c is a minimum value of the creeping vehicle speed defined by the brake master cylinder pressure.

Preferably, the third control module includes: a first determining module configured to determine the first creeping vehicle speed v ₁ according to a gear position, a creep mode and a steering angle of the motor vehicle; and a second determining module, Configuring to determine the second creeping vehicle speed v ₂ according to the gear position, the creep mode, and the brake master cylinder pressure of the motor vehicle; the comparing module configured to compare the first creeping vehicle speed v ₁ and the a second creeping speed v ₂ ; a sixth vehicle speed control module configured to control the third creeping speed v _{3 to} be v ₁ if v ₁ <v ₂ ; and a seventh vehicle speed control module configured to be v ₂ <v ₁ , controlling the third creeping vehicle speed v _{3 to} be v ₂ ; the eighth control unit is configured to control the third creeping vehicle speed v _{3 to} be v ₁ or v if v ₁ = v ₂ ₂ .

Preferably, the gear includes: a forward gear and a reverse gear; and the creep mode includes: a start creep mode and a coast creep mode.

In a third aspect, a motor vehicle including the above-described creep speed control device is provided.

According to a fourth aspect, there is provided a computer readable medium storing a computer program for performing the above-described method of controlling a creep speed.

Thus, in the embodiment of the present invention, the influence of the gear position, the creep mode, the brake master cylinder pressure and the steering angle of the motor vehicle is fully considered, and according to different combinations of the above four factors, the creep speed is controlled according to different rules to avoid Due to the unevenness of the torque fluctuation caused by entering or exiting the creeping state, the vehicle has a certain buffer between entering and exiting the creeping state, so as to reduce the torque of the starting and stopping of the motor vehicle due to traffic jams and the like. The purpose of not gradual change is to improve driving comfort and enhance the driving experience.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art based on these drawings without the inventive labor.

1 is a flow chart showing a method of controlling a creeping vehicle speed according to a first embodiment of the present invention;

2 is a flow chart showing a method of controlling a creeping vehicle speed according to a second embodiment of the present invention;

3 is a flow chart showing a method of controlling a creeping vehicle speed according to a third embodiment of the present invention;

4 is a flow chart showing a method of controlling a creeping vehicle speed according to a fourth embodiment of the present invention;

Figure 5 is a flow chart showing a method of controlling a creeping vehicle speed according to a fifth embodiment of the present invention;

Figure 6 is a block diagram showing the structure of a creeping vehicle speed control device according to a sixth embodiment of the present invention;

Figure 7 is a block diagram showing the structure of a creeping vehicle speed control device according to a seventh embodiment of the present invention;

Figure 8 is a block diagram schematically showing the structure of a computing device for performing a control method of a creeping vehicle speed according to the present invention;

Fig. 9 schematically illustrates a computer readable medium for holding or carrying program code for implementing control of a creeping vehicle speed in accordance with the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

First embodiment

The first embodiment of the present invention discloses a method of controlling the creeping vehicle speed. This method is used in motor vehicles. The motor vehicle is powered by various energy sources such as gasoline and electric energy. For example, the motor vehicle can be a gasoline motor vehicle, an electric motor vehicle, or another power vehicle. As shown in FIG. 1, the method includes the following steps:

Step S101: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.

The creep state is a low speed driving state. When the motor vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are obtained through this step, so that the subsequent step controls the creeping speed according to the information.

Among them, the working condition information includes: gear and/or creep mode.

Specifically, the gear includes: a forward gear and a reverse gear. According to different models, the forward gear and the reverse gear respectively include different lower gears. For example, for some models, the forward gear includes: D/E/S gear; the reverse gear includes: R gear. The gear can be determined according to a logic gear signal output by a VCU (Vehicle control unit), wherein the VCU has a driving intention determination function.

Specifically, the creep mode includes: a start creep mode and a slide creep mode. The creep mode can determine whether the creep mode is the start creep mode or the slide creep mode by entering the creep speed state. In a specific gear position, when the vehicle speed of the vehicle entering the creep state is not greater than the preset creep speed of the start creep mode under the gear position, the creep mode of the motor vehicle is the starting creep mode; When the vehicle speed entering the creep state is greater than the preset creep speed of the start creep mode in the gear position, the creep mode of the vehicle is the sliding creep mode.

The driving state information includes: braking master cylinder pressure and/or steering angle.

The different brake master cylinder pressures of the motor vehicle have different effects on the creeping speed of the motor vehicle. The driver's action on the brake pedal changes, causing the brake master cylinder pressure to change. Specifically, the brake master cylinder pressure can be collected by a pressure sensor.

Specifically, the steering angle refers to the steering angle of the steering wheel. Through the steering angle, the influence of the steering angle on the creeping speed can be fully considered when the vehicle turns.

Step S102: Control the creeping speed according to a rule corresponding to the working condition information and the running state information of the motor vehicle.

According to different working condition information and driving state information of the motor vehicle, the motor vehicle can be divided into different situations, and the creeping speed of the motor vehicle is controlled according to the corresponding rules of each case, thereby avoiding entering or exiting the creeping state. The resulting torque fluctuations are not smooth.

In summary, the method for controlling the creeping speed of the first embodiment of the present invention fully considers the influence of the gear position, the creep mode, the brake master cylinder pressure and the steering angle of the motor vehicle, according to different combinations of the above four factors, according to Different rules control the creeping speed, avoiding the unevenness of the torque fluctuation caused by entering or exiting the creeping state, so that the motor vehicle has a certain buffer between entering and exiting the creeping state, so as to reduce the motor vehicle due to traffic jams and the like. In order to improve the driving comfort and improve the driving experience caused by the unsteady change of torque during start-stop.

Second embodiment

A second embodiment of the present invention discloses a method of controlling a creeping vehicle speed. This method is used in motor vehicles. The motor vehicle is powered by various energy sources such as gasoline and electric energy. For example, the motor vehicle can be a gasoline motor vehicle, an electric motor vehicle, or another power vehicle. As shown in FIG. 2, the method includes the following steps:

Step S201: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.

Among them, the working condition information includes: gear and/or creep mode.

Specifically, the gear includes: a forward gear and a reverse gear. Depending on the model, the forward gear and the reverse gear respectively include different lower gears. For example, for some models, the forward gear includes: D/E/S gear; the reverse gear includes: R gear. This gear can be determined based on the logic gear signal output by the VCU.

Step S202: It is judged whether the brake master cylinder pressure of the motor vehicle is 0.

Since the influence of the brake master cylinder pressure of the motor vehicle on the creeping vehicle speed of the motor vehicle is different, it is determined by this step whether the brake master cylinder pressure of the motor vehicle is 0, so that different pressures are used according to different brake master cylinder pressures. The rules govern the creeping speed.

If the brake master cylinder pressure of the motor vehicle is 0, step S203 is performed; if the brake master cylinder pressure of the motor vehicle is not 0, step S204 is performed.

Step S203: Control the first creeping vehicle speed according to the first rule according to the gear position, the creep mode and the steering angle of the motor vehicle.

If the brake master cylinder pressure is 0, the main influencing factors of the vehicle creep speed are the vehicle's gear position, creep mode and steering angle. Therefore, according to the above three factors, the first creeping vehicle speed is controlled according to the first rule.

Step S204: It is judged whether the steering angle of the motor vehicle is 0.

If the brake master cylinder pressure is not zero, then the effect of the brake master cylinder pressure on the creeping speed should be considered. At the same time, if the steering angle is not zero, it is also necessary to consider the influence of the steering angle on the creeping speed. Therefore, it is necessary to determine whether the steering angle is 0 by this step.

If the steering angle of the motor vehicle is 0, step S205 is performed. If the steering angle of the motor vehicle is not 0, step S206 is performed.

Step S205: Control the second creeping vehicle speed according to the second rule according to the gear position of the motor vehicle, the creep mode and the brake master cylinder pressure.

If the steering angle is 0, it indicates that the motor vehicle has no turning, and the main influencing factors of the creeping speed of the motor vehicle are the gear position of the motor vehicle, the creep mode and the brake master cylinder pressure. Therefore, according to the above three factors, the second creeping vehicle speed is controlled according to the second rule.

Step S206: Control the third creeping vehicle speed according to the third rule according to the gear position, the creep mode, the steering angle and the brake master cylinder pressure of the motor vehicle.

If the steering angle is not 0, it indicates that the vehicle is turning, and the main influencing factors of the creeping speed of the motor vehicle are the gear position, creep mode, steering angle and brake master cylinder pressure of the motor vehicle. Therefore, according to the above four factors, the third creeping vehicle speed is controlled in accordance with the third rule.

In summary, the method for controlling the creeping speed of the second embodiment of the present invention fully considers the gear position, the creep mode, the steering angle, and the brake master cylinder pressure of the vehicle, according to whether the brake master cylinder pressure is 0 or the steering angle. Whether it is 0, divided into different situations, according to different rules, the creep speed is controlled in different gears and creep mode, avoiding the torque fluctuation unevenness caused by entering or exiting the creep state, so that the motor vehicle enters and exits There is a certain buffer between the creeping states, so as to reduce the unsteady change of the torque when the vehicle is stopped and stopped due to the traffic jam and the like, improve the driving comfort and improve the driving experience.

Third embodiment

A third embodiment of the present invention discloses a method of controlling a creeping vehicle speed. This method is used in motor vehicles. The motor vehicle is powered by various energy sources such as gasoline and electric energy. For example, the motor vehicle can be a gasoline motor vehicle, an electric motor vehicle, or another power vehicle. As shown in FIG. 3, the method includes the following steps:

Step S301: Acquire a brake master cylinder pressure of the motor vehicle.

Specifically, the brake master cylinder pressure can be collected by a pressure sensor. The brake master cylinder pressure is different depending on the driver's effect on the brake pedal. In the present embodiment, the symbol p is used to indicate the brake master cylinder pressure of the motor vehicle.

Step S302: If 0 ≤ p ≤ P ₁ , it is determined that the vehicle enters a creep state.

The creep state is a low speed driving state. Among them, P ₁ is the maximum preset value of the brake master cylinder pressure entering the creep state. According to different models, the maximum preset value of the master cylinder pressure entering the creep state is different. For example, for some models, the maximum preset pressure for the master cylinder pressure to enter the creep state is 3 bar.

If 0 ≤ p ≤ P ₁ , the vehicle enters the creep state, and the creeping speed can be controlled by the subsequent steps.

Step S303: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.

Among them, the working condition information includes: gear and/or creep mode.

Specifically, the gear includes: a forward gear and a reverse gear. According to different models, the forward gear and the reverse gear respectively include different lower gears. For example, for some models, the forward gear includes: D/E/S gear; the reverse gear includes: R gear. This gear can be determined based on the logic gear signal output by the VCU.

Step S304: It is judged whether the brake master cylinder pressure of the motor vehicle is 0.

Step S305: If the brake master cylinder pressure of the motor vehicle is 0, the steering angle of the motor vehicle is obtained.

Different steering angles have different effects on the creeping speed. Therefore, the steering angle is obtained by this step, so that the influence of the steering angle on the creeping speed can be fully considered when the vehicle turns, and different creep speeds are controlled according to different steering angles. In the present embodiment, the symbol r is used to indicate the steering angle of the motor vehicle.

If 0°≤r≤200°, step S306 is performed; if 200°<r<600°, step S307 is performed; if r≥600°, step S308 is performed.

Step S306: Control the first creeping vehicle speed v ₁ = a according to the gear position and the creep mode of the motor vehicle.

Among them, a is the preset creeping speed defined by the gear position of the motor vehicle and the creep mode to ensure driving safety. The preset creep speeds defined by different gears and creep mode can be preset according to different models. The possible combinations of the gear and creep mode of the motor vehicle include the following four types: (1) the gear is the forward gear, the creep mode is the starting creep mode; (2) the gear is the forward gear, and the creep mode is the taxiing Creep mode; (3) the gear is the reverse gear, the creep mode is the start creep mode; (4) the gear is the reverse gear, and the creep mode is the sliding creep mode. Depending on the gear position and creep mode of the motor vehicle, the gear and the creep mode limit the preset creep speed. Therefore, the gear and the preset creep speed limited by the creep mode have four different values. According to the specific situation, it can be calculated by substituting the corresponding gear and the preset creep speed defined by the creep mode.

Through this step, if 0°≤r≤200°, the steering angle is small, the first creeping speed can be unchanged, that is, the first creeping speed is maintained as the preset displacement of the vehicle's gear and the creep mode. The speed of the vehicle is used to reduce the frequent changes in the direction of the steering angle caused by the driver's jitter, which leads to frequent changes in the speed of the creeping vehicle.

Step S307: Control the first creeping vehicle speed v ₁ = (ba) × r / 400 + (3a - b) × 2 according to the gear position and the creep mode of the motor vehicle.

Where b is the minimum value of the creeping speed defined by the steering angle. The minimum value of the creeping speed defined by the steering angle can be preset according to different models to ensure driving safety. The minimum value of the creeping speed defined by the steering angle is only related to the steering angle and is not affected by the gear and creep mode of the vehicle.

If 200°<r<600°, the steering angle is large, the preset creeping speed required according to the gear position and creep mode of the motor vehicle is required (it should be understood that when the creep mode is the start creep mode, The preset creeping speed limited by the gear and creep mode is also used to judge whether the motor vehicle enters the starting creep mode or the sliding creep mode), the minimum value of the creeping speed defined by the steering angle, and the steering angle are calculated first. Creepy speed.

Step S308: Control the first creeping vehicle speed v ₁ = b.

If r≥600°, the steering angle is particularly large, then the impact of the vehicle's gear and creep mode on the creeping speed is negligible at this particularly large angle, and only the influence of the steering angle on the creeping speed is considered. In order to ensure the safety of driving, avoiding the creeping speed is too large, the turning process is out of control, and according to the steering angle, the first creeping speed is controlled as the minimum value of the creeping speed limited by the steering angle.

In summary, the method for controlling the creeping speed of the third embodiment of the present invention fully considers the gear position, the creep mode, the steering angle, and the brake master cylinder pressure of the vehicle. When the brake master cylinder pressure is 0, according to the steering Different angles, according to different rules, control the creep speed in different gears and creep mode, avoiding the torque fluctuations caused by entering or exiting the creep state, so that the motor vehicle enters and exits the creep state. There is a certain buffer between them to reduce the uneven rotation of the motor when the vehicle stops due to traffic jams, etc., to improve the driving comfort and improve the driving experience.

Fourth embodiment

A fourth embodiment of the present invention discloses a method of controlling a creeping vehicle speed. This method is used in motor vehicles. The motor vehicle is powered by various energy sources such as gasoline and electric energy. For example, the motor vehicle can be a gasoline motor vehicle, an electric motor vehicle, or another power vehicle. As shown in FIG. 4, the method includes the following steps:

Step S401: Acquire a brake master cylinder pressure of the motor vehicle.

Step S402: If 0 ≤ p ≤ P ₁ , it is determined that the vehicle enters a creep state.

The creep state is a low speed driving state. Among them, P ₁ is the maximum preset value of the brake master cylinder pressure entering the creep state. The maximum preset value of the brake master cylinder pressure varies depending on the vehicle type. For example, for some models, the maximum preset pressure for the brake master cylinder when entering the creep state is 3 bar.

Step S403: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.

Among them, the working condition information includes: gear and/or creep mode.

Step S404: It is judged whether the brake master cylinder pressure of the motor vehicle is 0.

Step S405: If the brake master cylinder pressure of the motor vehicle is not 0, it is determined whether the steering angle of the motor vehicle is 0.

If the brake master cylinder pressure is not zero, then the effect of the brake master cylinder pressure on the creeping speed should be considered. At the same time, if the steering angle is not zero, it is also necessary to consider the influence of the steering angle on the master cylinder pressure. Therefore, it is necessary to determine whether the steering angle is 0 by this step.

Step S406: If the steering angle of the motor vehicle is 0, the change of the brake master cylinder pressure of the motor vehicle is obtained.

If the steering angle is 0, the main factor affecting the creeping speed is the brake master cylinder pressure. For the change of the brake master cylinder pressure of the motor vehicle of the embodiment, the following two cases are mainly included: (1) the process of the brake master cylinder pressure of the motor vehicle changes for the first time and changes to the brake master cylinder pressure reduction process. (2) Except for the first change of the brake master cylinder pressure of the motor vehicle and the change to the brake master cylinder pressure reduction process. In case (1), it must be the first change in brake master cylinder pressure and the process of pressure reduction. Specifically, by setting a certain preset time, when the brake master cylinder pressure changes for the first time and the pressure decreases, the brake master cylinder pressure does not change within the preset time, then the process ends. The train is no longer in the process of change. For the case (2), the brake master cylinder pressure may remain unchanged, the brake master cylinder pressure changes for the first time, and the change is the brake master cylinder pressure reduction process, the brake master cylinder pressure changes and the brake master cylinder pressure changes The change is the brake master cylinder pressure increase (including the first change), the brake master cylinder pressure changes again and the change is the brake master cylinder pressure decrease, and the like. The different changes described above can be obtained by the pressure sensor.

If 0≤p≤P ₁ , the brake master cylinder pressure of the motor vehicle changes for the first time and changes to the brake master cylinder pressure decrease, then step S407 is performed; if 0≤p≤P ₂ , except for the motor vehicle system If the dynamic master cylinder pressure changes for the first time and changes to a condition other than the process of reducing the brake master cylinder pressure, step S408 is performed.

Among them, P ₂ is the preset value of the brake master cylinder pressure in the creep state. According to different models, the maximum preset value of the brake master cylinder pressure in the creep state is different from the preset value of the brake master cylinder pressure in the creep state. For example, for some models, the maximum preset pressure for the master cylinder pressure to enter the creep state is 3 bar, and the preset value for the brake master cylinder pressure to exit the creep state is 4.5 bar. Here, the maximum preset value of the brake master cylinder pressure and the preset value of the exit master cylinder pressure are set to two different amounts, taking into account that the vehicle is driving in a creep state. The operation of the brake pedal is not always stable, so set a certain buffer zone so that even if the driver steps on the brake pedal, the brake master cylinder pressure is greater than the creeping master cylinder pressure. The preset value is slightly larger and the vehicle is still considered to be in a creep state. The vehicle is considered to have exited from the creep state only when the brake master cylinder pressure is greater than the preset value of the exit master cylinder pressure.

Step S407: Control the second creeping vehicle speed v ₂ = (ca) × p / P ₁ + a according to the gear position and the creep mode of the motor vehicle.

Wherein, as in the third embodiment, a is the preset creeping speed defined by the gear position and the creep mode of the motor vehicle. Depending on the gear position and creep mode of the motor vehicle, the gear speed is different from the preset creep speed of the creep mode, and will not be described here. c is the minimum value of the creeping speed defined by the brake master cylinder pressure. The minimum value of the creeping speed defined by the gear and creep mode defined by the vehicle and the creeping speed defined by the brake master cylinder can be preset according to different models to ensure driving safety. Among them, the minimum value of the creeping vehicle speed defined by the brake master cylinder pressure is only related to the brake master cylinder pressure, and is not affected by the vehicle's gear position and creep mode.

Therefore, if 0≤p≤P ₁ , the brake master cylinder pressure of the motor vehicle changes for the first time and changes to the brake master cylinder pressure decrease, the gear and creep are determined according to the gear position and creep mode of the motor vehicle. The preset creeping speed limited by the line mode, combined with the minimum value of the creeping speed defined by the brake master cylinder pressure, and the maximum preset value of the creeping master cylinder pressure, the second creeping speed is calculated.

Step S408: Control the second creeping vehicle speed v ₂ = (ca) × p / P ₂ + a according to the gear position and the creep mode of the motor vehicle.

If 0≤p≤P ₂ , except for the first change of the brake master cylinder pressure of the motor vehicle and the change of the brake master cylinder pressure, the gear and the creep are determined according to the gear position and the creep mode of the motor vehicle. The mode-defined preset creeping speed, combined with the minimum value of the creeping speed defined by the brake master cylinder pressure, and the preset value of the creeping master cylinder pressure, calculates the second creeping speed.

Therefore, as the driver's change in the action of the brake pedal causes a change in the brake master cylinder pressure, the creeping vehicle speed can be linearly changed by the above-described steps S407 and S408.

In summary, the method for controlling the creeping speed of the fourth embodiment of the present invention fully considers the gear position, the creep mode, the steering angle, and the brake master cylinder pressure of the vehicle, when the brake master cylinder pressure is not zero, and the steering When the angle is 0, according to different brake master cylinder pressures, the creep speed is controlled in different gears and creep mode according to different rules to avoid the torque fluctuation unevenness caused by entering or exiting the creep state. The motor vehicle has a certain buffer between entering and exiting the creeping state, so as to reduce the unsteady change of the torque when the vehicle is stopped and stopped due to traffic jams and the like, improve the driving comfort and improve the driving experience.

Fifth embodiment

A fifth embodiment of the present invention discloses a method of controlling a creeping vehicle speed. This method is used in motor vehicles. The motor vehicle is powered by various energy sources such as gasoline and electric energy. For example, the motor vehicle can be a gasoline motor vehicle, an electric motor vehicle, or another power vehicle. As shown in FIG. 5, the method includes the following steps:

Step S501: Acquire a brake master cylinder pressure of the motor vehicle.

Step S502: If 0 ≤ p ≤ P ₁ , it is determined that the vehicle enters a creep state.

Step S503: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.

Among them, the working condition information includes: gear and/or creep mode.

Step S504: It is judged whether the brake master cylinder pressure of the motor vehicle is 0.

Step S505: If the brake master cylinder pressure of the motor vehicle is not 0, it is determined whether the steering angle of the motor vehicle is 0.

Step S506: If the steering angle of the motor vehicle is not 0, the first creeping vehicle speed v _{1 is} determined according to the gear position, the creep mode and the steering angle of the motor vehicle.

If the steering angle of the motor vehicle is not zero, the steering angle and the brake master cylinder pressure together affect the creeping speed. Therefore, it is necessary to determine the creeping speed according to the gear position of the vehicle, the creep mode, the steering angle, and the brake master cylinder pressure.

Specifically, the corresponding first creeping vehicle speed v ₁ can be determined by the method in step S306 to step S308 in the third embodiment, and details are not described herein again.

Step S507: determining the second creeping vehicle speed v ₂ according to the gear position of the motor vehicle, the creep mode and the brake master cylinder pressure.

Specifically, the corresponding second creeping vehicle speed v ₂ can be determined by the method in steps S407 to S408 in the fourth embodiment, and details are not described herein again.

The order of step S506 and step S507 can be interchanged.

Step S508: Comparing the sizes of the first creeping speed v ₁ and the second creeping speed v ₂ .

Through this step, the magnitudes of the first creeping speed v ₁ and the second creeping speed v ₂ are compared to select a smaller creeping speed as the third creeping speed. That is, if v ₁ < v ₂ , step S509 is performed; if v ₂ < v ₁ , step S510 is performed; and if v ₁ = v ₂ , step S511 is performed.

Step S509: Control the third creeping vehicle speed v _{3 to} be v ₁ .

If the first creeping speed v _{1 is} smaller than the second creeping speed v ₂ , the third creeping speed v ₃ is controlled to be v ₁ to improve driving safety.

Step S510: Control the third creeping vehicle speed v _{3 to} be v ₂ .

If the second creeping speed v _{2 is} smaller than the first creeping speed v ₁ , the third creeping speed v ₃ is controlled to be v ₂ to improve driving safety.

Step S511: Control the third creeping vehicle speed v _{3 to} be v ₁ or v ₂ .

If the first creeping speed v ₁ and the second creeping speed v ₂ are equal, the third creeping speed v ₃ is controlled to be any one of v ₁ or v ₂ .

In summary, the method for controlling the creeping speed of the fifth embodiment of the present invention fully considers the gear position, the creep mode, the steering angle, and the brake master cylinder pressure of the vehicle, when the brake master cylinder pressure is not zero, and the steering When the angle is not 0, the first creeping speed of the steering angle control in the gear and creep mode, and the second creeping speed of the brake master cylinder pressure control in the gear and the creep mode are respectively obtained, and are selected. The smaller creeping speed of the first creeping speed and the second creeping speed is used as the third creeping speed to avoid the torque fluctuation unevenness caused by entering or exiting the creeping state, so that the motor vehicle enters and exits the creeping There is a certain buffer between the states, so as to reduce the unsteady change of the torque when the vehicle is stopped and stopped due to the traffic jam and the like, improve the driving comfort and improve the driving experience.

Sixth embodiment

A sixth embodiment of the present invention discloses a control device for creeping vehicle speed. This device is used in motor vehicles. The motor vehicle is powered by various energy sources such as gasoline and electric energy. For example, the motor vehicle can be a gasoline motor vehicle, an electric motor vehicle, or another power vehicle. As shown in Figure 6, the device includes the following structure:

The first obtaining module 601 is configured to acquire the working condition information and the driving state information of the motor vehicle when the vehicle enters the creep state.

The control module 602 is configured to control the creeping vehicle speed according to a rule corresponding to the operating condition information and the driving state information of the motor vehicle.

The working condition information includes: a gear position and/or a creep mode; the driving state information includes: a brake master cylinder pressure and/or a steering angle. Specifically, the gears include: a forward gear and a reverse gear. The creep mode includes: the start creep mode and the sliding creep mode.

In summary, the creeping vehicle speed control device according to the sixth embodiment of the present invention fully considers the influence of the vehicle's gear position, creep mode, brake master cylinder pressure and steering angle, according to different combinations of the above four factors, according to Different rules control the creeping speed, avoiding the unevenness of the torque fluctuation caused by entering or exiting the creeping state, so that the motor vehicle has a certain buffer between entering and exiting the creeping state, so as to reduce the motor vehicle due to traffic jams and the like. In order to improve the driving comfort and improve the driving experience caused by the unsteady change of torque during start-stop.

Seventh embodiment

A seventh embodiment of the present invention discloses a control device for creeping vehicle speed. This device is used in motor vehicles. The motor vehicle is powered by various energy sources such as gasoline and electric energy. For example, the motor vehicle can be a gasoline motor vehicle, an electric motor vehicle, or another power vehicle. As shown in FIG. 7, the apparatus includes the following structures: a first acquisition module 701 and a control module 702. The functions of the modules described above are the same as those of the modules in the sixth embodiment, and are not described herein again.

Preferably, the device further comprises:

The second obtaining module 703 is configured to acquire the brake master cylinder pressure of the motor vehicle before the step of acquiring the working condition information and the driving state information of the motor vehicle when the vehicle enters creep.

The determining module 704 is configured to determine that the vehicle enters the creep mode if 0 ≤ p ≤ P ₁ .

Where p is the brake master cylinder pressure of the motor vehicle; P ₁ is the maximum preset value of the brake master cylinder pressure entering the creep mode.

Preferably, the control module 702 includes:

The first determining module 7021 is configured to determine whether the brake master cylinder pressure of the motor vehicle is zero.

The first control module 7022 is configured to control the first creeping vehicle speed according to the first rule according to the gear position, the creep mode and the steering angle of the motor vehicle if the brake master cylinder pressure of the motor vehicle is zero.

The second determining module 7023 is configured to determine whether the steering angle of the motor vehicle is 0 if the brake master cylinder pressure of the motor vehicle is not zero.

The second control module 7024 is configured to control the second creeping vehicle speed according to the second rule according to the gear position, the creep mode and the brake master cylinder pressure of the motor vehicle if the steering angle of the motor vehicle is zero.

The third control module 7025 is configured to control the third creeping vehicle speed according to the third rule according to the gear position, the creep mode, the steering angle and the brake master cylinder pressure of the motor vehicle if the steering angle of the motor vehicle is not zero.

Preferably, the first control module 7022 includes:

The angle acquisition module 70221 is configured to acquire a steering angle of the motor vehicle.

The first vehicle speed control module 70222 is configured to control the first creeping vehicle speed v ₁ =a according to the gear position and the creep mode of the motor vehicle if 0°≤r≤200°.

The second vehicle speed control module 70223 is configured to control the first creeping vehicle speed v ₁ =(ba)×r/400+(3a- according to the gear position and the creep mode of the motor vehicle if 200°<r<600°. b) × 2.

The third vehicle speed control module 70224 is configured to control the first creeping vehicle speed v ₁ =b if r≥600°.

Where r is the steering angle of the motor vehicle; a is the preset creeping speed defined by the gear position of the motor vehicle and the creep mode; b is the minimum value of the creeping speed defined by the steering angle.

Preferably, the second control module 7024 includes:

The pressure change obtaining module 70241 is configured to acquire a change in the brake master cylinder pressure of the motor vehicle.

The fourth vehicle speed control module 70242 is configured such that if 0 ≤ p ≤ P ₁ , the brake master cylinder pressure of the motor vehicle changes for the first time and changes to a process in which the brake master cylinder pressure decreases, according to the gear position and creep of the motor vehicle. Mode, controlling the second creeping speed v ₂ = (ca) × p / P ₁ + a.

The fifth vehicle speed control module 70243 is configured to be 0 ≤ p ≤ P ₂ , except that the brake master cylinder pressure of the motor vehicle changes for the first time and changes to the brake master cylinder pressure reduction process, according to the vehicle gear position and In the creep mode, the second creeping speed v ₂ = (ca) × p / P ₂ + a is controlled.

Among them, P ₂ is the preset value of the brake master cylinder pressure to exit the creep state, and c is the minimum value of the creeping vehicle speed defined by the brake master cylinder pressure.

Preferably, the third control module 7025 includes:

The first determining module 70251 is configured to determine the first creeping vehicle speed v ₁ according to the gear position, the creep mode and the steering angle of the motor vehicle.

The second determining module 70252 is configured to determine the second creeping vehicle speed v ₂ according to the gear position of the motor vehicle, the creep mode, and the brake master cylinder pressure.

The comparison module 70253 is configured to compare the sizes of the first creeping speed v ₁ and the second creeping speed v ₂ .

The sixth vehicle speed control module 70254 is configured to control the third creeping vehicle speed v _{3 to} be v ₁ if v ₁ <v ₂ .

The seventh vehicle speed control module 70255 is configured to control the third creeping vehicle speed v _{3 to} be v ₂ if v ₂ < v ₁ .

Eighth vehicle speed control module 70256, when configured to v ₁ = v _2, the third control is a creep vehicle speed v ₃ v ₁ or v _2.

In summary, the creeping vehicle speed control device according to the seventh embodiment of the present invention fully considers the gear position, the creep mode, the steering angle, and the brake master cylinder pressure of the vehicle, and according to the above four factors, according to different rules Control the creeping speed, when the brake master cylinder pressure is 0, fully consider the influence of the steering angle on the creeping speed; when the brake master cylinder pressure is not 0, the steering angle is 0, fully consider the brake master cylinder pressure pair The influence of the creeping speed; when the brake master cylinder pressure is not 0 and the steering angle is not 0, fully consider the influence of the brake master cylinder pressure and the steering angle on the creeping speed, and select the brake master cylinder pressure and steering angle. The relatively small creeping speed under the influence of each; avoiding the unevenness of the torque fluctuation caused by entering or exiting the creep mode, so that the vehicle has a certain buffer between entering and exiting the creep mode, so that the creep speed is presented. The linear change is used to reduce the unsteady change of the torque when the vehicle is stopped and stopped due to traffic jams, etc., to improve the driving comfort and improve the driving experience.

For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.

Eighth embodiment

An eighth embodiment of the present invention discloses a motor vehicle. The motor vehicle can be a gasoline motor vehicle, an electric motor vehicle or the like. The motor vehicle includes the control device of the creeping vehicle speed of the sixth embodiment or the seventh embodiment.

The motor vehicle according to the eighth embodiment of the present invention has the advantageous effects of the control device of the creeping vehicle speed because it has the control device for the creeping vehicle speed of the sixth embodiment or the seventh embodiment.

The various embodiments in the present specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the various embodiments can be referred to each other.

Those skilled in the art will appreciate that embodiments of the embodiments of the invention may be provided as a method, apparatus, or computer program product. Thus, embodiments of the invention may be in the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, embodiments of the 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, CD-ROM, optical storage, etc.) including computer usable program code.

Embodiments of the invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal device to produce a machine such that instructions are executed by a processor of a computer or other programmable data processing terminal device Means are provided for implementing the functions specified in one or more of the flow or in one or more blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The instruction device implements the functions specified in one or more blocks of the flowchart or in a flow or block of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device such that a series of operational steps are performed on the computer or other programmable terminal device to produce computer-implemented processing, such that the computer or other programmable terminal device The instructions executed above provide steps for implementing the functions specified in one or more blocks of the flowchart or in a block or blocks of the flowchart.

For example, Fig. 8 shows a computer in which the control method of the creeping vehicle speed according to the present invention can be realized. The computer can be placed on a vehicle that acts as a computing device on the vehicle. The computer traditionally includes a processor 810 and a computer program product or computer readable medium in the form of a memory 820. The memory 820 may be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), an EPROM, a hard disk, or a ROM. Memory 820 has a memory space 830 for program code 831 for performing any of the method steps described above. For example, storage space 830 for program code may include various program code 831 for implementing various steps in the above methods, respectively. The program code can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such a computer program product is typically a portable or fixed computer readable medium as described with reference to FIG. The computer readable medium as a storage unit may have a storage section, a storage space, and the like arranged similarly to the storage 820 in the mobile terminal of FIG. The program code can be compressed, for example, in an appropriate form. Generally, a computer readable recording medium includes computer readable code 831', ie, code readable by a processor, such as 810, that when executed by a computer causes the computer to perform the methods described above Each step.

Computer readable media includes any mechanism for storing or transmitting information in a computer readable form. For example, a computer readable recording medium includes a read only memory, a random access memory, a magnetic disk storage medium, a flash storage medium, an electrical, optical, acoustic or other form of propagation signal (eg, carrier wave, infrared signal, digital signal, etc.) and the like.

While a preferred embodiment of the present invention has been described, it will be apparent that those skilled in the art can make further changes and modifications to the embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

Finally, it should also be noted that in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities. There is any such actual relationship or order between operations. Furthermore, the terms "comprises" or "comprising" or "comprising" or any other variations are intended to encompass a non-exclusive inclusion, such that a process, method, article, or terminal device that includes a plurality of elements includes not only those elements but also Other elements that are included, or include elements inherent to such a process, method, article, or terminal device. An element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that comprises the element, without further limitation.

The technical solutions provided by the present invention are described in detail above, and the principles and embodiments of the present invention are described in the following. The description of the above embodiments is only for helping to understand the method and core ideas of the present invention. At the same time, the description of the present invention is not limited to the scope of the present invention.

Claims

A method for controlling creep speed, for a motor vehicle, characterized in that the method comprises:

Obtaining condition information and driving state information of the motor vehicle when the motor vehicle enters a creep state;

Controlling the creeping vehicle speed according to a rule corresponding to the working condition information and the driving state information of the motor vehicle;

The working condition information includes: a gear position and/or a creep mode; the driving state information includes: a brake master cylinder pressure and/or a steering angle.
The method according to claim 1, wherein the method further comprises: before the step of acquiring the operating condition information and the driving state information of the motor vehicle when the motor vehicle enters a creeping state, the method further comprises:

Obtaining a brake master cylinder pressure of the motor vehicle;

If 0 ≤ p ≤ P 1 , it is determined that the motor vehicle enters a creep state;

Where p is the brake master cylinder pressure of the motor vehicle; P 1 is the maximum preset value of the brake master cylinder pressure entering the creep state.
The method according to claim 2, wherein the step of controlling the creeping vehicle speed according to a rule corresponding to the operating condition information and the driving state information of the motor vehicle comprises:

Determining whether the brake master cylinder pressure of the motor vehicle is 0;

If the brake master cylinder pressure of the motor vehicle is 0, the first creeping vehicle speed is controlled according to the first rule according to the gear position, the creep mode and the steering angle of the motor vehicle;

If the brake master cylinder pressure of the motor vehicle is not 0, it is determined whether the steering angle of the motor vehicle is 0;

If the steering angle of the motor vehicle is 0, the second creeping vehicle speed is controlled according to the second rule according to the gear position, the creep mode and the brake master cylinder pressure of the motor vehicle;

If the steering angle of the motor vehicle is not zero, the third creeping vehicle speed is controlled according to the third rule according to the gear position, the creep mode, the steering angle, and the brake master cylinder pressure of the motor vehicle.
The method according to claim 3, wherein the step of controlling the first creeping vehicle speed according to the first rule according to the gear position, the creep mode and the steering angle of the motor vehicle comprises:

Obtaining a steering angle of the motor vehicle;

If 0°≤r≤200°, controlling the first creeping vehicle speed v 1 =a according to the gear position and the creep mode of the motor vehicle;

If 200°<r<600°, controlling the first creeping vehicle speed v 1 =(ba)×r/400+(3a-b)×2 according to the gear position and the creep mode of the motor vehicle;

If r≥600°, controlling the first creeping vehicle speed v 1 =b;

Where r is the steering angle of the motor vehicle; a is the preset creeping speed defined by the gear and creep mode of the motor vehicle; b is the minimum value of the creeping speed defined by the steering angle.
The method according to claim 4, wherein the step of controlling the second creeping vehicle speed according to the second rule according to the gear position, the creep mode and the brake master cylinder pressure of the motor vehicle comprises:

Obtaining a change in brake master cylinder pressure of the motor vehicle;

If 0≤p≤P 1 , the brake master cylinder pressure of the motor vehicle changes for the first time and the change is a process in which the brake master cylinder pressure is reduced, according to the gear position and the creep mode of the motor vehicle. Controlling the second creeping vehicle speed v 2 = (ca) × p / P 1 + a;

If 0 ≤ p ≤ P 2 , in addition to the first change of the brake master cylinder pressure of the motor vehicle and the change is the process of the brake master cylinder pressure reduction, according to the gear position and creep of the motor vehicle Row mode, controlling the second creeping speed v 2 = (ca) × p / P 2 + a;

Wherein P 2 is a preset value of the brake master cylinder pressure in the exit creep state; c is a minimum value of the creeping vehicle speed defined by the brake master cylinder pressure.
The method according to claim 5, wherein said step of controlling a third creeping speed according to a third rule according to a gear position, a creep mode, a steering angle, and a brake master cylinder pressure of the motor vehicle, include:

Determining the first creeping vehicle speed v 1 according to the gear position, the creep mode and the steering angle of the motor vehicle;

Determining the second creeping vehicle speed v 2 according to the gear position, the creep mode and the brake master cylinder pressure of the motor vehicle;

Comparing the sizes of the first creeping speed v 1 and the second creeping speed v 2 ;

If v 1 <v 2 , controlling the third creeping vehicle speed v 3 to be v 1 ;

If v 2 < v 1 , controlling the third creeping vehicle speed v 3 to be v 2 ;

If v 1 = v 2 , the third creeping vehicle speed v 3 is controlled to be v 1 or v 2 .
The method according to any one of claims 1 to 6, wherein the gear position comprises: a forward gear and a reverse gear; and the creep mode comprises: a start creep mode and a coast creep mode.
A creeping vehicle speed control device for a motor vehicle, characterized in that the device comprises:

a first acquiring module, configured to acquire working condition information and driving state information of the motor vehicle when the motor vehicle enters a creep state;

The control module is configured to control the creeping vehicle speed according to a rule corresponding to the working condition information and the driving state information of the motor vehicle;

The working condition information includes: a gear position and/or a creep mode; the driving state information includes: a brake master cylinder pressure and/or a steering angle.
The device according to claim 8, further comprising:

The second obtaining module is configured to acquire the brake master cylinder pressure of the motor vehicle before acquiring the working condition information and the driving state information of the motor vehicle when the motor vehicle enters the creeping state;

Determining a module, configured to determine that the vehicle enters a creep mode if 0≤p≤P 1 ;

Where p is the brake master cylinder pressure of the motor vehicle; P 1 is the maximum preset value of the brake master cylinder pressure entering the creep mode.
The device according to claim 9, wherein the control module comprises:

The first determining module is configured to determine whether the brake master cylinder pressure of the motor vehicle is 0;

The first control module is configured to control the first creeping vehicle speed according to the first rule according to the gear position, the creep mode and the steering angle of the motor vehicle if the brake master cylinder pressure of the motor vehicle is 0;

The second judging module is configured to determine whether the steering angle of the motor vehicle is 0 if the brake master cylinder pressure of the motor vehicle is not 0;

The second control module is configured to control the second creeping vehicle speed according to the second rule according to the gear position, the creep mode and the brake master cylinder pressure of the motor vehicle if the steering angle of the motor vehicle is 0;

a third control module configured to control the third creep according to the third rule according to the gear position, the creep mode, the steering angle, and the brake master cylinder pressure of the motor vehicle if the steering angle of the motor vehicle is not zero Driving speed.
The device according to claim 10, wherein the first control module comprises:

An angle obtaining module configured to acquire a steering angle of the motor vehicle;

The first vehicle speed control module is configured to control the first creeping vehicle speed v 1 = a according to the gear position and the creep mode of the motor vehicle if 0° ≤ r ≤ 200°;

a second vehicle speed control module configured to control the first creeping vehicle speed v 1 =(ba)×r/400+ according to the gear position and the creep mode of the motor vehicle if 200°<r<600° (3a-b)×2;

a third vehicle speed control module, configured to control the first creeping vehicle speed v 1 =b if r≥600°;

Where r is the steering angle of the motor vehicle; a is the preset creeping speed defined by the gear and creep mode of the motor vehicle; b is the minimum value of the creeping speed defined by the steering angle.
The apparatus according to claim 11, wherein said second control module comprises:

a pressure change obtaining module configured to acquire a change in a brake master cylinder pressure of the motor vehicle;

a fourth vehicle speed control module configured to be 0 ≤ p ≤ P 1 , the brake master cylinder pressure of the motor vehicle changes for the first time and the change is a process in which the brake master cylinder pressure decreases, according to the machine Controlling the second creeping speed v 2 = (ca) × p / P 1 + a;

a fifth vehicle speed control module configured to be 0 ≤ p ≤ P 2 , except that the brake master cylinder pressure of the motor vehicle changes for the first time and the change is a process in which the brake master cylinder pressure is reduced, The gear position and the creep mode of the motor vehicle, controlling the second creeping vehicle speed v 2 = (ca) × p / P 2 + a;

Wherein P 2 is a preset value of the brake master cylinder pressure in the exit creep state, and c is a minimum value of the creeping vehicle speed defined by the brake master cylinder pressure.
The device according to claim 12, wherein the third control module comprises:

The first determining module is configured to determine the first creeping vehicle speed v 1 according to the gear position, the creep mode and the steering angle of the motor vehicle;

a second determining module, configured to determine the second creeping vehicle speed v 2 according to the gear position, the creep mode and the brake master cylinder pressure of the motor vehicle;

a comparison module configured to compare the sizes of the first creeping speed v 1 and the second creeping speed v 2 ;

a sixth vehicle speed control module configured to control the third creeping vehicle speed v 3 to be v 1 if v 1 <v 2 ;

a seventh vehicle speed control module configured to control the third creeping vehicle speed v 3 to be v 2 if v 2 < v 1 ;

Eighth vehicle speed control module configured to, if v 1 = v 2, the third control creep speed is v 1 or v 3 v 2.
The apparatus according to any one of claims 8 to 13, wherein the gear position comprises: a forward gear and a reverse gear; and the creep mode comprises: a start creep mode and a coast creep mode.
A motor vehicle comprising the control device for creeping vehicle speed according to any one of claims 8 to 14.
A computer readable medium storing a computer program for performing the control method of the creeping speed according to claim 1.