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

Method and device for controlling creep vehicle speed, motor vehicle, and computer readable medium Download PDF

Info

Publication number
WO2018177391A1
WO2018177391A1 PCT/CN2018/081241 CN2018081241W WO2018177391A1 WO 2018177391 A1 WO2018177391 A1 WO 2018177391A1 CN 2018081241 W CN2018081241 W CN 2018081241W WO 2018177391 A1 WO2018177391 A1 WO 2018177391A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
creeping
master cylinder
cylinder pressure
speed
Prior art date
Application number
PCT/CN2018/081241
Other languages
French (fr)
Chinese (zh)
Inventor
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 (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Priority to KR1020197032139A priority Critical patent/KR102273477B1/en
Publication of WO2018177391A1 publication Critical patent/WO2018177391A1/en

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18063Creeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/18Braking system
    • B60W2510/182Brake pressure, e.g. of fluid or between pad and disc
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/16Ratio selector position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/18Steering angle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00Purposes or special features of road vehicle drive control systems
    • B60Y2300/18Propelling the vehicle
    • B60Y2300/18008Propelling the vehicle related to particular drive situations
    • B60Y2300/18058Creeping

Definitions

  • 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.
  • 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.
  • 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.
  • a method for controlling a creeping vehicle speed 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.
  • 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.
  • 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.
  • r is the steering angle of the motor vehicle
  • a 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.
  • P 2 is a preset value of the brake master cylinder pressure in the exit creep state
  • the gears include: a forward gear and a reverse gear;
  • the creep mode includes: a start creep mode and a coast creep mode.
  • a control device for a creeping vehicle speed 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.
  • 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.
  • 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.
  • 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
  • the second creep speed is controlled according to the gear position and the creep mode of the motor vehicle.
  • the gear includes: a forward gear and a reverse gear; and the creep mode includes: a start creep mode and a coast creep mode.
  • a motor vehicle including the above-described creep speed control device is provided.
  • a computer readable medium storing a computer program for performing the above-described method of controlling a creep speed.
  • 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.
  • FIG. 1 is a flow chart showing a method of controlling a creeping vehicle speed according to a first embodiment of the present invention
  • FIG. 2 is a flow chart showing a method of controlling a creeping vehicle speed according to a second embodiment of the present invention
  • FIG. 3 is a flow chart showing a method of controlling a creeping vehicle speed according to a third embodiment of the present invention.
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • the working condition information includes: gear and/or creep mode.
  • the gear includes: a forward gear and a reverse gear.
  • the forward gear and the reverse gear respectively include different lower gears.
  • 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.
  • VCU Vehicle control unit
  • 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.
  • the brake master cylinder pressure can be collected by a pressure sensor.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the creep state is a low speed driving 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.
  • the working condition information includes: gear and/or creep mode.
  • the gear includes: a forward gear and a reverse gear.
  • the forward gear and the reverse gear respectively include different lower gears.
  • 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.
  • 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.
  • the brake master cylinder pressure can be collected by a pressure sensor.
  • 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 S202 It is judged whether 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.
  • 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.
  • the brake master cylinder pressure is not zero, then the effect of the brake master cylinder pressure on the creeping speed should be considered.
  • 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.
  • step S205 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.
  • 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.
  • the third creeping vehicle speed is controlled in accordance with the third rule.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • P 1 is the maximum preset value of the brake master cylinder pressure entering the creep state.
  • the maximum preset value of the master cylinder pressure entering the creep state is different.
  • the maximum preset pressure for the master cylinder pressure to enter the creep state is 3 bar.
  • 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.
  • the creep state is a low speed driving 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.
  • the working condition information includes: gear and/or creep mode.
  • the gear includes: a forward gear and a reverse gear.
  • the forward gear and the reverse gear respectively include different lower gears.
  • 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.
  • 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.
  • the brake master cylinder pressure can be collected by a pressure sensor.
  • 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 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.
  • 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.
  • the symbol r is used to indicate the steering angle of the motor vehicle.
  • step S306 is performed; if 200° ⁇ r ⁇ 600°, step S307 is performed; if r ⁇ 600°, step S308 is performed.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the symbol p is used to indicate the 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.
  • 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.
  • the vehicle enters the creep state, and the creeping speed can be controlled by the subsequent steps.
  • Step S403 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.
  • 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.
  • the working condition information includes: gear and/or creep mode.
  • the gear includes: a forward gear and a reverse gear.
  • the forward gear and the reverse gear respectively include different lower gears.
  • 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.
  • 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.
  • the brake master cylinder pressure can be collected by a pressure sensor.
  • 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 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.
  • 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.
  • the brake master cylinder pressure of the motor vehicle changes for the first time and changes to the brake master cylinder pressure reduction process.
  • 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.
  • the first change of the brake master cylinder pressure of the motor vehicle and the change to the brake master cylinder pressure reduction process.
  • 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.
  • 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.
  • step S407 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.
  • P 2 is the preset value of the brake master cylinder pressure in the creep state.
  • 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.
  • the maximum preset pressure for the master cylinder pressure to enter the creep state is 3 bar
  • the preset value for the brake master cylinder pressure to exit the creep state is 4.5 bar.
  • 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.
  • 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.
  • 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.
  • 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.
  • the creeping vehicle speed can be linearly changed by the above-described steps S407 and S408.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the symbol p is used to indicate the 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.
  • the creep state is a low speed driving state.
  • 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.
  • the vehicle enters the creep state, and the creeping speed can be controlled by the subsequent steps.
  • Step S503 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.
  • 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.
  • the working condition information includes: gear and/or creep mode.
  • the gear includes: a forward gear and a reverse gear.
  • the forward gear and the reverse gear respectively include different lower gears.
  • 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.
  • 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.
  • the brake master cylinder pressure can be collected by a pressure sensor.
  • 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 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • Step S509 Control the third creeping vehicle speed v 3 to be v 1 .
  • 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 .
  • 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 .
  • the third creeping speed v 3 is controlled to be any one of v 1 or v 2 .
  • 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
  • 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.
  • the motor vehicle can be a gasoline motor vehicle, an electric motor vehicle, or another power vehicle.
  • 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.
  • the gears include: a forward gear and a reverse gear.
  • the creep mode includes: the start creep mode and the sliding creep mode.
  • the creeping vehicle speed control device 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.
  • 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.
  • 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.
  • the motor vehicle can be a gasoline motor vehicle, an electric motor vehicle, or another power vehicle.
  • 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.
  • 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 .
  • P 1 is the maximum preset value of the brake master cylinder pressure entering the creep mode.
  • 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.
  • the first control module 7022 includes:
  • the angle acquisition module 70221 is configured to acquire a steering angle of the motor vehicle.
  • 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.
  • P 2 is the preset value of the brake master cylinder pressure to exit the creep state
  • c is the minimum value of the creeping vehicle speed defined by the brake master cylinder pressure.
  • 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 .
  • the creeping vehicle speed control device 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 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.
  • the description is relatively simple, and the relevant parts can be referred to the description of the method 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.
  • embodiments of the embodiments of the invention may be provided as a method, apparatus, or computer program product.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

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

蠕行车速的控制方法、装置、机动车及计算机可读介质Method, device, motor vehicle and computer readable medium for creeping speed 技术领域Technical field
本发明涉及机动车技术领域,特别是涉及一种蠕行车速的控制方法、装置、机动车及计算机可读介质。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.
背景技术Background technique
蠕行功能对于堵车起起停停以及坡道起步防止溜坡都能起一定作用。蠕行功能一般是通过PI(proportional-integral,比例-积分)调节实现,即通过调整蠕行扭矩使车辆以特定的蠕行车速运行。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.
现有的控制蠕行车速的方法一般是通过驾驶员踩制动踏板进行蠕行车速的控制,该现有的蠕行车速的控制方法的可控性较差,导致进入和退出蠕行状态时扭矩不平顺,在堵车等工况下,对驾驶员的舒适性影响较大。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.
发明内容Summary of the invention
本发明实施例提供一种蠕行车速的控制方法,以解决现有技术的控制方法对蠕行车速的可控性较差的问题。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.
本发明实施例提供一种蠕行车速的控制装置,以解决现有技术的控制装置对蠕行车速的可控性较差的问题。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.
本发明实施例提供一种机动车,以解决现有技术的机动车对蠕行车速的可控性较差的问题。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.
本发明实施例提供一种计算机可读介质,以解决现有技术的机动车对蠕行车速的可控性较差的问题。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.
第一方面,提供一种蠕行车速的控制方法,用于机动车,所述方法包括:当所述机动车进入蠕行状态时,获取所述机动车的工况信息和行驶状态信息;按照与所述机动车的工况信息和行驶状态信息对应的规则,控制所述蠕行车速;其中,所述工况信息包括:挡位和/或蠕行模式;所述行驶状态信 息包括:制动主缸压力和/或转向角度。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.
优选地,所述当所述机动车进入蠕行状态时,获取所述机动车的工况信息和行驶状态信息的步骤之前,所述方法还包括:获取所述机动车的制动主缸压力;若0≤p≤P 1,则确定所述机动车进入蠕行状态;其中,p为所述机动车的制动主缸压力;P 1为进入蠕行状态所述制动主缸压力的最大预设值。 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.
优选地,所述按照与所述机动车的工况信息和行驶状态信息对应的规则,控制所述蠕行车速的步骤,包括:判断所述机动车的制动主缸压力是否为0;若所述机动车的制动主缸压力为0,则根据所述机动车的挡位、蠕行模式和转向角度,按照第一规则控制第一蠕行车速;若所述机动车的制动主缸压力不为0,则判断所述机动车的转向角度是否为0;若所述机动车的转向角度为0,则根据所述机动车的挡位、蠕行模式和制动主缸压力,按照第二规则控制第二蠕行车速;若所述机动车的转向角度不为0,则根据所述机动车的挡位、蠕行模式、转向角度和制动主缸压力,按照第三规则控制第三蠕行车速。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.
优选地,所述根据所述机动车的挡位、蠕行模式和转向角度,按照第一规则控制第一蠕行车速的步骤,包括:获取所述机动车的转向角度;若0°≤r≤200°,则根据所述机动车的挡位和蠕行模式,控制所述第一蠕行车速v 1=a;若200°<r<600°,则根据所述机动车的挡位和蠕行模式,控制所述第一蠕行车速v 1=(b-a)×r/400+(3a-b)×2;若r≥600°,则控制所述第一蠕行车速v 1=b;其中,r为所述机动车的转向角度;a为所述机动车的挡位和蠕行模式限定的预设蠕行车速;b为所述转向角度限定的蠕行车速的最小值。 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.
优选地,所述根据所述机动车的挡位、蠕行模式和制动主缸压力,按照第二规则控制第二蠕行车速的步骤,包括:获取所述机动车的制动主缸压力的变化情况;若0≤p≤P 1,所述机动车的制动主缸压力首次变化且所述变化为所述制动主缸压力减小的过程,则根据所述机动车的挡位和蠕行模式,控制所述第二蠕行车速v 2=(c-a)×p/P 1+a;若0≤p≤P 2,除所述机动车的制动主缸压力首次变化且所述变化为所述制动主缸压力减小的过程外,则根据所述机动车的挡位和蠕行模式,控制所述第二蠕行车速v 2=(c-a)×p/P 2+a;其中, P 2为退出蠕行状态所述制动主缸压力的预设值;c为所述制动主缸压力限定的蠕行车速的最小值。 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.
优选地,所述根据所述机动车的挡位、蠕行模式、转向角度和制动主缸压力,按照第三规则控制第三蠕行车速的步骤,包括:根据所述机动车的挡位、蠕行模式和转向角度,确定所述第一蠕行车速v 1;根据所述机动车的挡位、蠕行模式和制动主缸压力,确定所述第二蠕行车速v 2;比较所述第一蠕行车速v 1和所述第二蠕行车速v 2的大小;若v 1<v 2,则控制所述第三蠕行车速v 3为v 1;若v 2<v 1,则控制所述第三蠕行车速v 3为v 2;若v 1=v 2,则控制所述第三蠕行车速v 3为v 1或v 2Preferably, 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 .
优选地,所述挡位包括:前进挡和倒退挡;所述蠕行模式包括:起步蠕行模式和滑行蠕行模式。Preferably, the gears include: a forward gear and a reverse gear; the creep mode includes: a start creep mode and a coast creep mode.
第二方面,提供一种蠕行车速的控制装置,用于机动车,所述装置包括:第一获取模块,配置为当所述机动车进入蠕行状态时,获取所述机动车的工况信息和行驶状态信息;控制模块,配置为按照与所述机动车的工况信息和行驶状态信息对应的规则,控制所述蠕行车速;其中,所述工况信息包括:挡位和/或蠕行模式;所述行驶状态信息包括:制动主缸压力和/或转向角度。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.
优选地,还包括:第二获取模块,配置为所述当所述机动车进入蠕行时,获取所述机动车的工况信息和行驶状态信息之前,获取所述机动车的制动主缸压力;确定模块,配置为若0≤p≤P 1,则确定所述机动车进入蠕行模式;其中,p为所述机动车的制动主缸压力;P 1为进入蠕行模式所述制动主缸压力的最大预设值。 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.
优选地,所述控制模块包括:第一判断模块,配置为判断所述机动车的制动主缸压力是否为0;第一控制模块,配置为若所述机动车的制动主缸压力为0,则根据所述机动车的挡位、蠕行模式和转向角度,按照第一规则控制第一蠕行车速;第二判断模块,配置为若所述机动车的制动主缸压力不为0,则判断所述机动车的转向角度是否为0;第二控制模块,配置为若所述机动车的转向角度为0,则根据所述机动车的挡位、蠕行模式和制动主缸压力,按照第二规则控制第二蠕行车速;第三控制模块,配置为若所述机动车的转 向角度不为0,则根据所述机动车的挡位、蠕行模式、转向角度和制动主缸压力,按照第三规则控制第三蠕行车速。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.
优选地,所述第一控制模块包括:角度获取模块,配置为获取所述机动车的转向角度;第一车速控制模块,配置为若0°≤r≤200°,则根据所述机动车的挡位和蠕行模式,控制所述第一蠕行车速v 1=a;第二车速控制模块,配置为若200°<r<600°,则根据所述机动车的挡位和蠕行模式,控制所述第一蠕行车速v 1=(b-a)×r/400+(3a-b)×2;第三车速控制模块,配置为若r≥600°,则控制所述第一蠕行车速v 1=b;其中,r为所述机动车的转向角度;a为所述机动车的挡位和蠕行模式限定的预设蠕行车速;b为所述转向角度限定的蠕行车速的最小值。 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.
优选地,所述第二控制模块包括:压力变化获取模块,配置为获取所述机动车的制动主缸压力的变化情况;第四车速控制模块,配置为若0≤p≤P 1,所述机动车的制动主缸压力首次变化且所述变化为所述制动主缸压力减小的过程,则根据所述机动车的挡位和蠕行模式,控制所述第二蠕行车速v 2=(c-a)×p/P 1+a;第五车速控制模块,配置为若0≤p≤P 2,除所述机动车的制动主缸压力首次变化且所述变化为所述制动主缸压力减小的过程外,则根据所述机动车的挡位和蠕行模式,控制所述第二蠕行车速v 2=(c-a)×p/P 2+a;其中,P 2为退出蠕行状态所述制动主缸压力的预设值,c为所述制动主缸压力限定的蠕行车速的最小值。 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.
优选地,所述第三控制模块包括:第一确定模块,配置为根据所述机动车的挡位、蠕行模式和转向角度,确定所述第一蠕行车速v 1;第二确定模块,配置为根据所述机动车的挡位、蠕行模式和制动主缸压力,确定所述第二蠕行车速v 2;比较模块,配置为比较所述第一蠕行车速v 1和所述第二蠕行车速v 2的大小;第六车速控制模块,配置为若v 1<v 2,则控制所述第三蠕行车速v 3为v 1;第七车速控制模块,配置为若v 2<v 1,则控制所述第三蠕行车速v 3为v 2;第八控制单元,配置为若v 1=v 2,则控制所述第三蠕行车速v 3为v 1或v 2Preferably, 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 .
优选地,所述挡位包括:前进挡和倒退挡;所述蠕行模式包括:起步蠕 行模式和滑行蠕行模式。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.
第三方面,提供一种机动车,包括上述的蠕行车速的控制装置。In a third aspect, a motor vehicle including the above-described creep speed control device is provided.
第四方面,提供一种计算机可读介质,其中存储了用于执行上述蠕行车速的控制方法的计算机程序。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.
这样,本发明实施例中,充分考虑机动车的挡位、蠕行模式、制动主缸压力和转向角度的影响,根据上述四种因素的不同组合,按照不同的规则控制蠕行车速,避免由于进入或者退出蠕行状态造成的扭矩波动不平顺现象,使机动车在进入和退出蠕行状态之间有一定的缓冲,以达到减少机动车由于堵车等工况造成的起起停停时扭矩不平缓变化的目的,提高驾驶的舒适性,提升驾驶体验。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.
附图说明DRAWINGS
为了更清楚地说明本发明实施例的技术方案,下面将对本发明实施例的描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。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.
图1是本发明第一实施例的蠕行车速的控制方法的流程图;1 is a flow chart showing a method of controlling a creeping vehicle speed according to a first embodiment of the present invention;
图2是本发明第二实施例的蠕行车速的控制方法的流程图;2 is a flow chart showing a method of controlling a creeping vehicle speed according to a second embodiment of the present invention;
图3是本发明第三实施例的蠕行车速的控制方法的流程图;3 is a flow chart showing a method of controlling a creeping vehicle speed according to a third embodiment of the present invention;
图4是本发明第四实施例的蠕行车速的控制方法的流程图;4 is a flow chart showing a method of controlling a creeping vehicle speed according to a fourth embodiment of the present invention;
图5是本发明第五实施例的蠕行车速的控制方法的流程图;Figure 5 is a flow chart showing a method of controlling a creeping vehicle speed according to a fifth embodiment of the present invention;
图6是本发明第六实施例的蠕行车速的控制装置的结构框图;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;
图7是本发明第七实施例的蠕行车速的控制装置的结构框图;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;
图8示意性地示出了用于执行根据本发明的蠕行车速的控制方法的计算设备的结构框图;以及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;
图9示意性地示出了用于保持或者携带实现根据本发明的蠕行车速的控制的程序代码的计算机可读介质。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.
具体实施方式detailed description
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。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.
第一实施例First embodiment
本发明第一实施例公开了一种蠕行车速的控制方法。该方法用于机动车。该机动车是以汽油、电能等各种能源为动力的车辆。例如,该机动车可以是汽油机动车、电动机动车、其他动力机动车。如图1所示,该方法包括如下的步骤: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:
步骤S101:当机动车进入蠕行状态时,获取机动车的工况信息和行驶状态信息。Step S101: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.
蠕行状态是一种低速行驶状态。当机动车进入蠕行状态时,通过本步骤获取机动车的工况信息和行驶状态信息,以便后续步骤根据该信息控制蠕行车速。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.
其中,工况信息包括:挡位和/或蠕行模式。Among them, the working condition information includes: gear and/or creep mode.
具体的,该挡位包括:前进挡和倒退挡。根据不同的车型,前进挡和倒退挡分别包括的下级挡位不同。例如,对于一些车型,前进挡包括:D/E/S挡;倒退挡包括:R挡。该挡位可根据VCU(Vehicle control unit,车辆控制单元)输出的逻辑挡位信号判定,其中,VCU具有驾驶意图判断功能。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.
具体的,蠕行模式包括:起步蠕行模式和滑行蠕行模式。该蠕行模式可通过进入蠕行状态时的车速,判断蠕行模式为起步蠕行模式还是滑行蠕行模式。在特定的挡位下,当机动车进入蠕行状态的车速不大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为起步蠕行模式;当机动车进入蠕行状态的车速大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为滑行蠕行模式。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.
其中,行驶状态信息包括:制动主缸压力和/或转向角度。The driving state information includes: braking master cylinder pressure and/or steering angle.
机动车的制动主缸压力不同对机动车的蠕行车速的影响不同。驾驶员对制动踏板的作用变化,导致该制动主缸压力变化。具体的,可通过压力传感器采集制动主缸压力。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.
具体的,转向角度指的是方向盘的转向角度。通过转向角度,可在车辆转弯时充分考虑转向角度对蠕行车速的影响。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.
步骤S102:按照与机动车的工况信息和行驶状态信息对应的规则,控制蠕行车速。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.
根据机动车的工况信息和行驶状态信息的不同,可将机动车分为不同的情况,根据每种情况对应的规则,控制该机动车的蠕行车速,从而避免由于进入或者退出蠕行状态造成的扭矩波动不平顺现象。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.
综上,本发明第一实施例的蠕行车速的控制方法,充分考虑机动车的挡位、蠕行模式、制动主缸压力和转向角度的影响,根据上述四种因素的不同组合,按照不同的规则控制蠕行车速,避免由于进入或者退出蠕行状态造成的扭矩波动不平顺现象,使机动车在进入和退出蠕行状态之间有一定的缓冲,以达到减少机动车由于堵车等工况造成的起起停停时扭矩不平缓变化的目的,提高驾驶的舒适性,提升驾驶体验。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.
第二实施例Second embodiment
本发明第二实施例公开了一种蠕行车速的控制方法。该方法用于机动车。该机动车是以汽油、电能等各种能源为动力的车辆。例如,该机动车可以是汽油机动车、电动机动车、其他动力机动车。如图2所示,该方法包括如下的步骤: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:
步骤S201:当机动车进入蠕行状态时,获取机动车的工况信息和行驶状态信息。Step S201: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.
蠕行状态是一种低速行驶状态。当机动车进入蠕行状态时,通过本步骤获取机动车的工况信息和行驶状态信息,以便后续步骤根据该信息控制蠕行车速。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.
其中,工况信息包括:挡位和/或蠕行模式。Among them, the working condition information includes: gear and/or creep mode.
具体的,该挡位包括:前进挡和倒退挡。根据不同的车型,前进挡和倒 退挡分别包括的下级挡位不同。例如,对于一些车型,前进挡包括:D/E/S挡;倒退挡包括:R挡。该挡位可根据VCU输出的逻辑挡位信号判定。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.
具体的,蠕行模式包括:起步蠕行模式和滑行蠕行模式。该蠕行模式可通过进入蠕行状态时的车速,判断蠕行模式为起步蠕行模式还是滑行蠕行模式。在特定的挡位下,当机动车进入蠕行状态的车速不大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为起步蠕行模式;当机动车进入蠕行状态的车速大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为滑行蠕行模式。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.
其中,行驶状态信息包括:制动主缸压力和/或转向角度。The driving state information includes: braking master cylinder pressure and/or steering angle.
机动车的制动主缸压力不同对机动车的蠕行车速的影响不同。驾驶员对制动踏板的作用变化,导致该制动主缸压力变化。具体的,可通过压力传感器采集制动主缸压力。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.
具体的,转向角度指的是方向盘的转向角度。通过转向角度,可在车辆转弯时充分考虑转向角度对蠕行车速的影响。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.
步骤S202:判断机动车的制动主缸压力是否为0。Step S202: It is judged whether the brake master cylinder pressure of the motor vehicle is 0.
由于机动车的制动主缸压力不同对机动车的蠕行车速的影响不同,因此,通过本步骤判断机动车的制动主缸压力是否为0,以便根据不同的制动主缸压力采用不同的规则控制蠕行车速。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.
若机动车的制动主缸压力为0,则进行步骤S203;若机动车的制动主缸压力不为0,则进行步骤S204。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.
步骤S203:根据机动车的挡位、蠕行模式和转向角度,按照第一规则控制第一蠕行车速。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.
若制动主缸压力为0,机动车的蠕行车速的主要影响因素为机动车的挡位、蠕行模式和转向角度。因此,根据上述三个因素,按照第一规则控制第一蠕行车速。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.
步骤S204:判断机动车的转向角度是否为0。Step S204: It is judged whether the steering angle of the motor vehicle is 0.
若制动主缸压力不为0,则需要考虑制动主缸压力对蠕行车速的影响。同时,若转向角度不为0,还需要考虑转向角度对蠕行车速的影响。因此, 需要通过本步骤判断转向角度是否为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.
若机动车的转向角度为0,则进行步骤S205。若机动车的转向角度不为0,则进行步骤S206。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.
步骤S205:根据机动车的挡位、蠕行模式和制动主缸压力,按照第二规则控制第二蠕行车速。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.
若转向角度为0,表明机动车没有转弯,机动车的蠕行车速的主要影响因素为机动车的挡位、蠕行模式和制动主缸压力。因此,根据上述三个因素,按照第二规则控制第二蠕行车速。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.
步骤S206:根据机动车的挡位、蠕行模式、转向角度和制动主缸压力,按照第三规则控制第三蠕行车速。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.
若转向角度不为0,表明机动车正在转弯,机动车的蠕行车速的主要影响因素为机动车的挡位、蠕行模式、转向角度和制动主缸压力。因此,根据上述四个因素,按照第三规则控制第三蠕行车速。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.
综上,本发明第二实施例的蠕行车速的控制方法,充分考虑机动车的挡位、蠕行模式、转向角度和制动主缸压力,根据制动主缸压力是否为0以及转向角度是否为0,分成不同情况,按照不同的规则在不同的挡位和蠕行模式下控制蠕行车速,避免由于进入或者退出蠕行状态造成的扭矩波动不平顺现象,使机动车在进入和退出蠕行状态之间有一定的缓冲,以达到减少机动车由于堵车等工况造成的起起停停时扭矩不平缓变化的目的,提高驾驶的舒适性,提升驾驶体验。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.
第三实施例Third embodiment
本发明第三实施例公开了一种蠕行车速的控制方法。该方法用于机动车。该机动车是以汽油、电能等各种能源为动力的车辆。例如,该机动车可以是汽油机动车、电动机动车、其他动力机动车。如图3所示,该方法包括如下的步骤: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:
步骤S301:获取机动车的制动主缸压力。Step S301: Acquire a brake master cylinder pressure of the motor vehicle.
具体的,该制动主缸压力可通过压力传感器采集得到。根据驾驶员对制动踏板的作用不同,该制动主缸压力不同。本实施例中,采用符号p表示机 动车的制动主缸压力。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.
步骤S302:若0≤p≤P 1,则确定机动车进入蠕行状态。 Step S302: If 0 ≤ p ≤ P 1 , it is determined that the vehicle enters a creep state.
蠕行状态是一种低速行驶状态。其中,P 1为进入蠕行状态制动主缸压力的最大预设值。根据不同的车型,进入蠕行状态制动主缸压力的最大预设值不同。例如,对于一些车型,进入蠕行状态制动主缸压力的最大预设值为3bar。 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.
若0≤p≤P 1,则机动车进入蠕行状态,可通过后续的步骤对蠕行车速进行控制。 If 0 ≤ p ≤ P 1 , the vehicle enters the creep state, and the creeping speed can be controlled by the subsequent steps.
步骤S303:当机动车进入蠕行状态时,获取机动车的工况信息和行驶状态信息。Step S303: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.
蠕行状态是一种低速行驶状态。当机动车进入蠕行状态时,通过本步骤获取机动车的工况信息和行驶状态信息,以便后续步骤根据该信息控制蠕行车速。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.
其中,工况信息包括:挡位和/或蠕行模式。Among them, the working condition information includes: gear and/or creep mode.
具体的,该挡位包括:前进挡和倒退挡。根据不同的车型,前进挡和倒退挡分别包括的下级挡位不同。例如,对于一些车型,前进挡包括:D/E/S挡;倒退挡包括:R挡。该挡位可根据VCU输出的逻辑挡位信号判定。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.
具体的,蠕行模式包括:起步蠕行模式和滑行蠕行模式。该蠕行模式可通过进入蠕行状态时的车速,判断蠕行模式为起步蠕行模式还是滑行蠕行模式。在特定的挡位下,当机动车进入蠕行状态的车速不大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为起步蠕行模式;当机动车进入蠕行状态的车速大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为滑行蠕行模式。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.
其中,行驶状态信息包括:制动主缸压力和/或转向角度。The driving state information includes: braking master cylinder pressure and/or steering angle.
机动车的制动主缸压力不同对机动车的蠕行车速的影响不同。驾驶员对制动踏板的作用变化,导致该制动主缸压力变化。具体的,可通过压力传感器采集制动主缸压力。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.
具体的,转向角度指的是方向盘的转向角度。通过转向角度,可在车辆 转弯时充分考虑转向角度对蠕行车速的影响。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.
步骤S304:判断机动车的制动主缸压力是否为0。Step S304: It is judged whether the brake master cylinder pressure of the motor vehicle is 0.
由于机动车的制动主缸压力不同对机动车的蠕行车速的影响不同,因此,通过本步骤判断机动车的制动主缸压力是否为0,以便根据不同的制动主缸压力采用不同的规则控制蠕行车速。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.
步骤S305:若机动车的制动主缸压力为0,则获取机动车的转向角度。Step S305: If the brake master cylinder pressure of the motor vehicle is 0, the steering angle of the motor vehicle is obtained.
不同的转向角度,对蠕行车速的影响不同,因此,通过本步骤获得转向角度,以便在车辆转弯时充分考虑转向角度对蠕行车速的影响,根据不同的转向角度控制不同的蠕行车速。本实施例中,采用符号r表示机动车的转向角度。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.
若0°≤r≤200°,则进行步骤S306;若200°<r<600°,则进行步骤S307;若r≥600°,则进行步骤S308。If 0°≤r≤200°, step S306 is performed; if 200°<r<600°, step S307 is performed; if r≥600°, step S308 is performed.
步骤S306:根据机动车的挡位和蠕行模式,控制第一蠕行车速v 1=a。 Step S306: Control the first creeping vehicle speed v 1 = a according to the gear position and the creep mode of the motor vehicle.
其中,a为机动车的挡位和蠕行模式限定的预设蠕行车速,以保证驾驶安全。不同挡位和蠕行模式限定的预设蠕行车速可根据不同的车型预先设定。机动车的挡位和蠕行模式的可能组合情况包括如下四种:(1)挡位为前进挡,蠕行模式为起步蠕行模式;(2)挡位为前进挡,蠕行模式为滑行蠕行模式;(3)挡位为倒退挡,蠕行模式为起步蠕行模式;(4)挡位为倒退挡,蠕行模式为滑行蠕行模式。根据机动车的挡位和蠕行模式的不同,该挡位和蠕行模式限定的预设蠕行车速不同。因此,该挡位和蠕行模式限定的预设蠕行车速有四种不同的值。根据具体情况,可分别代入对应的挡位和蠕行模式限定的预设蠕行车速进行计算。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.
通过本步骤,若0°≤r≤200°,转向角度较小,则第一蠕行车速可以不变化,即保持第一蠕行车速为机动车的挡位和蠕行模式限定的预设蠕行车速,以减少由于驾驶员抖动造成转向角度方向的频繁变化,进而导致蠕行车速的频繁变化。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.
步骤S307:根据机动车的挡位和蠕行模式,控制第一蠕行车速v 1=(b-a)×r/400+(3a-b)×2。 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.
其中,b为转向角度限定的蠕行车速的最小值。该转向角度限定的蠕行车速的最小值可根据不同的车型预先设定,以保证驾驶安全。转向角度限定的蠕行车速的最小值只与转向角度有关,不受机动车的挡位和蠕行模式的影响。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.
若200°<r<600°,转向角度较大,需要根据机动车的挡位和蠕行模式限定的预设蠕行车速(应当理解的是,当蠕行模式为起步蠕行模式时,该挡位和蠕行模式限定的预设蠕行车速也用于判断机动车是进入起步蠕行模式还是滑行蠕行模式)、转向角度限定的蠕行车速的最小值以及转向角度进行计算得到第一蠕行车速。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.
步骤S308:控制第一蠕行车速v 1=b。 Step S308: Control the first creeping vehicle speed v 1 = b.
若r≥600°,转向角度特别大,则该特别大的角度下,机动车的挡位和蠕行模式对蠕行车速的影响可以忽略不计,只需要考虑转向角度对蠕行车速的影响,并且为了保证驾驶的安全,避免蠕行车速过大,使得转弯过程失控,根据转向角度的大小,控制第一蠕行车速为转向角度限定的蠕行车速的最小值。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.
综上,本发明第三实施例的蠕行车速的控制方法,充分考虑机动车的挡位、蠕行模式、转向角度和制动主缸压力,当制动主缸压力为0时,根据转向角度的不同,按照不同的规则在不同的挡位和蠕行模式下控制蠕行车速,避免由于进入或者退出蠕行状态造成的扭矩波动不平顺现象,使机动车在进入和退出蠕行状态之间有一定的缓冲,以达到减少机动车由于堵车等工况造成的起起停停时扭矩不平缓变化的目的,提高驾驶的舒适性,提升驾驶体验。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.
第四实施例Fourth embodiment
本发明第四实施例公开了一种蠕行车速的控制方法。该方法用于机动车。该机动车是以汽油、电能等各种能源为动力的车辆。例如,该机动车可以是汽油机动车、电动机动车、其他动力机动车。如图4所示,该方法包括如下的步骤: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:
步骤S401:获取机动车的制动主缸压力。Step S401: Acquire a brake master cylinder pressure of the motor vehicle.
具体的,该制动主缸压力可通过压力传感器采集得到。根据驾驶员对制 动踏板的作用不同,该制动主缸压力不同。本实施例中,采用符号p表示机动车的制动主缸压力。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.
步骤S402:若0≤p≤P 1,则确定机动车进入蠕行状态。 Step S402: If 0 ≤ p ≤ P 1 , it is determined that the vehicle enters a creep state.
蠕行状态是一种低速行驶状态。其中,P 1为进入蠕行状态制动主缸压力的最大预设值。根据不同的车型,制动主缸压力的最大预设值不同。例如,对于一些车型,进入蠕行状态时制动主缸压力的最大预设值为3bar。 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.
若0≤p≤P 1,则机动车进入蠕行状态,可通过后续的步骤对蠕行车速进行控制。 If 0 ≤ p ≤ P 1 , the vehicle enters the creep state, and the creeping speed can be controlled by the subsequent steps.
步骤S403:当机动车进入蠕行状态时,获取机动车的工况信息和行驶状态信息。Step S403: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.
蠕行状态是一种低速行驶状态。当机动车进入蠕行状态时,通过本步骤获取机动车的工况信息和行驶状态信息,以便后续步骤根据该信息控制蠕行车速。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.
其中,工况信息包括:挡位和/或蠕行模式。Among them, the working condition information includes: gear and/or creep mode.
具体的,该挡位包括:前进挡和倒退挡。根据不同的车型,前进挡和倒退挡分别包括的下级挡位不同。例如,对于一些车型,前进挡包括:D/E/S挡;倒退挡包括:R挡。该挡位可根据VCU输出的逻辑挡位信号判定。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.
具体的,蠕行模式包括:起步蠕行模式和滑行蠕行模式。该蠕行模式可通过进入蠕行状态时的车速,判断蠕行模式为起步蠕行模式还是滑行蠕行模式。在特定的挡位下,当机动车进入蠕行状态的车速不大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为起步蠕行模式;当机动车进入蠕行状态的车速大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为滑行蠕行模式。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.
其中,行驶状态信息包括:制动主缸压力和/或转向角度。The driving state information includes: braking master cylinder pressure and/or steering angle.
机动车的制动主缸压力不同对机动车的蠕行车速的影响不同。驾驶员对制动踏板的作用变化,导致该制动主缸压力变化。具体的,可通过压力传感器采集制动主缸压力。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.
具体的,转向角度指的是方向盘的转向角度。通过转向角度,可在车辆 转弯时充分考虑转向角度对蠕行车速的影响。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.
步骤S404:判断机动车的制动主缸压力是否为0。Step S404: It is judged whether the brake master cylinder pressure of the motor vehicle is 0.
由于机动车的制动主缸压力不同对机动车的蠕行车速的影响不同,因此,通过本步骤判断机动车的制动主缸压力是否为0,以便根据不同的制动主缸压力采用不同的规则控制蠕行车速。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.
步骤S405:若机动车的制动主缸压力不为0,则判断机动车的转向角度是否为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.
若制动主缸压力不为0,则需要考虑制动主缸压力对蠕行车速的影响。同时,若转向角度不为0,还需要考虑转向角度对主缸压力的影响。因此,需要通过本步骤判断转向角度是否为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.
步骤S406:若机动车的转向角度为0,则获取机动车的制动主缸压力的变化情况。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.
若转向角度为0,则影响蠕行车速的主要因素为制动主缸压力。对于本实施例的机动车的制动主缸压力的变化情况,其主要包括以下两种情况:(1)机动车的制动主缸压力首次变化且变化为制动主缸压力减小的过程;(2)除机动车的制动主缸压力首次变化且变化为制动主缸压力减小的过程外。对于第(1)种情况,其必须是制动主缸压力首次变化并且是压力减小的过程中。具体的,可以通过设置一定的预设时间,当该制动主缸压力首次变化且压力减小的过程中,在预设时间内,制动主缸压力不再变化,则该过程结束,机动车不再处于该变化过程中。对于第(2)种情况,可以包括:制动主缸压力保持不变、制动主缸压力首次变化并且该变化为制动主缸压力减小的过程后、制动主缸压力变化并且该变化为制动主缸压力增大(包括首次变化)、制动主缸压力再次变化并且该变化为制动主缸压力减小等等。通过压力传感器可获取上述的不同的变化情况。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.
若0≤p≤P 1,机动车的制动主缸压力首次变化且变化为制动主缸压力减小的过程中,则进行步骤S407;若0≤p≤P 2,除机动车的制动主缸压力首次变化且变化为制动主缸压力减小的过程以外的情况,则进行步骤S408。 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.
其中,P 2为退出蠕行状态制动主缸压力的预设值。根据不同的车型,进 入蠕行状态制动主缸压力的最大预设值和退出蠕行状态制动主缸压力的预设值不同。例如,对于一些车型,进入蠕行状态制动主缸压力的最大预设值为3bar,退出蠕行状态制动主缸压力的预设值为4.5bar。这里将进入蠕行状态制动主缸压力的最大预设值和退出蠕行状态制动主缸压力的预设值设置为两个不同的量,是考虑到机动车在蠕行状态下,驾驶员踩制动踏板的操作并不一定总是很稳定,所以设定一定的缓冲区间,以便即使驾驶员踩制动踏板导致的制动主缸压力比进入蠕行状态制动主缸压力的最大预设值稍微大一点,仍然认为该机动车处于蠕行状态。只有当制动主缸压力比退出蠕行状态制动主缸压力的预设值大,才认为该机动车从蠕行状态退出。 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.
步骤S407:根据机动车的挡位和蠕行模式,控制第二蠕行车速v 2=(c-a)×p/P 1+a。 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.
其中,与第三实施例相同,a为机动车的挡位和蠕行模式限定的预设蠕行车速。根据机动车的挡位和蠕行模式不同,该挡位和蠕行模式限定的预设蠕行车速不同,在此不再赘述。c为制动主缸压力限定的蠕行车速的最小值。该机动车的挡位和蠕行模式限定的预设蠕行车速和制动主缸压力限定的蠕行车速的最小值均可根据不同的车型预先设定,以保证驾驶安全。其中,制动主缸压力限定的蠕行车速的最小值只与制动主缸压力有关,不受机动车的挡位和蠕行模式的影响。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.
因此,若0≤p≤P 1,机动车的制动主缸压力首次变化且变化为制动主缸压力减小的过程中,根据机动车的挡位和蠕行模式确定该挡位和蠕行模式限定的预设蠕行车速,结合制动主缸压力限定的蠕行车速的最小值、进入蠕行模式制动主缸压力的最大预设值,计算得到第二蠕行车速。 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.
步骤S408:根据机动车的挡位和蠕行模式,控制第二蠕行车速v 2=(c-a)×p/P 2+a。 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.
若0≤p≤P 2,除机动车的制动主缸压力首次变化且变化为制动主缸压力减小的过程外,根据机动车的挡位和蠕行模式确定该挡位和蠕行模式限定的预设蠕行车速,结合制动主缸压力限定的蠕行车速的最小值、退出蠕行模式制动主缸压力的预设值,计算得到第二蠕行车速。 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.
因此,随着驾驶员对制动踏板的作用的变化导致制动主缸压力的变化,通过上述的步骤S407和S408,可控制蠕行车速线性变化。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.
综上,本发明第四实施例的蠕行车速的控制方法,充分考虑机动车的挡位、蠕行模式、转向角度和制动主缸压力,当制动主缸压力不为0,并且转向角度为0时,根据制动主缸压力的不同,按照不同的规则在不同的挡位和蠕行模式下控制蠕行车速,避免由于进入或者退出蠕行状态造成的扭矩波动不平顺现象,使机动车在进入和退出蠕行状态之间有一定的缓冲,以达到减少机动车由于堵车等工况造成的起起停停时扭矩不平缓变化的目的,提高驾驶的舒适性,提升驾驶体验。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.
第五实施例Fifth embodiment
本发明第五实施例公开了一种蠕行车速的控制方法。该方法用于机动车。该机动车是以汽油、电能等各种能源为动力的车辆。例如,该机动车可以是汽油机动车、电动机动车、其他动力机动车。如图5所示,该方法包括如下的步骤: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:
步骤S501:获取机动车的制动主缸压力。Step S501: Acquire a brake master cylinder pressure of the motor vehicle.
具体的,该制动主缸压力可通过压力传感器采集得到。根据驾驶员对制动踏板的作用不同,该制动主缸压力不同。本实施例中,采用符号p表示机动车的制动主缸压力。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.
步骤S502:若0≤p≤P 1,则确定机动车进入蠕行状态。 Step S502: If 0 ≤ p ≤ P 1 , it is determined that the vehicle enters a creep state.
蠕行状态是一种低速行驶状态。其中,P 1为进入蠕行状态制动主缸压力的最大预设值。根据不同的车型,制动主缸压力的最大预设值不同。例如,对于一些车型,进入蠕行状态时制动主缸压力的最大预设值为3bar。 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.
若0≤p≤P 1,则机动车进入蠕行状态,可通过后续的步骤对蠕行车速进行控制。 If 0 ≤ p ≤ P 1 , the vehicle enters the creep state, and the creeping speed can be controlled by the subsequent steps.
步骤S503:当机动车进入蠕行状态时,获取机动车的工况信息和行驶状态信息。Step S503: When the vehicle enters the creep state, the working condition information and the driving state information of the motor vehicle are acquired.
蠕行状态是一种低速行驶状态。当机动车进入蠕行状态时,通过本步骤获取机动车的工况信息和行驶状态信息,以便后续步骤根据该信息控制蠕行 车速。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.
其中,工况信息包括:挡位和/或蠕行模式。Among them, the working condition information includes: gear and/or creep mode.
具体的,该挡位包括:前进挡和倒退挡。根据不同的车型,前进挡和倒退挡分别包括的下级挡位不同。例如,对于一些车型,前进挡包括:D/E/S挡;倒退挡包括:R挡。该挡位可根据VCU输出的逻辑挡位信号判定。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.
具体的,蠕行模式包括:起步蠕行模式和滑行蠕行模式。该蠕行模式可通过进入蠕行状态时的车速,判断蠕行模式为起步蠕行模式还是滑行蠕行模式。在特定的挡位下,当机动车进入蠕行状态的车速不大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为起步蠕行模式;当机动车进入蠕行状态的车速大于该挡位下起步蠕行模式的预设蠕行车速时,该机动车的蠕行模式为滑行蠕行模式。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.
其中,行驶状态信息包括:制动主缸压力和/或转向角度。The driving state information includes: braking master cylinder pressure and/or steering angle.
机动车的制动主缸压力不同对机动车的蠕行车速的影响不同。驾驶员对制动踏板的作用变化,导致该制动主缸压力变化。具体的,可通过压力传感器采集制动主缸压力。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.
具体的,转向角度指的是方向盘的转向角度。通过转向角度,可在车辆转弯时充分考虑转向角度对蠕行车速的影响。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.
步骤S504:判断机动车的制动主缸压力是否为0。Step S504: It is judged whether the brake master cylinder pressure of the motor vehicle is 0.
由于机动车的制动主缸压力不同对机动车的蠕行车速的影响不同,因此,通过本步骤判断机动车的制动主缸压力是否为0,以便根据不同的制动主缸压力采用不同的规则控制蠕行车速。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.
步骤S505:若机动车的制动主缸压力不为0,则判断机动车的转向角度是否为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.
若制动主缸压力不为0,则需要考虑制动主缸压力对蠕行车速的影响。同时,若转向角度不为0,还需要考虑转向角度对主缸压力的影响。因此,需要通过本步骤判断转向角度是否为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.
步骤S506:若机动车的转向角度不为0,则根据机动车的挡位、蠕行模式和转向角度,确定第一蠕行车速v 1Step 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.
若机动车的转向角度不为0,则转向角度和制动主缸压力共同影响蠕行车速。因此,需要根据机动车的挡位、蠕行模式、转向角度和制动主缸压力,确定蠕行车速。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.
具体的,可通过第三实施例中的步骤S306~步骤S308中的方法确定对应的第一蠕行车速v 1,在此不再赘述。 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.
步骤S507:根据机动车的挡位、蠕行模式和制动主缸压力,确定第二蠕行车速v 2Step 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.
具体的,可通过第四实施例中的步骤S407~步骤S408中的方法确定对应的第二蠕行车速v 2,在此不再赘述。 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.
其中,步骤S506和步骤S507的顺序可以互换。The order of step S506 and step S507 can be interchanged.
步骤S508:比较第一蠕行车速v 1和第二蠕行车速v 2的大小。 Step S508: Comparing the sizes of the first creeping speed v 1 and the second creeping speed v 2 .
通过本步骤比较第一蠕行车速v 1和第二蠕行车速v 2的大小,以便选择较小的蠕行车速,作为第三蠕行车速。即若v 1<v 2,则进行步骤S509;若v 2<v 1,则进行步骤S510;若v 1=v 2,则进行步骤S511。 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.
步骤S509:控制第三蠕行车速v 3为v 1Step S509: Control the third creeping vehicle speed v 3 to be v 1 .
若第一蠕行车速v 1比第二蠕行车速v 2小,则控制第三蠕行车速v 3为v 1,以提高驾驶的安全性。 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.
步骤S510:控制第三蠕行车速v 3为v 2Step S510: Control the third creeping vehicle speed v 3 to be v 2 .
若第二蠕行车速v 2比第一蠕行车速v 1小,则控制第三蠕行车速v 3为v 2,以提高驾驶的安全性。 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.
步骤S511:控制第三蠕行车速v 3为v 1或v 2Step S511: Control the third creeping vehicle speed v 3 to be v 1 or v 2 .
若第一蠕行车速v 1和第二蠕行车速v 2相等,则控制第三蠕行车速v 3为v 1或v 2中的任意一个。 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 .
综上,本发明第五实施例的蠕行车速的控制方法,充分考虑机动车的挡位、蠕行模式、转向角度和制动主缸压力,当制动主缸压力不为0,并且转向角度不为0时,分别获得该挡位和蠕行模式下转向角度控制的第一蠕行车速、以及该挡位和蠕行模式下制动主缸压力控制的第二蠕行车速,并选择第一蠕行车速和第二蠕行车速中较小的蠕行车速作为第三蠕行车速,避免由于 进入或者退出蠕行状态造成的扭矩波动不平顺现象,使机动车在进入和退出蠕行状态之间有一定的缓冲,以达到减少机动车由于堵车等工况造成的起起停停时扭矩不平缓变化的目的,提高驾驶的舒适性,提升驾驶体验。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.
第六实施例Sixth embodiment
本发明第六实施例公开了一种蠕行车速的控制装置。该装置用于机动车。该机动车是以汽油、电能等各种能源为动力的车辆。例如,该机动车可以是汽油机动车、电动机动车、其他动力机动车。如图6所示,该装置包括如下的结构: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:
第一获取模块601,配置为当机动车进入蠕行状态时,获取机动车的工况信息和行驶状态信息。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.
控制模块602,配置为按照与机动车的工况信息和行驶状态信息对应的规则,控制蠕行车速。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.
其中,工况信息包括:挡位和/或蠕行模式;行驶状态信息包括:制动主缸压力和/或转向角度。具体的,挡位包括:前进挡和倒退挡。蠕行模式包括:起步蠕行模式和滑行蠕行模式。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.
综上,本发明第六实施例的蠕行车速的控制装置,充分考虑机动车的挡位、蠕行模式、制动主缸压力和转向角度的影响,根据上述四种因素的不同组合,按照不同的规则控制蠕行车速,避免由于进入或者退出蠕行状态造成的扭矩波动不平顺现象,使机动车在进入和退出蠕行状态之间有一定的缓冲,以达到减少机动车由于堵车等工况造成的起起停停时扭矩不平缓变化的目的,提高驾驶的舒适性,提升驾驶体验。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.
第七实施例Seventh embodiment
本发明第七实施例公开了一种蠕行车速的控制装置。该装置用于机动车。该机动车是以汽油、电能等各种能源为动力的车辆。例如,该机动车可以是汽油机动车、电动机动车、其他动力机动车。如图7所示,该装置包括如下的结构:第一获取模块701和控制模块702。上述的模块与第六实施例中相同的模块的功能相同,在此不再赘述。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.
优选地,该装置还包括:Preferably, the device further comprises:
第二获取模块703,配置为当机动车进入蠕行时,获取机动车的工况信息和行驶状态信息的步骤之前,获取机动车的制动主缸压力。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.
确定模块704,配置为若0≤p≤P 1,则确定机动车进入蠕行模式。 The determining module 704 is configured to determine that the vehicle enters the creep mode if 0 ≤ p ≤ P 1 .
其中,p为机动车的制动主缸压力;P 1为进入蠕行模式制动主缸压力的最大预设值。 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.
优选地,控制模块702包括:Preferably, the control module 702 includes:
第一判断模块7021,配置为判断机动车的制动主缸压力是否为0。The first determining module 7021 is configured to determine whether the brake master cylinder pressure of the motor vehicle is zero.
第一控制模块7022,配置为若机动车的制动主缸压力为0,则根据机动车的挡位、蠕行模式和转向角度,按照第一规则控制第一蠕行车速。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.
第二判断模块7023,配置为若机动车的制动主缸压力不为0,则判断机动车的转向角度是否为0。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.
第二控制模块7024,配置为若机动车的转向角度为0,则根据机动车的挡位、蠕行模式和制动主缸压力,按照第二规则控制第二蠕行车速。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.
第三控制模块7025,配置为若机动车的转向角度不为0,则根据机动车的挡位、蠕行模式、转向角度和制动主缸压力,按照第三规则控制第三蠕行车速。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.
优选地,第一控制模块7022包括:Preferably, the first control module 7022 includes:
角度获取模块70221,配置为获取机动车的转向角度。The angle acquisition module 70221 is configured to acquire a steering angle of the motor vehicle.
第一车速控制模块70222,配置为若0°≤r≤200°,则根据机动车的挡位和蠕行模式,控制第一蠕行车速v 1=a。 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°.
第二车速控制模块70223,配置为若200°<r<600°,则根据机动车的挡位和蠕行模式,控制第一蠕行车速v 1=(b-a)×r/400+(3a-b)×2。 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.
第三车速控制模块70224,配置为若r≥600°,则控制第一蠕行车速v 1=b。 The third vehicle speed control module 70224 is configured to control the first creeping vehicle speed v 1 =b if r≥600°.
其中,r为机动车的转向角度;a为机动车的挡位和蠕行模式限定的预设蠕行车速;b为转向角度限定的蠕行车速的最小值。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.
优选地,第二控制模块7024包括:Preferably, the second control module 7024 includes:
压力变化获取模块70241,配置为获取机动车的制动主缸压力的变化情况。The pressure change obtaining module 70241 is configured to acquire a change in the brake master cylinder pressure of the motor vehicle.
第四车速控制模块70242,配置为若0≤p≤P 1,机动车的制动主缸压力首次变化且变化为制动主缸压力减小的过程,则根据机动车的挡位和蠕行模式,控制第二蠕行车速v 2=(c-a)×p/P 1+a。 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.
第五车速控制模块70243,配置为若0≤p≤P 2,除机动车的制动主缸压力首次变化且变化为制动主缸压力减小的过程外,则根据机动车的挡位和蠕行模式,控制第二蠕行车速v 2=(c-a)×p/P 2+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.
其中,P 2为退出蠕行状态制动主缸压力的预设值,c为制动主缸压力限定的蠕行车速的最小值。 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.
优选地,第三控制模块7025包括:Preferably, the third control module 7025 includes:
第一确定模块70251,配置为根据机动车的挡位、蠕行模式和转向角度,确定第一蠕行车速v 1The 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.
第二确定模块70252,配置为根据机动车的挡位、蠕行模式和制动主缸压力,确定第二蠕行车速v 2The 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.
比较模块70253,配置为比较第一蠕行车速v 1和第二蠕行车速v 2的大小。 The comparison module 70253 is configured to compare the sizes of the first creeping speed v 1 and the second creeping speed v 2 .
第六车速控制模块70254,配置为若v 1<v 2,则控制第三蠕行车速v 3为v 1The 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 .
第七车速控制模块70255,配置为若v 2<v 1,则控制第三蠕行车速v 3为v 2The 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 .
第八车速控制模块70256,配置为若v 1=v 2,则控制第三蠕行车速v 3为v 1或v 2Eighth 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.
综上,本发明第七实施例的蠕行车速的控制装置,充分考虑机动车的挡位、蠕行模式、转向角度和制动主缸压力,根据上述四种因素的不同,按照不同的规则控制蠕行车速,当制动主缸压力为0时,充分考虑转向角度对蠕行车速的影响;在制动主缸压力不为0,转向角度为0时,充分考虑制动主缸压力对蠕行车速的影响;在制动主缸压力不为0且转向角度不为0时,充分考虑制动主缸压力和转向角度对蠕行车速的影响,选择在制动主缸压力和转向角度分别影响下的相对较小的蠕行车速;避免由于进入或者退出蠕行模式造成的扭矩波动不平顺现象,使机动车在进入和退出蠕行模式之间有一定 的缓冲,使蠕行车速呈线性变化,以达到减少机动车由于堵车等工况造成的起起停停时扭矩不平缓变化的情况的目的,提高驾驶的舒适性,提升驾驶体验。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.
对于装置实施例而言,由于其与方法实施例基本相似,所以描述的比较简单,相关之处参见方法实施例的部分说明即可。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.
第八实施例Eighth embodiment
本发明第八实施例公开了一种机动车。该机动车可以是汽油机动车、电动机动车等等。该机动车包括第六实施例或者第七实施例的蠕行车速的控制装置。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.
本发明第八实施例的机动车由于具有第六实施例或者第七实施例的蠕行车速的控制装置,因此具有该蠕行车速的控制装置带来的有益效果。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.
本说明书中的各个实施例均采用递进的方式描述,每个实施例重点说明的都是与其他实施例的不同之处,各个实施例之间相同相似的部分互相参见即可。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.
本领域内的技术人员应明白,本发明实施例的实施例可提供为方法、装置、或计算机程序产品。因此,本发明实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。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.
本发明实施例是参照根据本发明实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。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.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。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.
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上,使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。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.
例如,图8示出了可以实现根据本发明的蠕行车速的控制方法的计算机。该计算机可设置在车辆上,计算机作为车辆上的计算设备。该计算机传统上包括处理器810和以存储器820形式的计算机程序产品或者计算机可读介质。存储器820可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器820具有用于执行上述方法中的任何方法步骤的程序代码831的存储空间830。例如,用于程序代码的存储空间830可以包括分别用于实现上面的方法中的各种步骤的各个程序代码831。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘,紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图9所述的便携式或者固定计算机可读介质。该计算机可读介质作为存储单元可以具有与图8的移动终端中的存储器820类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常,计算机可读记录介质包括计算机可读代码831’,即可以由例如诸如810之类的处理器读取的代码,这些代码当由计算机运行时,导致该计算机执行上面所描述的方法中的各个步骤。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.
计算机可读介质包括用于以计算机可读的形式存储或者传送信息的任何机制。例如,计算机可读记录介质包括只读存储器、随机存储器、磁盘存储介质、闪速存储介质、电、光、声或者其他形式的传播信号(例如,载波、 红外信号、数字信号等)等。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.
尽管已描述了本发明实施例的优选实施例,但本领域内的技术人员一旦得知了基本创造性概念,则可对这些实施例做出另外的变更和修改。所以,所附权利要求意欲解释为包括优选实施例以及落入本发明实施例范围的所有变更和修改。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
最后,还需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下,由语句“包括一个......”限定的要素,并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。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.
以上对本发明所提供的技术方案,进行了详细介绍,本文中应用了具体个例对本发明的原理及实施方式进行了阐述,以上实施例的说明只是用于帮助理解本发明的方法及其核心思想;同时,对于本领域的一般技术人员,依据本发明的思想,在具体实施方式及应用范围上均会有改变之处,综上所述,本说明书内容不应理解为对本发明的限制。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 (16)

  1. 一种蠕行车速的控制方法,用于机动车,其特征在于,所述方法包括:A method for controlling creep speed, for a motor vehicle, characterized in that the method comprises:
    当所述机动车进入蠕行状态时,获取所述机动车的工况信息和行驶状态信息;Obtaining condition information and driving state information of the motor vehicle when the motor vehicle enters a creep state;
    按照与所述机动车的工况信息和行驶状态信息对应的规则,控制所述蠕行车速;Controlling the creeping vehicle speed according to a rule corresponding to the working condition information and the driving state information of the motor vehicle;
    其中,所述工况信息包括:挡位和/或蠕行模式;所述行驶状态信息包括:制动主缸压力和/或转向角度。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.
  2. 根据权利要求1所述的方法,其特征在于,所述当所述机动车进入蠕行状态时,获取所述机动车的工况信息和行驶状态信息的步骤之前,所述方法还包括: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:
    获取所述机动车的制动主缸压力;Obtaining a brake master cylinder pressure of the motor vehicle;
    若0≤p≤P 1,则确定所述机动车进入蠕行状态; If 0 ≤ p ≤ P 1 , it is determined that the motor vehicle enters a creep state;
    其中,p为所述机动车的制动主缸压力;P 1为进入蠕行状态所述制动主缸压力的最大预设值。 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.
  3. 根据权利要求2所述的方法,其特征在于,所述按照与所述机动车的工况信息和行驶状态信息对应的规则,控制所述蠕行车速的步骤,包括: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:
    判断所述机动车的制动主缸压力是否为0;Determining whether the brake master cylinder pressure of the motor vehicle is 0;
    若所述机动车的制动主缸压力为0,则根据所述机动车的挡位、蠕行模式和转向角度,按照第一规则控制第一蠕行车速;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;
    若所述机动车的制动主缸压力不为0,则判断所述机动车的转向角度是否为0;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;
    若所述机动车的转向角度为0,则根据所述机动车的挡位、蠕行模式和制动主缸压力,按照第二规则控制第二蠕行车速;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;
    若所述机动车的转向角度不为0,则根据所述机动车的挡位、蠕行模式、转向角度和制动主缸压力,按照第三规则控制第三蠕行车速。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.
  4. 根据权利要求3所述的方法,其特征在于,所述根据所述机动车的 挡位、蠕行模式和转向角度,按照第一规则控制第一蠕行车速的步骤,包括: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:
    获取所述机动车的转向角度;Obtaining a steering angle of the motor vehicle;
    若0°≤r≤200°,则根据所述机动车的挡位和蠕行模式,控制所述第一蠕行车速v 1=a; 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;
    若200°<r<600°,则根据所述机动车的挡位和蠕行模式,控制所述第一蠕行车速v 1=(b-a)×r/400+(3a-b)×2; 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;
    若r≥600°,则控制所述第一蠕行车速v 1=b; If r≥600°, controlling the first creeping vehicle speed v 1 =b;
    其中,r为所述机动车的转向角度;a为所述机动车的挡位和蠕行模式限定的预设蠕行车速;b为所述转向角度限定的蠕行车速的最小值。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.
  5. 根据权利要求4所述的方法,其特征在于,所述根据所述机动车的挡位、蠕行模式和制动主缸压力,按照第二规则控制第二蠕行车速的步骤,包括: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:
    获取所述机动车的制动主缸压力的变化情况;Obtaining a change in brake master cylinder pressure of the motor vehicle;
    若0≤p≤P 1,所述机动车的制动主缸压力首次变化且所述变化为所述制动主缸压力减小的过程,则根据所述机动车的挡位和蠕行模式,控制所述第二蠕行车速v 2=(c-a)×p/P 1+a; 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;
    若0≤p≤P 2,除所述机动车的制动主缸压力首次变化且所述变化为所述制动主缸压力减小的过程外,则根据所述机动车的挡位和蠕行模式,控制所述第二蠕行车速v 2=(c-a)×p/P 2+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;
    其中,P 2为退出蠕行状态所述制动主缸压力的预设值;c为所述制动主缸压力限定的蠕行车速的最小值。 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.
  6. 根据权利要求5所述的方法,其特征在于,所述根据所述机动车的挡位、蠕行模式、转向角度和制动主缸压力,按照第三规则控制第三蠕行车速的步骤,包括: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:
    根据所述机动车的挡位、蠕行模式和转向角度,确定所述第一蠕行车速v 1Determining the first creeping vehicle speed v 1 according to the gear position, the creep mode and the steering angle of the motor vehicle;
    根据所述机动车的挡位、蠕行模式和制动主缸压力,确定所述第二蠕行车速v 2Determining 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;
    比较所述第一蠕行车速v 1和所述第二蠕行车速v 2的大小; Comparing the sizes of the first creeping speed v 1 and the second creeping speed v 2 ;
    若v 1<v 2,则控制所述第三蠕行车速v 3为v 1If v 1 <v 2 , controlling the third creeping vehicle speed v 3 to be v 1 ;
    若v 2<v 1,则控制所述第三蠕行车速v 3为v 2If v 2 < v 1 , controlling the third creeping vehicle speed v 3 to be v 2 ;
    若v 1=v 2,则控制所述第三蠕行车速v 3为v 1或v 2If v 1 = v 2 , the third creeping vehicle speed v 3 is controlled to be v 1 or v 2 .
  7. 根据权利要求1~6任一项所述的方法,其特征在于,所述挡位包括:前进挡和倒退挡;所述蠕行模式包括:起步蠕行模式和滑行蠕行模式。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.
  8. 一种蠕行车速的控制装置,用于机动车,其特征在于,所述装置包括:A creeping vehicle speed control device for a motor vehicle, characterized in that the device comprises:
    第一获取模块,配置为当所述机动车进入蠕行状态时,获取所述机动车的工况信息和行驶状态信息;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;
    控制模块,配置为按照与所述机动车的工况信息和行驶状态信息对应的规则,控制所述蠕行车速;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;
    其中,所述工况信息包括:挡位和/或蠕行模式;所述行驶状态信息包括:制动主缸压力和/或转向角度。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.
  9. 根据权利要求8所述的装置,其特征在于,还包括:The device according to claim 8, further comprising:
    第二获取模块,配置为所述当所述机动车进入蠕行时,获取所述机动车的工况信息和行驶状态信息之前,获取所述机动车的制动主缸压力;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;
    确定模块,配置为若0≤p≤P 1,则确定所述机动车进入蠕行模式; Determining a module, configured to determine that the vehicle enters a creep mode if 0≤p≤P 1 ;
    其中,p为所述机动车的制动主缸压力;P 1为进入蠕行模式所述制动主缸压力的最大预设值。 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.
  10. 根据权利要求9所述的装置,其特征在于,所述控制模块包括:The device according to claim 9, wherein the control module comprises:
    第一判断模块,配置为判断所述机动车的制动主缸压力是否为0;The first determining module is configured to determine whether the brake master cylinder pressure of the motor vehicle is 0;
    第一控制模块,配置为若所述机动车的制动主缸压力为0,则根据所述机动车的挡位、蠕行模式和转向角度,按照第一规则控制第一蠕行车速;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;
    第二判断模块,配置为若所述机动车的制动主缸压力不为0,则判断所述机动车的转向角度是否为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;
    第二控制模块,配置为若所述机动车的转向角度为0,则根据所述机动车的挡位、蠕行模式和制动主缸压力,按照第二规则控制第二蠕行车速;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;
    第三控制模块,配置为若所述机动车的转向角度不为0,则根据所述机动车的挡位、蠕行模式、转向角度和制动主缸压力,按照第三规则控制第三蠕行车速。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.
  11. 根据权利要求10所述的装置,其特征在于,所述第一控制模块包括:The device according to claim 10, wherein the first control module comprises:
    角度获取模块,配置为获取所述机动车的转向角度;An angle obtaining module configured to acquire a steering angle of the motor vehicle;
    第一车速控制模块,配置为若0°≤r≤200°,则根据所述机动车的挡位和蠕行模式,控制所述第一蠕行车速v 1=a; 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°;
    第二车速控制模块,配置为若200°<r<600°,则根据所述机动车的挡位和蠕行模式,控制所述第一蠕行车速v 1=(b-a)×r/400+(3a-b)×2; 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;
    第三车速控制模块,配置为若r≥600°,则控制所述第一蠕行车速v 1=b; a third vehicle speed control module, configured to control the first creeping vehicle speed v 1 =b if r≥600°;
    其中,r为所述机动车的转向角度;a为所述机动车的挡位和蠕行模式限定的预设蠕行车速;b为所述转向角度限定的蠕行车速的最小值。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.
  12. 根据权利要求11所述的装置,其特征在于,所述第二控制模块包括:The apparatus according to claim 11, wherein said second control module comprises:
    压力变化获取模块,配置为获取所述机动车的制动主缸压力的变化情况;a pressure change obtaining module configured to acquire a change in a brake master cylinder pressure of the motor vehicle;
    第四车速控制模块,配置为若0≤p≤P 1,所述机动车的制动主缸压力首次变化且所述变化为所述制动主缸压力减小的过程,则根据所述机动车的挡位和蠕行模式,控制所述第二蠕行车速v 2=(c-a)×p/P 1+a; 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;
    第五车速控制模块,配置为若0≤p≤P 2,除所述机动车的制动主缸压力首次变化且所述变化为所述制动主缸压力减小的过程外,则根据所述机动车的挡位和蠕行模式,控制所述第二蠕行车速v 2=(c-a)×p/P 2+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;
    其中,P 2为退出蠕行状态所述制动主缸压力的预设值,c为所述制动主缸压力限定的蠕行车速的最小值。 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.
  13. 根据权利要求12所述的装置,其特征在于,所述第三控制模块包括:The device according to claim 12, wherein the third control module comprises:
    第一确定模块,配置为根据所述机动车的挡位、蠕行模式和转向角度, 确定所述第一蠕行车速v 1The 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;
    第二确定模块,配置为根据所述机动车的挡位、蠕行模式和制动主缸压力,确定所述第二蠕行车速v 2a 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;
    比较模块,配置为比较所述第一蠕行车速v 1和所述第二蠕行车速v 2的大小; a comparison module configured to compare the sizes of the first creeping speed v 1 and the second creeping speed v 2 ;
    第六车速控制模块,配置为若v 1<v 2,则控制所述第三蠕行车速v 3为v 1a sixth vehicle speed control module configured to control the third creeping vehicle speed v 3 to be v 1 if v 1 <v 2 ;
    第七车速控制模块,配置为若v 2<v 1,则控制所述第三蠕行车速v 3为v 2a seventh vehicle speed control module configured to control the third creeping vehicle speed v 3 to be v 2 if v 2 < v 1 ;
    第八车速控制模块,配置为若v 1=v 2,则控制所述第三蠕行车速v 3为v 1或v 2Eighth vehicle speed control module configured to, if v 1 = v 2, the third control creep speed is v 1 or v 3 v 2.
  14. 根据权利要求8~13任一项所述的装置,其特征在于,所述挡位包括:前进挡和倒退挡;所述蠕行模式包括:起步蠕行模式和滑行蠕行模式。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.
  15. 一种机动车,其特征在于,包括如权利要求8~14任一项所述的蠕行车速的控制装置。A motor vehicle comprising the control device for creeping vehicle speed according to any one of claims 8 to 14.
  16. 一种计算机可读介质,其中存储了用于执行权利要求1所述蠕行车速的控制方法的计算机程序。A computer readable medium storing a computer program for performing the control method of the creeping speed according to claim 1.
PCT/CN2018/081241 2017-03-30 2018-03-30 Method and device for controlling creep vehicle speed, motor vehicle, and computer readable medium WO2018177391A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020197032139A KR102273477B1 (en) 2017-03-30 2018-03-30 Creep rate control method, apparatus, vehicle and computer readable medium

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710202979.4A CN108068811B (en) 2017-03-30 2017-03-30 A kind of control method, device and the motor vehicle of crawling speed
CN201710202979.4 2017-03-30

Publications (1)

Publication Number Publication Date
WO2018177391A1 true WO2018177391A1 (en) 2018-10-04

Family

ID=62159060

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/081241 WO2018177391A1 (en) 2017-03-30 2018-03-30 Method and device for controlling creep vehicle speed, motor vehicle, and computer readable medium

Country Status (3)

Country Link
KR (1) KR102273477B1 (en)
CN (1) CN108068811B (en)
WO (1) WO2018177391A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111619575A (en) * 2020-06-05 2020-09-04 江铃汽车股份有限公司 Vehicle speed control system and method and vehicle
CN112622641A (en) * 2021-01-07 2021-04-09 广西宁达汽车科技有限公司 Vehicle control method, device and system
CN114347807A (en) * 2022-02-25 2022-04-15 三一电动车科技有限公司 Vehicle crawling control method, device, equipment, medium and vehicle

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111572544B (en) * 2019-02-18 2021-08-24 上海汽车集团股份有限公司 Vehicle control method and device
CN112141104B (en) * 2019-06-26 2022-01-28 北京新能源汽车股份有限公司 Vehicle brake control method and device and automobile
CN111660825A (en) * 2019-12-05 2020-09-15 摩登汽车有限公司 Method and system for controlling crawling vehicle speed

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08230649A (en) * 1994-12-28 1996-09-10 Toyota Motor Corp Hydraulic brake device for vehicle
JP2001114084A (en) * 1999-10-18 2001-04-24 Toyota Autom Loom Works Ltd Creep traveling control device for industrial vehicle
US20040215385A1 (en) * 2002-08-29 2004-10-28 Hiroaki Aizawa Creep drive control device for driving vehicle at creep speed
CN102167032A (en) * 2011-03-25 2011-08-31 清华大学 Upslope auxiliary control method of deep hybrid-electric vehicle
US20130297134A1 (en) * 2011-01-31 2013-11-07 Suzuki Motor Corporation Regenerative control device and regenerative control method and hybrid motor vehicle

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200196983Y1 (en) * 1996-12-27 2000-10-02 정몽규 Vehicle starting prevention device
JP3775083B2 (en) * 1998-12-14 2006-05-17 日産自動車株式会社 Electric vehicle braking device
CN103557319B (en) * 2013-10-31 2016-02-24 长城汽车股份有限公司 A kind of automatic gear automobile low speed crawling controlling method
CN104670044B (en) * 2015-01-29 2017-08-08 北京新能源汽车股份有限公司 A kind of control method and system of low speed crawling
KR101795130B1 (en) * 2015-04-16 2017-12-01 현대자동차주식회사 Apparatus for controlling creep driving of electric vehicle and method therof
CN106428011B (en) * 2016-11-25 2020-01-24 浙江吉利控股集团有限公司 Electric automobile creep torque control method and control system and electric automobile

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08230649A (en) * 1994-12-28 1996-09-10 Toyota Motor Corp Hydraulic brake device for vehicle
JP2001114084A (en) * 1999-10-18 2001-04-24 Toyota Autom Loom Works Ltd Creep traveling control device for industrial vehicle
US20040215385A1 (en) * 2002-08-29 2004-10-28 Hiroaki Aizawa Creep drive control device for driving vehicle at creep speed
US20130297134A1 (en) * 2011-01-31 2013-11-07 Suzuki Motor Corporation Regenerative control device and regenerative control method and hybrid motor vehicle
CN102167032A (en) * 2011-03-25 2011-08-31 清华大学 Upslope auxiliary control method of deep hybrid-electric vehicle

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111619575A (en) * 2020-06-05 2020-09-04 江铃汽车股份有限公司 Vehicle speed control system and method and vehicle
CN112622641A (en) * 2021-01-07 2021-04-09 广西宁达汽车科技有限公司 Vehicle control method, device and system
CN112622641B (en) * 2021-01-07 2022-11-04 广西宁达汽车科技有限公司 Vehicle control method, device and system
CN114347807A (en) * 2022-02-25 2022-04-15 三一电动车科技有限公司 Vehicle crawling control method, device, equipment, medium and vehicle
CN114347807B (en) * 2022-02-25 2023-06-06 三一电动车科技有限公司 Vehicle creep control method, device, equipment, medium and vehicle

Also Published As

Publication number Publication date
CN108068811B (en) 2019-10-18
KR20190130025A (en) 2019-11-20
KR102273477B1 (en) 2021-07-05
CN108068811A (en) 2018-05-25

Similar Documents

Publication Publication Date Title
WO2018177391A1 (en) Method and device for controlling creep vehicle speed, motor vehicle, and computer readable medium
US10297151B2 (en) Traffic lights control for fuel efficiency
CN108216184B (en) Hybrid vehicle and method of controlling mode transition
CN105438006A (en) Electric vehicle and ramp parking control method and system thereof
WO2008046885A3 (en) Control method and motorstarter device
KR20180070289A (en) Hybrid vehicle and method of controlling mode transition
JP2009262862A (en) Traveling controller and traveling control method
US20160072417A1 (en) Apparatus and method for controlling vibration of driving motor in vehicle
CN104627022A (en) Control method for torque filtering of electric automobile
US9096255B2 (en) Friction compensation logic of motor driven power steering and method thereof
JP5309720B2 (en) Braking / driving control device and braking / driving control method for electric vehicle
CN105318832A (en) Contact-type throttle pedal position sensor, throttle control system and vehicle
US20110183810A1 (en) Method and system for adaptive continuously variable transmission gear ratio control
CN107599889A (en) One kind reversing control method, device and electric automobile
US9616769B2 (en) Torque control apparatus and method for drive motor
US9738269B2 (en) Motor speed control method and system for improving performance of running resistance evaluation
US10071651B2 (en) Torque control apparatus and method for drive motor
JP6026815B2 (en) Drive control device for electric vehicle
CN115489340A (en) Multi-motor torque distribution method and device, computer equipment and storage medium
CN112895915B (en) Motor control method, device and controller
EP4063982A1 (en) Parking control method and device, vehicle control unit, and new-energy vehicle
JP2015021472A (en) Drive force control device of vehicle and drive force control method
KR102395281B1 (en) Apparatus and method for controlling engine
CN106585601B (en) A kind of electronic parking method and device
JP2006191736A (en) Re-adhesion control device of electric vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18775110

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20197032139

Country of ref document: KR

Kind code of ref document: A

122 Ep: pct application non-entry in european phase

Ref document number: 18775110

Country of ref document: EP

Kind code of ref document: A1