The embodiment of the invention discloses a crawling control method and device, electronic equipment and a storage medium. The method comprises the steps that measured values of driving parameters of an electric vehicle in the driving process are obtained; obtaining an estimated value of the driving parameter according to the measured value of the driving parameter and the dynamic model of the gradient road surface; according to the estimated value of the driving parameter and a state observation model, obtaining an observed value of the driving parameter; and according to the measured value of the driving parameter, the estimated value of the driving parameter, the observed value of the driving parameter and the crawling working condition of the electric vehicle in the driving process, the approaching control value of the electric vehicle on the slope road surface is calculated. According to the technical scheme, the approaching control value of the electric vehicle on the slope road surface is finally obtained by obtaining the driving parameters of the electric vehicle and predicting the driving parameters, the stability of vehicle control is kept, and various different working conditions in the crawling process are dealt with.
本发明实施例公开了一种爬行控制方法、装置、电子设备和存储介质,该方法包括:获取电动汽车在行驶过程中的行驶参数的测量值;根据行驶参数的测量值和坡度路面的动力学模型,得到行驶参数的估测值;根据行驶参数的估测值和状态观测模型,得到行驶参数的观测值;根据行驶参数的测量值、行驶参数的估测值、行驶参数的观测值和电动汽车在行驶过程中的爬行工况,计算电动汽车在坡度路面的趋近控制值。在上述技术方案中,通过获取电动汽车的行驶参数,并对行驶参数进行预测最终得到电动汽车在坡度路面的趋近控制值,保持车辆控制的平稳性,应对爬行过程各种不同工况。
Crawling control method and device, electric vehicle and storage medium
一种爬行控制方法、装置、电动汽车和存储介质
2022-07-22
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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