The invention provides a crawling torque control method and system, a readable storage medium and a vehicle, and the method comprises the steps: obtaining the whole vehicle mass and the tire radius of the vehicle in real time, and calculating the road friction force moment of the vehicle according to the whole vehicle mass and the tire radius; the current road gradient of the vehicle is obtained in real time, and the ramp resistance moment of the vehicle is calculated based on the current road gradient; acquiring a crawling target vehicle speed of the vehicle, and performing PI calculation on the crawling target vehicle speed to obtain a PI torque of the vehicle; and finally obtaining a final output torque. And filtering the final output torque, and driving the vehicle to creep according to the filtered final output torque. According to the method, the vehicle is controlled to creep through the final output torque after filtering processing, so that the vehicle is more stable during creep, the pause feeling of the vehicle is reduced, and the driving experience of a driver is improved.

    本发明提供一种蠕行扭矩的控制方法、系统、可读存储介质及车辆,方法包括实时获取车辆的整车质量以及车辆的轮胎半径,并根据整车质量以及轮胎半径计算出车辆的道路摩擦力力矩;实时获取车辆的当前道路坡度,并基于当前道路坡度计算出车辆的坡道阻力力矩;获取车辆的蠕行目标车速,并对蠕行目标车速进行PI计算,以得到车辆的PI扭矩;最后得到最终输出扭矩;对最终输出扭矩进行滤波处理,并驱动车辆根据滤波处理后的最终输出扭矩进行蠕行。本发明通过滤波处理后的最终输出扭矩控制车辆进行蠕行,使得车辆在蠕行时更加的平稳,减少车辆顿挫感,提升驾驶者的驾驶体验。


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    Title :

    Creeping torque control method and system, readable storage medium and vehicle


    Additional title:

    一种蠕行扭矩的控制方法、系统、可读存储介质及车辆


    Contributors:
    YOU DAOLIANG (author) / LIN YUMIN (author) / WEI GUANGJIE (author)

    Publication date :

    2022-11-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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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