The invention relates to the technical field of vehicle control, and discloses a vehicle crawling control method, device and equipment and a storage medium, and the method comprises the following steps: when the current driving state of a target vehicle is a crawling state, determining the idle theoretical rotating speed of an engine; a rear axle theoretical torque is determined according to the idle theoretical rotating speed; calculating a motor theoretical torque of a target motor according to the rear axle theoretical torque and the rear axle reduction ratio; driving torque counteracting is carried out through a target motor controller according to the theoretical torque of the motor, so that the crawling speed of the target vehicle is controlled to be within a preset range; according to the mode, when the current driving state of the target vehicle is judged to be the creeping state, the target torque of the rear axle is determined according to the idle theoretical rotating speed, then the theoretical torque of the motor is calculated according to the target torque of the rear axle, and the creeping speed of the target vehicle is controlled in an open-loop control mode; therefore, the rationality of controlling crawling of the hybrid vehicle can be effectively improved, and then the driving experience is improved.

    本发明涉及车辆控制技术领域,公开了一种车辆蠕行控制方法、装置、设备及存储介质,所述方法包括:在目标车辆的当前行驶状态为蠕行状态时,确定发动机的怠速理论转速;根据所述怠速理论转速确定后轴理论扭矩;根据所述后轴理论扭矩和后轴减速比计算目标电机的电机理论扭矩;通过目标电机控制器根据所述电机理论扭矩进行驱动扭矩抵消,以控制所述目标车辆的蠕行车速位于预设范围内;通过上述方式,在判定目标车辆的当前行驶状态为蠕行状态时,根据怠速理论转速确定后轴目标扭矩,然后再根据后轴目标扭矩计算电机理论扭矩,采用开环控制方式对目标车辆的蠕行车速进行控制,从而能够有效提高控制混动车辆蠕行的合理性,进而提高驾驶体验。


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    Title :

    Vehicle crawling control method, device and equipment and storage medium


    Additional title:

    车辆蠕行控制方法、装置、设备及存储介质


    Contributors:
    HUANG WENKAI (author) / CHENG HUIJUN (author) / CHU AIHUA (author) / GAI FUXIANG (author)

    Publication date :

    2023-03-07


    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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