The invention discloses a torque control method and device for switching sliding to crawling, equipment and a medium. The method comprises the following steps: constructing a theoretical deceleration reference curve when a vehicle runs on a straight road based on a preset vehicle load gradient; under the condition that the sliding speed of the vehicle is lower than a preset threshold value, a vehicle deceleration curve of a preset time interval is obtained, and a theoretical sliding curve of the vehicle is determined based on the vehicle deceleration curve and the theoretical deceleration reference curve; on the basis of the vehicle deceleration curve, a predicted sliding curve is generated through a preset sliding curve prediction algorithm; determining a theoretical coasting deceleration based on the theoretical coasting curve, and determining a predicted coasting deceleration based on the predicted coasting curve; and calculating a preset crawling torque under the current working condition based on the theoretical sliding deceleration and the predicted sliding deceleration. By means of the method, the torque needed for maintaining creeping is accurately calculated, and therefore the situation that the whole vehicle shakes due to the fact that the torque change is large when the vehicle enters the creeping process can be avoided.

    本申请公开了一种滑行切换到蠕行的扭矩控制方法、装置、设备及介质。方法包括:基于预设的车辆荷载梯度,构建车辆在平直道路上行驶时的理论减速参照曲线;在车辆滑行速度低于预设阈值的情况下,获取预设时间间隔的车辆减速曲线,并基于车辆减速曲线及理论减速参照曲线,确定车辆的理论滑行曲线;基于车辆减速曲线,通过预设的滑行曲线预测算法,生成预测滑行曲线;基于理论滑行曲线,确定理论滑行减速度,并基于预测滑行曲线,确定预测滑行减速度;基于理论滑行减速度与预测滑行减速度计算当前工况下的蠕行预设扭矩。本申请通过上述方法实现了精确计算维持蠕行需要的扭矩,从而可以避免车在进入蠕行时存在扭矩变化较大而导致整车抖动。


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    Title :

    Torque control method and device for switching sliding to crawling, equipment and medium


    Additional title:

    一种滑行切换到蠕行的扭矩控制方法、装置、设备及介质


    Contributors:
    LIAN FENGXIA (author) / SUN MINGFENG (author) / CHEN SHAOXIN (author)

    Publication date :

    2023-10-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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