The invention relates to a vehicle crawling control method. The method comprises the following steps that the output basic torque of a motor is obtained; the motor output torque after brake pedal correction is obtained; acquiring a motor output torque after slope correction; the motor output torque after steering wheel rotation angle correction is obtained; the motor output torque after creeping car following correction is obtained; pID control is conducted on the motor output torque based on the vehicle speed difference value, and a real-time motor output torque value is obtained; the current working condition is judged according to the vehicle speed, the motor rotating speed and the gear signal, the maximum torque limiting value and the minimum torque limiting value are obtained through table look-up, the torque value is compared with the maximum torque limiting value and the minimum torque limiting value, and the motor output torque value after current gradient limiting is obtained; and performing first-order filtering processing. According to the vehicle crawling control method, the torque of a vehicle motor is corrected by collecting the opening degree of a brake pedal, the ramp angle and the distance between the steering wheel angle and a front vehicle, and the torque is subjected to gradient limitation and filtering and then responded; the control method can improve the responsiveness of the system and ensure that the vehicle speed is stable.
本发明涉及一种车辆蠕行控制方法,包括以下步骤:获取电机输出基础扭矩;获取制动踏板修正后电机输出扭矩;获取坡度修正后电机输出扭矩;获取方向盘转角修正后电机输出扭矩;获取蠕行跟车修正后电机输出扭矩;基于车速差值对电机输出扭矩做PID控制,得到实时的电机输出扭矩值;由车速、电机转速、挡位信号判断当前工况,通过查表得到最大与最小扭矩限值,将扭矩值与最大最小值作比较,得到当前梯度限制后的电机输出扭矩值;一阶滤波处理。本发明车辆蠕行控制方法,通过采集制动踏板开度、坡道角度、方向盘转角与前车的距离,对车辆电机的扭矩进行修正,并对扭矩做梯度限制、滤波后进行响应;该控制方法能提升系统响应性,并保证车辆车速平稳。
Vehicle crawling control method
一种车辆蠕行控制方法
2024-06-25
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |