The invention discloses a vehicle crawling control method and device, a vehicle and a storage medium, and relates to the technical field of vehicle control, and the method comprises the steps that the corresponding basic crawling torque of the current vehicle under the level road working condition is obtained; determining a creeping target torque based on the current slope signal, the vehicle load of the current vehicle and the basic creeping torque; carrying out torque compensation on the crawling target torque according to the current steering wheel angle to obtain a target crawling demand torque; and performing crawling control on the current vehicle based on the target crawling demand torque. Compared with an existing method for carrying out crawling control only based on a slope signal, the method has the advantages that the target crawling demand torque can be jointly determined by combining the current load of the vehicle, the slope signal and the steering angle of the steering wheel of the vehicle, and therefore high-precision vehicle crawling control is carried out based on the target crawling demand torque.

    本申请公开了一种车辆蠕行控制方法、装置、车辆及存储介质,本申请涉及车辆控制技术领域,该方法包括:获取当前车辆在平路工况时对应的基础蠕行扭矩;基于当前坡度信号、当前车辆的车辆载重和基础蠕行扭矩确定蠕行目标力矩;根据当前方向盘转角对蠕行目标力矩进行扭矩补偿,获得目标蠕行需求扭矩;基于目标蠕行需求扭矩对当前车辆进行蠕行控制。相较于现有只基于坡度信号进行蠕行控制的方法,本申请可结合车辆的当前载重、坡度信号以及车辆的方向盘转角共同确定目标蠕行需求扭矩,从而基于目标蠕行需求扭矩进行高精度的车辆蠕行控制。


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    Title :

    Vehicle crawling control method and device, vehicle and storage medium


    Additional title:

    车辆蠕行控制方法、装置、车辆及存储介质


    Contributors:
    DING JIFAN (author) / ZHAO NING (author) / LI SHICHENG (author) / JIN XIN (author) / FANG HANPING (author)

    Publication date :

    2024-11-05


    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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