The invention provides a crawling control method and device and a vehicle. The crawling control method comprises the steps that when the vehicle is in a crawling mode and on a ramp, the acceleration and the crawling torque of the vehicle are detected; determining whether unexpected acceleration of the vehicle due to the creep torque occurs based on the vehicle acceleration and the creep torque; and when unexpected acceleration of the vehicle caused by the creep torque occurs, a first torque control request is sent to a motor controller, so that the motor controller stops outputting the creep torque. According to the method, dual verification is performed based on the vehicle acceleration and the crawling torque to determine whether the vehicle has unexpected acceleration caused by the crawling torque, and when the vehicle has unexpected acceleration caused by the crawling torque, output of the crawling torque is stopped, so that the vehicle enters a safe state, the driving safety is improved, and the driving safety is improved. Compared with judgment based on a single variable, double verification can prevent function safety from being triggered by mistake, and then the situation that the vehicle cannot run due to mistaken triggering is avoided.

    本申请提供一种蠕行控制方法、装置及车辆,该蠕行控制方法包括:在车辆处于蠕行模式且处于坡道上时,检测车辆加速度和蠕行扭矩;基于车辆加速度和蠕行扭矩,确定车辆是否出现由于蠕行扭矩造成的非预期加速;在车辆出现由于蠕行扭矩造成的非预期加速时,向电机控制器发送第一扭矩控制请求,以使电机控制器停止输出蠕行扭矩。本申请基于车辆加速度和蠕行扭矩进行双重校验,以确定车辆是否出现了由于蠕行扭矩造成的非预期加速,并在车辆出现由于蠕行扭矩造成的非预期加速时,停止输出蠕行扭矩,使车辆进入安全状态,提高行车安全性,双重校验相比于基于单一变量进行判断,可以避免功能安全被误触发,进而避免误触发导致的车辆无法行驶。


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    Title :

    Crawling control method and device and vehicle


    Additional title:

    一种蠕行控制方法、装置及车辆


    Contributors:
    YAN HANQING (author) / LI RONGWEI (author)

    Publication date :

    2024-09-06


    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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