The invention relates to a vehicle crawling control method and device, computer equipment and a storage medium. The method includes: acquiring initial basic torque corresponding to a target vehicle; under the condition that the target vehicle meets the first vehicle speed condition, namely, the absolute value of the difference value between the current vehicle speed of the target vehicle and the crawling target vehicle speed is smaller than a first threshold value, and the absolute value of the difference value between the current vehicle speed and the first vehicle speed before the preset time period is smaller than a second threshold value, the crawling target vehicle speed is obtained; updating the initial basic torque according to the historical creep torque corresponding to the previous moment to obtain a target basic torque; according to the target basic torque, the current motor rotating speed corresponding to the current vehicle speed and the target motor rotating speed corresponding to the target vehicle speed for crawling, the target crawling torque at the current moment is determined; and controlling the target vehicle to creep according to the target creep torque. According to the embodiment of the invention, the basic torque is updated, so that the finally obtained target crawling torque is more adaptive to the current vehicle speed, and the crawling stability of the vehicle is improved.

    本申请涉及一种车辆蠕行控制方法、装置、计算机设备和存储介质。包括:获取目标车辆对应的初始基础扭矩;在目标车辆满足第一车速条件的情况下,即满足目标车辆的当前车速与蠕行目标车速之间的差值绝对值小于第一阈值,且当前车速与预设时段之前的第一车速之间的差值绝对值小于第二阈值的情况下,根据上一时刻对应的历史蠕行扭矩更新初始基础扭矩,得到目标基础扭矩;并根据目标基础扭矩、当前车速对应的当前电机转速,以及蠕行目标车速对应的目标电机转速,确定当前时刻的目标蠕行扭矩;进而根据目标蠕行扭矩,控制目标车辆蠕行。本申请实施例中第基础扭矩进行了更新,使得最终获取的目标蠕行扭矩与当前车速更适配,进而提高了车辆蠕行的平稳性。


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    Title :

    Vehicle crawling control method and device, computer equipment and storage medium


    Additional title:

    车辆蠕行控制方法、装置、计算机设备和存储介质


    Contributors:
    WANG YONG (author) / ZHU JIAJUN (author) / YUN QIANRUI (author) / WANG HONGXU (author) / YU HUI (author) / CAI WENWEN (author) / PANG XUEWEN (author)

    Publication date :

    2024-09-13


    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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