The invention discloses a crawling control method and device for a vehicle, the vehicle and a storage medium, and the method comprises the steps: obtaining a reference vehicle speed and a reference acceleration according to the equivalent vehicle speed of the vehicle in the driving process of the vehicle; according to the actual vehicle speed and the preset driving parameters of the vehicle, the expected vehicle speed and the real-time target acceleration in the vehicle driving process are obtained; performing closed-loop proportional adjustment according to the expected vehicle speed and the reference vehicle speed to obtain proportional adjustment torque; performing closed-loop integral adjustment according to the real-time target acceleration and the reference acceleration to obtain an integral adjustment torque; and obtaining the crawling control torque according to the proportional adjustment torque and the integral adjustment torque. According to the technical scheme, the problem that in the crawling process of the vehicle, the crawling control precision and the crawling performance are low is solved.

    本申请公开了一种车辆的蠕行控制方法、装置、车辆及存储介质,该方法包括:在车辆的行驶过程中,根据车辆的等效车速得到参考车速和参考加速度;根据车辆的实际车速、预设行驶参数得到车辆行驶过程中的期望车速和实时目标加速度;根据期望车速和参考车速进行闭环比例调节,得到比例调节扭矩;根据实时目标加速度和参考加速度进行闭环积分调节,得到积分调节扭矩;根据比例调节扭矩和所述积分调节扭矩得到蠕行控制扭矩。应用本申请的技术方案,解决了车辆在蠕行过程中,蠕行控制精度和蠕行性能较低的问题。


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    Title :

    Crawling control method and device of vehicle, vehicle and storage medium


    Additional title:

    车辆的蠕行控制方法、装置、车辆及存储介质


    Contributors:
    LYU XUEWANG (author) / ZHANG GONG (author) / LI FAQIANG (author) / GONG DECHENG (author) / YU XINGLONG (author)

    Publication date :

    2025-05-06


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



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