CN100410098C - Electric vehicle and its control - Google Patents
Electric vehicle and its control Download PDFInfo
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- CN100410098C CN100410098C CNB2004100904638A CN200410090463A CN100410098C CN 100410098 C CN100410098 C CN 100410098C CN B2004100904638 A CNB2004100904638 A CN B2004100904638A CN 200410090463 A CN200410090463 A CN 200410090463A CN 100410098 C CN100410098 C CN 100410098C
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- 238000002485 combustion reaction Methods 0.000 claims description 14
- 238000010248 power generation Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 239000012467 final product Substances 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention relates to an electric automobile and a controlling method thereof. The aim of the present invention is to cause creep deformation torque corresponding to the automobile speed and the operation of a braking device to put into fullplay and ensure smooth brake. When the present invention decides that an accelerator is switched on and a braking device is switched on, and decides that the automobile runs but does not runs on a gradient road (s120-s142), speed corresponding torque Tv (s110) is arranged according to the tendency that when the speed V is greater, the speed corresponding torque Tv (s110) is smaller, and simultaneously, braking force corresponding torque Tb (s150) is arranged according to the tendency that when braking torque Td is larger, the braking force corresponding torque Tb (s150) is smaller, and a smaller one of the set speed corresponding torque Tv and the braking force corresponding torque Tb is arranged into creeping-changing torque Tc (s160).
Description
Technical field
The present invention relates to electronlmobil and control method thereof.
Background technology
In the past, as this electronlmobil, proposed a kind of will with the inversely proportional torque of brake service amount as the creep torque by the type of electrical motor output and will with the inversely proportional torque of the speed of a motor vehicle as the type (for example, with reference to spy open 2001-103618 communique and Te Kai 2001-218303 communique) of creep torque by electrical motor output.In these electronlmobils, if when shift position (shift pattern) is not stepped on the throttle pedal (acceleration pedal) in driving range, stepped on brake pedal, then will with the inversely proportional torque of the brake service amount of chaufeur as the creep torque and from electrical motor output to the axletree outputting power, or will with the inversely proportional torque of the speed of a motor vehicle as the creep torque and from electrical motor output to the axletree outputting power.
Summary of the invention
In above-mentioned electronlmobil, will with the inversely proportional torque of brake service amount as the control of creep torque and will with the control of the inversely proportional torque of the speed of a motor vehicle as the creep torque, carry out respectively, so will with the inversely proportional control of torque of brake service amount as the creep torque in, can not export creep torque based on the speed of a motor vehicle, on the contrary will with the inversely proportional control of torque of the speed of a motor vehicle as the creep torque in, can not export creep torque based on the brake service amount.Though also considered to carry out simultaneously these two kinds of controls, because the brake service amount and the speed of a motor vehicle change in braking, the creep torque of output also changes, so can hinder the situation of level and smooth braking.
Electronlmobil of the present invention and control method, one of its purpose are to make with the speed of a motor vehicle and the corresponding creep torque of brake service and play a role.In addition, another purpose of electronlmobil of the present invention and control method thereof is to guarantee level and smooth braking.
Electronlmobil of the present invention and control method thereof, at least a portion in order to achieve the above object, and take following scheme.
Electronlmobil of the present invention is to possess to it is characterized in that possessing to the electronlmobil of the electrical motor of axletree outputting power: the vehicle speed detector device that detects the speed of a motor vehicle; Set the corresponding torque setting device of the speed of a motor vehicle of the corresponding torque of the speed of a motor vehicle according to this detected speed of a motor vehicle; Detection based on chaufeur to the operation of drg and the brake braking force detecting device of the brake braking force that produces; Set the corresponding torque setting device of braking force of the corresponding torque of braking force according to this detected brake braking force; According to corresponding torque of the above-mentioned speed of a motor vehicle that sets and the corresponding torque of the above-mentioned braking force that sets, setting should be from the creep torque setting device of the creep torque of above-mentioned electrical motor output; And when defined terms is set up, to control the control device of electric motor of above-mentioned electrical motor to the mode of the above-mentioned creep torque that sets of axletree output.
In electronlmobil of the present invention, according to corresponding torque of the speed of a motor vehicle of coming and the braking force correspondence torque that comes based on brake braking force based on the speed of a motor vehicle, setting should be from can be to the creep torque of the electrical motor of axletree outputting power output, when defined terms is set up, to export the mode control motor of the creep torque that sets to axletree.Therefore, can make with the speed of a motor vehicle and the corresponding creep torque of brake braking force and play a role.
In such electronlmobil of the present invention, can also be made as, above-mentioned creep torque setting device is the device that the torque of a less side among corresponding torque of the above-mentioned speed of a motor vehicle that sets and the corresponding torque of the above-mentioned braking force that sets is set as above-mentioned creep torque.So, can make creep torque change, can suppress to produce simultaneously excessive creep torque according in the speed of a motor vehicle or the braking force any one.Consequently, can guarantee level and smooth braking.
In addition, in electronlmobil of the present invention, can also be made as, above-mentioned creep torque setting device is being the device that above-mentioned creep torque is set with the corresponding torque of the above-mentioned braking force that the sets torque that corresponding torque has been carried out after the restriction as torque-limiting and to the above-mentioned speed of a motor vehicle that sets.So, with regard to can be enough the corresponding torque of braking force limit based on the speed of a motor vehicle and the corresponding torque of the speed of a motor vehicle of coming, thereby set the creep torque.Consequently,, also can limit and can suppress excessive creep torque, consequently, can guarantee level and smooth braking because of the corresponding torque of the power that is braked even when the corresponding torque of the speed of a motor vehicle becomes excessive.
In electronlmobil of the present invention, can also be made as, the corresponding torque setting device of the above-mentioned speed of a motor vehicle is a device of setting the corresponding torque of the above-mentioned speed of a motor vehicle with the above-mentioned detected big more tendency that then becomes more little of the speed of a motor vehicle; The corresponding torque setting device of above-mentioned braking force is a device of setting the corresponding torque of above-mentioned braking force with the above-mentioned detected big more tendency that then becomes more little of braking force.
At electronlmobil of the present invention, can also be made as, possess combustion engine and can be used to and send the power generation assembly that can supply with to the electric power of above-mentioned electrical motor from the part of the power of this combustion engine.In this case, can also be made as, above-mentioned power generation assembly is to be connected with above-mentioned axle drive shaft with the output shaft of above-mentioned combustion engine, and can be along with the input and output of electronic and power will export to the device of this axle drive shaft from least a portion of the power of this combustion engine.And then in this case, can also be made as, above-mentioned power generation assembly, it is the device that possesses triple axle power input/output unit and electrical generator, this triple axle power input/output unit, be to be connected with output shaft, these three axles of above-mentioned axle drive shaft and third axle of above-mentioned combustion engine, and according to the triple axle power input/output unit that carries out the input and output of power with respect to the power of the two axle input and output arbitrarily among these three axles and to remaining axle, this electrical generator is the electrical generator that carries out the input and output of power with respect to above-mentioned third axle; And can be made as, above-mentioned power generation assembly, be the 1st rotor and the 2nd rotor that is installed on the above-mentioned axle drive shaft that has on the output shaft that is installed in above-mentioned combustion engine, by along with the 2nd rotor with respect to the relative rotation of the 1st rotor and by the input and output of the electric power that electromagnetic action produced of the 1st rotor and the 2nd rotor, will export to the paired rotor generator of this axle drive shaft from least a portion of the power of this combustion engine.
The control method of electronlmobil of the present invention is that possess can be to the control method of the electronlmobil of the electrical motor of axletree outputting power, and it may further comprise the steps: (a) detect the speed of a motor vehicle; (b) set the corresponding torque of the speed of a motor vehicle according to this detected speed of a motor vehicle; (c) detect the brake braking force that the operation of drg is produced based on chaufeur; (d) set the corresponding torque of braking force according to this detected brake braking force; (e) with the torque of a less side among corresponding torque of the above-mentioned speed of a motor vehicle that sets and the corresponding torque of the above-mentioned braking force that sets, as setting from the creep torque of above-mentioned electrical motor output; (f) under defined terms, to control above-mentioned electrical motor to the mode of the above-mentioned creep torque that sets of axletree output.
Control method according to electronlmobil of the present invention, the corresponding torque of the speed of a motor vehicle of coming with based on brake braking force and the torque of the less side among the corresponding torque of the braking force that comes based on the speed of a motor vehicle, being set at should be from can be to the creep torque of the electrical motor of axletree outputting power output, under defined terms, to export the mode of the creep torque that sets to axletree, electrical motor is controlled, therefore, in the speed of a motor vehicle or the brake braking force any one can both influence the variation of creep torque, simultaneously excessive creep torque can be suppressed, consequently level and smooth braking can be guaranteed.
In such Control of Electric Vehicles method of the present invention, can also be made as, above-mentioned steps (b) is a step of setting the corresponding torque of the above-mentioned speed of a motor vehicle with the above-mentioned detected big more tendency that then becomes more little of the speed of a motor vehicle; Above-mentioned steps (d) is a step of setting the corresponding torque of above-mentioned braking force with the above-mentioned detected big more tendency that then becomes more little of braking force.
Description of drawings
Fig. 1 is the pie graph of concise and to the point formation of the electronlmobil 20 of expression one embodiment of the invention.
Fig. 2 is the diagram of circuit of expression by an example of the creep torque settings program of electronic control unit 40 execution.
Fig. 3 is the instruction diagram of an example of the corresponding torque settings chart of the expression speed of a motor vehicle.
Fig. 4 is the instruction diagram of an example of the corresponding torque settings chart of expression braking force.
Fig. 5 is the instruction diagram of the time dependent example of the corresponding torque Tv of the braking torque Td, vehicle velocity V, the speed of a motor vehicle of expression glancing impact, the corresponding torque Tb of braking force, creep torque Tc.
Fig. 6 is the pie graph that the summary of the electronlmobil 120 of expression variation constitutes.
Fig. 7 is the pie graph that the summary of the electronlmobil 220 of expression variation constitutes.
Fig. 8 is the pie graph that the summary of the electronlmobil 320 of expression variation constitutes.
The specific embodiment
Below, utilize embodiment to describe to concrete embodiment of the present invention.Fig. 1 is the pie graph that the summary of the electronlmobil 20 of expression one embodiment of the present of invention constitutes.The electronlmobil 20 of embodiment, as shown in the figure, possess storage battery 36 and the control vehicle single-piece electronic control unit 40 that electric power is provided to motor 30 to the motor 30 of the usefulness of travelling of axle drive shaft 26 outputting powers that are connected with drive wheel 22a, 22b via differentiator 24, via conv 34.
For example, motor 30 constitutes as well-known PM type synchronous generator-motor, is driven by the three plase alternating current from conv 34.Conv 34 also constitutes as the well-known conversion loop with 6 on-off elements, will be supplied with to motor 30 as the three plase alternating current of simulation from the direct current (DC) of storage battery 36 by PWM control.
The electronlmobil 20 of the embodiment of Gou Chenging like this, by as follows, promptly from motor 30 output according to when chaufeur bend the throttle 53 by accelerator pedal position sensor 54 detected accelerator opening Acc, with the mode that requires torque T* that sets by car speed sensor 58 detected vehicle velocity V, come drive controlling motor 30 and exercise, and pass through as follows, promptly from motor 30 output according to when chaufeur is stepped on brake pedal 55 by brake pedal position sensor 56 detected brake pedal position BP, with the mode of the braking torque Td that is set by car speed sensor 58 detected vehicle velocity V, drive controlling motor 30 and braking.
Below, the action of the electronlmobil 20 of this embodiment, the particularly action when the setting of the creep torque of glancing impact are described.Fig. 2 is the diagram of circuit of expression by an example of the creep torque settings program of electronic control unit 40 execution.This program repeats once every specified time (for example every 8msec).
When creep torque settings program begins to carry out, the CPU42 of electronic control unit 40 at first carries out the accelerator opening Acc of the pedal position sensor of autoacceleration in the future 54, from the brake pedal position BP of brake pedal position sensor 56, from the processing (step S100) of necessary quantitative data input when the setting of creep torque such as the vehicle velocity V of car speed sensor 58, braking torque Td.At this, braking torque Td, in an embodiment input be the drive controlling program do not shown of the figure by drive controlling motor 30, the value set according to accelerator opening Acc, brake pedal position BP, vehicle velocity V.The setting of braking torque Td for example is to be made as chart in advance and to be stored in advance among the ROM44, just to derive cooresponding braking torque Td from chart carry out when accelerator opening Acc, brake pedal position BP and vehicle velocity V are presented by the following stated, the relation that is about to accelerator opening Acc, brake pedal position BP, vehicle velocity V and braking torque Td.
When such imported data after, set the corresponding torque Tv (step S110) of the speed of a motor vehicle according to the vehicle velocity V of being imported.At this, the corresponding torque Tv of the speed of a motor vehicle, in an embodiment, as shown in Figure 3, be by as described below, be about to big more and the corresponding torque settings chart of the speed of a motor vehicle that tendency that the corresponding torque of the speed of a motor vehicle is more little is set is stored in advance and just derives the corresponding torque Tv of the cooresponding speed of a motor vehicle among the ROM44, when providing vehicle velocity V set from chart with the speed of a motor vehicle.
Then, judge according to the accelerator opening Acc that reads in whether accelerator closes (disconnection) (step S120), judge according to brake pedal position BP whether drg opens (connection) (step S130) simultaneously, and then judge whether travel (step S140) according to vehicle velocity V, open (connection) or be judged to be drg when closing (disconnection) being judged to be accelerator, still utilize the current creep torque Tc that sets, being judged to be when not travelling, creep torque Tc is set at 0 value (step 170).
On the other hand, accelerator is opened and be judged to be drg simultaneously opens being judged to be, and then is judged to be just in motion, judges whether travel on sloping road (step S142).The judgement of travelling in the slope road, can utilize the road gradient sensor that detects road gradient to carry out, or utilize the vehicle acceleration that calculates by vehicle velocity V and calculate the balancing moment of the vehicle that changes owing to road gradient, and then judge according to the size of this balancing moment by the torque of motor 30 outputs.When travelling on being judged to be sloping road, (step S144) handled with the creep torque settings in the sloping road that execution graph is not shown.About the setting of this creep torque on sloping road,, omit about the detailed description of this processing owing to be not core of the present invention.
Be judged to be when on sloping road, not travelling, set the corresponding torque Tb (step S150) of braking force according to the braking torque Td that is imported, corresponding torque Tv of the speed of a motor vehicle that relatively sets and the corresponding torque Tb of braking force are with a less side, promptly be that torque-limiting comes the corresponding torque Tv of restricted speed and as creep torque Tc setting (step S160) with the corresponding torque Tb of braking force.At this, the corresponding torque Tb of braking force, in an embodiment, as shown in Figure 4, be in the following way, be about to the corresponding torque settings chart of braking force that the more little tendency of the corresponding torque of the big more then braking force of braking torque Td is set be stored in the ROM44 in advance, the mode that just derives cooresponding braking force correspondence torque Tb when providing braking torque Td from chart sets.
When such set creep torque Tc after so that the mode that creep torque Tc changes is smoothly implemented slowly change process (step S180) such as smoothing processing, finish the creep torque settings then and handle.Implemented the creep torque of slow change process like this, read in by the drive controlling program that the figure of drive controlling motor 30 does not show, being used to should be from the calculating of the torque of motor 30 outputs.
Fig. 5 is the instruction diagram of an example of the temporal variation of the corresponding torque Tv of the braking torque Td, vehicle velocity V, the speed of a motor vehicle of expression glancing impact, the corresponding torque Tb of braking force, creep torque Tc.When time T 1 chaufeur is stepped on brake pedal 55, calculate braking torque Td according to brake pedal position BP and the vehicle velocity V of this moment, and by motor 30 outputs, so car retardation.The corresponding torque Tv of the speed of a motor vehicle increases along with reducing of vehicle velocity V, and if the corresponding torque Tb of braking force when considering that braking torque Td is constant, then as shown in the figure, keeps a definite value.For creep torque Tc, before the corresponding torque Tv of the speed of a motor vehicle time T 2 that corresponding torque Tb is little than braking force, just directly the corresponding torque Tv of the speed of a motor vehicle is set at creep torque Tc, after time T 2 because the corresponding torque Tb of braking force one side becomes littler than the corresponding torque Tv of the speed of a motor vehicle, so just directly braking force correspondence torque Tb is set at creep torque Tc.The creep torque Tc that promptly sets increased before time T 2 smoothly, kept its value after time T 2.Its result can guarantee level and smooth braking.
Electronlmobil 20 according to embodiment discussed above, corresponding torque Tv of the speed of a motor vehicle that sets with the big more then more little tendency of vehicle velocity V and the corresponding torque Tb of braking force that sets with the big more then more little inclination of braking torque Td are compared, a less side is set at creep torque Tc, in view of the above, can make with vehicle velocity V and the corresponding creep torque of braking torque Td Tc and work.
The electronlmobil 20 of embodiment, though as coming traveling automobile to constitute by the direct unique power to the motor 30 of axle drive shaft 26 outputting powers, and wherein this axle drive shaft 26 is connected with drive wheel 22a, 22b via differential gear 24; But can all be fine to the then any structure of motor of drive wheel 22a, 22b outputting power so long as possess.For example, also can be as shown in Figure 6 electronlmobil 120 like that, possesses driving engine 122, with the bent axle of driving engine 122 be attached at drive wheel 22a, the sun and planet gear 124 that axle drive shaft 26 on the 22b is connected, the motor that generates electricity 126 that is connected with sun and planet gear 124, along with the automobile of motor 130 that carries out the input and output of power with the exchange of the electric power of storage battery 36 and with axle drive shaft 26, electronlmobil 220 that can also be as shown in Figure 7 like that, possesses driving engine 222, paired rotor electric machine 226 and along with the automobile of motor 230 that carries out the input and output of power with the exchange of the electric power of storage battery 36 with axle drive shaft 26, wherein said paired rotor electric machine 226 is by by the internal rotor 226a that installs on the bent axle of this driving engine 222 and be attached at drive wheel 22a, the relative rotation of the outer rotor 226b that installs on the axle drive shaft 26 on the 22b and the electromagnetic action that produces and the paired rotor electric machine that drives.In addition, electronlmobil 320 that can also be as shown in Figure 8 like that, possess along with the exchange of the electric power of storage battery 36 to the automobile of the motor 330 that is attached at axle drive shaft 26 outputting powers on drive wheel 22a, the 22b via change-speed box 332, the driving engine 322 that is connected with the S. A. of this motor 330 via power-transfer clutch.In addition, with regard to essence, motor 30, because so long as can get final product to the primary mover of drive wheel 22a, 22b outputting power, so, even motor primary mover in addition can be not influential yet.
More than, utilize embodiment to be illustrated for concrete embodiment of the present invention, but the present invention is not subjected to any qualification of such embodiment, obviously in the scope that does not break away from purport of the present invention, can implement with various forms.
Claims (8)
1. electronlmobil, it is that possess can be to the electronlmobil of the electrical motor of axletree outputting power, possesses the vehicle speed detector device that detects the speed of a motor vehicle and detects the brake braking force detecting device of the brake braking force that the operation of drg is produced based on chaufeur; It is characterized in that also possessing:
Set the corresponding torque setting device of the speed of a motor vehicle of the corresponding torque of the speed of a motor vehicle according to this detected speed of a motor vehicle;
Set the corresponding torque setting device of braking force of the corresponding torque of braking force according to this detected brake braking force;
With the torque of a less side among corresponding torque of the above-mentioned speed of a motor vehicle that sets and the corresponding torque of the above-mentioned braking force that sets, being set at should be from the creep torque setting device of the creep torque of above-mentioned electrical motor output; And
When defined terms is set up, to control the control device of electric motor of above-mentioned electrical motor to the mode of the above-mentioned creep torque that sets of axletree output.
2. electronlmobil as claimed in claim 1, wherein, the corresponding torque setting device of the above-mentioned speed of a motor vehicle is with the big more device that then makes its more little tendency set the corresponding torque of the above-mentioned speed of a motor vehicle of the above-mentioned detected speed of a motor vehicle;
The corresponding torque setting device of above-mentioned braking force is with the big more device that then makes its more little tendency set the corresponding torque of above-mentioned braking force of above-mentioned detected braking force.
3. electronlmobil as claimed in claim 1, it possesses combustion engine, and can be used to send the power generation assembly that can supply with to the electric power of above-mentioned electrical motor from the part of the power of this combustion engine.
4. electronlmobil as claimed in claim 3, wherein above-mentioned power generation assembly, be to be connected with above-mentioned axle drive shaft, and can be along with the input and output of electronic and power will export to the device of this axle drive shaft from least a portion of the power of this combustion engine with the output shaft of above-mentioned combustion engine.
5. electronlmobil as claimed in claim 4, wherein above-mentioned power generation assembly, it is the device that possesses triple axle power input/output unit and electrical generator, this triple axle power input/output unit, be to be connected with output shaft, these three axles of above-mentioned axle drive shaft and third axle of above-mentioned combustion engine, and according to the triple axle power input/output unit that carries out the input and output of power with respect to the power of the two axle input and output arbitrarily among these three axles and to remaining axle, this electrical generator is the electrical generator that carries out the input and output of power with respect to above-mentioned third axle.
6. electronlmobil as claimed in claim 4, wherein above-mentioned power generation assembly, be the 1st rotor and the 2nd rotor that is installed on the above-mentioned axle drive shaft that has on the output shaft that is installed in above-mentioned combustion engine, by along with the 2nd rotor with respect to the relative rotation of the 1st rotor and by the input and output of the electric power that electromagnetic action produced of the 1st rotor and the 2nd rotor, will export to the electrical generator of this axle drive shaft from least a portion of the power of this combustion engine.
7. the control method of an electronlmobil, it is that possess can be to the control method of the electronlmobil of the electrical motor of axletree outputting power, it may further comprise the steps:
(a) detect the speed of a motor vehicle;
(b) set the corresponding torque of the speed of a motor vehicle according to this detected speed of a motor vehicle;
(c) detect the brake braking force that the operation of drg is produced based on chaufeur;
(d) set the corresponding torque of braking force according to this detected brake braking force;
(e) with the torque of a less side among corresponding torque of the above-mentioned speed of a motor vehicle that sets and the corresponding torque of the above-mentioned braking force that sets, as setting from the creep torque of above-mentioned electrical motor output;
(f) under defined terms, to control above-mentioned electrical motor to the mode of the above-mentioned creep torque that sets of axletree output.
8. the control method of electronlmobil as claimed in claim 7, wherein above-mentioned steps (b) is with the big more step that then makes its more little tendency set the corresponding torque of the above-mentioned speed of a motor vehicle of the above-mentioned detected speed of a motor vehicle;
Above-mentioned steps (d) is with the big more step that then makes its more little tendency set the corresponding torque of above-mentioned braking force of above-mentioned detected braking force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100904638A CN100410098C (en) | 2004-11-18 | 2004-11-18 | Electric vehicle and its control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100904638A CN100410098C (en) | 2004-11-18 | 2004-11-18 | Electric vehicle and its control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1778596A CN1778596A (en) | 2006-05-31 |
| CN100410098C true CN100410098C (en) | 2008-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100904638A Expired - Fee Related CN100410098C (en) | 2004-11-18 | 2004-11-18 | Electric vehicle and its control |
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| CN (1) | CN100410098C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303524B (en) * | 2011-08-26 | 2012-12-19 | 安徽巨一自动化装备有限公司 | Control method for electric vehicle power system with clutch device |
| CN102303523B (en) * | 2011-08-26 | 2012-12-19 | 安徽巨一自动化装备有限公司 | Control method for electric vehicle power system |
| CN102320253B (en) * | 2011-08-26 | 2012-12-19 | 安徽巨一自动化装备有限公司 | Control method of electric vehicle power system with multigear speed-changing box |
| US9308831B2 (en) * | 2012-04-27 | 2016-04-12 | GM Global Technology Operations LLC | System and method for controlling vehicle creep torque |
| CN107539300B (en) * | 2017-08-30 | 2019-11-12 | 北京新能源汽车股份有限公司 | Braking method, device, controller and the electric car of remote driving electric car |
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|---|---|---|---|---|
| US5789877A (en) * | 1995-05-19 | 1998-08-04 | Toyota Jidosha Kabushiki Kaisha | Power transmitting apparatus and method of controlling the same |
| JPH118912A (en) * | 1997-06-16 | 1999-01-12 | Mitsubishi Motors Corp | Motor torque controller for electric vehicle |
| JP2000127805A (en) * | 1998-10-27 | 2000-05-09 | Toyota Motor Corp | Braking device and travel control device for vehicle |
| JP2001103618A (en) * | 1999-09-28 | 2001-04-13 | Fuji Heavy Ind Ltd | Controller of electric vehicle |
| JP2002142310A (en) * | 2000-11-06 | 2002-05-17 | Mitsubishi Motors Corp | Motor torque controller for vehicle |
| US20040143384A1 (en) * | 2001-06-28 | 2004-07-22 | Friedrich Graf | Method for controlling a drive train on a motor vehicle |
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2004
- 2004-11-18 CN CNB2004100904638A patent/CN100410098C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5789877A (en) * | 1995-05-19 | 1998-08-04 | Toyota Jidosha Kabushiki Kaisha | Power transmitting apparatus and method of controlling the same |
| JPH118912A (en) * | 1997-06-16 | 1999-01-12 | Mitsubishi Motors Corp | Motor torque controller for electric vehicle |
| JP2000127805A (en) * | 1998-10-27 | 2000-05-09 | Toyota Motor Corp | Braking device and travel control device for vehicle |
| JP2001103618A (en) * | 1999-09-28 | 2001-04-13 | Fuji Heavy Ind Ltd | Controller of electric vehicle |
| JP2002142310A (en) * | 2000-11-06 | 2002-05-17 | Mitsubishi Motors Corp | Motor torque controller for vehicle |
| US20040143384A1 (en) * | 2001-06-28 | 2004-07-22 | Friedrich Graf | Method for controlling a drive train on a motor vehicle |
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| CN1778596A (en) | 2006-05-31 |
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