CN101353011A - Intelligent full-wheel electric drive automobile structure - Google Patents
Intelligent full-wheel electric drive automobile structure Download PDFInfo
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- CN101353011A CN101353011A CNA200810222806XA CN200810222806A CN101353011A CN 101353011 A CN101353011 A CN 101353011A CN A200810222806X A CNA200810222806X A CN A200810222806XA CN 200810222806 A CN200810222806 A CN 200810222806A CN 101353011 A CN101353011 A CN 101353011A
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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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to an intelligent all-wheel electric driving automobile structure, belongs to the design technical field of pure electric automobiles and intelligent automobiles and comprises a sensing system of the external environment and vehicle attitudes, a dynamic system, a transmission system, a braking system, a steering system and a vehicle control system as well as an automobile shell, wheels and facilities inside the automobile carriage; wherein, the sensing system of the external environment and vehicle attitudes exchanges information with the vehicle control system through a CAN bus in real time; the vehicle control system comprises a part controller and a whole vehicle controller and the dynamic system comprises four driving motors and a power battery; the transmission system transfers the power to the wheels to drive the wheels to move; the braking system and the four motors make blend brake of vehicles according to instructions of the vehicle control system. The structure can realize the advantages in aspects such as the economy and emission of the pure electric automobiles and the active safety, comfortableness and performance of drivers of traditional intelligent automobiles simultaneously.
Description
Technical field
The invention belongs to pure electric automobile and intelligent vehicle design field, particularly the intelligent electric automobile structure.
Background technology
Along with global climate progressively worsens, urban atmospheric pollution aggravates and oil resources consume excessively, development energy-saving and environmental protection automobile has become the important directions of world car industrial technology innovation and the inevitable choice of automobile industry sustainable development.Pure electric automobile has obtained concern the earliest owing to have the advantage of zero-emission, zero oil consumption, has passed through century-old research and development course at present, has obtained the attention of national governments and car production manufacturer.From the battery-powered vehicle of Davenport in 1834 at the non-rechargeabel glass-encapsulated storage battery of employing of Brighton demonstration, " IMPACT " pure electric sedan to nineteen ninety AM General company small batch production, and popularize electric bus, electronic field vehicle and the Sightseeing Trolley etc. that use at present, pure electric automobile is extensive use of by countries in the world.
For vehicle structure, no matter be pure electric automobile or traditional combustion engine intelligent vehicle, except that have common car shell, wheel, and the compartment in the facility, generally comprised the vehicle attitude sensory perceptual system, power system, driving system, brake system, steering swivel system and vehicle control system.
Though present pure electric automobile has best fuel economy and emission behavior, is widely used various occasions.But the present all unequipped environmental information recognition system of using that can discern outside vehicle traffic circulation environment and road conditions of pure electric automobile, and vehicle attitude sensory perceptual system, Active Front Steering System and the electric control hydraulic braking system etc. that are used for the control of vehicle active safety.The power system control of its car load is also only carried out energy management and distribution based on current vehicle-state, can only guarantee that vehicle has fuel economy and emission behavior preferably in current state, can not guarantee that car load has the active safety of system optimal, economy, emission behavior, traveling comfort and driving performance.
Along with the continuous increase of global vehicle population, traffic accident takes place frequently, and has caused tremendous economic loss and serious social concern thus.Exploitation traditional combustion engine intelligent vehicle, the active safety of raising automobile is to avoid traffic accident, and reduces personal casualty, reduces the effective way of economic loss.The traditional combustion engine intelligent vehicle has obtained very huge development in more than 20 year time in the past, its automobile drive configuration has increased external environment condition and vehicle attitude sensory perceptual system, by the real-time control of vehicle control system to vehicle movement, satisfy chaufeur for safety, the demand of traveling comfort and driving performance.This combustion engine intelligent vehicle also includes as radar except the vehicle attitude sensory perceptual system, camera, and external environment condition sensory perceptual systems such as navigationsystem have also had improved brake system and steering swivel system simultaneously.But the traditional combustion engine intelligent vehicle is generally all only equipped mono-traditional combustion engine power system and traditional power drive system, mainly realizes active safety functions such as adaptive cruise, track maintenance, active collision avoidance and self-adapting intelligent speed.So the traditional combustion engine intelligent vehicle, though can effectively solve the automobile active safety problem, but still need to solve the problem that reduces fuel oil consumption and emission abatement.
Summary of the invention
The objective of the invention is to for overcoming the weak point of prior art, propose a kind of intelligent full-wheel electric drive automobile structure, can realize simultaneously that pure electric automobile is in economy and emission performance and the traditional intelligence automobile advantage at aspects such as active safety, traveling comfort and chaufeur performances.
The intelligent full-wheel electric drive automobile structure that the present invention proposes comprises car shell, wheel, reaches facility in the compartment, it is characterized in that, this structure also comprises external environment condition and vehicle attitude sensory perceptual system, power system, driving system, brake system, steering swivel system and vehicle control system; Described external environment condition and vehicle attitude sensory perceptual system are by vehicle-mounted CAN bus and vehicle control system real-time exchange information; This external environment condition and vehicle attitude sensory perceptual system are used to obtain external environmental information and travel condition of vehicle information; This vehicle control system comprises the controller by EBS, the AFS controller, four electric machine controllers, Parts Controller and entire car controller that the electrokinetic cell controller is formed, this entire car controller is used for carrying out information fusion according to the external environmental information and the vehicle-state of external environment condition and the acquisition of vehicle attitude sensory perceptual system, identification and prediction vehicle and environmental information, then based on economy, safety, traveling comfort and driving performance are formulated vehicle desired motion track and demand power, calculate the control command of each assembly parts in real time, and, guarantee that vehicle always works in optimum state by each Parts Controller of control; This power system comprises four drive motor and electrokinetic cell, is used for producing corresponding power and output according to the control command that vehicle control system sends; To wheel, move by drive wheels with transmission of power for this driving system; This brake system and four motors according to the vehicle control system instruction, are carried out braking instruction, and vehicle is braked; Steering swivel system will be controlled front wheel steering angle according to the vehicle control system instruction.
The present invention compares traditional combustion engine intelligent vehicle or pure electric automobile, has following clear superiority:
(1) compare original traditional combustion engine intelligent vehicle, utilize drive motor response characteristic fast, accurately, the response characteristic in the time of improving system works significantly improves vehicle performance systemicly.
(2) compare pure electric automobile, can utilize external environmental information to carry out identification of vehicle expecting state and trajectory planning, further improve fuel economy and emission performance under the driver's operation situation.
(3), make car load reach economy, emission behavior, safety, traveling comfort and the driving performance of system optimal by the united and coordinating work of external environment condition and vehicle attitude sensory perceptual system, power system, driving system, brake system, steering swivel system and vehicle control system.
Description of drawings
Fig. 1 intelligent full-wheel electric drive automobile hardware and electrical structure scheme drawing
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail:
The intelligent full-wheel electric drive automobile structure that the present invention proposes, comprise car shell, wheel, reach facility in the compartment, it is characterized in that, this structure also comprises external environment condition and vehicle attitude sensory perceptual system, power system, driving system, brake system, steering swivel system and vehicle control system, wherein external environment condition and vehicle attitude sensory perceptual system are by vehicle-mounted CAN bus and vehicle control system real-time exchange information; This external environment condition and vehicle attitude sensory perceptual system are used to obtain external environmental information and travel condition of vehicle information; This vehicle control system, comprise controller by EBS, the AFS controller, four electric machine controllers, the Parts Controller that the electrokinetic cell controller is formed, and entire car controller, wherein entire car controller is used for carrying out information fusion according to the external environmental information and the vehicle-state of external environment condition and the acquisition of vehicle attitude sensory perceptual system, identification and prediction vehicle and environmental information, then based on economy, safety, traveling comfort and driving performance are formulated vehicle desired motion track and demand power, calculate the control command of each assembly parts in real time, and, guarantee that vehicle always works in optimum state by each Parts Controller of control; This power system comprises four drive motor and electrokinetic cell, is used for producing corresponding power and output according to the control command that vehicle control system sends; To wheel, move by drive wheels with transmission of power for this driving system; Brake system and four drive motor according to the vehicle control system instruction, are carried out braking instruction, and vehicle is braked; Steering swivel system is Active Front Steering System AFS, will control front wheel steering angle according to the vehicle control system instruction.
The structure of above-mentioned each system of the present invention is respectively described below in conjunction with shown in Figure 1: among the figure, fine line is represented mechanical connection, thick dashed line represents that hydraulic pressure connects, heavy line represents that high-voltage electrical apparatus connects, fine dotted line represents that low-voltage electrical connects, double solid line is represented the CAN bus, and three solid lines are represented the control signal of Parts Controller to corresponding component.
External environment condition of the present invention and vehicle attitude sensory perceptual system can comprise the radar that links to each other with the CAN bus respectively and treater, navigationsystem GPS and treater, camera and treater, vehicle attitude sensor.Wherein, radar and treater are installed in the head of car, are used for gathering from car and the relative distance of front truck (perhaps front obstacle) and the real time data of the relative speed of a motor vehicle; Camera and treater are installed on vehicle head and afterbody, be used to gather the external environment condition image and it is carried out binary conversion treatment, obtain lane mark and other track information of vehicles; GPS and treater are installed in the operator's compartment, and current vehicle geographic position and altitude information are provided; The vehicle attitude sensor is installed on the vehicle middle part, comprises yaw-rate sensor, and the lateral acceleration sensor is to provide Vehicular yaw cireular frequency and vehicle lateral acceleration.Radar can be laser radar or millimeter wave radar, the millimeter wave radar and the treater of present embodiment radar and processor adopting Denso company, active distance 100m.Camera adopts the high-speed camera head, the chip microcontroller of this processor adopting routine, and GPS and processor adopting Kai Lide mobile navigation system G12193, Vehicular yaw angular velocity sensor and lateral acceleration sensor adopt commercial sensor.
Power system of the present invention comprises four drive motor (drive motor 1, drive motor 2, drive motor 3, drive motor 4) and electrokinetic cell.Wherein, drive motor links to each other by the high pressure wire harness with electrokinetic cell, provides electric power by electrokinetic cell.These four drive motor are connected with four wheels respectively by speed reduction gearing machinery, and the output torque of drive motor exports wheel to powered vehicle by speed reduction gearing and transmission shaft.Four drive motor of present embodiment all adopt the 332V high voltage supply, rating horsepower 15KW, and maximum power 40KW, the high-tension battery group adopts the 45Ah plumbic acid high-tension battery group of 332V.
Driving system of the present invention, with the transmission of power of power system output to wheel and powered vehicle.Comprise drive disk assemblies such as speed reduction gearing, transmission shaft 5 and wheel 6.As shown in Figure 1, between speed reduction gearing installation and drive motor and the wheel, transmission shaft and wheel installation site and traditional vehicle are together.In the present embodiment, transmission system adopts commercial single-stage mechanical reducer.
Brake system of the present invention adopts the electric control braking EBS of mechanism, and with 4 drive motor (drive motor 1, drive motor 2, drive motor 3, drive motor 4) Associated brake of power system.The EBS of electric control braking mechanism is connected to four wheels by actuating unit, carries out brake operating by brake-power control, and 4 drive motor of power system also can carry out brake operating by the motor resisting moment is provided.This brake system according to the braking instruction of vehicle control device, utilizes the EBS of electric control braking mechanism and 4 drive motor co-ordinations to brake when calculating in the chaufeur braking or by vehicle control system and need brake.The EBS of electric control braking mechanism of present embodiment adopts the electric control hydraulic braking EHB of mechanism.
Steering swivel system of the present invention adopts the commercial front-wheel active steering AFS of mechanism.The front-wheel active steering AFS of mechanism is by steer motor control front vehicle wheel active steering.AFS is controlled by the AFS controller according to vehicle control device output steering order and chaufeur steering operation, carries out the operation of front-wheel active steering.The front-wheel active steering mechanism of present embodiment adopts the front-wheel active steering mechanism of German BMW company.
Vehicle control system of the present invention comprises and passes through CAN bus bonded assembly entire car controller respectively, by the EBS controller, and AFS controller, electrokinetic cell controller, four Parts Controllers that electric machine controller is formed.Wherein, the EBS controller links to each other with the EBS of electric control braking mechanism, and the AFS controller links to each other with the front-wheel active steering AFS of mechanism, and the electrokinetic cell controller links to each other with electrokinetic cell, and four drive motor controller link to each other with four drive motor respectively.The EBS controller is braked according to entire car controller braking instruction control EBS, the AFS controller carries out the operation of front-wheel active steering according to entire car controller steering order control AFS, 4 drive motor controller are carried out corresponding torque command according to the control command of entire car controller, the electrokinetic cell controller detects the electrokinetic cell state, and electrokinetic cell information is sent on the CAN in real time.
Entire car controller carries out information fusion according to the external environmental information and the vehicle-state of external environment condition and the acquisition of vehicle attitude sensory perceptual system, identification and prediction vehicle and environmental information (comprise traffic statistics information, apart from intersection information, altitude information, the adhesion to road surface rate, front truck, other car motion identification and prediction, driver characteristics identification and driver's operation identification, vehicle and environmental informations such as vehicle current state information), then based on economy, safety, traveling comfort and driving performance are formulated vehicle desired motion track and demand power, calculate the control command of each assembly parts in real time and (formulate propulsive effort, braking force and deflection angle control command, and with propulsive effort, brakig force distribution is given four drive motor and the EBS of electric control hydraulic braking system, and steering angle command is sent to the AFS system), and, guarantee that vehicle always works in optimum state by each Parts Controller of control.
The braking force instruction that the EBS controller distributes according to entire car controller, control EBS stop mechanism is realized the braking force instruction.The steering angle command that the AFS controller sends according to entire car controller, control wheel steering mechanism realizes steering angle command.
The entire car controller of present embodiment, the EBS controller, AFS controller, electric machine controller and electrokinetic cell controller all can adopt chip microcontroller.
Adopt vehicle control system of the present invention under automatic driving mode, intelligent full-wheel electric drive automobile can be realized following function:
The frequent start-stop function of intelligence low speed: in the frequent start-stop process of low speed, the front truck environmental information that will collect according to external environment condition and vehicle attitude sensory perceptual system is (as relative distance information, lane information, other car information, geographic position and altitude information etc.), travel condition of vehicle information is (as the speed of a motor vehicle, longitudinal acceleration and lateral acceleration etc.), unit information is (as motor speed, motor torque and battery dump energy etc.) and driver's operation (as accelerator pedal position, brake pedal position and steering wheel angle etc.), add by vehicle control system formulation demand, deceleration/decel and steering angle carry out the start-stop control of vehicle automatically and change control.
Intelligence high speed cruising control function: in the high speed cruising control process, equally, the front truck environmental information that will collect according to external environment condition and vehicle attitude sensory perceptual system (as with the front truck relative distance information, relative velocity, lane mark information, other car information, when front truck geographic position and altitude information etc.), travel condition of vehicle information is (as the longitudinal direction of car acceleration/accel, transverse acceleration, yaw velocity and lateral acceleration etc.), unit information is (as motor speed, motor torque and battery dump energy etc.) and driver's operation (as accelerator pedal position, brake pedal position and steering wheel angle etc.), carry out optimal path planning by vehicle control system, the formulation demand adds, deceleration/decel and steering angle, automatically following front truck travels, perhaps remain a constant speed and travel, change control simultaneously, guarantee vehicle economy and safety.
Intelligent emergency braking function: in emergency braking situation process, the front truck environmental information that will collect according to external environment condition and vehicle attitude sensory perceptual system is (as relative distance information, lane information, other car information, geographic position and altitude information etc.), travel condition of vehicle information is (as the speed of a motor vehicle, longitudinal acceleration and lateral acceleration etc.), unit information is (as motor speed, motor torque and battery dump energy etc.) and driver's operation (as accelerator pedal position, brake pedal position and steering wheel angle etc.), if the vehicle control system prediction is found will cause danger future, to carry out the active control of braking, vehicle control system will be coordinated drive motor, the EBS of electric control hydraulic braking system, Active Front Steering System AFS, brake and change control, guarantee vehicle safety.
Claims (5)
1, a kind of intelligent full-wheel electric drive automobile structure comprises car shell, wheel, reaches facility in the compartment, it is characterized in that, this structure also comprises external environment condition and vehicle attitude sensory perceptual system, power system, driving system, brake system, steering swivel system and vehicle control system; Described external environment condition and vehicle attitude sensory perceptual system are by vehicle-mounted CAN bus and vehicle control system real-time exchange information; This external environment condition and vehicle attitude sensory perceptual system are used to obtain external environmental information and travel condition of vehicle information; This vehicle control system comprises the controller by EBS, the AFS controller, four electric machine controllers, Parts Controller and entire car controller that the electrokinetic cell controller is formed, this entire car controller is used for carrying out information fusion according to the external environmental information and the vehicle-state of external environment condition and the acquisition of vehicle attitude sensory perceptual system, identification and prediction vehicle and environmental information, then based on economy, safety, traveling comfort and driving performance are formulated vehicle desired motion track and demand power, calculate the control command of each assembly parts in real time, and, guarantee that vehicle always works in optimum state by each Parts Controller of control; This power system comprises four drive motor and electrokinetic cell, is used for producing corresponding power and output according to the control command that vehicle control system sends; To wheel, move by drive wheels with transmission of power for this driving system; This brake system and four motors according to the vehicle control system instruction, are carried out braking instruction, and vehicle is braked; Steering swivel system will be controlled front wheel steering angle according to the vehicle control system instruction.
2, structure according to claim 1 is characterized in that, described external environment condition and vehicle attitude sensory perceptual system comprise the radar that links to each other with the CAN bus respectively and treater, navigationsystem and treater, camera and treater, vehicle attitude sensor; Described radar and treater are installed in the head of car, are used to gather from car and the relative distance of front truck and the real time data of the relative speed of a motor vehicle; Described camera and treater are installed on vehicle head and afterbody, be used to gather the external environment condition image and it is carried out binary conversion treatment, obtain lane mark and other track information of vehicles; Described navigationsystem and treater are installed in the operator's compartment, and current vehicle geographic position and altitude information are provided; Described vehicle attitude sensor is installed on the vehicle middle part, so that Vehicular yaw cireular frequency and vehicle lateral acceleration to be provided.
3, structure as claimed in claim 1 or 2 is characterized in that described drive motor links to each other by the high pressure wire harness with electrokinetic cell, provides electric power by electrokinetic cell; These four drive motor are connected with four wheels respectively by speed reduction gearing machinery, and the output torque of drive motor exports wheel to powered vehicle by speed reduction gearing and transmission shaft.
As structure as described in the claim 3, it is characterized in that 4, described brake system adopts electric control braking mechanism; According to the braking instruction of vehicle control device, utilize this electric control braking mechanism and described 4 drive motor co-ordinations to brake; This electric control braking mechanism is connected to four wheels by actuating unit, carries out brake operating by brake-power control, and described 4 drive motor carry out brake operating by the motor resisting moment is provided.
As structure as described in the claim 3, it is characterized in that 5, described vehicle control system comprises respectively by CAN bus bonded assembly entire car controller, by the EBS controller, AFS controller, electrokinetic cell controller, four Parts Controllers that electric machine controller is formed; This EBS controller links to each other with the EBS of electric control braking mechanism, and the EBS controller is braked according to entire car controller braking instruction control EBS; This AFS controller links to each other with the front-wheel active steering AFS of mechanism, and the AFS controller carries out the operation of front-wheel active steering according to entire car controller steering order control AFS; These four drive motor controller link to each other with four drive motor respectively; 4 drive motor controller are carried out corresponding torque command according to the control command of entire car controller; This electrokinetic cell controller links to each other with electrokinetic cell, and the electrokinetic cell controller detects the electrokinetic cell state, and electrokinetic cell information is sent on the CAN in real time.
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| CNA200810222806XA CN101353011A (en) | 2008-09-19 | 2008-09-19 | Intelligent full-wheel electric drive automobile structure |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102649394A (en) * | 2012-04-18 | 2012-08-29 | 西北农林科技大学 | Electric tractor |
| CN102968107A (en) * | 2012-11-28 | 2013-03-13 | 北京理工大学 | Method and system for remotely monitoring electric vehicle |
| CN103448569A (en) * | 2013-09-04 | 2013-12-18 | 第一拖拉机股份有限公司 | Electric driving tractor |
| CN105620474A (en) * | 2016-01-26 | 2016-06-01 | 吉林大学 | Active obstacle avoiding method for four-wheel hub drive electric automobile with multiple modes |
| CN105691241A (en) * | 2014-12-16 | 2016-06-22 | 比亚迪股份有限公司 | Electric vehicle, active safety control system for electric vehicle and control method for active safety control system |
| CN105818806A (en) * | 2016-05-24 | 2016-08-03 | 安徽机电职业技术学院 | Intelligent assisting driving automobile |
| CN106143135A (en) * | 2016-07-04 | 2016-11-23 | 清华大学 | The four-wheel independent steering independent drive vehicles control system of theory is driven based on intuition |
| CN106671762A (en) * | 2016-12-19 | 2017-05-17 | 北京理工大学 | Distributed drive pure electric automobile |
| CN108583476A (en) * | 2018-05-22 | 2018-09-28 | 中国重汽集团成都王牌商用车有限公司 | A kind of CAN bus communication assembling system |
| CN108657150A (en) * | 2018-07-21 | 2018-10-16 | 华东交通大学 | A kind of electric vehicle brake control system with active safety |
| CN109094558A (en) * | 2018-09-29 | 2018-12-28 | 重庆长安汽车股份有限公司 | A kind of pure electric vehicle and its anti-collision system and avoiding collision |
| CN109960196A (en) * | 2019-03-08 | 2019-07-02 | 苏州工业园区职业技术学院 | A kind of hybrid operating system of intelligent network electric car |
| CN110356250A (en) * | 2019-07-25 | 2019-10-22 | 北京智行者科技有限公司 | The motor control method and system of automatic driving vehicle |
| CN110843757A (en) * | 2019-10-16 | 2020-02-28 | 武汉客车制造股份有限公司 | Vehicle control method and device capable of recognizing posture of whole vehicle |
| CN111886170A (en) * | 2018-03-28 | 2020-11-03 | 日立汽车系统株式会社 | Vehicle control device |
| CN112776816A (en) * | 2019-11-11 | 2021-05-11 | 本田技研工业株式会社 | Vehicle control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102649394A (en) * | 2012-04-18 | 2012-08-29 | 西北农林科技大学 | Electric tractor |
| CN102968107A (en) * | 2012-11-28 | 2013-03-13 | 北京理工大学 | Method and system for remotely monitoring electric vehicle |
| CN103448569A (en) * | 2013-09-04 | 2013-12-18 | 第一拖拉机股份有限公司 | Electric driving tractor |
| CN103448569B (en) * | 2013-09-04 | 2016-01-20 | 第一拖拉机股份有限公司 | Electric tractor |
| US10343525B2 (en) | 2014-12-16 | 2019-07-09 | Byd Company Limited | Electric vehicle, active safety control system for electric vehicle, and control method for active safety control system of electric vehicle |
| CN105691241A (en) * | 2014-12-16 | 2016-06-22 | 比亚迪股份有限公司 | Electric vehicle, active safety control system for electric vehicle and control method for active safety control system |
| WO2016095825A1 (en) * | 2014-12-16 | 2016-06-23 | 比亚迪股份有限公司 | Electric vehicle, and active safety control system for electric vehicle and control method therefor |
| CN105691241B (en) * | 2014-12-16 | 2019-01-11 | 比亚迪股份有限公司 | The active safety control system and its control method of electric vehicle, electric vehicle |
| CN105620474A (en) * | 2016-01-26 | 2016-06-01 | 吉林大学 | Active obstacle avoiding method for four-wheel hub drive electric automobile with multiple modes |
| CN105620474B (en) * | 2016-01-26 | 2019-02-19 | 吉林大学 | A kind of four-wheel wheel hub driving electric car active barrier-avoiding method with multi-mode |
| CN105818806A (en) * | 2016-05-24 | 2016-08-03 | 安徽机电职业技术学院 | Intelligent assisting driving automobile |
| CN106143135B (en) * | 2016-07-04 | 2018-08-28 | 清华大学 | The four-wheel independent steering independent drive vehicles control system of theory is driven based on intuition |
| CN106143135A (en) * | 2016-07-04 | 2016-11-23 | 清华大学 | The four-wheel independent steering independent drive vehicles control system of theory is driven based on intuition |
| CN106671762A (en) * | 2016-12-19 | 2017-05-17 | 北京理工大学 | Distributed drive pure electric automobile |
| CN106671762B (en) * | 2016-12-19 | 2024-02-09 | 北京理工大学 | Pure electric vehicle driven in distributed mode |
| CN111886170B (en) * | 2018-03-28 | 2023-09-15 | 日立安斯泰莫株式会社 | vehicle control device |
| CN111886170A (en) * | 2018-03-28 | 2020-11-03 | 日立汽车系统株式会社 | Vehicle control device |
| CN108583476A (en) * | 2018-05-22 | 2018-09-28 | 中国重汽集团成都王牌商用车有限公司 | A kind of CAN bus communication assembling system |
| CN108657150A (en) * | 2018-07-21 | 2018-10-16 | 华东交通大学 | A kind of electric vehicle brake control system with active safety |
| CN109094558A (en) * | 2018-09-29 | 2018-12-28 | 重庆长安汽车股份有限公司 | A kind of pure electric vehicle and its anti-collision system and avoiding collision |
| CN109960196A (en) * | 2019-03-08 | 2019-07-02 | 苏州工业园区职业技术学院 | A kind of hybrid operating system of intelligent network electric car |
| CN110356250A (en) * | 2019-07-25 | 2019-10-22 | 北京智行者科技有限公司 | The motor control method and system of automatic driving vehicle |
| CN110356250B (en) * | 2019-07-25 | 2021-06-29 | 北京智行者科技有限公司 | Motor control method and system for unmanned vehicle |
| CN110843757A (en) * | 2019-10-16 | 2020-02-28 | 武汉客车制造股份有限公司 | Vehicle control method and device capable of recognizing posture of whole vehicle |
| CN112776816A (en) * | 2019-11-11 | 2021-05-11 | 本田技研工业株式会社 | Vehicle control system |
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