CN101596901A - A kind of safety monitoring system of electronlmobil and method for supervising thereof - Google Patents
A kind of safety monitoring system of electronlmobil and method for supervising thereof Download PDFInfo
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- CN101596901A CN101596901A CNA200910040978XA CN200910040978A CN101596901A CN 101596901 A CN101596901 A CN 101596901A CN A200910040978X A CNA200910040978X A CN A200910040978XA CN 200910040978 A CN200910040978 A CN 200910040978A CN 101596901 A CN101596901 A CN 101596901A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000853 adhesive Substances 0.000 description 5
- 230000001070 adhesive effect Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
- PICXIOQBANWBIZ-UHFFFAOYSA-N zinc;1-oxidopyridine-2-thione Chemical class [Zn+2].[O-]N1C=CC=CC1=S.[O-]N1C=CC=CC1=S PICXIOQBANWBIZ-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/04—Cutting off the power supply under fault conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The objective of the invention is to propose a kind of safety monitoring system and method for supervising thereof of electronlmobil, this safety monitoring system comprises a security monitor, security monitor receives the accelerator pedal position sensor of automobile, motor speed sensor, motor bus voltage sensor, the signal of motor current sensor, and output control signals to the control pin that enables a pin and a switch circuit of motor driver respectively, be serially connected with the switch of a controlled pin signal control between the input pin of described switch circuit and the output pin, the input pin of switch circuit and output pin are serially connected in the input circuit of the relay of controlling electrokinetic cell power circuit break-make.Security monitor draws the demand torque of automobile or the moment of torsion or the power of power and automobile real output according to information such as accelerator pedal position, motor speed, motor bus voltage and current of electric, and when the moment of torsion of automobile or power exceed demand, close drive motor and disconnect the power circuit of electrokinetic cell, guarantee the safety of automobile.
Description
Technical field
The invention belongs to the Control of Electric Vehicles field, be specially the technical field of electronlmobil secure context.
Background technology
Energy shock and ecological deterioration have become the key factor of restriction global evolution, and the automobile of research energy-saving and environmental protection is one of effective means of alleviating energy pressure, reduction environmental pollution.Compare with traditional diesel locomotive or hybrid vehicle, electronlmobil adopts driven by power, the purpose that can reach emission abatement, cuts down the consumption of energy.Because battery-driven car adopts high-tension battery as all or part of propulsion source, there are some potential safety hazards, such as causing Motor torque or power surge because of software error, mistake, electromagnetic interference, hardware damage etc., the degree of demand head and shoulders above, if untimely eliminating may cause serious consequences such as battery damage even motor and circuit spontaneous combustion.
Summary of the invention
First purpose of the present invention is the safety monitoring system that proposes a kind of electronlmobil, this safety monitoring system can be monitored the demand torque of automobile or the moment of torsion or the power of power and automobile real output in real time, and when the moment of torsion of automobile or power exceed demand disable motor and disconnect the power circuit of electrokinetic cell, prevent to cause serious consequence.
The safety monitoring system of electronlmobil of the present invention comprises a security monitor, described security monitor receives the accelerator pedal position sensor of automobile, motor speed sensor, motor bus voltage sensor, the signal of motor current sensor, and output control signals to the control pin that enables a pin and a switch circuit of motor driver respectively, be serially connected with the switch of a controlled pin signal control between the input pin of described switch circuit and the output pin, the input pin of switch circuit and output pin are serially connected in the input circuit of the relay of controlling electrokinetic cell power circuit break-make.
Security monitor draws the demand torque of automobile or the moment of torsion or the power of power and automobile real output according to the information such as accelerator pedal position, motor speed, motor bus voltage and current of electric of automobile, and when exceeding demand, Motor torque or power sends signal to motor driver be serially connected in relay on the electrokinetic cell power circuit, disable motor and by disconnecting the power circuit that relay disconnects electrokinetic cell.
Described security monitor is connected with the control pin that enables pin and described switch circuit of described motor driver by an impact switch, and described impact switch is controlled by a crash sensor.When automobile bumped, crash sensor disconnected impact switch, thereby closed drive motor and disconnect the power circuit of electrokinetic cell, in order to avoid cause serious consequence.
Above-mentioned security monitor can be micro controller system, and volume is little, cost is low.
Second purpose of the present invention is the method for supervising that proposes above-mentioned safety monitoring system.
First kind of method for supervising comprises the steps: A: security monitor is gathered the signal of accelerator pedal position sensor and motor speed sensor, and draws the requested torque of chaufeur by tabling look-up; B: security monitor is gathered motor drive current by motor current sensor, by motor bus voltage sensor acquisition motor bus voltage, gather motor speed by motor speed sensor, and draw the real output moment of torsion of drive motor according to the motor drive current that collects, motor bus voltage, motor speed; C: security monitor compares the requested torque of chaufeur and the real output moment of torsion of drive motor, when the real output moment of torsion of drive motor during greater than the requested torque of chaufeur, security monitor disable motor actuator, the power circuit of disconnection electrokinetic cell.
In the above-mentioned B step, the real output moment of torsion of drive motor draws like this: security monitor is at first calculated the value of motor drive current * motor bus voltage * electrical efficiency, draw the real output moment of torsion of cooresponding drive motor at this moment by tabling look-up according to product and motor speed then, wherein said electrical efficiency obtains by tabling look-up.
In addition, when crash sensor detected automobile and bumps, the control impact switch disconnected, thereby the disable motor actuator disconnects the power circuit of electrokinetic cell.
Second kind of method for supervising comprises the steps: A: security monitor is gathered the signal and the motor speed of accelerator pedal position sensor, and draws the request power of chaufeur by tabling look-up; B: security monitor is gathered motor drive current by motor current sensor, by motor bus voltage sensor acquisition motor bus voltage, gather motor speed by motor speed sensor, and draw the real output of drive motor according to the motor drive current that collects, motor bus voltage, motor speed; C: security monitor compares the request power of chaufeur and the real output of drive motor, when the real output of drive motor during greater than the request power of chaufeur, security monitor disable motor actuator, the power circuit of disconnection electrokinetic cell.
In the above-mentioned B step, the real output=motor drive current of drive motor * motor bus voltage * electrical efficiency, wherein electrical efficiency obtains by tabling look-up.
In addition, when crash sensor detected automobile and bumps, the control impact switch disconnected, thereby the disable motor actuator disconnects the power circuit of electrokinetic cell.
The present invention proposes a kind of safety monitoring system and method for supervising thereof of electronlmobil, security monitor is by monitoring key components and parts such as car acceleration pedal, drive motor, can effectively avoid because of the power or the moment of torsion of motor uprush, exceed demand the potential safety hazard that may bring, measures when also having increased auto against has guaranteed the safety of electronlmobil.
Description of drawings
Fig. 1 is the constructional drawing of safety monitoring system of the electronlmobil of embodiment 1;
Fig. 2 is the switch circuit among Fig. 1 and the connection diagram of relay.
The specific embodiment
Describe the present invention in detail below in conjunction with specific embodiments and the drawings.
Embodiment 1:
As shown in Figure 1, the safety monitoring system of the electronlmobil of present embodiment comprises a security monitor 1, the signal of the accelerator pedal position sensor 5 of described security monitor 1 reception automobile, motor speed sensor 7, motor bus voltage sensor 8, motor current sensor 6, and output control signals to the control pin that enables a pin and a switch circuit 12 of motor driver 3 respectively by an impact switch 2, described impact switch 2 is connected with crash sensor 10, and is subjected to crash sensor 10 controls.The input pin of switch circuit 12 and output pin are serially connected in the input circuit of relay 4 of control electrokinetic cell 11 power circuit break-makes (figure first heavy line is represented the power circuit of electrokinetic cell).Above-mentioned motor speed sensor 7, motor bus voltage sensor 8, motor current sensor 6, motor driver 3 link to each other with drive motor 9 respectively.
As shown in Figure 2, described switch circuit 12 comprises a relay R L1, the input end of relay R L1 (being pin 1) is as the control pin of switch circuit 12, link to each other with impact switch by resistance R 1, another input end (being pin 2) ground connection when the impact switch input high level, just has electric current to pass through like this in the resistance R 1, make relay R L1 adhesive, wherein resistance R 1 plays metering function.The mouth of relay R L1 (being pin 4) is connected as the input circuit of the input pin and the relay 4 (being RL2) of switch circuit 12, another mouth (being pin 3) is connected with an input end of relay 4 (being pin 2) as the output pin of switch circuit 12, another input end of relay 4 (being pin 1) is connected to input circuit, two mouths of relay 4 (are pin 3,4) be serially connected in the power circuit of electrokinetic cell, have only after relay R L1 adhesive, the input circuit ability conducting of relay 4, if have electric current in the input circuit this moment, relay 4 is promptly by adhesive; After relay R L1 disconnects, there is not electric current to pass through in the input circuit of relay 4, relay 4 also is disconnected.
Concrete control method can followingly be provided with: impact switch 2 has only when automobile bumps for normally closed switch, and crash sensor 10 just can be controlled impact switch 2 and disconnect; In addition, security monitor 1 is under normal circumstances sent default level signal to the control pin that enables pin and switch circuit 12 of motor driver 3 respectively by impact switch 2, it for example is the high level signal of 5V, make relay R L1 adhesive, the input circuit conducting of relay 4, relay 4 just can adhesive under the control of entire car controller like this, drive motor 9 just can be under the control of entire car controller normal operation; Behind something unexpected happened, security monitor 1 is sent low level signal (for example signal of 0V) to motor driver 3 and relay 4 respectively by impact switch 2, perhaps impact switch 2 disconnects, so just make the control pin that enables pin and switch circuit 12 of motor driver 3 can't receive default high level signal again, motor driver 3 will be closed drive motor 9, relay R L1 disconnects simultaneously, the input circuit of relay 4 disconnects, make relay 4 also disconnect, thereby disconnect the power circuit of electrokinetic cell 11.
The method for supervising of the safety monitoring system of above-mentioned electronlmobil comprises the steps:
A: security monitor 1 is gathered the signal of accelerator pedal position sensor 5 and motor speed sensor 7, and by looking into＜accelerator pedal position-motor speed table-vehicle torsional moment〉table draws the requested torque of chaufeur, above-mentioned＜accelerator pedal position-motor speed table-vehicle torsional moment〉table for automobile dispatch from the factory before technical personnel draw and be pre-stored in the form of interior reflection motor speed, accelerator pedal position and vehicle torsional moment relation of security monitor 1 according to test, in general, the distance stepped on of vehicle torsional moment and motor speed, acceleration pedal becomes to be similar to the relation of direct ratio;
B: security monitor 1 is gathered motor drive current by motor current sensor 6, gather the motor bus voltage by motor bus voltage sensor 8, gather motor speed by motor speed sensor 7, and draw the real output moment of torsion of drive motor 9 according to the motor drive current that collects, motor bus voltage, motor speed;
C: security monitor 1 compares the requested torque of chaufeur and the real output moment of torsion of drive motor 9, when the requested torque of chaufeur during less than the real output moment of torsion of drive motor 9, security monitor 1 disable motor actuator 3, thereby close drive motor 9, and control relay 4 disconnections, thereby the power circuit of disconnection electrokinetic cell 11.
In the above-mentioned B step, the real output moment of torsion of drive motor draws like this: security monitor 1 is at first calculated the value of motor drive current * motor bus voltage * electrical efficiency, then according to product and motor speed by looking into＜motor horsepower output-motor speed-motor output torque table draws the real output moment of torsion of cooresponding drive motor 9 this moment, above-mentioned＜motor horsepower output-motor speed-the motor output torque〉table for automobile dispatch from the factory before technical personnel draw and be pre-stored in the interior reflection motor speed of security monitor 1 according to test, the form of horsepower output and motor output torque relation, in general, motor output torque and motor speed, horsepower output becomes the relation of approximate direct ratio; Electrical efficiency is by looking into＜motor speed-electrical efficiency〉show to obtain, above-mentioned＜motor speed-electrical efficiency〉table for automobile dispatch from the factory before technical personnel draw and be pre-stored in the interior reflection motor speed of security monitor 1 and the form of electrical efficiency relation according to test, motor speed is different and different because of motor with the relation of electrical efficiency.
In addition, when crash sensor 10 detected automobile and bumps, control impact switch 2 disconnected, and motor driver 3 is closed, thereby close drive motor 9; And make relay 4 disconnect, thereby disconnect the power circuit of electrokinetic cell 11.
Embodiment 2:
Different with the foregoing description is that the method for supervising of present embodiment comprises the steps:
A: security monitor 1 is gathered the signal and the motor speed of accelerator pedal position sensor 5, and by looking into＜accelerator pedal position-motor speed-power of motor〉table draws the request power of chaufeur, above-mentioned＜accelerator pedal position-motor speed-power of motor〉table for automobile dispatch from the factory before technical personnel draw and be pre-stored in the form of interior reflection accelerator pedal position, motor speed and power of motor relation of security monitor 1 according to test, in general, the distance stepped on of acceleration pedal and the product of motor speed become to be similar to the relation of direct ratio with the power of motor;
B: security monitor 1 is gathered motor drive current by motor current sensor 6, gather the motor bus voltage by motor bus voltage sensor 8, gather motor speed by motor speed sensor 7, and draw the real output of drive motor according to the motor drive current that collects, motor bus voltage, motor speed;
C: security monitor 1 compares the request power of chaufeur and the real output of drive motor 9, when the request power of chaufeur during less than the real output of drive motor 9, security monitor 1 disable motor actuator 3, thereby close drive motor 9, and control relay 4 disconnections, thereby the power circuit of disconnection electrokinetic cell 11.
In the above-mentioned B step, real output=the motor drive current of drive motor 9 * motor bus voltage * electrical efficiency, wherein electrical efficiency is by looking into＜motor speed-electrical efficiency〉show to obtain, above-mentioned＜motor speed-electrical efficiency〉table for automobile dispatch from the factory before technical personnel draw and be pre-stored in the interior reflection motor speed of security monitor 1 and the form of electrical efficiency relation according to test, motor speed is different and different because of motor with the relation of electrical efficiency.
In addition, when crash sensor 10 detected automobile and bumps, control impact switch 2 disconnected, and motor driver 3 is closed, thereby close drive motor 9; And make relay 4 disconnect, thereby disconnect the power circuit of electrokinetic cell 11.
Claims (8)
1, a kind of safety monitoring system of electronlmobil, it is characterized in that this safety monitoring system comprises a security monitor, described security monitor receives the accelerator pedal position sensor of automobile, motor speed sensor, motor bus voltage sensor, the signal of motor current sensor, and output control signals to the control pin that enables a pin and a switch circuit of motor driver respectively, be serially connected with the switch of a controlled pin signal control between the input pin of described switch circuit and the output pin, the input pin of switch circuit and output pin are serially connected in the input circuit of the relay of controlling electrokinetic cell power circuit break-make.
2, the safety monitoring system of electronlmobil according to claim 1, it is characterized in that described security monitor is connected with the control pin that enables pin and described switch circuit of described motor driver by an impact switch, described impact switch is controlled by a crash sensor.
3, a kind of method for supervising of electronlmobil safety monitoring system is characterized in that comprising following step:
A: security monitor is gathered the signal of accelerator pedal position sensor and motor speed sensor, and draws the requested torque of chaufeur by tabling look-up;
B: security monitor is gathered motor drive current by motor current sensor, by motor bus voltage sensor acquisition motor bus voltage, gather motor speed by motor speed sensor, and draw the real output moment of torsion of drive motor according to the motor drive current that collects, motor bus voltage, motor speed;
C: security monitor compares the requested torque of chaufeur and the real output moment of torsion of drive motor, when the real output moment of torsion of drive motor during greater than the requested torque of chaufeur, security monitor disable motor actuator, the power circuit of disconnection electrokinetic cell.
4, the method for supervising of electronlmobil safety monitoring system according to claim 3, it is characterized in that in the described B step, the real output moment of torsion of drive motor draws like this: security monitor is at first calculated the value of motor drive current * motor bus voltage * electrical efficiency, draw the real output moment of torsion of cooresponding drive motor at this moment by tabling look-up according to product and motor speed then, wherein said electrical efficiency obtains by tabling look-up.
5,, it is characterized in that when crash sensor detects automobile and bumps the control impact switch disconnects, thereby the disable motor actuator disconnects the power circuit of electrokinetic cell according to the method for supervising of claim 3 or 4 described electronlmobil safety monitoring systems.
6, a kind of method for supervising of electronlmobil safety monitoring system is characterized in that comprising following step:
A: security monitor is gathered the signal and the motor speed of accelerator pedal position sensor, and draws the request power of chaufeur by tabling look-up;
B: security monitor is gathered motor drive current by motor current sensor, by motor bus voltage sensor acquisition motor bus voltage, gather motor speed by motor speed sensor, and draw the real output of drive motor according to the motor drive current that collects, motor bus voltage, motor speed;
C: security monitor compares the request power of chaufeur and the real output of drive motor, when the real output of drive motor during greater than the request power of chaufeur, security monitor disable motor actuator, the power circuit of disconnection electrokinetic cell.
7, the method for supervising of electronlmobil safety monitoring system according to claim 6, it is characterized in that in the described B step, real output=the motor drive current of drive motor * motor bus voltage * electrical efficiency, wherein electrical efficiency obtains by tabling look-up.
8,, it is characterized in that when crash sensor detects automobile and bumps the control impact switch disconnects, thereby the disable motor actuator disconnects the power circuit of electrokinetic cell according to the method for supervising of claim 6 or 7 described electronlmobil safety monitoring systems.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910040978.XA CN101596901B (en) | 2009-07-08 | 2009-07-08 | Security monitoring system of electric vehicle |
| PCT/CN2010/073486 WO2011003311A1 (en) | 2009-07-08 | 2010-06-03 | Security monitoring system for electric vehicle and monitoring method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910040978.XA CN101596901B (en) | 2009-07-08 | 2009-07-08 | Security monitoring system of electric vehicle |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103151813A Division CN102431457A (en) | 2009-07-08 | 2009-07-08 | Monitoring method of safety monitoring system of electric automobile |
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| Publication Number | Publication Date |
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| CN101596901A true CN101596901A (en) | 2009-12-09 |
| CN101596901B CN101596901B (en) | 2014-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200910040978.XA Active CN101596901B (en) | 2009-07-08 | 2009-07-08 | Security monitoring system of electric vehicle |
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| CN (1) | CN101596901B (en) |
| WO (1) | WO2011003311A1 (en) |
Cited By (23)
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| CN101934743A (en) * | 2010-09-30 | 2011-01-05 | 重庆长安汽车股份有限公司 | Pure electric vehicle torque safety on-line monitoring method |
| WO2011003311A1 (en) * | 2009-07-08 | 2011-01-13 | 芜湖普威技研有限公司 | Security monitoring system for electric vehicle and monitoring method thereof |
| CN102248941A (en) * | 2010-05-20 | 2011-11-23 | 开斋集团有限公司 | Method and system for controlling vehicle |
| CN102416875A (en) * | 2010-05-13 | 2012-04-18 | 科达汽车公司 | Battery disconnection in electric vehicles |
| CN102514493A (en) * | 2011-12-16 | 2012-06-27 | 奇瑞汽车股份有限公司 | Safe torque monitoring method for electric vehicle |
| CN102564668A (en) * | 2010-09-28 | 2012-07-11 | 通用汽车环球科技运作有限责任公司 | Position determination of rotational sensor and method for determining torque |
| CN102705506A (en) * | 2010-09-28 | 2012-10-03 | 通用汽车环球科技运作有限责任公司 | Method for detecting powertrain torque output |
| CN102756667A (en) * | 2011-04-26 | 2012-10-31 | 长春易控汽车电子有限公司 | Torque control method of electric vehicle |
| CN103332118A (en) * | 2013-06-05 | 2013-10-02 | 奇瑞汽车股份有限公司 | Monitoring method of vehicle control unit of battery electric vehicle |
| CN103625306A (en) * | 2012-08-20 | 2014-03-12 | 北汽福田汽车股份有限公司 | Torque monitoring system of electric vehicle |
| CN104276043A (en) * | 2013-07-03 | 2015-01-14 | 东莞钜威新能源有限公司 | Vehicle collision protection system |
| CN104590267A (en) * | 2014-12-19 | 2015-05-06 | 北京新能源汽车股份有限公司 | Torque safety control method of new energy automobile |
| CN104773166A (en) * | 2015-03-26 | 2015-07-15 | 奇瑞汽车股份有限公司 | Safety monitoring method and equipment for hybrid electric vehicle |
| CN105021333A (en) * | 2015-07-09 | 2015-11-04 | 江苏省电力公司连云港供电公司 | Device and method for testing torque of mechanical arm for maintenance of power distribution network |
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| CN107878258A (en) * | 2017-09-22 | 2018-04-06 | 简式国际汽车设计（北京）有限公司 | The vehicle travel control method and device of a kind of pure electric automobile |
| CN109940289A (en) * | 2019-04-09 | 2019-06-28 | 奔腾激光(温州)有限公司 | 3D laser cutting system with speed safety monitoring |
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| CN110816298A (en) * | 2019-11-22 | 2020-02-21 | 上海元城汽车技术有限公司 | Electric automobile safety monitoring method and device, storage medium and automobile |
| CN111516496A (en) * | 2020-03-24 | 2020-08-11 | 浙江合众新能源汽车有限公司 | Drive motor casing collision monitoring system and vehicle applying same |
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