CN102729838A - Car slip prevention control system and control system for ramp-way stop of no-obliquity sensor electro-mobile - Google Patents
Car slip prevention control system and control system for ramp-way stop of no-obliquity sensor electro-mobile Download PDFInfo
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- CN102729838A CN102729838A CN2012102367016A CN201210236701A CN102729838A CN 102729838 A CN102729838 A CN 102729838A CN 2012102367016 A CN2012102367016 A CN 2012102367016A CN 201210236701 A CN201210236701 A CN 201210236701A CN 102729838 A CN102729838 A CN 102729838A
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Abstract
The invention relates to a car slip prevention control system for the ramp-way stop of a no-obliquity sensor electro-mobile. An accelerator pedal signal acquisition device, a brake pedal signal acquisition device and a shift knob signal acquisition device are electrically connected with a vehicle controller; the vehicle controller is in circuit connection with a motor by a motor controller; and a motor rotation speed detector and the motor are coordinately arranged, are used for detecting the rotation speed of the motor and are in circuit connection with the motor controller. Preferably, the car slip prevention control system further comprises a direct-current power supply and a power unit; the direct-current power supply is in circuit connection with the motor by the power unit; the motor controller is in circuit connection with the power unit; the car slip prevention control system further comprises a current detection device; and the power unit is in circuit connection with the motor by the current detection device. The invention also provides a related car control method. The car slip prevention control system for the ramp-way stop of the no-obliquity sensor electro-mobile is of novel design and simple structure, responds in time, is easily carried out and is suitable for large-scale popularization and application.
Description
Technical field
The present invention relates to the control system of electric automobile technical field, particularly the electric automobile motor drive system technical field is meant that specifically a kind of aclinal sensor electrical electrical automobile ramp is in sloping anti-running control system and control method.
Background technology
The electronlmobil noise is little, zero-emission, comfortable clean, easy operating and maintenance; Be automobile realize automation, intelligent development must be through approach; Being the basic selection of the auto-industry strategy of sustainable development, also is to replace 21 century of generally acknowledging in the world fuel-engined vehicle the most desirable, green traffic instrument the most likely.
Automobile is on the ramp time, and under the effect of gravity, automobile has the trend of downslide.Common manual fuel-engined vehicle, from stepping on power-transfer clutch, loosen the brake in the time of the pedal of stepping on the throttle, automobile is in the forfeiture dynamic regime, and the sloping phenomenon of slide very easily takes place, and vehicle driving safety is caused great harm; For the automatic transmission fuel-engined vehicle, if stay sloping ancillary system, when D shelves loosen the brake, still can be owing to the sloping phenomenon of slide appears under power.
Because motor also can be exported maximum torque when stall, so electronlmobil can realize that the ramp is anti-slip back in the slope through motor.But because present electronlmobil realizes that by motor it mainly is to calculate gradient resistance through the ramp sensor that the slope is stayed in the ramp, thereby output torque and load torque balance realize the ramp Parking.But the method needs additive incrementation ramp sensor, increases cost, complex structure.
Therefore, need provide a kind of electronlmobil ramp to stay sloping anti-running control system, timely, simple for structure, the easy enforcement of its response.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art; Provide a kind of aclinal sensor electrical electrical automobile ramp to stay sloping anti-running control system and control method; It is ingenious, simple for structure that sloping anti-running Control System Design is stayed in this aclinal sensor electrical electrical automobile ramp, and response in time; Implement easily, be suitable for large-scale promotion application.
To achieve these goals; Sloping anti-running control system is stayed in aclinal sensor electrical electrical automobile of the present invention ramp; Be characterized in; Comprise entire car controller, accelerator pedal signal harvester, brake pedal signal pickup assembly, gear shifting handle signal pickup assembly, electric machine controller, motor and motor speed detecting device; Said accelerator pedal signal harvester, said brake pedal signal pickup assembly and the equal circuit of said gear shifting handle signal pickup assembly are connected said entire car controller; Said entire car controller connects said motor through said electric machine controller circuit, and said motor speed detecting device and said motor are equipped with the motor speed and the circuit that are used to detect said motor and are connected said electric machine controller.
Preferable, said aclinal sensor electrical electrical automobile ramp is stayed sloping anti-running control system and is also comprised direct supply and power cell, and said direct supply connects said motor through said power cell circuit, and said electric machine controller circuit connects said power cell.
Better; Said aclinal sensor electrical electrical automobile ramp is stayed sloping anti-running control system and is also comprised current sensing means; Said power cell connects said motor through said current sensing means circuit, and said electric machine controller circuit connects said current sensing means.
Further, said current sensing means is a current sensor.
Better, said direct supply is a battery.
Preferable, said motor speed detecting device is a position transduser.
Preferable, said entire car controller has a CAN communication module, and said electric machine controller has the 2nd CAN communication module, and a said CAN communication module is connected with said the 2nd CAN communication module circuit.
In second aspect of the present invention, provide a kind of electronlmobil ramp of adopting above-mentioned aclinal sensor electrical electrical automobile ramp to stay sloping anti-running control system realization to stay sloping anti-running control method, be characterized in, may further comprise the steps:
(1) gathers accelerator pedal signal through said accelerator pedal signal harvester; Gather the brake pedal signal through said brake pedal signal pickup assembly; Gather the gear shifting handle signal through said gear shifting handle signal pickup assembly; Said accelerator pedal signal, said brake pedal signal and said gear shifting handle signal send to said electric machine controller through said entire car controller, detect said motor speed and send to said electric machine controller through said motor speed detecting device;
(2) said electric machine controller judges according to said accelerator pedal signal, said brake pedal signal, said gear shifting handle signal and said motor speed whether effective stay sloping function on instructs:
If said gear shifting handle signal indicating gear shifting handle is positioned at the D shelves, said accelerator pedal signal shows that Das Gaspedal is invalid, and the invalid and said motor speed of said brake pedal signal indicating brake pedal is not more than setting value, then stays sloping function on instruction effectively;
If said gear shifting handle signal indicating gear shifting handle is not in the D shelves, said accelerator pedal signal shows that Das Gaspedal is effective, and the effective or said motor speed of said brake pedal signal indicating brake pedal is then stayed sloping function on instruction ignore greater than setting value;
(3) instruct when effective when staying sloping function on, said electric machine controller output control signal controls that said motor gets into the rotating speed pattern and rotating speed of target is 0, and putting simultaneously and staying sloping function on mode bit is 1, realizes the ramp Parking;
(4) when staying sloping function on instruction ignore, cancellation ramp Parking.
Preferable, in said step (4), be 0 if stay sloping function on mode bit, said electric machine controller output control signal is controlled said motor and is got into torque mode, responds the torque instruction of said entire car controller; If staying sloping function on mode bit is 1, then carry out following steps:
(41) when said gear shifting handle signal indicating gear shifting handle is in D shelves and said accelerator pedal signal and shows that Das Gaspedal is effective; Said electric machine controller output control signal is controlled said motor and is got into torque mode; Respond the torque instruction of said entire car controller, and put that to stay sloping function on mode bit be 0;
(42) when said gear shifting handle signal indicating gear shifting handle is not in D shelves or said accelerator pedal signal and shows that Das Gaspedal is invalid; Said electric machine controller output control signal is controlled said motor freedom of entry pattern; When torque reduces to 0; Said electric machine controller output control signal is controlled said motor and is got into torque mode, responds the torque instruction of said entire car controller, and puts that to stay sloping function on mode bit be 0.
Better; Said aclinal sensor electrical electrical automobile ramp is stayed sloping anti-running control system and is also comprised direct supply and power cell; Said direct supply connects said motor through said power cell circuit; Said electric machine controller circuit connects said power cell, thereby said electric machine controller output control signal controls said motor for said power cell.
Beneficial effect of the present invention specifically is: aclinal sensor electrical electrical automobile of the present invention ramp is stayed sloping anti-running control system and is comprised entire car controller, accelerator pedal signal harvester, brake pedal signal pickup assembly, gear shifting handle signal pickup assembly, electric machine controller, motor and motor speed detecting device; Said accelerator pedal signal harvester, said brake pedal signal pickup assembly and the equal circuit of said gear shifting handle signal pickup assembly are connected said entire car controller; Said entire car controller connects said motor through said electric machine controller circuit; Said motor speed detecting device and said motor are equipped with the motor speed and the circuit that are used to detect said motor and are connected said electric machine controller; Thereby said electric machine controller judges according to said accelerator pedal signal, said brake pedal signal, said gear shifting handle signal and said motor speed whether effective stay sloping function on instructs; Determine whether to carry out the ramp Parking; Design ingeniously, simple for structure, response in time; Implement easily, be suitable for large-scale promotion application.
Description of drawings
Fig. 1 is the structural representation that a specific embodiment of sloping anti-running control system is stayed in aclinal sensor electrical electrical automobile of the present invention ramp.
Fig. 2 adopts the schematic flow sheet of the electronlmobil ramp of specific embodiment realization shown in Figure 1 in sloping anti-running control method.
The specific embodiment
In order more to be expressly understood technology contents of the present invention, the special following examples of lifting specify.
See also shown in Figure 1; Aclinal sensor electrical electrical automobile of the present invention ramp is stayed sloping anti-running control system and is comprised entire car controller, accelerator pedal signal harvester, brake pedal signal pickup assembly, gear shifting handle signal pickup assembly, electric machine controller, motor 107 and motor speed detecting device 108; Said accelerator pedal signal harvester, said brake pedal signal pickup assembly and the equal circuit of said gear shifting handle signal pickup assembly are connected said entire car controller; Said entire car controller connects said motor 107 through said electric machine controller circuit, and said motor speed detecting device 108 and said motor 107 are equipped with the motor speed and the circuit that are used to detect said motor 107 and are connected said electric machine controller.
Thereby said electric machine controller circuit connects said motor 107 and controls said motor 107 and can adopt any suitable structure; See also shown in Figure 1; In specific embodiment of the present invention; Said aclinal sensor electrical electrical automobile ramp is stayed sloping anti-running control system and is also comprised direct supply 104 and power cell, and said direct supply 104 connects said motor 107 through said power cell circuit, and said electric machine controller circuit connects said power cell.Power cell (inversion unit that is made up of 6 IGBT) converts direct current (DC) into three plase alternating current, drive motor 107.
Electric machine control adopts vector controlled; It is the necessary link of vector controlled that current of electric detects; In order to form the electric machine control closed loop system, thereby the rotating speed and the torque of control motor 107 see also shown in Figure 1; In specific embodiment of the present invention; Said aclinal sensor electrical electrical automobile ramp is stayed sloping anti-running control system and is also comprised current sensing means, and said power cell connects said motor 107 through said current sensing means circuit, and said electric machine controller circuit connects said current sensing means.Electric machine controller according to signal output 6 road PWM of electric current, motor speed and entire car controller to power cell.
Said current sensing means can be any suitable components, sees also shown in Figure 1ly, and in specific embodiment of the present invention, said current sensing means is a current sensor.
Said direct supply 104 can be any suitable components, sees also shown in Figure 1ly, and in specific embodiment of the present invention, said direct supply 104 is batteries.
Said motor speed detecting device 108 can be any suitable components, sees also shown in Figure 1ly, and in specific embodiment of the present invention, said motor speed detecting device 108 is position transdusers.
In order to realize signal conveys between said entire car controller and the said electric machine controller; In specific embodiment of the present invention; Said entire car controller has a CAN communication module (not shown); Said electric machine controller has the 2nd CAN communication module (not shown), and a said CAN communication module is connected with said the 2nd CAN communication module circuit.
When the present invention uses; Said accelerator pedal signal harvester and Das Gaspedal are equipped with and are used to gather accelerator pedal signal; Said brake pedal signal pickup assembly and brake pedal are equipped with and are used to gather the brake pedal signal, and said gear shifting handle signal pickup assembly and gear shifting handle are equipped with and are used to gather the gear shifting handle signal.
See also shown in Figure 2ly, adopt above-mentioned aclinal sensor electrical electrical automobile ramp to stay the electronlmobil ramp that sloping anti-running control system realizes and stay sloping anti-running control method, may further comprise the steps:
(1) gathers accelerator pedal signal through said accelerator pedal signal harvester; Gather the brake pedal signal through said brake pedal signal pickup assembly; Gather the gear shifting handle signal through said gear shifting handle signal pickup assembly; Said accelerator pedal signal, said brake pedal signal and said gear shifting handle signal send to said electric machine controller through said entire car controller, detect said motor speed and send to said electric machine controller through said motor speed detecting device 108;
(2) said electric machine controller judges according to said accelerator pedal signal, said brake pedal signal, said gear shifting handle signal and said motor speed whether effective stay sloping function on instructs:
If said gear shifting handle signal indicating gear shifting handle is positioned at the D shelves, said accelerator pedal signal shows that Das Gaspedal is invalid, and the invalid and said motor speed of said brake pedal signal indicating brake pedal is not more than setting value, then stays sloping function on instruction effectively;
If said gear shifting handle signal indicating gear shifting handle is not in the D shelves, said accelerator pedal signal shows that Das Gaspedal is effective, and the effective or said motor speed of said brake pedal signal indicating brake pedal is then stayed sloping function on instruction ignore greater than setting value;
(3) instruct when effective when staying sloping function on, said electric machine controller output control signal controls that said motor 107 gets into the rotating speed patterns and rotating speed of target is 0 for said power cell, and putting simultaneously and staying sloping function on mode bit is 1, realizes the ramp Parking;
(4) when staying sloping function on instruction ignore, cancellation ramp Parking.
Preferable, in said step (4), be 0 if stay sloping function on mode bit, said electric machine controller output control signal is controlled said motor 107 for said power cell and is got into torque mode, responds the torque instruction of said entire car controller; If staying sloping function on mode bit is 1, then carry out following steps:
(41) when said gear shifting handle signal indicating gear shifting handle is in D shelves and said accelerator pedal signal and shows that Das Gaspedal is effective; Said electric machine controller output control signal is controlled said motor 107 for said power cell and is got into torque mode; Respond the torque instruction of said entire car controller, and put that to stay sloping function on mode bit be 0;
(42) when said gear shifting handle signal indicating gear shifting handle is not in D shelves or said accelerator pedal signal and shows that Das Gaspedal is invalid; Said electric machine controller output control signal controls said motor 107 freedom of entry patterns for said power cell; When torque reduces to 0; Said electric machine controller output control signal is controlled said motor 107 for said power cell and is got into torque modes, responds the torque instruction of said entire car controller, and puts that to stay sloping function on mode bit be 0.
Be in the R shelves for gear shifting handle, when reversing was gone up a slope, (anti-slip back) control method was identical in the slope in the ramp.
The present invention gathers accelerator pedal signal through entire car controller, brake pedal signal and gear shifting handle signal, and communicate by letter through CAN and to be sent to electric machine controller; Electric machine controller combines motor speed that motor 107 is controlled, and according to gradient size real-time regulated Parking torque, realizes that the electronlmobil ramp is in slope (anti-slip back) automatically; This strategy does not need vehicle to install ramp detecting devices such as obliquity sensor additional; Response in time, and is simple in structure, implements easily.
To sum up, it is ingenious, simple for structure that sloping anti-running Control System Design is stayed in aclinal sensor electrical electrical automobile of the present invention ramp, and response is in time implemented easily, is suitable for large-scale promotion application.
In this specification sheets, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, specification sheets and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (10)
1. sloping anti-running control system is stayed in an aclinal sensor electrical electrical automobile ramp; It is characterized in that; Comprise entire car controller, accelerator pedal signal harvester, brake pedal signal pickup assembly, gear shifting handle signal pickup assembly, electric machine controller, motor and motor speed detecting device; Said accelerator pedal signal harvester, said brake pedal signal pickup assembly and the equal circuit of said gear shifting handle signal pickup assembly are connected said entire car controller; Said entire car controller connects said motor through said electric machine controller circuit, and said motor speed detecting device and said motor are equipped with the motor speed and the circuit that are used to detect said motor and are connected said electric machine controller.
2. sloping anti-running control system is stayed in aclinal sensor electrical electrical automobile according to claim 1 ramp; It is characterized in that; Said aclinal sensor electrical electrical automobile ramp is stayed sloping anti-running control system and is also comprised direct supply and power cell; Said direct supply connects said motor through said power cell circuit, and said electric machine controller circuit connects said power cell.
3. sloping anti-running control system is stayed in aclinal sensor electrical electrical automobile according to claim 2 ramp; It is characterized in that; Said aclinal sensor electrical electrical automobile ramp is stayed sloping anti-running control system and is also comprised current sensing means; Said power cell connects said motor through said current sensing means circuit, and said electric machine controller circuit connects said current sensing means.
4. sloping anti-running control system is stayed in aclinal sensor electrical electrical automobile according to claim 3 ramp, it is characterized in that said current sensing means is a current sensor.
5. sloping anti-running control system is stayed in aclinal sensor electrical electrical automobile according to claim 2 ramp, it is characterized in that said direct supply is a battery.
6. sloping anti-running control system is stayed in aclinal sensor electrical electrical automobile according to claim 1 ramp, it is characterized in that said motor speed detecting device is a position transduser.
7. sloping anti-running control system is stayed in aclinal sensor electrical electrical automobile according to claim 1 ramp; It is characterized in that; Said entire car controller has a CAN communication module; Said electric machine controller has the 2nd CAN communication module, and a said CAN communication module is connected with said the 2nd CAN communication module circuit.
8. sloping anti-running control method is stayed in an electronlmobil ramp of adopting aclinal sensor electrical electrical automobile according to claim 1 ramp to stay sloping anti-running control system realization, it is characterized in that, may further comprise the steps:
(1) gathers accelerator pedal signal through said accelerator pedal signal harvester; Gather the brake pedal signal through said brake pedal signal pickup assembly; Gather the gear shifting handle signal through said gear shifting handle signal pickup assembly; Said accelerator pedal signal, said brake pedal signal and said gear shifting handle signal send to said electric machine controller through said entire car controller, detect said motor speed and send to said electric machine controller through said motor speed detecting device;
(2) said electric machine controller judges according to said accelerator pedal signal, said brake pedal signal, said gear shifting handle signal and said motor speed whether effective stay sloping function on instructs:
If said gear shifting handle signal indicating gear shifting handle is positioned at the D shelves, said accelerator pedal signal shows that Das Gaspedal is invalid, and the invalid and said motor speed of said brake pedal signal indicating brake pedal is not more than setting value, then stays sloping function on instruction effectively;
If said gear shifting handle signal indicating gear shifting handle is not in the D shelves, said accelerator pedal signal shows that Das Gaspedal is effective, and the effective or said motor speed of said brake pedal signal indicating brake pedal is then stayed sloping function on instruction ignore greater than setting value;
(3) instruct when effective when staying sloping function on, said electric machine controller output control signal controls that said motor gets into the rotating speed pattern and rotating speed of target is 0, and putting simultaneously and staying sloping function on mode bit is 1, realizes the ramp Parking;
(4) when staying sloping function on instruction ignore, cancellation ramp Parking.
9. sloping anti-running control method is stayed in electronlmobil according to claim 8 ramp; It is characterized in that; In said step (4); If staying sloping function on mode bit is 0, said electric machine controller output control signal is controlled said motor and is got into torque mode, responds the torque instruction of said entire car controller; If staying sloping function on mode bit is 1, then carry out following steps:
(41) when said gear shifting handle signal indicating gear shifting handle is in D shelves and said accelerator pedal signal and shows that Das Gaspedal is effective; Said electric machine controller output control signal is controlled said motor and is got into torque mode; Respond the torque instruction of said entire car controller, and put that to stay sloping function on mode bit be 0;
(42) when said gear shifting handle signal indicating gear shifting handle is not in D shelves or said accelerator pedal signal and shows that Das Gaspedal is invalid; Said electric machine controller output control signal is controlled said motor freedom of entry pattern; When torque reduces to 0; Said electric machine controller output control signal is controlled said motor and is got into torque mode, responds the torque instruction of said entire car controller, and puts that to stay sloping function on mode bit be 0.
According to Claim 8 or 9 described electronlmobil ramps stay sloping anti-running control method; It is characterized in that; Said aclinal sensor electrical electrical automobile ramp is stayed sloping anti-running control system and is also comprised direct supply and power cell; Said direct supply connects said motor through said power cell circuit, and said electric machine controller circuit connects said power cell, thereby said electric machine controller output control signal controls said motor for said power cell.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210236701.6A CN102729838B (en) | 2012-07-09 | 2012-07-09 | Car slip prevention control system and control system for ramp-way stop of no-obliquity sensor electro-mobile |
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| CN201210236701.6A CN102729838B (en) | 2012-07-09 | 2012-07-09 | Car slip prevention control system and control system for ramp-way stop of no-obliquity sensor electro-mobile |
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| CN102729838A true CN102729838A (en) | 2012-10-17 |
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| CN102897058A (en) * | 2012-10-26 | 2013-01-30 | 湖南南车时代电动汽车股份有限公司 | Slope-parking starting anti-sliding control method for pure electric motor coach |
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| CN106945569A (en) * | 2017-03-29 | 2017-07-14 | 成都雅骏新能源汽车科技股份有限公司 | A kind of control system and control method for stopping starting for electric automobile slope |
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| CN104340802A (en) * | 2014-10-17 | 2015-02-11 | 南京理工大学 | Drive control system and drive control method for preventing car rolling of elevator |
| CN104842821A (en) * | 2015-05-18 | 2015-08-19 | 阳光电源股份有限公司 | Method and device for slope parking of electric vehicle |
| CN104842821B (en) * | 2015-05-18 | 2017-09-26 | 阳光电源股份有限公司 | A kind of electric automobile method and apparatus in slope |
| CN107031451A (en) * | 2015-11-17 | 2017-08-11 | 富士电机株式会社 | Motor drive and electric motor drive system |
| CN106274555A (en) * | 2016-08-31 | 2017-01-04 | 天津雅迪实业有限公司 | Electric bicycle goes up a slope and assists and the control method of parking |
| CN106427666A (en) * | 2016-10-31 | 2017-02-22 | 北京新能源汽车股份有限公司 | System, method and device for preventing car-rolling function of electric car from being out of control |
| CN106515462A (en) * | 2017-01-03 | 2017-03-22 | 北京长安汽车工程技术研究有限责任公司 | Brake control method, brake control device and brake system for electric vehicle |
| CN106945569A (en) * | 2017-03-29 | 2017-07-14 | 成都雅骏新能源汽车科技股份有限公司 | A kind of control system and control method for stopping starting for electric automobile slope |
| CN107444192A (en) * | 2017-08-14 | 2017-12-08 | 上海中科深江电动车辆有限公司 | The supplementary controlled system and its method of slope and hill start are stayed based on MCU |
| CN107933376A (en) * | 2017-10-23 | 2018-04-20 | 宝沃汽车（中国）有限公司 | It is anti-to slip by slope control method, device and vehicle |
| CN109774652A (en) * | 2017-11-14 | 2019-05-21 | 河南森源重工有限公司 | A kind of long-range car locking control method of electric vehicle and control device |
| CN111703306A (en) * | 2020-05-12 | 2020-09-25 | 智新控制系统有限公司 | Emergency brake control method for electric vehicle and storage medium |
| CN111703306B (en) * | 2020-05-12 | 2021-12-17 | 智新控制系统有限公司 | Emergency brake control method for electric vehicle and storage medium |
| CN114211968A (en) * | 2021-10-15 | 2022-03-22 | 东风汽车股份有限公司 | Control method for slope parking and slope sliding prevention of new energy automobile in virtual P gear |
| CN113829895A (en) * | 2021-11-10 | 2021-12-24 | 浙江奥思伟尔电动科技有限公司 | Gear control method for electric automobile |
| CN113829895B (en) * | 2021-11-10 | 2023-10-20 | 浙江奥思伟尔电动科技有限公司 | Gear control method for electric automobile |
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