CN103522915A - Torque control method for preventing backward slipping of blade electric vehicle on slope - Google Patents

Torque control method for preventing backward slipping of blade electric vehicle on slope Download PDF

Info

Publication number
CN103522915A
CN103522915A CN201310532701.5A CN201310532701A CN103522915A CN 103522915 A CN103522915 A CN 103522915A CN 201310532701 A CN201310532701 A CN 201310532701A CN 103522915 A CN103522915 A CN 103522915A
Authority
CN
China
Prior art keywords
speed
vehicle
slipping
motor vehicle
slope
Prior art date
Application number
CN201310532701.5A
Other languages
Chinese (zh)
Other versions
CN103522915B (en
Inventor
冯超
刘宇
王艳静
Original Assignee
重庆长安汽车股份有限公司
重庆长安新能源汽车有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 重庆长安汽车股份有限公司, 重庆长安新能源汽车有限公司 filed Critical 重庆长安汽车股份有限公司
Priority to CN201310532701.5A priority Critical patent/CN103522915B/en
Publication of CN103522915A publication Critical patent/CN103522915A/en
Application granted granted Critical
Publication of CN103522915B publication Critical patent/CN103522915B/en

Links

Classifications

    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility

Abstract

A torque control method for preventing backward slipping of a blade electric vehicle on a slope comprises the steps of first simulating the low-speed creeping process of a traditional car, wherein the speed of a controlled target on a ramp or a plain road is 8km/h; utilizing closed-loop PI control, calibrating P and I parameters at different motor rotating speeds, accordingly enabling the electric vehicle to obtain torque required by driving when a brake pedal is loosened within 0.3s, rapidly achieving ideal driving vehicle speed and avoiding the backward slipping after a driver loosens a brake.

Description

A kind of pure electric automobile prevents the torque control method slipping after hill start
Technical field
The invention belongs to new-energy automobile electric control system controls field, relate to the torque control method to new-energy automobile.
Background technology
Enter 21 century global climate and warm gradually, the exhaustion of the soaring and oil resources of oil price, energy-saving low-carbon trip becomes people's common recognition gradually, and new-energy automobile is the effective measures of alleviating Pressure on Energy and reducing environmental pollution.Along with popularizing of new-energy automobile, except the effect of riding instead of walk of automobile, more pursued the comfort property of automobile.New-energy automobile majority has adopted motor and single reduction gear scheme, thereby the resistance of driving system is little with respect to the resistance of traditional vehicle driving engine and multi-stage speed reducer; The closed-center system of electronlmobil is power brick, causes the car weight of battery-driven car to improve a lot compared with orthodox car.Because the heavier while resistance of vehicle is less, thereby cause vehicle more obvious compared with orthodox car when hill start is slipped slope (cycling start of Ji Po road be occur slipping slope).
Conventional gasoline machine automobile is in order to address this problem, conventionally adopted with the brake system of upward slope additional function (HAC) and slipped the problem on slope to eliminate hill start, but this brake system has not only changed the brake system of orthodox car, also to car load, increased higher cost simultaneously.
Application publication number is that the patent documentation of CN 101817313A discloses a kind of " ramp safe starting control system of electric vehicle ", the problem of its existence is: 1,, due to road surface situation, car load situation difference, control system cannot calculate various ramps grade information accurately by vehicle speed signal; 2, after only having and slipping, can carry out correlated judgment after car.
Summary of the invention
The present invention is the torque control method slipping after a kind of pure electric automobile prevents, object is in the situation that not changing brake system structure, by a kind of more advanced mode, solves hill start and slips the problem on slope.
Technical solution of the present invention comprises following content:
The speed of a motor vehicle that entire car controller (VCU) first provides according to Das Gaspedal aperture, brake pedal information, gear information, motor speed, ABS and complete vehicle fault state, judging whether the residing state of car load should enter prevents from slipping slope master mode, and enables torque arithmetic module.Judgement enters the condition that this pattern need possess and comprises: motor speed does not enable during from slow speed of revolution rising 1400rpm, from high rotating speed, declines, and during lower than 1200rpm, enables; Brake pedal is not stepped on; Shift signal is D gear or R gear; Do not have car load to forbid the fault of moment of torsion output; There is no cell safety fault.
When whole vehicle state allows to enter while preventing from slipping slope master mode, entire car controller (VCU) starts to calculate target vehicle speed, in starting, target vehicle speed V_Target is constantly 0-8km/h, being certain slope (as 2s) increases, to 8km/h, be stable objects value, to guarantee the steady of the speed of a motor vehicle of starting to walk.The actual vehicle speed V_Act of ABS feedback sends to entire car controller (VCU); Entire car controller calculates the difference (Delta_V) of target vehicle speed and actual vehicle speed, thereby carries out the closed loop PI control of moment of torsion.
The torque Tq=P*Delta_V+I*Delta_V of the actual output of vehicle control unit controls electric system; Wherein P, I item are reconcilable parameter, need under different operating modes, demarcate design, according to the speed of a motor vehicle, proofread and correct, and under D blend stop part, when the speed of a motor vehicle is less or be negative value, P item parameter is larger; When the speed of a motor vehicle approaches with target vehicle speed, P, I item parameter are less.Reverse gear principle is consistent.
First this programme is the process of having simulated the low speed crawling of orthodox car, at chaufeur take-off the brake, under the condition of step on the accelerator, can not move ahead slowly.So the control target of this programme is that the speed of a motor vehicle on ramp or level road equals 8km/h, but not the control program that target vehicle speed in above-mentioned patent is 0.
For conventional gasoline machine, due to electric system utilization is that electric energy conversion is energy controlling torque output, and conventional engines utilization is that moment of torsion output is adjusted in throttle opening and oil spout igniting, make conventional gasoline machine when hill start, have the long slope process of slipping.The method has been brought into play the advantage that pure electric vehicle electric system is different from regular price gasoline driving engine, and Motor torque speed of response will be much larger than the response characteristic of driving engine.Thereby the torque rate of rise maximum of motor output can arrive 800Nm/s, therefore utilize PI to control, can drive needed moment of torsion so that electronlmobil reaches in the 0.3s of loosen the brake, and reach rapidly the desirable driving speed of a motor vehicle, avoid after chaufeur take-off the brake after slip process.
This programme is for the operating mode of uphill starting, for the different speed of a motor vehicle and motor speed, carried out adaptive design, by demarcating P, the I parameter under different motor speeds, when the speed of a motor vehicle is less or be negative value, P, I parameter are larger, so that moment of torsion can be climbed to target vehicle speed required torque.When the speed of a motor vehicle approaches after target vehicle speed, P, I parameter are less, so that moment of torsion is comparatively steady, finally reach the operating mode of the speed of a motor vehicle smooth operation of target.
By the technical program, under the operating mode of ramp, can actv. solve hill start and slip the problem on slope.Through actual verification, on 30% ramp, utilize this programme can avoid ramp to slip slope problem, thereby make do not increasing under the prerequisite of cost at battery-driven car, meet European relevant criterion, improved safety and the traveling comfort of product.
Accompanying drawing explanation
Fig. 1 electronlmobil prevents that hill start from slipping slope control system figure
Fig. 2 prevents that hill start from slipping slope control principle drawing
Fig. 3 enables condition judgment diagram of circuit
The specific embodiment:
Below in conjunction with accompanying drawing 1, Fig. 2 and Fig. 3, describe specific embodiment of the invention process in detail:
Referring to Fig. 1, the control system figure that slips from electronlmobil prevents hill start can find out, entire car controller is to be risen respectively and obtained corresponding signal from abs controller, Das Gaspedal, brake pedal, shift handle by various sensings, then by following judgement method of calculating, finally send motor torque command to electric machine controller, control motor operation.
Referring to Fig. 1 and Fig. 3, specifically control step as follows:
1, entire car controller (VCU) first provides according to Das Gaspedal aperture, brake pedal information, gear information, motor speed, ABS the speed of a motor vehicle and complete vehicle fault state, judging whether the residing state of car load should enter prevents from slipping slope master mode, and enables torque arithmetic module; Be that entire car controller (VCU) receives after signal, according to the various sensor signals of car load, the condition that judgement enters this pattern comprises:
A, motor speed do not enable during from slow speed of revolution rising 1400rpm, from high rotating speed, decline, and during lower than 1200rpm, enable;
B, brake pedal are not stepped on;
C, shift signal are D gear or R gear;
D, do not have car load to forbid the fault of moment of torsion output;
E, there is no cell safety fault.
2, when whole vehicle state allows to enter while preventing from slipping slope master mode, entire car controller (VCU) starts to calculate target vehicle speed, in starting, target vehicle speed V_Target is constantly 0-8km/h, being certain slope (as 2s) increases, to 8km/h, be stable objects value, to guarantee the steady of the speed of a motor vehicle of starting to walk.
3, the actual vehicle speed V_Act of ABS feedback sends to entire car controller (VCU).
4, entire car controller calculates the difference (Delta_V) of target vehicle speed and actual vehicle speed, thereby carries out the closed loop PI control of moment of torsion.
5, the torque Tq=P*Delta_V+I*Delta_V of actual output.
Wherein, P item is reconcilable parameter, according to the speed of a motor vehicle, proofreaies and correct, and under D blend stop part, when the speed of a motor vehicle is less or be negative value, P item parameter is larger; When the speed of a motor vehicle approaches with 8km/h, P item parameter is less.
I item is reconcilable parameter, according to the speed of a motor vehicle, proofreaies and correct, and under D blend stop part, when the speed of a motor vehicle is less or be negative value, I item parameter is larger; When the speed of a motor vehicle approaches with 8km/h, I item parameter is less.

Claims (3)

1. pure electric automobile prevents the torque control method slipping after hill start, and it comprises the following steps:
(1) entire car controller (VCU) first provides according to Das Gaspedal aperture, brake pedal information, gear information, motor speed, ABS the speed of a motor vehicle and complete vehicle fault state, judging whether the residing state of car load should enter prevents from slipping slope master mode, and enables torque arithmetic module;
Judgement enters and prevents from slipping slope master mode and need possess following condition simultaneously:
A, motor speed do not enable when slow speed of revolution rises to rotating speed A, from high rotating speed, decline, and during lower than rotating speed B, enable;
B, brake pedal are not stepped on;
C, shift signal are D gear or R gear;
D, do not have car load to forbid the fault of moment of torsion output;
E, there is no cell safety fault;
(2) when whole vehicle state allows to enter while preventing from slipping slope master mode, entire car controller (VCU) starts to calculate target vehicle speed, and in starting, target vehicle speed V_Target is constantly 0-8km/h, and be slope and increase up, to 8km/h, be stable objects value;
(3) by ABS feedback actual vehicle speed V_Act, send to entire car controller (VCU);
(4) entire car controller calculates the difference Delta_V of target vehicle speed and actual vehicle speed, thereby carries out the closed loop PI control of moment of torsion;
(5) actual output torque Tq=P*Delta_V+I*Delta_V; P, I parameter by demarcating and obtain under different motor speeds.
2. pure electric automobile according to claim 1 prevents the torque control method slipping after hill start, it is characterized in that: described rotating speed A is 1400rpm, and rotating speed B is 1200rpm.
3. pure electric automobile according to claim 1 and 2 prevents the torque control method slipping after hill start, it is characterized in that: described P item is reconcilable parameter, according to the speed of a motor vehicle, proofread and correct, under D blend stop part, when the speed of a motor vehicle is less or be negative value, P item parameter is larger, and when the speed of a motor vehicle approaches with 8km/h, P item parameter is less; I item is reconcilable parameter, according to the speed of a motor vehicle, proofreaies and correct, and under D blend stop part, when the speed of a motor vehicle is less or be negative value, I item parameter is larger, and when the speed of a motor vehicle approaches with 8km/h, I item parameter is less.
CN201310532701.5A 2013-10-31 2013-10-31 The torque control method that a kind of pure electric automobile slips after preventing hill start CN103522915B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310532701.5A CN103522915B (en) 2013-10-31 2013-10-31 The torque control method that a kind of pure electric automobile slips after preventing hill start

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310532701.5A CN103522915B (en) 2013-10-31 2013-10-31 The torque control method that a kind of pure electric automobile slips after preventing hill start

Publications (2)

Publication Number Publication Date
CN103522915A true CN103522915A (en) 2014-01-22
CN103522915B CN103522915B (en) 2015-11-18

Family

ID=49925405

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310532701.5A CN103522915B (en) 2013-10-31 2013-10-31 The torque control method that a kind of pure electric automobile slips after preventing hill start

Country Status (1)

Country Link
CN (1) CN103522915B (en)

Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103879306A (en) * 2014-04-09 2014-06-25 奇瑞汽车股份有限公司 Automobile ramp auxiliary system and control method thereof
CN104002696A (en) * 2014-05-15 2014-08-27 苏州汇川技术有限公司 Anti-slope-slipping driving controller, control system and control method of automobile
CN104228609A (en) * 2014-09-25 2014-12-24 吉林大学 Vehicle speed control method for wheel hub motor-driven vehicle
CN104442410A (en) * 2014-11-20 2015-03-25 北京新能源汽车股份有限公司 Emergency braking system for electric car and control method thereof
CN104590052A (en) * 2014-12-31 2015-05-06 北京新能源汽车股份有限公司 Slope starting anti-car-sliding control system and method thereof
CN104670044A (en) * 2015-01-29 2015-06-03 北京新能源汽车股份有限公司 Method and system for controlling low-speed worming
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
CN104843002A (en) * 2014-06-23 2015-08-19 北汽福田汽车股份有限公司 Control method of electric automobile, and electric automobile
CN105235549A (en) * 2015-11-02 2016-01-13 重庆长安汽车股份有限公司 Electric vehicle ramp torque control method and vehicle controller
CN105438006A (en) * 2015-12-29 2016-03-30 北京新能源汽车股份有限公司 Electric vehicle and ramp parking control method and system thereof
CN105799550A (en) * 2014-12-29 2016-07-27 上海大郡动力控制技术有限公司 Anti-hill-slip control method for battery electric vehicles
CN105818712A (en) * 2016-03-17 2016-08-03 电子科技大学 Self-adaptive starting control method for four-wheel hub electric automobile
CN106218630A (en) * 2016-08-29 2016-12-14 澳特卡新能源科技(上海)有限公司 A kind of motor direct-drive car ramp start auxiliary control method
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
CN106335404A (en) * 2016-09-23 2017-01-18 成都雅骏新能源汽车科技股份有限公司 Anti-running control method based on battery electric vehicle
CN106364369A (en) * 2016-11-08 2017-02-01 潍柴动力股份有限公司 Switching control method and device for working modes of blade electric vehicle
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
CN106427664A (en) * 2016-09-30 2017-02-22 上汽通用五菱汽车股份有限公司 Torque control method and system for electric vehicle
CN107264338A (en) * 2017-06-29 2017-10-20 北京新能源汽车股份有限公司 Anti-slip control method and system based on rear driven electric vehicle
CN107487324A (en) * 2017-06-22 2017-12-19 宝沃汽车(中国)有限公司 The method and apparatus for controlling electric automobile torque
CN107512196A (en) * 2017-08-21 2017-12-26 合肥力正新能源科技有限公司 A kind of electric automobile crawling starting abnormal sound control method
CN107512197A (en) * 2017-08-21 2017-12-26 合肥翔望智能科技有限公司 A kind of electric car starting abnormal sound control method
CN107614315A (en) * 2015-05-26 2018-01-19 日产自动车株式会社 The control device of electric vehicle and the control method of electric vehicle
US9873353B1 (en) 2017-02-22 2018-01-23 Bordrin Motor Corporation System and method for controlling creep torque of an electric vehicle
CN107791886A (en) * 2017-11-01 2018-03-13 邱诗俊 Electric automobile starting control system
CN107813710A (en) * 2016-09-12 2018-03-20 马亨德拉雷瓦电动汽车有限公司 System and method of the management with limited vehicle-mounted energy vehicle travel
CN107839688A (en) * 2017-10-19 2018-03-27 吉林大学 A kind of electric automobile crawling method for controlling driving speed
CN107921885A (en) * 2015-11-02 2018-04-17 Ntn株式会社 skid control device
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
CN108215937A (en) * 2017-12-29 2018-06-29 爱驰汽车有限公司 Electric vehicle crawling control method, system, equipment and storage medium
CN108544984A (en) * 2018-04-17 2018-09-18 安徽安凯汽车股份有限公司 A kind of integral new-energy passenger wriggling control method and system
CN108583367A (en) * 2018-04-04 2018-09-28 威马智慧出行科技(上海)有限公司 Motor for Electric Automobile crawling operating mode switches control method for coordinating and system
CN109969188A (en) * 2019-03-02 2019-07-05 浙江飞碟汽车制造有限公司 A kind of electric vehicle uphill starting control method
CN110745010A (en) * 2019-10-30 2020-02-04 奇瑞商用车(安徽)有限公司 Creep torque control method for electric vehicle

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106515507B (en) * 2016-10-26 2019-01-01 东风汽车股份有限公司 Pure electric automobile motor auxiliary stays slope and uphill starting control system and method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090062061A1 (en) * 2007-08-28 2009-03-05 Silveri Andrew J Preventing Rollback of a Hybrid Electric Vehicle
CN101966822A (en) * 2010-10-26 2011-02-09 上海中科深江电动车辆有限公司 Back-sliding prevention control method of pure electric vehicle via idle speed
CN202728222U (en) * 2012-08-16 2013-02-13 上海中科深江电动车辆有限公司 Electric vehicle ramp safe starting control system
CN202847689U (en) * 2012-10-23 2013-04-03 力帆实业(集团)股份有限公司 Hill-start auxiliary device for electric automobile
CN202879486U (en) * 2012-10-31 2013-04-17 浙江青年乘用车集团有限公司 System for preventing electromobile from sliding downhill
CN103182955A (en) * 2013-01-03 2013-07-03 芜湖宏宇汽车电子有限责任公司 Anti-sliding control system for electric automobile
CN103213516A (en) * 2013-04-12 2013-07-24 苏州汇川技术有限公司 Drive controller, drive control system and drive control method for sliding prevention of electric vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090062061A1 (en) * 2007-08-28 2009-03-05 Silveri Andrew J Preventing Rollback of a Hybrid Electric Vehicle
CN101966822A (en) * 2010-10-26 2011-02-09 上海中科深江电动车辆有限公司 Back-sliding prevention control method of pure electric vehicle via idle speed
CN202728222U (en) * 2012-08-16 2013-02-13 上海中科深江电动车辆有限公司 Electric vehicle ramp safe starting control system
CN202847689U (en) * 2012-10-23 2013-04-03 力帆实业(集团)股份有限公司 Hill-start auxiliary device for electric automobile
CN202879486U (en) * 2012-10-31 2013-04-17 浙江青年乘用车集团有限公司 System for preventing electromobile from sliding downhill
CN103182955A (en) * 2013-01-03 2013-07-03 芜湖宏宇汽车电子有限责任公司 Anti-sliding control system for electric automobile
CN103213516A (en) * 2013-04-12 2013-07-24 苏州汇川技术有限公司 Drive controller, drive control system and drive control method for sliding prevention of electric vehicle

Cited By (48)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103879306A (en) * 2014-04-09 2014-06-25 奇瑞汽车股份有限公司 Automobile ramp auxiliary system and control method thereof
CN103879306B (en) * 2014-04-09 2016-06-08 奇瑞新能源汽车技术有限公司 A kind of automobile ramp subsystem and control method thereof
CN104002696A (en) * 2014-05-15 2014-08-27 苏州汇川技术有限公司 Anti-slope-slipping driving controller, control system and control method of automobile
CN104843002B (en) * 2014-06-23 2017-12-08 北汽福田汽车股份有限公司 The control method and electric automobile of electric automobile
CN104843002A (en) * 2014-06-23 2015-08-19 北汽福田汽车股份有限公司 Control method of electric automobile, and electric automobile
CN104228609A (en) * 2014-09-25 2014-12-24 吉林大学 Vehicle speed control method for wheel hub motor-driven vehicle
CN104442410A (en) * 2014-11-20 2015-03-25 北京新能源汽车股份有限公司 Emergency braking system for electric car and control method thereof
CN104442410B (en) * 2014-11-20 2018-06-12 北京新能源汽车股份有限公司 A kind of control method of emergency braking system for electric vehicle
CN105799550A (en) * 2014-12-29 2016-07-27 上海大郡动力控制技术有限公司 Anti-hill-slip control method for battery electric vehicles
CN104590052B (en) * 2014-12-31 2017-12-19 北京新能源汽车股份有限公司 A kind of anti-slip control method of hill start
CN104590052A (en) * 2014-12-31 2015-05-06 北京新能源汽车股份有限公司 Slope starting anti-car-sliding control system and method thereof
CN104670044A (en) * 2015-01-29 2015-06-03 北京新能源汽车股份有限公司 Method and system for controlling low-speed worming
CN104670044B (en) * 2015-01-29 2017-08-08 北京新能源汽车股份有限公司 A kind of control method and system of low speed crawling
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
CN107614315B (en) * 2015-05-26 2020-10-02 日产自动车株式会社 Control device for electric vehicle and control method for electric vehicle
CN107614315A (en) * 2015-05-26 2018-01-19 日产自动车株式会社 The control device of electric vehicle and the control method of electric vehicle
CN107921885A (en) * 2015-11-02 2018-04-17 Ntn株式会社 skid control device
CN105235549A (en) * 2015-11-02 2016-01-13 重庆长安汽车股份有限公司 Electric vehicle ramp torque control method and vehicle controller
CN105438006B (en) * 2015-12-29 2017-12-19 北京新能源汽车股份有限公司 Electric automobile and its control method of ramp parking, system
CN105438006A (en) * 2015-12-29 2016-03-30 北京新能源汽车股份有限公司 Electric vehicle and ramp parking control method and system thereof
CN105818712B (en) * 2016-03-17 2017-11-21 电子科技大学 A kind of four-wheel wheel hub electric automobile is adaptively started to walk control method
CN105818712A (en) * 2016-03-17 2016-08-03 电子科技大学 Self-adaptive starting control method for four-wheel hub electric automobile
CN106218630A (en) * 2016-08-29 2016-12-14 澳特卡新能源科技(上海)有限公司 A kind of motor direct-drive car ramp start auxiliary control method
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
CN107813710A (en) * 2016-09-12 2018-03-20 马亨德拉雷瓦电动汽车有限公司 System and method of the management with limited vehicle-mounted energy vehicle travel
CN106335404A (en) * 2016-09-23 2017-01-18 成都雅骏新能源汽车科技股份有限公司 Anti-running control method based on battery electric vehicle
CN106427664A (en) * 2016-09-30 2017-02-22 上汽通用五菱汽车股份有限公司 Torque control method and system for electric vehicle
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
CN106364369B (en) * 2016-11-08 2019-07-05 潍柴动力股份有限公司 The method for handover control and device of pure electric automobile operating mode
CN106364369A (en) * 2016-11-08 2017-02-01 潍柴动力股份有限公司 Switching control method and device for working modes of blade electric vehicle
US9873353B1 (en) 2017-02-22 2018-01-23 Bordrin Motor Corporation System and method for controlling creep torque of an electric vehicle
CN107487324A (en) * 2017-06-22 2017-12-19 宝沃汽车(中国)有限公司 The method and apparatus for controlling electric automobile torque
CN107487324B (en) * 2017-06-22 2020-02-14 宝沃汽车(中国)有限公司 Method and device for controlling torque of electric vehicle
CN107264338A (en) * 2017-06-29 2017-10-20 北京新能源汽车股份有限公司 Anti-slip control method and system based on rear driven electric vehicle
CN107512196B (en) * 2017-08-21 2018-12-07 威马汽车科技集团有限公司 A kind of electric car crawling starting abnormal sound control method
CN107512197A (en) * 2017-08-21 2017-12-26 合肥翔望智能科技有限公司 A kind of electric car starting abnormal sound control method
CN107512196A (en) * 2017-08-21 2017-12-26 合肥力正新能源科技有限公司 A kind of electric automobile crawling starting abnormal sound control method
CN107839688A (en) * 2017-10-19 2018-03-27 吉林大学 A kind of electric automobile crawling method for controlling driving speed
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
CN107791886A (en) * 2017-11-01 2018-03-13 邱诗俊 Electric automobile starting control system
CN108215937B (en) * 2017-12-29 2021-02-05 爱驰汽车有限公司 Electric vehicle crawling control method, system, equipment and storage medium
CN108215937A (en) * 2017-12-29 2018-06-29 爱驰汽车有限公司 Electric vehicle crawling control method, system, equipment and storage medium
CN108583367B (en) * 2018-04-04 2020-03-13 威马智慧出行科技(上海)有限公司 Motor creep working condition switching coordination control method and system for electric automobile
CN108583367A (en) * 2018-04-04 2018-09-28 威马智慧出行科技(上海)有限公司 Motor for Electric Automobile crawling operating mode switches control method for coordinating and system
CN108544984A (en) * 2018-04-17 2018-09-18 安徽安凯汽车股份有限公司 A kind of integral new-energy passenger wriggling control method and system
CN109969188A (en) * 2019-03-02 2019-07-05 浙江飞碟汽车制造有限公司 A kind of electric vehicle uphill starting control method
CN110745010A (en) * 2019-10-30 2020-02-04 奇瑞商用车(安徽)有限公司 Creep torque control method for electric vehicle

Also Published As

Publication number Publication date
CN103522915B (en) 2015-11-18

Similar Documents

Publication Publication Date Title
US10259445B2 (en) Vehicle and method of control thereof
CN105644560B (en) A kind of four-wheel wheel hub motor electric vehicle self-adapting cruise control system and method
Luo et al. Intelligent hybrid electric vehicle ACC with coordinated control of tracking ability, fuel economy, and ride comfort
CN104002802B (en) A kind of Plug-in four-wheel-drive hybrid power automobile energy management control method and device thereof
CN103895531B (en) Pure electric vehicle uphill starting control method
CN102991501B (en) The method and system controlled for car speed
CN101879866B (en) Remaining mileage calculation method of electric vehicle
CN103025558B (en) The control convenience of motor vehicle driven by mixed power and control method
US10166972B2 (en) Hybrid electric vehicle controller and method
CN101445038B (en) Control apparatus of a hybrid vehicle
JP4596016B2 (en) Vehicle travel control device
CN103386977B (en) The PWTN and its operating method of vehicle
CN101332774B (en) Automobile brake energy regeneration control method
US8892281B2 (en) Torque control system for suppressing vibration in an electric vehicle
CN104627180B (en) A kind of half cruise active control system and its method
US9500155B2 (en) Vehicle controller
US8439795B2 (en) Apparatus for controlling motor torque
CN102770321B (en) Industrial vehicle
CN103121450B (en) A kind of ramp way control method of pure electric automobile
CN102717714B (en) Pure electric vehicle braking energy recovery control system and method based on DCT (Data Communication Terminal)
JP4462208B2 (en) Engine start control device at start of hybrid vehicle
CN103534156B (en) The control device of motor vehicle driven by mixed power
CN102815301B (en) The method that the cruise of a kind of pure electric automobile controls
US9321370B2 (en) Control method of electric vehicle
CN102658817B (en) Control method for realizing purely-electric function of hybrid vehicle

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
EE01 Entry into force of recordation of patent licensing contract
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20140122

Assignee: Chongqing Changan New Energy Automotive Technology Co., Ltd.

Assignor: Chongqing Changan Automobile Co., Ltd.|Chongqing Chang'an New Energy Automobile Co., Ltd.

Contract record no.: 2018500000018

Denomination of invention: Torque control method for preventing backward slipping of blade electric vehicle on slope

Granted publication date: 20151118

License type: Exclusive License

Record date: 20181121

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20181229

Address after: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing

Patentee after: Chongqing Changan New Energy Automotive Technology Co., Ltd.

Address before: 400023, No. 260, Jianxin East Road, Jiangbei District, Chongqing

Co-patentee before: Chongqing Chang'an New Energy Automobile Co., Ltd.

Patentee before: Chongqing Changan Automobile Co., Ltd.