CN105799548B - A kind of raising four-wheel In-wheel motor driving electric vehicle tyre explosion safety control method - Google Patents
A kind of raising four-wheel In-wheel motor driving electric vehicle tyre explosion safety control method Download PDFInfo
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- CN105799548B CN105799548B CN201610164570.3A CN201610164570A CN105799548B CN 105799548 B CN105799548 B CN 105799548B CN 201610164570 A CN201610164570 A CN 201610164570A CN 105799548 B CN105799548 B CN 105799548B
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- 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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of raising four-wheel In-wheel motor driving electric vehicle tyre explosion safety control methods, wherein the respectively one wheel-hub motor driven vehicle wheel rotation of installation of involved four wheels of electric vehicle；Each wheel ensures that wheel can independent steering there are one steering motor；The brake force of each wheel is controlled using electric control hydraulic braking unit, that is, realizes that single-wheel independently drives, brakes, turns to, to which the security control after blowing out for electric vehicle provides new approach and realization platform.The present invention is based on the methods braked to each wheel of vehicle, turn to, drive Comprehensive Control, necessary compensating torque are generated by controling effectively to four wheels, to improve the driving safety after electric vehicle is blown out.Whole system includes sensing layer, control layer, execution level.
Description
Technical field：
The invention belongs to field of automotive active safety, specifically propose a kind of raising four-wheel In-wheel motor driving electric vehicle
Tyre explosion safety control method, it is intended to improve the safety after electric vehicle is blown out, traffic accident is reduced or avoided.
Background technology：
With petering out for global non-renewable fossil fuel, problem of environmental pollution becomes increasingly conspicuous, as environmental protection
Type, free of contamination electric vehicle are also just increasingly valued by people and pay close attention to.Wherein, the four-wheel a kind of as electric vehicle
The electric vehicle that wheel hub motor independently drives is the most noticeable, has prodigious development potentiality.Four wheels of the vehicle are respectively installed
One wheel-hub motor driven vehicle wheel rotation and a steering motor ensure wheel independent steering；Electric control hydraulic braking list is used simultaneously
Member controls the size of each wheel braking force.The use of four steering motors realizes four-wheel independent steering, greatly simplifies
The steering of orthodox car improves steering efficiency, and wheel can be turned in ± 90 ° of angle ranges, and then can be realized
Electric vehicle transverse movement substantially increases the mobility of electric vehicle.Meanwhile using In-wheel motor driving and electric-controlled hydraulic system
The driving force or brake force of each wheel of moving cell energy independent control, fast response time are easy to measure accurate rotating speed, torque
Value, effectively simplifies chassis electrical control system framework, the innovation of even more automobile electrically-controlled research and development technology.Since four-wheel wheel hub motor is only
The electric vehicle of vertical driving can realize that single-wheel independently drives, brakes, turns to, to which the security control after blowing out for electric vehicle carries
It has supplied new approach and has realized platform.The electric vehicle tool that four-wheel wheel hub motor as Development Trend of Future Automobiles independently drives
There are huge development prospect and market potential, so major R＆D institution and Automobile Enterprises competitively put into a large amount of manpowers, material resources,
Financial resources carry out the R＆D work of electric vehicle.
At the same time, with the continuous development of economic society, the ownership of automobile is also being continuously increased.As connection vehicle
With the tire of the unique parts on road surface, on the one hand support complete vehicle quality and suspension collective effect decaying mitigate road surface impact and
Vibration；On the other hand it transmits longitudinal force and tangential force realizes acceleration, braking, the steering of automobile, therefore tire is for the row of automobile
Sailing safety has highly important influence and is constantly subjected to automobile industry and the concern of the public.Galloping is quick-fried
Tire is a kind of extremely hazardous situation, since most drivers do not have experiences of power accidents disposal of blowing out, blow out occur and
During development, driver is influenced by many factors such as external environment and itself psychological fear and is easy to take excessive operation
Even maloperation, leads to pernicious traffic accident, often results in car crash.The member blown out as major traffic accidents
Act of violence especially occurs blowing out on a highway, is counted according to data survey, and injures and deaths account for entire traffic accident caused by blowing out
The 49.81% of death toll, the 63.94% of number of injured people, direct property loss 43.38%.As domestic highway is handed over
Open network is increasingly close with prosperity, and running speed greatly improves, and the probability of accident of blowing out in high speed traveling is also therewith
Increase.According to Ministry of Public Security's data statistics, in the major motor vehicle thing occurred on domestic highway about 70% be caused by blowing out, and
This ratio of the U.S. is more up to 80%.
In face of severe resource, environment challenge and startling statistics of traffic accidents data, traditional intact stability
For control system (ESC) although controlling rear vehicle stability of blowing out to a certain extent, its body is not to be directed to blow out and design
, so its whole control effect is less desirable, such as：It unavoidably yaws, lane-following ability declines；It increases quick-fried
Tire is detached from the possibility of wheel rim；Yaw moment efficiency reduction that braking generates etc..Some stability controls of blowing out based on ESC
Although method achieves good control effect, but there are the problem of still need to further research and solve.Responsive motor work of the present invention
Industry development trend, the electric vehicle independently driven using four-wheel wheel hub motor, for high-speed tire explosion problem, put forward one kind as carrier
Improve four-wheel In-wheel motor driving electric vehicle tyre explosion safety control method, it is intended to reduce and even avoid caused friendship of blowing out
Interpreter's event, improves vehicle safety.
Invention content：
The invention belongs to field of automotive active safety, specifically propose a kind of raising four-wheel In-wheel motor driving electric vehicle
Tyre explosion safety control method, it is intended to improve the safety after electric vehicle is blown out, traffic accident is reduced or avoided.For
Realization above-mentioned purpose, the present invention are realized by following technical solution：
A kind of raising four-wheel In-wheel motor driving electric vehicle tyre explosion safety control method, it is characterised in that this method is
Based on each wheel of vehicle is turned to, brake, drive Comprehensive Control realize；Wherein involved four vehicles of electric vehicle
Each installation one wheel hub motor, steering motor and electric control hydraulic braking unit is taken turns, it can be achieved that single-wheel independently drives, brakes, turning
To；Whole system includes sensing layer, decision-making level and execution level；Wherein, sensing layer includes multiple sensors to collection vehicle
Operating status, driving behavior, the information such as whether blow out；Control layer carries out after obtaining corresponding information parameter for current working
Control decision；The control signal that execution level transmits control layer carries out quick response, the safety for the vehicle that ensures to blow out.
Tyre explosion safety control method described in technical solution, when sensing layer, which collects, blows out information, decision-making level is vertical
That is control steering motor will blow out wheel locked, and the wheel that prevents from blowing out has big corner input that tyre and rim is caused to be detached from.Such as
Fruit vehicle is blown out under high-speed straight-line traveling, and control steering motor makes that tire bursting vehicle rotation angular convolution is just being 0 ° and to carry out corner lock dead；
If vehicle is blown out in turning, controls the steering motor wheel that makes to blow out and locked in current corner.
Tyre explosion safety control method described in technical solution, after detecting signal of tyre burst, axle of not blowing out
Two wheels enter uniaxial steering pattern by independent steering, that is, realize that axle both sides wheel of not blowing out synchronizes and turn to.
Tyre explosion safety control method described in technical solution, used in decision-making level in embedded driving behavior self-appraisal
Module；After detection is quick-fried arrives tire information, driving behavior self-appraisal module activation assesses driving behavior.If driven
Member's behavior evaluation credible result degree is more than certain threshold value, then driver can adjust in certain angle range without axle both sides of blowing out
The corner of wheel；Conversely, then active shield is made due to driver's factors such as experiences of power accidents disposal shortcoming and psychological fear of blowing out
At excessive or even faulty operation.
Tyre explosion safety control method described in technical solution, when blow out accident when, blow out caused additional
Yaw moment will cause vehicle extremely unstable, and control system actively implements differential braking and generates certain compensating torque at this time：
If a) compensating torque generated by differential braking is sufficient to offset the additional yaw moment for generation of blowing out,
Only implement differential braking behaviour control；
If sufficiently large compensating torque b) cannot be generated by differential braking：
I. it controls the not quick-fried wheel of wheel homonymy of blowing out and implements driving, two wheel of wheel offside of blowing out implements braking to generate foot
Enough compensating torques；
Ii. control wheel coaxial wheel of blowing out implements braking, control without blowing out the suitable angle of two vehicle wheel rotation of axle, with
Generate enough compensating torques；
Iii. it controls wheel coaxial wheel of blowing out and implements braking, control implementation while turning without two wheel of axle of blowing out and drive
It is dynamic, stablized with generating enough compensating torques and realizing in body gesture very short time.
Tyre explosion safety control method described in technical solution, along with the decline of the stabilization, speed of body gesture, when
Speed be less than fixed vehicle speed threshold value when, system exit in time blow out control and prompt driver carry out vehicle take over, by driver
Control vehicle keeps to the side steadily to stop.Wherein, the speed threshold value it is adjustable and to driver open, can by driver driving according to oneself
Sail custom sets itself.
Compared with prior art, beneficial effects of the present invention：
1, driving behavior self-appraisal module is set in decision-making level, man-machine harmony problem has been fully considered, to a certain degree
Upper harmonious man-computer relation.
2, the steering of the electric vehicle independently driven due to four-wheel wheel hub motor is line traffic control, and system can active shield
The improper even faulty operation of driver in case of emergency, to largely avoid not having due to driver
Blow out experiences of power accidents disposal, during blowing out generation and development, by external environment and itself psychological fear etc. it is a variety of because
Element influences and is easy to take excessive operation even maloperation and lead to pernicious traffic accident.
3, using based on to each wheel of vehicle implement independent brake, driving, turn to integrated control, can not only be good
Stablize body gesture when blowing out in a short time, and keep also having good effect to track, avoids vehicle and occur big
Angle of drift and deviate running rail.
4, using based on independent brake, driving, steering integrated control is implemented to each wheel of vehicle, largely may be used
To reduce the probability that tire of blowing out is detached from wheel rim, reduces wheel rim and be stuck in ground or dry grinding occurs with ground and overturning thing occurs
Therefore possibility, so substantially increasing the safety for rear vehicle of blowing out.
5, after body gesture is stablized and after speed is reduced to certain speed threshold value (60km/h), control system is moved back in time
Go out control of blowing out, and driver's take over vehicle is reminded by man-machine interface (vision, tactile etc.) in time.Wherein the speed threshold value can
It adjusts and driver is opened, can be embodied centered on driver by driver according to the driving habit sets itself of oneself
Design concept, at the same effective prompting message can anti-locking system exit blow out control after driver not in time take over vehicle and go out
Existing second accident.
Description of the drawings：
Following further describes the present invention with reference to the drawings：
Fig. 1 is system composition schematic diagram of the present invention；
Fig. 2 is control method flow chart of steps of the present invention；
Fig. 3 is to be based on differential braking control schematic diagram；
Fig. 4 is that braking and driving jointly control schematic diagram；
Fig. 5 is that braking and steering jointly control schematic diagram；
Fig. 6 is braking, turns to, driving Comprehensive Control schematic diagram；
In figure, 1, the near front wheel；2, off-front wheel；3, off hind wheel；4, left rear wheel
Arrow faces the active force of wheel, the size that the length masterpiece of arrow is exerted oneself, arrow with representing in Fig. 3,4,5,6
Direction represent in face of the active force of wheel be driving force or brake force；Wherein, the representative consistent with travel direction driving
Power, the representative brake force of negative direction.
Specific implementation mode：
The specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings.
Refering to fig. 1, whole system includes sensing layer, decision-making level and execution level.Sensing layer includes many physical sensors,
Such as：Vehicle speed sensor, camera, tire pressure monitoring sensor etc., to acquire whether blow out, travel condition of vehicle, road ring
The information such as border and driving behavior.Decision-making level receives the real-time parameter information of sensing layer acquisition, passes through the program being pre-designed
Algorithm carries out calculating decision, and control signal is transported to execution level.Wherein, decision-making level is embedded in driving behavior and discusses and select model workers certainly
Block, when detecting signal of tyre burst, the module activation, for carrying out assessment to driving behavior and being driven according to assessment result decision
Whether the person of sailing participates in the process in control of blowing out.Execution level effect is exactly quickly to be rung to the control signal that decision-making level is transmitted
It answers, includes mainly four wheel hub motors, four steering motors and electric control hydraulic braking unit.
Referring to Fig.2, when sensing layer is the equal signals and when being transferred to decision-making level of blowing out, decision-making level is according to the parameter currently acquired
Calculate the additional yaw moment T by generation of blowing out0, simultaneously, the driving behavior self-appraisal module activation in decision-making level is right
Driving behavior is assessed after blowing out, if self-appraisal result β1>Given threshold β then illustrates the operation confidence level of driver very
Height, behavior are conducive to alleviate the danger for generation of blowing out, then driver are allowed to manipulate steering in certain angle range；Conversely,
Then shield the excessive or even faulty operation that driver generates by factors such as fears.Meanwhile when detecting signal of tyre burst, four-wheel is only
The vertical axle of not blowing out that turns to enters uniaxial steering pattern, realizes that axle both sides wheel of not blowing out synchronizes and turns to.When system judges this
When vehicle run at high speed in straight line, then control that steering motor makes tire bursting vehicle samsara just to 0 ° and to carry out corner lock dead；If turning
It blows out when curved, then it is locked in current corner.System-computed goes out the maximum compensating torque T that can be generated by differential braking1If T1
≥T0, then security control after blowing out directly is implemented by differential braking；If conversely, T1<T0, then can by braking, driving, turn
Torque compensation is carried out to Comprehensive Control.
Refering to Fig. 3,4,5,6, since each wheel of four-wheel wheel hub motor independent drive electric vehicle is both driving wheel
It is also deflecting roller；Meanwhile either straight-line travelling is blown out or turning driving is blown out, and for the present invention, control strategy
It is all the same, thus in figure by taking off-front wheel 2 is blown out as an example, choose vehicle and blow out under high-speed straight-line traveling after operating mode blown out
Security control illustrates.As shown in figure 3, enough compensating torques can be generated to attached caused by blowing out by differential braking at this time
Yaw moment is added to be offset.Wherein, the brake force that 2 offside of wheel, two wheel i.e. the near front wheel 1 and left rear wheel 4 apply of blowing out is wanted
More than off hind wheel 3, concrete numerical value is obtained by decision-making level by correlation computations.As shown in figure 4, differential braking can not provide at this time
Enough compensating torques then implement braking, homonymy by two wheel of offside i.e. the near front wheel 1 and left rear wheel 4 for controlling wheel 2 of blowing out
Off hind wheel 3 implements driving to generate enough compensating torques.As shown in figure 5, after detecting signal of tyre burst, axle two of not blowing out
Side wheel enters uniaxial steering pattern, i.e., left rear wheel 4 is synchronous with the realization of off hind wheel 3 turns to, and control the near front wheel 1 implements braking, control
Steering motor processed makes off hind wheel 3 and left rear wheel 4 rotate proper angle.Shown in Fig. 6, implement while controlling rear axle two-wheeled and turning to
Quick body gesture correction is realized in driving.
Claims (3)
1. a kind of raising four-wheel In-wheel motor driving electric vehicle tyre explosion safety control method, it is characterised in that this method is base
In each wheel of vehicle is turned to, is braked, drive Comprehensive Control realize；Wherein involved four wheels of electric vehicle are each
One wheel hub motor, steering motor and electric control hydraulic braking unit are installed, it can be achieved that single-wheel independently drives, brakes, turns to；It is whole
A system includes sensing layer, decision-making level and execution level；Wherein, sensing layer includes that multiple sensors run shape to collection vehicle
State, driving behavior, information of whether blowing out；Decision-making level is controlled certainly after obtaining corresponding information parameter for current working
Plan is equipped with driving behavior self-appraisal module in decision-making level；Execution level carries out quick response to the control signal that control layer transmits, and protects
Demonstrate,prove the safety for vehicle of blowing out；When sensing layer, which collects, blows out information, decision-making level is immediately controlled steering motor and will blow out wheel
Locked, when blowing out under vehicle high-speed straight-line travelling, control steering motor makes tire bursting vehicle samsara, and just i.e. wheel steering angle is 0 ° and locks
Extremely, it blows out when vehicle is in turning, then controls the steering motor wheel that makes to blow out and locked in current corner, prevent wheel of blowing out
There is big corner input that tire is caused to be detached from wheel rim；Two wheels of axle of not blowing out are entered by independent steering and uniaxial turn to mould
Formula is realized that axle both sides wheel of not blowing out synchronizes and is turned to.
2. a kind of raising four-wheel In-wheel motor driving electric vehicle tyre explosion safety control method as described in claim 1,
It is characterized in that, when detecting that driving behavior self-appraisal module activation assesses driving behavior after blowing out information, if
Driving behavior assessment result confidence level is more than certain threshold value, then illustrates that the operation Feasible degree of driver is very high, allows driver
It can adjust the corner without axle both sides wheel of blowing out in certain angle range；Conversely, then active shield is blown out due to driver
Excessive even faulty operation caused by the factors such as experiences of power accidents disposal shortcoming and psychological fear；Along with the stabilization of body gesture
With the decline of speed, when speed is less than fixed vehicle speed threshold value, system, which exits to blow out in time, control and prompts driver into driving
It takes over, controlling vehicle by driver keeps to the side steadily to stop；Its fixed vehicle speed threshold value be it is adjustable and to driver open, can
By the driving habit sets itself according to driver.
3. a kind of raising four-wheel In-wheel motor driving electric vehicle tyre explosion safety control method as described in claim 1,
Be characterized in that, when blow out accident when, caused additional yaw moment of blowing out will cause vehicle extremely unstable, control at this time
System actively implements differential braking and generates certain compensating torque：
If a) compensating torque generated by differential braking is sufficient to offset the additional yaw moment for generation of blowing out, only real
Apply differential braking behaviour control；
If sufficiently large compensating torque b) cannot be generated by differential braking：
I. it controls the not quick-fried wheel of wheel homonymy of blowing out and implements driving, it is enough to generate that two wheel of wheel offside of blowing out implements braking
Compensating torque；
Ii. it controls wheel coaxial wheel of blowing out and implements braking, control is without the suitable angle of two vehicle wheel rotation of axle of blowing out, with generation
Enough compensating torques；
Iii. it controls wheel coaxial wheel of blowing out and implements braking, implementation driving while control turns without two wheel of axle of blowing out, with
It generates enough compensating torques and realizes in body gesture very short time and stablize.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610164570.3A CN105799548B (en) | 2016-03-22 | 2016-03-22 | A kind of raising four-wheel In-wheel motor driving electric vehicle tyre explosion safety control method |
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| CN201610164570.3A CN105799548B (en) | 2016-03-22 | 2016-03-22 | A kind of raising four-wheel In-wheel motor driving electric vehicle tyre explosion safety control method |
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| CN105799548B true CN105799548B (en) | 2018-08-07 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364481B (en) * | 2016-11-14 | 2018-08-17 | 吉林大学 | A kind of tyre explosion safety control system suitable for electric vehicle |
| US10266181B2 (en) * | 2016-12-14 | 2019-04-23 | Ford Global Technologies, Llc | Tire blowout control |
| CN108248454B (en) * | 2016-12-28 | 2020-09-15 | 比亚迪股份有限公司 | Vehicle body stability control system and method and automobile |
| FR3076529B1 (en) * | 2018-01-10 | 2020-01-10 | Jtekt Europe | METHOD FOR COMPENSATING FOR DEVIATION OF TRAVELING TO BRAKING WITH A POWER STEERING |
| CN108357500B (en) * | 2018-02-23 | 2020-05-05 | 长沙智能驾驶研究院有限公司 | Intelligent vehicle, and tire burst safety control method and system of intelligent vehicle |
| CN108516020B (en) * | 2018-03-28 | 2021-11-09 | 江西理工大学 | Active control method for high-speed tire burst automobile |
| CN110920605B (en) * | 2018-08-31 | 2021-05-14 | 华为技术有限公司 | Vehicle control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4633175B2 (en) * | 2008-03-27 | 2011-02-16 | 本田技研工業株式会社 | Rear wheel toe angle controller |
| CN101380876B (en) * | 2008-09-04 | 2011-04-27 | 清华大学 | Vehicle tyre-bursting security control method and system |
| CN101767535B (en) * | 2008-12-30 | 2013-08-21 | 比亚迪股份有限公司 | Driving/braking system and method of independent four-wheel electric automobile |
| KR101734277B1 (en) * | 2011-10-31 | 2017-05-25 | 현대자동차 주식회사 | Method for controlling vehicle using in wheel system |
| CN102910201B (en) * | 2012-10-26 | 2015-06-24 | 广西工学院 | Steering-based automobile flat tire prevention control system |
| CN105172487A (en) * | 2014-06-20 | 2015-12-23 | 南京大五教育科技有限公司 | Automobile tire burst prevention and first-aiding system |
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