CN106515507A - Pure electric vehicle motor auxiliary hill-holding and hill-starting control system and method - Google Patents
Pure electric vehicle motor auxiliary hill-holding and hill-starting control system and method Download PDFInfo
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- CN106515507A CN106515507A CN201610948192.8A CN201610948192A CN106515507A CN 106515507 A CN106515507 A CN 106515507A CN 201610948192 A CN201610948192 A CN 201610948192A CN 106515507 A CN106515507 A CN 106515507A
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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
- B60L15/2009—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 for braking
- B60L15/2018—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 for braking for braking on a slope
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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
- B60L15/2072—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 for drive off
- B60L15/2081—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 for drive off for drive off on a slope
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/425—Temperature
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a pure electric vehicle motor auxiliary hill-holding and hill-starting control system, which comprises a driving motor, a motor rotating speed sensor and a motor controller, wherein a motor driving control signal output interface of the motor controller is connected with a control signal input interface of the driving motor, the motor rotating speed sensor is used for monitoring the motor rotating speed of the driving motor, a driving motor rotating speed data output interface of the motor rotating speed sensor is connected with a driving motor rotating speed data input interface of the motor controller, and the motor controller is also provided with a clutch pedal state signal communication interface, a brake pedal state signal communication interface, an accelerator pedal state signal communication interface and a gearbox gear state signal communication interface. The invention effectively reduces the phenomenon of vehicle sliding on the ramp and improves the driving safety of the vehicle.
Description
Technical field
The present invention relates to pure electric automobile control technology field, and in particular to a kind of pure electric automobile motor auxiliary in slope and
Uphill starting control system and method.
Background technology
For pure electric automobile, motor is sole power source, and it provides the traveling that power realizes vehicle.Vehicle is travelled
During, need for vehicle to be parked in ramp or from uphill starting.For with manual pure electric vehicle, driver is in ramp
On when operating to vehicle, there is vehicle does not have the short time transient process of mechanical braking force, in this process, due to weight
The effect of power causes vehicle to be moved, and especially for upward slope operating mode, vehicle is slipped by after, easily causes security incident.It is existing
It is disclosed to drive or automatic transmission vehicle mainly for straight with regard to pure electric automobile uphill starting method, for clutch and manually
The pure electric vehicle of gear gearbox is not referred to.Therefore, the auxiliary for studying such pure electric automobile stays slope and uphill starting method
And its application system has important practical significance.
The content of the invention
It is an object of the invention to provide a kind of pure electric automobile motor auxiliary is in slope and uphill starting control system and side
Method, the system and method can automatic decision stay slope and uphill starting operating mode, reduce ramp car slipping phenomenon, improve the safety of vehicle
Performance.
To solve above-mentioned technical problem, a kind of pure electric automobile motor auxiliary disclosed by the invention is in slope and uphill starting control
System processed, it includes motor and motor speed sensor, it is characterised in that：It also includes electric machine controller, the motor
The drive and control of electric machine signal output interface of controller connects the control signal input interface of motor, motor speed sensor
For the motor speed of monitoring driving motor, the motor rotary speed data output interface connection motor control of motor speed sensor
Also there is the communication of clutch pedal status signal to connect for the motor rotary speed data input interface of device processed, the electric machine controller
Mouth, brake pedal status signal communication interface, accelerator pedal status signal communication interface and the communication of gearbox-gear status signal
Interface.
Electric machine controller also includes parking switch status signal communication interface and speed information communication interface.
A kind of utilization said system carries out the method that pure electric automobile motor auxiliary is controlled in slope and uphill starting, its feature
It is that it comprises the steps：
Step 1：Electric machine controller receives motor rotary speed data, brake pedal status signal, clutch pedal state
Signal and gearbox-gear status signal；
Step 2：When vehicle is prepared to stop under steam, driver makes car deceleration simultaneously final by brake pedal
Stop, for waiting, driver is possible to not pull-up parking brake handle grip, pin is left from brake pedal in driver
During, if electric machine controller detects brake pedal and has lifted, the state of electric machine controller detection clutch, gearbox
Range state, motor rotating speed and motor direction of rotation, when clutch in bonding state, gearbox-gear in non-
Not when default rotating speed is interval interior, electric machine controller enters slope to the effective status and motor of the neutral gear range of speeds now
Road aid parking functional mode, motor controller controls motor apply parking moment of torsion and maintain vehicle to remain static, and prevent
Only vehicle car slipping backward；
When driver prepares to start on ramp, before parking braking bend the throttle is unclamped, electric machine controller enters
Enter above-mentioned ramp aid parking functional mode, motor controller controls motor applies moment of torsion and maintains vehicle to be in static shape
State, when driver starts bend the throttle, electric machine controller enters ramp start assisting pattern, in the ramp start assisting mould
In formula, electric machine controller calculates the motor output torque corresponding to the aperture of accelerator pedal, when opening for now accelerator pedal
The corresponding motor output torque of degree less than maintain vehicle not the moment of torsion of car slipping when, electric machine controller will maintain parking to turn round
Square waits the further increase of accelerator pedal aperture, when the motor output torque corresponding to the now aperture of accelerator pedal it is big
When equal to the vehicle not moment of torsion of car slipping is maintained, electric machine controller performs accelerator pedal opening degree instruction, drives vehicle traveling.
Beneficial effects of the present invention：
The present invention can make pure automobile automatic decision stay slope and uphill starting work by arranging said system and control logic
Condition, and ramp aid parking and ramp start assisting are carried out, the phenomenon of ramp car slipping is effectively reduced, the row of vehicle is improve
Sail security.
Description of the drawings
Fig. 1 is the structured flowchart of the present invention；
Wherein, 1 motor, 2 motor speed sensors, 3 electric machine controllers, 3.1 clutch pedal states
Signal communication interface, 3.2 brake pedal status signal communication interfaces, 3.3 accelerator pedal status signal communication interfaces,
3.4 parking switch status signal communication interfaces, 3.5 gearbox-gear status signal communication interfaces, 3.6 speed informations lead to
Letter interface, 4 vehicular meters, 5 temperature sensors.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
A kind of pure electric automobile motor auxiliary of the present invention in slope and uphill starting control system, it include motor 1,
Motor speed sensor 2 and electric machine controller 3, the drive and control of electric machine signal output interface connection of the electric machine controller drive
The control signal input interface of motor 1, motor speed sensor 2 are used for the motor speed of monitoring driving motor 1, and motor speed is passed
The motor rotary speed data output interface of sensor 2 connects the motor rotary speed data input interface of electric machine controller 3, described
Electric machine controller 3 also has clutch pedal status signal communication interface 3.1, brake pedal status signal communication interface 3.2, adds
Speed pedal status signal communication interface 3.3, gearbox-gear status signal communication interface 3.5,3.6 and of speed information communication interface
Parking switch status signal communication interface 3.4.The vehicular meter communication ends connection vehicular meter 4 of the electric machine controller 3.
In above-mentioned technical proposal, electric machine controller 3 provides electric energy to motor 1 by high-tension cable and controls to drive electricity
The operation of machine 1.
In above-mentioned technical proposal, temperature sensor 5, the temperature of the temperature sensor 5 on the motor 1, are also equipped with
Degree signal output part connects the temperature signal input of electric machine controller 3.Motor speed sensor 2 and temperature on motor 1
Rotating speed during motor operation and armature winding temperature signal are passed to electric machine controller 3 by degree sensor 5 respectively, for constituting closed loop
Control system.
In above-mentioned technical proposal, motor 1 imparts power to wheel drive vehicle traveling by transmission system.Transmission
System is mainly made up of clutch, manual transmission and main reducing gear.
A kind of utilization said system carries out the method that pure electric automobile motor auxiliary is controlled in slope and uphill starting, and it includes
Following steps：
Step 1：Electric machine controller 3 receives motor rotary speed data, brake pedal status signal, clutch pedal state
Signal (forward gear, reverse gear or neutral gear signal) and gearbox-gear status signal；
Step 2：When vehicle is prepared to stop under steam, driver makes car deceleration simultaneously final by brake pedal
Stop, for waiting, driver is possible to not pull-up parking brake handle grip, pin is left from brake pedal in driver
During, if electric machine controller 3 detects brake pedal having lifted, the state of the detection clutch of electric machine controller 3, speed change
Gear box state, motor rotating speed and motor direction of rotation, when clutch is in bonding state, gearbox-gear
The effective status (i.e. gearbox-gear is in drive shift or reverse gear) of the non-neutral gear and motor range of speeds now is not pre-
If rotating speed it is interval in when (effective status of the clutch in bonding state, gearbox-gear in non-neutral gear, motor
The range of speeds now is not met simultaneously in interval interior three conditions of default rotating speed), electric machine controller 3 stops into ramp auxiliary
Car functional mode, the control motor 1 of electric machine controller 3 apply parking moment of torsion (this moment of torsion can be according to the different and different of ramp)
Maintain vehicle to remain static, prevent vehicle car slipping backward.Now, even if driver's not yet bend the throttle or pull-up are stayed
Car is braked, and vehicle is not also slipped after the meeting；
When driver prepares to start on ramp, before parking braking bend the throttle is unclamped, electric machine controller 3 enters
Enter above-mentioned ramp aid parking functional mode, the control motor 1 of electric machine controller 3 applies moment of torsion and maintains vehicle to be in static shape
State, when driver starts bend the throttle, electric machine controller 3 enters ramp start assisting pattern, in the ramp start assisting
In pattern, electric machine controller 3 calculates 1 output torque of motor corresponding to the aperture of accelerator pedal, when now accelerator pedal
Aperture corresponding to 1 output torque of motor less than maintain vehicle not the moment of torsion of car slipping when, electric machine controller 3 will be maintained
Parking moment of torsion waits the further increase of accelerator pedal aperture, when the motor 1 corresponding to the now aperture of accelerator pedal it is defeated
Go out moment of torsion more than or equal to maintain vehicle not the moment of torsion of car slipping when, electric machine controller 3 perform accelerator pedal opening degree instruction, drive vehicle
Traveling.
In above-mentioned technical proposal, ramp aid parking functional mode or ramp start assisting mould are entered in electric machine controller 3
After formula, electric machine controller 3 sends the indicator lamp in slope that instruction is lighted in instrument 4, points out driver to be now arranged in ramp auxiliary and stops
Car functional mode or ramp start assisting pattern, need timely brake pedal or pull-up parking brake handle grip.
In above-mentioned technical proposal, MCU1 is needed when the process of ramp aid parking and ramp start assisting function is implemented
Vehicle-state is judged according to sensor signal, neither misoperation also will be exited in good time, it is ensured that the normally travel of vehicle.Work as motor
Controller 3 judges that clutch is in neutral state in released state or gearbox or there is brake signal or add
When speed pedal is stepped on, corresponding acceleration moment of torsion can make vehicle movement or motor be in temperature alarm state, motor control
Device processed 3 can exit above-mentioned ramp aid parking functional mode or ramp start assisting pattern.
In above-mentioned technical proposal, it is -8rpm～+8rpm that in the step 2, the default rotating speed of motor is interval
The present invention is applied to the pure electric automobile for being configured with clutch, manual gear gearbox and mechanical parking system, effectively
The ramp car slipping for reducing this pure electric automobile phenomenon, improve the driving safety of vehicle.
The content that this specification is not described in detail belongs to prior art known to professional and technical personnel in the field.
Claims (8)
1. in slope and uphill starting control system, it includes that motor (1) and motor turn to a kind of pure electric automobile motor auxiliary
Fast sensor (2), it is characterised in that：It also includes electric machine controller (3), the drive and control of electric machine signal of the electric machine controller
The control signal input interface of output interface connection motor (1), motor speed sensor (2) is for monitoring driving motor
(1) motor speed, motor rotary speed data output interface connection electric machine controller (3) of motor speed sensor (2)
Motor rotary speed data input interface, the electric machine controller (3) also have clutch pedal status signal communication interface
(3.1), brake pedal status signal communication interface (3.2), accelerator pedal status signal communication interface (3.3) and gearbox-gear
Status signal communication interface (3.5).
2. pure electric automobile motor auxiliary according to claim 1 is in slope and uphill starting control system, it is characterised in that：
The electric machine controller (3) also includes parking switch status signal communication interface (3.4) and speed information communication interface (3.6).
3. pure electric automobile motor auxiliary according to claim 1 is in slope and uphill starting control system, it is characterised in that：
Vehicular meter communication ends connection vehicular meter (4) of the electric machine controller (3).
4. pure electric automobile motor auxiliary according to claim 1 is in slope and uphill starting control system, it is characterised in that：
Temperature sensor (5), the temperature signal output end connection of the temperature sensor (5) are also equipped with the motor (1)
The temperature signal input of electric machine controller (3).
5. system described in a kind of utilization claim 1 carries out the side that pure electric automobile motor auxiliary is controlled in slope and uphill starting
Method, it is characterised in that it comprises the steps：
Step 1：Electric machine controller (3) receives motor rotary speed data, brake pedal status signal, clutch pedal state letter
Number and gearbox-gear status signal；
Step 2：When vehicle is prepared to stop under steam, driver makes car deceleration by brake pedal and finally stops
Car, during pin is left by driver from brake pedal, if electric machine controller (3) detects brake pedal and has lifted,
Then electric machine controller (3) detects state, gearbox-gear state, motor rotating speed and the motor rotation side of clutch
To the effective status and motor rotating speed model now when clutch in bonding state, gearbox-gear in non-neutral gear
Enclose not when default rotating speed is interval interior, electric machine controller (3) is into ramp aid parking functional mode, electric machine controller (3)
Control motor (1) applies parking moment of torsion and maintains vehicle to remain static, and prevents vehicle car slipping backward；
When driver prepares to start on ramp, before parking braking bend the throttle is unclamped, electric machine controller (3) is entered
Above-mentioned ramp aid parking functional mode, electric machine controller (3) control motor (1) apply moment of torsion and maintain vehicle in static
State, when driver starts bend the throttle, electric machine controller (3) is aided in into ramp start assisting pattern in the ramp
In starting mode, electric machine controller (3) calculates motor (1) output torque corresponding to the aperture of accelerator pedal, when now
Motor (1) output torque corresponding to the aperture of accelerator pedal less than maintain vehicle not the moment of torsion of car slipping when, motor control
Device (3) will maintain parking moment of torsion to wait the further increase of accelerator pedal aperture, when corresponding to the now aperture of accelerator pedal
Motor (1) output torque more than or equal to maintain vehicle not the moment of torsion of car slipping when, electric machine controller (3) perform accelerator pedal
Opening degree instruction, drives vehicle traveling.
6. according to claim 5 to carry out the method that pure electric automobile motor auxiliary is controlled in slope and uphill starting, which is special
Levy and be：In electric machine controller (3) into after ramp aid parking functional mode or ramp start assisting pattern, electric machine controller
(3) send the indicator lamp in slope that instruction is lighted in instrument (4), point out driver be now arranged in ramp aid parking functional mode or
Ramp start assisting pattern.
7. according to claim 5 to carry out the method that pure electric automobile motor auxiliary is controlled in slope and uphill starting, which is special
Levy and be：When electric machine controller (3) judges clutch in released state or gearbox in neutral state or presence
Brake signal or accelerator pedal are corresponding when stepping on to accelerate moment of torsion that vehicle movement or motor can be made to be in overheated report
During alert state, electric machine controller (3) can exit above-mentioned ramp aid parking functional mode or ramp start assisting pattern.
8. according to claim 5 to carry out the method that pure electric automobile motor auxiliary is controlled in slope and uphill starting, which is special
Levy and be：It is -8rpm～+8rpm that in the step 2, the default rotating speed of motor is interval.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610948192.8A CN106515507B (en) | 2016-10-26 | 2016-10-26 | Pure electric vehicle motor auxiliary hill-holding and hill-starting control system and method |
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| CN201610948192.8A CN106515507B (en) | 2016-10-26 | 2016-10-26 | Pure electric vehicle motor auxiliary hill-holding and hill-starting control system and method |
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| CN106515507A true CN106515507A (en) | 2017-03-22 |
| CN106515507B CN106515507B (en) | 2019-01-01 |
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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 |
| CN107031455A (en) * | 2017-03-28 | 2017-08-11 | 南京奥联新能源有限公司 | Automatic anti-running car method for pure electric vehicle |
| 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 |
| CN107697074A (en) * | 2017-07-12 | 2018-02-16 | 宝沃汽车（中国）有限公司 | Control method, system and the vehicle of electric automobile |
| CN108928260A (en) * | 2017-05-26 | 2018-12-04 | 比亚迪股份有限公司 | Ramp parking control method, system, storage medium and vehicle |
| CN109017436A (en) * | 2018-06-14 | 2018-12-18 | 中兴智能汽车有限公司 | A kind of electric car exits the Motor torque follower method of when in slope |
| CN109484208A (en) * | 2018-12-13 | 2019-03-19 | 安徽江淮汽车集团股份有限公司 | The control method and system of a kind of electric car ramp parking |
| CN109572698A (en) * | 2018-12-01 | 2019-04-05 | 郑州日产汽车有限公司 | Slope, starting control method are stayed in electric car ramp |
| CN111038279A (en) * | 2019-12-19 | 2020-04-21 | 深圳市优必选科技股份有限公司 | Prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine robot |
| CN111251905A (en) * | 2020-03-06 | 2020-06-09 | 上海中科深江电动车辆有限公司 | Method and device for realizing slope control of electric automobile |
| CN111483327A (en) * | 2019-07-16 | 2020-08-04 | 长城汽车股份有限公司 | Motor control method, device, equipment and computer readable storage medium |
| CN114454727A (en) * | 2022-01-18 | 2022-05-10 | 东风汽车股份有限公司 | Method for controlling climbing and crawling of pure electric vehicle |
| CN115289216A (en) * | 2022-07-26 | 2022-11-04 | 中汽创智科技有限公司 | Control method and control system for improving climbing capability of stepless automatic gearbox |
| CN115366884A (en) * | 2022-10-21 | 2022-11-22 | 中国重汽集团济南动力有限公司 | Control device and method for hill start assistance based on parking brake system |
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| WO2023134843A1 (en) * | 2022-01-12 | 2023-07-20 | Huawei Digital Power Technologies Co., Ltd. | Vehicle control unit and method for indicating a remaining time for which a hill hold feature can be provided |
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