CN106515507B - 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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- CN106515507B CN106515507B CN201610948192.8A CN201610948192A CN106515507B CN 106515507 B CN106515507 B CN 106515507B CN 201610948192 A CN201610948192 A CN 201610948192A CN 106515507 B CN106515507 B CN 106515507B
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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 fields, and in particular to a kind of pure electric automobile motor auxiliary stay slope and
Uphill starting control system and method.
Background technique
For pure electric automobile, driving motor is sole power source, it provides the traveling that power realizes vehicle.Vehicle driving
In the process, need for vehicle to be parked in ramp or from uphill starting.For with manual pure electric vehicle, driver is in ramp
On when being operated to vehicle, there are vehicles not to have the short time transient process of mechanical braking force, in this process, due to weight
So that vehicle moves, especially for upward slope operating condition, vehicle is slipped by after, easily causes safety accident for the effect of power.It is existing
It is disclosed to be driven or automatic transmission vehicle about pure electric automobile uphill starting method mainly for straight, for clutch and manually
The pure electric vehicle of gear gearbox does not refer to.Therefore, the auxiliary for studying such pure electric automobile stays slope and uphill starting method
And its application system has important practical significance.
Summary of the invention
The purpose of the present invention is to provide a kind of pure electric automobile motor auxiliary to stay slope and uphill starting control system and side
Method, the system and method can judge automatically in slope and uphill starting operating condition, reduce ramp car slipping phenomenon, improve the safety of vehicle
Service performance.
In order to solve the above technical problems, a kind of pure electric automobile motor auxiliary disclosed by the invention stays slope and uphill starting control
System processed, it includes driving motor and motor speed sensor, it is characterised in that: it further includes electric machine controller, the motor
The control signal input interface of the drive and control of electric machine signal output interface connection driving motor of controller, motor speed sensor
For the motor speed of monitoring driving motor, the driving motor rotary speed data output interface of motor speed sensor connects motor control
Also there is the communication of clutch pedal status signal to connect for the driving 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 further includes parking switch status signal communication interface and vehicle speed information communication interface.
A method of pure electric automobile motor auxiliary, which is carried out, using above system stays slope and uphill starting control, feature
It is, it includes the following steps:
Step 1: electric machine controller receives driving 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 and final by brake pedal
Parking, for waiting, driver is possible to not pull-up parking brake handle grip, leaves foot from brake pedal in driver
In the process, if electric machine controller detects that brake pedal has lifted, electric machine controller detects the state of clutch, gearbox
Gear state, driving motor revolving speed and driving motor direction of rotation, when clutch is in bonding state, gearbox-gear is in non-
When the range of speeds of the effective status and driving motor of neutral gear at this time is not in preset revolving speed section, electric machine controller enters slope
Road aid parking functional mode, electric machine controller control driving motor apply parking torque and vehicle are maintained to remain static, prevent
Only vehicle car slipping backward；
When driver prepare ramp on start when, before unclamping parking braking bend the throttle, electric machine controller into
Enter above-mentioned ramp aid parking functional mode, electric machine controller control driving motor applies torque and vehicle is maintained to be in static shape
State, when driver starts bend the throttle, electric machine controller enters ramp start assisting mode, in the ramp start assisting mould
In formula, electric machine controller calculates driving motor output torque corresponding to the aperture of accelerator pedal, when opening for accelerator pedal at this time
The corresponding driving motor output torque of degree be less than maintain vehicle not the torque of car slipping when, electric machine controller will maintain parking to turn round
Square waits accelerator pedal aperture to further increase, and the driving motor output torque corresponding to the aperture of accelerator pedal at this time is big
When being equal to the maintenance vehicle not torque of car slipping, electric machine controller executes accelerator pedal opening degree instruction, drives vehicle driving.
Beneficial effects of the present invention:
The present invention can be such that pure automobile judges automatically in slope and uphill starting work by setting above system and control logic
Condition, and the phenomenon that carry out ramp aid parking and ramp start assisting, be effectively reduced ramp car slipping, improve the row of vehicle
Sail safety.
Detailed description of the invention
Fig. 1 is structural block diagram of the invention；
Wherein, 1-driving 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-vehicle speed informations are logical
Believe 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 invention stays slope and uphill starting control system, it include driving motor 1,
The drive and control of electric machine signal output interface of motor speed sensor 2 and electric machine controller 3, the electric machine controller connects driving
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 passes
The driving motor rotary speed data input interface of the driving motor rotary speed data output interface connection electric machine controller 3 of sensor 2, it is 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 vehicle speed information communication interface
Parking switch status signal communication interface 3.4.The vehicular meter communication ends of the electric machine controller 3 connect vehicular meter 4.
In above-mentioned technical proposal, electric machine controller 3 provides electric energy to driving motor 1 by high-tension cable and controls driving electricity
The operation of machine 1.
In above-mentioned technical proposal, temperature sensor 5, the temperature of the temperature sensor 5 are also equipped on the driving motor 1
Spend the temperature signal input of signal output end connection electric machine controller 3.Motor speed sensor 2 and temperature on driving motor 1
Degree sensor 5 respectively by motor operation when revolving speed and armature winding temperature signal be transmitted to electric machine controller 3, for constituting closed loop
Control system.
In above-mentioned technical proposal, driving motor 1 imparts power to wheel drive vehicle by transmission system and travels.Transmission
System is mainly made of clutch, manual transmission and main reducing gear.
A method of pure electric automobile motor auxiliary is carried out using above system and stays slope and uphill starting control, it includes
Following steps:
Step 1: electric machine controller 3 receives driving 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 and final by brake pedal
Parking, for waiting, driver is possible to not pull-up parking brake handle grip, leaves foot from brake pedal in driver
In the process, if electric machine controller 3 detects that brake pedal has lifted, electric machine controller 3 detects state, the speed change of clutch
Gear box state, driving motor revolving speed and driving motor direction of rotation, when clutch is in bonding state, gearbox-gear is in
The effective status (i.e. gearbox-gear is in drive shift or reverse gear) and the range of speeds of driving motor at this time of non-neutral gear be not pre-
If revolving speed section in when (clutch is in bonding state, gearbox-gear is in effective status, the driving motor of non-neutral gear
Three conditions do not meet the range of speeds at this time simultaneously in preset revolving speed section), electric machine controller 3 enters ramp auxiliary and stops
Vehicle functional mode, electric machine controller 3 control driving motor 1 and apply parking torque (this torque can be different according to the difference in ramp)
It maintains vehicle to remain static, prevents vehicle car slipping backward.At this point, even if driver's not yet bend the throttle or pull-up is stayed
Vehicle braking, vehicle will not after slip；
When driver prepare ramp on start when, before unclamping parking braking bend the throttle, electric machine controller 3 into
Enter above-mentioned ramp aid parking functional mode, electric machine controller 3 controls the application torque of driving motor 1 and vehicle is maintained to be in static shape
State, when driver starts bend the throttle, electric machine controller 3 enters ramp start assisting mode, in the ramp start assisting
In mode, electric machine controller 3 calculates 1 output torque of driving motor corresponding to the aperture of accelerator pedal, when accelerator pedal at this time
Aperture corresponding to 1 output torque of driving motor be less than maintain vehicle not the torque of car slipping when, electric machine controller 3 will maintain
Parking torque waits accelerator pedal aperture to further increase, and the driving motor 1 corresponding to the aperture of accelerator pedal at this time is defeated
Out torque be more than or equal to maintain vehicle not the torque of car slipping when, electric machine controller 3 execute accelerator pedal opening degree instruction, drive vehicle
Traveling.
In above-mentioned technical proposal, enter ramp aid parking functional mode or ramp start assisting mould in electric machine controller 3
After formula, electric machine controller 3 issues the indicator light in slope for instructing and lighting in instrument 4, prompts driver to be now arranged in ramp auxiliary and stops
Vehicle functional mode or ramp start assisting mode, need timely brake pedal or pull-up parking brake handle grip.
In above-mentioned technical proposal, MCU1 is needed when implementing the process of ramp aid parking and ramp start assisting function
Vehicle-state is judged according to sensor signal, is neither malfunctioned, also to be exited in due course, guarantees the normally travel of vehicle.Work as motor
Controller 3 judges that clutch is in discrete state or gearbox is in neutral state or there are brake signal or adds
When corresponding acceleration torque can make vehicle movement or driving motor be in temperature alarm state when speed pedal is stepped on, motor control
Device 3 processed can exit above-mentioned ramp aid parking functional mode or ramp start assisting mode.
In above-mentioned technical proposal, the preset revolving speed section of driving motor is -8rpm~+8rpm in the step 2
The present invention is suitable for being configured with the pure electric automobile of clutch, manual gear gearbox and mechanical parking system, effectively
The ramp car slipping for reducing this pure electric automobile the phenomenon that, improve the driving safety of vehicle.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (7)
1. a kind of stay slope and uphill starting control system progress pure electric automobile motor auxiliary using pure electric automobile motor auxiliary
The method controlled in slope and uphill starting, the pure electric automobile motor auxiliary stays slope and uphill starting control system includes driving
Motor (1) and motor speed sensor (2), it further includes electric machine controller (3), the drive and control of electric machine of the electric machine controller
Signal output interface connects the control signal input interface of driving motor (1), and motor speed sensor (2) is for monitoring driving electricity
The driving motor rotary speed data output interface of the motor speed of machine (1), motor speed sensor (2) connects electric machine controller (3)
Driving 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)；
It is characterized in that, the method that pure electric automobile motor auxiliary stays slope and uphill starting controls, it includes the following steps:
Step 1: electric machine controller (3) receives driving 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
Vehicle, during driver leaves foot from brake pedal, if electric machine controller (3) detects that brake pedal has lifted,
Then state, gearbox-gear state, driving motor revolving speed and the driving motor rotation side of electric machine controller (3) detection clutch
To when clutch is in bonding state, gearbox-gear is in the effective status and the revolving speed model of driving motor at this time of non-neutral gear
When enclosing not in preset revolving speed section, electric machine controller (3) enters ramp aid parking functional mode, electric machine controller (3)
Control driving motor (1) applies parking torque and vehicle is maintained to remain static, and prevents vehicle car slipping backward；
When driver prepares to start on ramp, before unclamping parking braking bend the throttle, electric machine controller (3) enters
Above-mentioned ramp aid parking functional mode, electric machine controller (3) control driving motor (1) and apply torque maintenance vehicle in static
State, when driver starts bend the throttle, electric machine controller (3) enters ramp start assisting mode, assists in the ramp
In starting mode, electric machine controller (3) calculates driving motor (1) output torque corresponding to the aperture of accelerator pedal, when at this time
(1) output torque of driving motor corresponding to the aperture of accelerator pedal be less than maintain vehicle not the torque of car slipping when, motor control
Device (3) will maintain parking torque that accelerator pedal aperture is waited to further increase, corresponding to the aperture of accelerator pedal at this time
Driving motor (1) output torque be more than or equal to maintain vehicle not the torque of car slipping when, electric machine controller (3) execute accelerator pedal
Opening degree instruction drives vehicle driving.
2. the method that pure electric automobile motor auxiliary according to claim 1 stays slope and uphill starting controls, feature exist
In: the electric machine controller (3) further includes parking switch status signal communication interface (3.4) and vehicle speed information communication interface
(3.6)。
3. the method that pure electric automobile motor auxiliary according to claim 1 stays slope and uphill starting controls, feature exist
In: the vehicular meter communication ends of the electric machine controller (3) connect vehicular meter (4).
4. the method that pure electric automobile motor auxiliary according to claim 1 stays slope and uphill starting controls, feature exist
In: it is also equipped with temperature sensor (5) on the driving motor (1), the temperature signal output end of the temperature sensor (5) connects
Connect the temperature signal input of electric machine controller (3).
5. the method that pure electric automobile motor auxiliary according to claim 1 stays slope and uphill starting controls, feature exist
In: after electric machine controller (3) enter ramp aid parking functional mode or ramp start assisting mode, electric machine controller (3)
The indicator light in slope for instructing and lighting on instrument (4) is issued, driver is prompted to be now arranged in ramp aid parking functional mode or slope
Road start assisting mode.
6. the method that pure electric automobile motor auxiliary according to claim 1 stays slope and uphill starting controls, feature exist
In: when electric machine controller (3) judges that clutch is in discrete state or gearbox is in neutral state or exists and brakes
Corresponding acceleration torque can make vehicle mobile when stepping on or driving motor is in temperature alarm shape for signal or accelerator pedal
When state, electric machine controller (3) can exit above-mentioned ramp aid parking functional mode or ramp start assisting mode.
7. the method that pure electric automobile motor auxiliary according to claim 1 stays slope and uphill starting controls, feature exist
In: the preset revolving speed section of driving motor is -8rpm~+8rpm in the step 2.
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| 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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| CN106515507B true CN106515507B (en) | 2019-01-01 |
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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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| 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 |
| CN108928260B (en) * | 2017-05-26 | 2020-12-25 | 比亚迪股份有限公司 | Hill parking control method and system, storage medium and vehicle |
| CN107697074B (en) * | 2017-07-12 | 2020-08-18 | 宝沃汽车（中国）有限公司 | Control method and system of electric automobile and vehicle |
| CN107444192B (en) * | 2017-08-14 | 2020-03-13 | 上海中科深江电动车辆有限公司 | Auxiliary control system and method based on MCU hill-holding and hill-start |
| CN109017436B (en) * | 2018-06-14 | 2021-09-28 | 中兴智能汽车有限公司 | Motor torque following method for electric automobile when exiting from parking slope |
| CN109572698B (en) * | 2018-12-01 | 2020-05-22 | 郑州日产汽车有限公司 | Ramp hill-holding and starting control method for electric automobile |
| 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 |
| CN111483327B (en) * | 2019-07-16 | 2021-11-02 | 长城汽车股份有限公司 | Motor control method, device, equipment and computer readable storage medium |
| CN111038279B (en) * | 2019-12-19 | 2021-06-04 | 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 |
| CN113550944B (en) * | 2021-08-26 | 2024-08-30 | 江苏柳工机械有限公司 | Arm support type aerial work platform hybrid driving traveling system and control method thereof |
| 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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