CN106740847A - The self adaptation of four-wheel electric motor car is with car method - Google Patents
The self adaptation of four-wheel electric motor car is with car method Download PDFInfo
- Publication number
- CN106740847A CN106740847A CN201611195664.3A CN201611195664A CN106740847A CN 106740847 A CN106740847 A CN 106740847A CN 201611195664 A CN201611195664 A CN 201611195664A CN 106740847 A CN106740847 A CN 106740847A
- Authority
- CN
- China
- Prior art keywords
- control device
- vehicle control
- speed
- car
- distance
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000006978 adaptation Effects 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 2
- 239000002803 fossil fuel Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002283 diesel fuel Substances 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000003502 gasoline Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a kind of self adaptation of four-wheel electric motor car with car method, comprise the following steps：The distance between S1, the headstock of vehicle control device detection electric motor car and front truck are E；S2, vehicle control device are compared described apart from E and safe distance threshold value F；Work as E>During F, vehicle control device improves speed；Work as E<During F, vehicle control device reduction speed；As E=F; vehicle control device keeps speed; the self adaptation of this four-wheel electric motor car is detected using double ultrasonic radars with car method to front truck; it is accurate the distance between to calculate with front truck; effectively solve other distance measuring methods and wrong report often occurs and by both sides vehicle interference problem; realized actively with car according to leading vehicle distance and speed; automatically adjust speed; safe distance is kept with front truck; and when distance is too near dangerous; stopped locking motor by electromagnetism, make electric motor car reduction of speed as early as possible, spaced out with front truck.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to a kind of self adaptation of four-wheel electric motor car is with car method.
Background technology
The constantly soaring of car ownership has triggered a series of problems.Most of automobile burning gasoline, diesel oil, natural gas etc.
Fossil fuel, the reserves of fossil fuel are limited, enormous amounts and ever-increasing automobile quantity makes energy crisis on the earth
It is increasingly serious.General 1500kg of weight of orthodox car or so, payload only has 100kg or so, and most of energy waste exists
In invalid load, serious energy waste is caused.In addition, orthodox car is bulky, general automobile floor space about 10 is flat
Square rice, the growth of automobile quantity causes that the nervous problem of traffic congestion and parking stall is increasingly severe.Electric motor car is subject to increasingly
The welcome of many consumers.Electric motor car price is lower than orthodox car, for electric motor car charge expense also than the expense of automobile fuel filler
It is low；Electric motor car is flexibly compact, in Non-motorized vehicle lane running, is not generally encountered with traffic jam, is also easier to find parking stall；Electricity
Motor-car does not have exhaust emissions, does not pollute the environment.
With the fast development of electric bicycle, four-wheel electric motor car is also received by increasing user.And along with
The popularization of four-wheel electric motor car, often occurs the situation of traffic congestion on road, in traffic congestion section, it usually needs control car
It is in following state, the distance between vehicle in following state and front vehicles (i.e. this car in the range of safe distance
It is more than or equal to safe distance with the distance between front vehicles), generally control vehicle to be according to driving experience by driver
Following state.Specifically, driver can judge the travel speed and Ben Che and front car of front vehicles according to driving experience
The distance between, then the distance between the travel speed and Ben Che according to front vehicles and front vehicles, by control
Throttle, brake of this car etc. control the distance between this car and front vehicles in the range of safe distance.But manual control
Precision is relatively low, and travel safety is relatively low.
The content of the invention
The technical problem to be solved in the present invention is：In order to solve when four-wheel electric motor car is driven, artificially with the control essence of car
Degree is relatively low, and driver is easily tired, the relatively low problem of travel safety, the invention provides a kind of self adaptation of four-wheel electric motor car
Solved the above problems with car method.
The technical solution adopted for the present invention to solve the technical problems is：A kind of self adaptation of four-wheel electric motor car is with car side
Method, comprises the following steps：
The distance between S1, the headstock of vehicle control device detection electric motor car and front truck are E；
S2, vehicle control device are compared described apart from E and safe distance threshold value F：
Work as E>During F, vehicle control device improves speed；
Work as E<During F, vehicle control device reduction speed；
As E=F, vehicle control device keeps speed.
Preferably, also including step S3, vehicle control device is compared apart from E by described with risk distance threshold value Q, when
E<During Q, vehicle control device cut-out motor power, and start electromagnetism and stop, pin the output shaft of motor.
Preferably, in the step S1, the vehicle control device reads the first ultrasonic radar and the second ultrasonic wave
The data of radar, wherein, first ultrasonic radar and the second ultrasonic radar are arranged on the headstock of electric motor car, described first
Ultrasonic radar detect it with the front truck tailstock at one the distance between point distance measurement P be A, second ultrasonic radar detects it
It is B with the distance between the point distance measurement P, the distance between first ultrasonic radar and the second ultrasonic radar are M, institute
State vehicle control device acquisition and calculate described apart from E apart from A and after B, process is as follows：
Set up equation group：
Wherein, C is intersection point Rs of the point distance measurement P on the first ultrasonic radar and the second ultrasonic radar line and the first surpass
The distance between sound radar, D is between the first ultrasonic radar and the midpoint O and vertical R of the second ultrasonic radar line
Distance；Solve equation and obtain E QUOTE 。
Preferably, vehicle control device detects real-time speed v, in the step S2, work as E>During F, vehicle control device improves defeated
Go out to the dutycycle of the pulse signal of electric machine controller；Work as E<During F, the pulse of vehicle control device reduction output to electric machine controller
The dutycycle of signal；As E=F, current vehicle speed is designated as reference speed by vehicle control device, vehicle control device by real-time speed v with
Reference speed is compared：When real-time speed v is more than reference speed, the arteries and veins of vehicle control device reduction output to electric machine controller
The dutycycle of signal is rushed, when real-time speed v is less than reference speed, vehicle control device improves the pulse of output to electric machine controller
The dutycycle of signal, when real-time speed v is equal to reference speed, vehicle control device keeps output to the pulse of electric machine controller to believe
Number dutycycle.
Preferably, vehicle control device detects real-time speed v, in the step S3, Q=θ v, θ are the conversion system of v and Q
Number.
The beneficial effects of the invention are as follows the self adaptation of this four-wheel electric motor car uses double ultrasonic radars to preceding with car method
The distance between car detected, accurately calculate with front truck, effectively solve other distance measuring methods and wrong report often occurs and by two
Side vehicle interference problem, realizes actively with car according to leading vehicle distance and speed, automatically adjusts speed, with front truck keep safety away from
From, and when distance is too near dangerous, stopped locking motor by electromagnetism, make electric motor car reduction of speed as early as possible, spaced out with front truck.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the flow chart of the self adaptation with the optimum embodiment of car method of four-wheel electric motor car of the invention.
Fig. 2 is the radar range finding figure of the self adaptation with car method of four-wheel electric motor car of the invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not considered as limiting the invention.Conversely, this
Inventive embodiment includes all changes fallen into the range of the spiritual and intension of attached claims, modification and is equal to
Thing.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " axial direction ",
The orientation or position relationship of the instructions such as " radial direction ", " circumference " are based on orientation shown in the drawings or position relationship, merely to just
Described in the description present invention and simplifying, rather than indicate imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying relatively important
Property.In the description of the invention, it is necessary to explanation, unless otherwise clearly defined and limited, term " connected ", " connection " should
It is interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or is integrally connected；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.It is common for this area
For technical staff, above-mentioned term concrete meaning in the present invention can be understood with concrete condition.Additionally, in description of the invention
In, unless otherwise indicated, " multiple " is meant that two or more.
Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes
It is one or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion suitable
Sequence, including function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
As shown in Figure 1 and 2, comprised the following steps with car method the invention provides a kind of self adaptation of four-wheel electric motor car：
The distance between S1, the headstock of vehicle control device detection electric motor car and front truck are E；Vehicle control device reads the first ultrasonic wave
The data of radar and the second ultrasonic radar, wherein, the first ultrasonic radar and the second ultrasonic radar are arranged on electric motor car
Headstock, the first ultrasonic radar detect it with the front truck tailstock at one the distance between point distance measurement P be A, the second ultrasonic radar
Detect that the distance between it and point distance measurement P are B, the distance between the first ultrasonic radar and the second ultrasonic radar are M, vehicle
Controller is obtained and calculated apart from A and after B apart from E, and process is as follows：
Set up equation group：
Wherein, C is intersection point Rs and first ultrasonic wave of the point distance measurement P on the first ultrasonic radar and the second ultrasonic radar line
The distance between radar, D is the distance between midpoint O and vertical R of the first ultrasonic radar and the second ultrasonic radar line；
Solve equation and obtain E QUOTE 。
S2, vehicle control device will be compared apart from E and safe distance threshold value F：
Work as E>During F, vehicle control device improves speed；
Work as E<During F, vehicle control device reduction speed；
As E=F, vehicle control device keeps speed；
S3, vehicle control device will be compared apart from E with risk distance threshold value Q, work as E<During Q, vehicle control device cut-out motor electricity
Source, and start electromagnetism and stop, pin the output shaft of motor.
The motor of electric motor car is brshless DC motor, carries Hall sensor, and it is connected with vehicle control device, will detect
The rotating speed of rotor transmit to vehicle control device, vehicle control device can just calculate real-time speed v；In step s 2,
Work as E>During F, vehicle control device improves the dutycycle of output to the pulse signal of electric machine controller；Work as E<During F, vehicle control device drop
The dutycycle of pulse signal of the low output to electric machine controller；As E=F, be designated as current vehicle speed to refer to car by vehicle control device
With reference speed be compared real-time speed v by speed, vehicle control device：When real-time speed v is more than reference speed, wagon control
Device reduction is exported to the dutycycle of the pulse signal of electric machine controller, when real-time speed v is less than reference speed, vehicle control device
The dutycycle of output to the pulse signal of electric machine controller is improved, when real-time speed v is equal to reference speed, vehicle control device is protected
Hold the dutycycle of output to the pulse signal of electric machine controller.
In step s3, Q=θ v, θ are the conversion coefficient of v and Q, and real-time speed v is directly proportional to risk distance threshold value Q.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of the term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
With above-mentioned according to desirable embodiment of the invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (5)
1. a kind of self adaptation of four-wheel electric motor car is with car method, it is characterised in that comprise the following steps：
The distance between S1, the headstock of vehicle control device detection electric motor car and front truck are E；
S2, vehicle control device are compared described apart from E and safe distance threshold value F：
Work as E>During F, vehicle control device improves speed；
Work as E<During F, vehicle control device reduction speed；
As E=F, vehicle control device keeps speed.
2. the self adaptation of four-wheel electric motor car as claimed in claim 1 is with car method, it is characterised in that：Also include step S3, car
Controller is compared apart from E by described with risk distance threshold value Q, works as E<During Q, vehicle control device cut-out motor power, and
Start electromagnetism to stop, pin the output shaft of motor.
3. the self adaptation of four-wheel electric motor car as claimed in claim 1 is with car method, it is characterised in that：In the step S1,
The vehicle control device reads the data of the first ultrasonic radar and the second ultrasonic radar, wherein, the first ultrasonic wave thunder
Up to the headstock that electric motor car is arranged on the second ultrasonic radar, first ultrasonic radar detect it with the front truck tailstock at one
The distance between point distance measurement P is A, and second ultrasonic radar detects that it is B the distance between with the point distance measurement P, described
The distance between first ultrasonic radar and the second ultrasonic radar are M, and the vehicle control device is obtained apart from A and after B
Calculate described apart from E, process is as follows：
Set up equation group：
Wherein, C is intersection point Rs of the point distance measurement P on the first ultrasonic radar and the second ultrasonic radar line and the first surpass
The distance between sound radar, D is between the first ultrasonic radar and the midpoint O and vertical R of the second ultrasonic radar line
Distance；Solve equation and obtain E QUOTE 。
4. the self adaptation of four-wheel electric motor car as claimed in claim 1 is with car method, it is characterised in that：Vehicle control device detection is real
When speed v, in the step S2, work as E>During F, vehicle control device improves the duty of output to the pulse signal of electric machine controller
Than；Work as E<During F, the dutycycle of vehicle control device reduction output to the pulse signal of electric machine controller；As E=F, wagon control
Current vehicle speed is designated as reference speed by device, and with reference speed be compared real-time speed v by vehicle control device：As real-time speed v
During more than reference speed, the dutycycle of vehicle control device reduction output to the pulse signal of electric machine controller, when real-time speed v is small
When reference speed, vehicle control device improves the dutycycle of output to the pulse signal of electric machine controller, when real-time speed v is equal to
During reference speed, vehicle control device keeps output to the dutycycle of the pulse signal of electric machine controller.
5. the self adaptation of four-wheel electric motor car as claimed in claim 2 is with car method, it is characterised in that：Vehicle control device detection is real
When speed v, in the step S3, Q=θ v, θ are the conversion coefficient of v and Q.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611195664.3A CN106740847B (en) | 2016-12-22 | 2016-12-22 | The adaptive follow the bus method of four-wheel electric motor car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611195664.3A CN106740847B (en) | 2016-12-22 | 2016-12-22 | The adaptive follow the bus method of four-wheel electric motor car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106740847A true CN106740847A (en) | 2017-05-31 |
| CN106740847B CN106740847B (en) | 2019-02-26 |
Family
ID=58899270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611195664.3A Active CN106740847B (en) | 2016-12-22 | 2016-12-22 | The adaptive follow the bus method of four-wheel electric motor car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106740847B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351822A (en) * | 2017-07-11 | 2017-11-17 | 浙江大学常州工业技术研究院 | A kind of method for protecting of four-wheel electric motor car |
| CN107933555A (en) * | 2017-11-08 | 2018-04-20 | 重庆长安汽车股份有限公司 | Automobile low speed straight line cruise system and method |
| CN108058618A (en) * | 2017-12-14 | 2018-05-22 | 阜阳裕晟电子科技有限公司 | A kind of vehicular electric machine control method |
| CN108082008A (en) * | 2017-12-14 | 2018-05-29 | 黄晓丽 | A kind of motor speed control method based on vehicle |
| CN113815351A (en) * | 2021-11-03 | 2021-12-21 | 合肥海源机械有限公司 | Driving axle unmanned control system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012091637A1 (en) * | 2010-12-29 | 2012-07-05 | Volvo Lastvagnar Ab | X adaptative cruise control |
| CN102991416A (en) * | 2012-12-10 | 2013-03-27 | 常州大学 | Traffic safety distance control system for automobile and method thereof |
| CN105644560A (en) * | 2016-03-22 | 2016-06-08 | 辽宁工业大学 | ACC (adaptive cruise control) system and method for four-wheel hub motor electric vehicle |
| CN105774807A (en) * | 2016-03-04 | 2016-07-20 | 苏黎 | Vehicle speed control method and vehicle |
| CN106114422A (en) * | 2016-08-03 | 2016-11-16 | 安徽工程大学 | Autonomous with car system and the control method of minimum safe following distance thereof |
-
2016
- 2016-12-22 CN CN201611195664.3A patent/CN106740847B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012091637A1 (en) * | 2010-12-29 | 2012-07-05 | Volvo Lastvagnar Ab | X adaptative cruise control |
| CN102991416A (en) * | 2012-12-10 | 2013-03-27 | 常州大学 | Traffic safety distance control system for automobile and method thereof |
| CN105774807A (en) * | 2016-03-04 | 2016-07-20 | 苏黎 | Vehicle speed control method and vehicle |
| CN105644560A (en) * | 2016-03-22 | 2016-06-08 | 辽宁工业大学 | ACC (adaptive cruise control) system and method for four-wheel hub motor electric vehicle |
| CN106114422A (en) * | 2016-08-03 | 2016-11-16 | 安徽工程大学 | Autonomous with car system and the control method of minimum safe following distance thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351822A (en) * | 2017-07-11 | 2017-11-17 | 浙江大学常州工业技术研究院 | A kind of method for protecting of four-wheel electric motor car |
| CN107351822B (en) * | 2017-07-11 | 2019-10-25 | 浙江大学常州工业技术研究院 | A kind of method for protecting of four-wheel electric motor car |
| CN107933555A (en) * | 2017-11-08 | 2018-04-20 | 重庆长安汽车股份有限公司 | Automobile low speed straight line cruise system and method |
| CN108058618A (en) * | 2017-12-14 | 2018-05-22 | 阜阳裕晟电子科技有限公司 | A kind of vehicular electric machine control method |
| CN108082008A (en) * | 2017-12-14 | 2018-05-29 | 黄晓丽 | A kind of motor speed control method based on vehicle |
| CN113815351A (en) * | 2021-11-03 | 2021-12-21 | 合肥海源机械有限公司 | Driving axle unmanned control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106740847B (en) | 2019-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106740847A (en) | The self adaptation of four-wheel electric motor car is with car method | |
| CN105691388B (en) | A kind of Automotive active anti-collision system and its method for planning track | |
| US8423214B2 (en) | Motor assistance for a hybrid vehicle | |
| CN103079934B (en) | The steering swivel system of motor car | |
| CN102762428B (en) | Controller of vehicle | |
| CN103612634B (en) | The evaluation method of distributing In-wheel motor driving electronlmobil coefficient of road adhesion | |
| CN101952152B (en) | Method for the failsafe operation of a hybrid vehicle for initiating, in a controlled manner, a substitute measure allowing an emergency operation of the vehicle and device for carrying out said method | |
| CN1810557A (en) | Multiple axle driving system for oil-electricity mixed power automobile | |
| CN204978641U (en) | Car turn safety auxiliary device | |
| CN103003084B (en) | The slip detector of vehicle | |
| CN108621859A (en) | A kind of drive control method of pure electric automobile | |
| CN1145744C (en) | Apparatus for controlling steering of vehicles through control of engine torque | |
| CN104057952B (en) | Ramp resistance obtaining method for hybrid electric vehicle | |
| CN105667341B (en) | A kind of TCS for multiaxis distributed dynamoelectric driving vehicle | |
| CN106740830B (en) | The anti-rollover control method of four-wheel electric motor car | |
| CN103112491A (en) | Electric power steering control system for electric automobiles, device and method therefore | |
| CN102582620A (en) | All-terrain automatic parking system | |
| CN106004520A (en) | Vehicle speed control method, vehicle speed control system and electric vehicle | |
| EP1806256B1 (en) | Steering compensated speed override for vehicle drive system | |
| CN201300709Y (en) | Hybrid power farm truck | |
| CN203739886U (en) | Active lane keeping device based on EPS | |
| US10782145B2 (en) | Devices and methods for determining a distance travelled | |
| CN109388775B (en) | Engine loss calculation method and engine loss calculation device | |
| CN109501802A (en) | Active brake system based on Electric booster | |
| CN106627577A (en) | Automatic cruise control method for electric vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |