CN107487231B - The method and apparatus of vehicle control - Google Patents
The method and apparatus of vehicle control Download PDFInfo
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- CN107487231B CN107487231B CN201611208832.8A CN201611208832A CN107487231B CN 107487231 B CN107487231 B CN 107487231B CN 201611208832 A CN201611208832 A CN 201611208832A CN 107487231 B CN107487231 B CN 107487231B
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Classifications
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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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
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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
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Abstract
This disclosure relates to which a kind of method and apparatus of vehicle control, acquire multiple first revolving speeds of vehicular electric machine within a preset period of time；Obtain multiple first output torques of motor in preset time period；Determine whether vehicle is in starting dither state according to multiple first revolving speeds and multiple first output torques；When determining that vehicle is in starting dither state, the current rotating speed of motor is acquired, and the second revolving speed of motor is determined according to current rotating speed and predetermined acceleration；First output torque changing value of the motor within the control period is obtained, and the second output torque changing value is obtained according to the first output torque changing value and parameter preset；It controls motor to run according to the second revolving speed and the second output torque changing value, in this way, the revolving speed of vehicular electric machine and the shake of output torque can be effectively inhibited, to improve the usage experience of user.
Description
Technical field
This disclosure relates to control field, and in particular, to a kind of method and apparatus of vehicle control.
Background technique
In electric vehicle ground zero, since motor output torque has variation on a large scale, to cause motor speed
In the presence of large-scale variation, in turn results in electric vehicle and jitter phenomenon occur, so that there is shake sense in the process of moving in user, this
Sample reduces the experience effect of user.
Currently, when determining that electric vehicle is in starting dither state, by smoothing processing algorithm (as repeatedly sampling asks flat
, low-pass filtering or output violent change etc. are handled) revolving speed is smoothed, but can only be weakened using smoothing processing algorithm
The shake of revolving speed can not eliminate the shake of the revolving speed, so that there are still discomfort in the process of moving by user.
Summary of the invention
To solve problems of the prior art, present disclose provides a kind of method and apparatus of vehicle control.
According to the first aspect of the embodiments of the present disclosure, a kind of method of vehicle control is provided, which comprises default
Multiple first revolving speeds of acquisition vehicular electric machine in period；Obtain multiple first outputs of the motor in the preset time period
Torque；Determine whether the vehicle is in starting shake shape according to multiple first revolving speeds and multiple first output torques
State；When determining that the vehicle is in starting dither state, the current rotating speed of the motor is acquired, and according to the current rotating speed
The second revolving speed of the motor is determined with predetermined acceleration；Obtain first output torque variation of the motor within the control period
Value, and the second output torque changing value is obtained according to the first output torque changing value and parameter preset；Control the motor
It is run according to second revolving speed and the second output torque changing value.
Optionally, described whether to determine the vehicle according to multiple first revolving speeds and multiple first output torques
In starting dither state include: the hopping amplitude for determining multiple first revolving speeds be more than or equal to the first hop value and
When the hopping amplitude of the multiple first output torque is more than or equal to the second hop value, determine that the vehicle is in starting and trembles
Dynamic state.
Optionally, second revolving speed that the motor is determined according to the current rotating speed and predetermined acceleration includes: logical
Cross the second revolving speed that following formula determines the motor:
W=a*t+w0(0≤t≤t1)
Wherein, w indicates the second revolving speed of motor；A indicates predetermined acceleration；T indicates the time；w0Indicate motor works as forward
Speed.
Optionally, described that second output torque changing value is obtained according to the first output torque changing value and parameter preset
It include: to calculate the product of the parameter preset and the first output torque changing value to obtain the second output torque variation
Value.
Optionally, the control motor includes: by the motor according to the second output torque changing value operation
The first output torque changing value within the control period is adjusted to the second output torque changing value.
According to the second aspect of an embodiment of the present disclosure, a kind of device of vehicle control is provided, described device includes: first to adopt
Collect module, for acquiring multiple first revolving speeds of vehicular electric machine within a preset period of time；First obtains module, described for obtaining
Multiple first output torques of the motor in preset time period；First determining module, for according to multiple first revolving speeds
Determine whether the vehicle is in starting dither state with multiple first output torques；Second acquisition module, for true
When the fixed vehicle is in starting dither state, the current rotating speed of the motor is acquired；Second determining module, for according to
Current rotating speed and predetermined acceleration determine the second revolving speed of the motor；Second obtains module, is controlling for obtaining the motor
The first output torque changing value in period processed；Third obtains module, for according to the first output torque changing value and in advance
Setting parameter obtains the second output torque changing value；Control module, for controlling the motor according to second revolving speed and described
The operation of second output torque changing value.
Optionally, first determining module, for determine the hopping amplitude of multiple first revolving speeds be greater than or
When being more than or equal to the second hop value equal to the hopping amplitude of the first hop value and the multiple first output torque, institute is determined
It states vehicle and is in starting dither state.
Optionally, second determining module, for determining the second revolving speed of the motor by following formula:
W=a*t+w0(0≤t≤t1)
Wherein, w indicates the second revolving speed of motor；A indicates predetermined acceleration；T indicates the time；w0Indicate motor works as forward
Speed.
Optionally, the third obtains module, for calculating the parameter preset and the first output torque changing value
Product obtain the second output torque changing value.
Optionally, the control module, for the first output torque changing value tune by the motor within the control period
Whole is the second output torque changing value.
Through the above technical solutions, acquiring multiple first revolving speeds of vehicular electric machine within a preset period of time；It is default to obtain this
Multiple first output torques of the motor in period；The vehicle is determined according to multiple first revolving speeds and multiple first output torques
Whether in starting dither state；When determining that the vehicle is in starting dither state, the current rotating speed of the motor, and root are acquired
The second revolving speed of the motor is determined according to the current rotating speed and predetermined acceleration；Obtain first output of the motor within the control period
Change in torque value, and the second output torque changing value is obtained according to the first output torque changing value and parameter preset；Control should
Motor is run according to second revolving speed and the second output torque changing value, in this way, increasing the even acceleration of the revolving speed of motor
It is long, and make the output torque of motor there is no jumping on a large scale, so as to effectively inhibit turning for the vehicular electric machine
The shake of speed and output torque improves the usage experience of user so that shake sense is not present in user in the process of moving.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the method for vehicle control shown according to an exemplary embodiment；
Fig. 2 is the flow chart of the method for another vehicle control shown according to an exemplary embodiment；
Fig. 3 is a kind of block diagram of the device of vehicle control shown according to an exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
The disclosure can be applied to the scene of vehicle start, and under the scene, the output of motor is turned round when due to vehicle start
There is variation on a large scale in square, change so as to cause the revolving speed of motor there is also large-scale, in turn result in vehicle and shake
Phenomenon is averaging by using multiple sampling, low pass filtered in the prior art so that user has shake sense in the process of moving
The methods of wave, output violent change processing are smoothed the revolving speed of motor, but since the method for smoothing processing can only weaken
The shake of revolving speed can not eliminate the shake of the revolving speed, so that there are still discomfort in the process of moving by user.
To solve the above-mentioned problems, the method and apparatus that the disclosure proposes a kind of vehicle control, this method are included in default
Multiple first revolving speeds of acquisition vehicular electric machine in period；Multiple first outputs for obtaining the motor in the preset time period are turned round
Square；Determine whether the vehicle is in starting dither state according to multiple first revolving speeds and multiple first output torques；It should determining
When vehicle is in starting dither state, the current rotating speed of the motor is acquired, and determine according to the current rotating speed and predetermined acceleration
Second revolving speed of the motor；First output torque changing value of the motor within the control period is obtained, and according to first output
Change in torque value and parameter preset obtain the second output torque changing value；The motor is controlled according to second revolving speed and this is second defeated
Change in torque value is run out, in this way, making the revolving speed of motor can be with even accelerated growth, and the output torque of motor is not deposited
It is jumping on a large scale, so as to effectively inhibit the revolving speed of the vehicular electric machine and the shake of output torque, so that with
Shake sense is not present in family in the process of moving, improves the usage experience of user.
The disclosure is illustrated combined with specific embodiments below.
Fig. 1 is a kind of flow chart of the method for vehicle control shown according to an exemplary embodiment, as shown in Figure 1, should
Method includes the following steps.
S101 acquires multiple first revolving speeds of vehicular electric machine within a preset period of time.
Wherein it is possible to get multiple first turns of the vehicular electric machine by the rotary transformer being arranged on the motor
Speed, it is, of course, also possible to such as acquire multiple first revolving speeds of the motor, the disclosure using encoder detector using other methods
This is not construed as limiting.
S102 obtains multiple first output torques of the motor preset time period Nei.
Wherein it is possible to collect the current value of motor by the current sensor in electric machine controller, and according to the electric current
Value, the default radius of gyration, default constant of the machine and preset motor magnetic flux obtain multiple first output torques of the motor, on
It states example to be merely illustrative, the disclosure is not construed as limiting this.
S103 determines whether the vehicle is in starting shake shape according to multiple first revolving speeds and multiple first output torques
State.
Wherein, which is vehicle in starting, due to multiple first output torques and multiple first revolving speeds
All there is jump up and down (i.e. multiple first output torques and multiple first revolving speeds all have increase and reduced process), causes vehicle
Shake state.
S104 acquires the current rotating speed of the motor, and current according to this when determining that the vehicle is in starting dither state
Revolving speed and predetermined acceleration determine the second revolving speed of the motor.
S105 obtains first output torque changing value of the motor within the control period, and according to first output torque
Changing value and parameter preset obtain the second output torque changing value.
Wherein, which can be the empirical value determined according to the accelerating ability of the vehicle.
S106 controls the motor and runs according to second revolving speed and the second output torque changing value.
The above method is used, so that the revolving speed of motor can be with even accelerated growth, and the output torque of motor is not deposited
It is jumping on a large scale, so as to effectively inhibit the revolving speed of the vehicular electric machine and the shake of output torque, so that with
Shake sense is not present in family in the process of moving, improves the usage experience of user.
Fig. 2 is a kind of flow chart of the method for vehicle control shown according to an exemplary embodiment, as shown in Fig. 2, should
Method includes the following steps.
S201 acquires multiple first revolving speeds of vehicular electric machine within a preset period of time.
Wherein it is possible to multiple first revolving speeds of the vehicular electric machine are got by the rotary transformer being arranged on motor,
It is, of course, also possible to such as acquire multiple first revolving speeds of the motor using encoder detector, the disclosure is to this using other methods
It is not construed as limiting.
In this step, multiple turns of the vehicular electric machine can be acquired according to default collection period within a preset period of time
Speed, for example, the default collection period can be 1 second, in this way, the rotary transformer can acquire the vehicular electric machine every 1 second
First revolving speed, it is of course also possible to multiple first revolving speeds of the random acquisition vehicular electric machine within a preset period of time, the disclosure is to this
It is not construed as limiting.
S202 obtains multiple first output torques of the motor preset time period Nei.
Wherein it is possible to collect the current value of vehicular electric machine by the current sensor in electric machine controller, and according to this
It is multiple first defeated to obtain the vehicular electric machine for current value, the default radius of gyration, default constant of the machine and preset motor magnetic flux
Torque out.Likewise it is possible to which multiple current values of the vehicular electric machine, root are acquired according to default collection period in the preset time
Multiple first output torques are obtained according to multiple current values, naturally it is also possible to random acquisition vehicular electric machine in the preset time period
Multiple current values, obtain multiple first output torques according to multiple current values, above-mentioned example is merely illustrative, the disclosure pair
This is not construed as limiting.
S203 determines whether the vehicle is in starting shake shape according to multiple first revolving speeds and multiple first output torques
State.
In one possible implementation, it can determine whether the hopping amplitude of multiple first revolving speeds is more than or equal to
Whether the hopping amplitude of the first hop value and multiple first output torques is more than or equal to the second hop value, and multiple determining
The hopping amplitude that the hopping amplitude of first revolving speed is more than or equal to first hop value and multiple first output torques be greater than or
When person is equal to second hop value, determine that the vehicle is in starting dither state；In the hopping amplitude for determining multiple first revolving speeds
When being less than second hop value less than the hopping amplitude of first hop value or multiple first output torques, determine at the vehicle
In normal condition.
Wherein, all there are jump up and down, i.e., multiple first output torques in multiple first output torques and multiple first revolving speeds
All exist with multiple first revolving speeds and increase and reduced process, for example, the of the vehicular electric machine acquired within a preset period of time
One output torque is followed successively by 29Nm, 20Nm, 35Nm, and since 29Nm is greater than 20Nm, 20Nm is less than 35Nm, because
This, can determine that this 3 first output torques have jump up and down, and the hopping amplitude of this 3 the first output torques is
9Nm, 15Nm；For another example, the first revolving speed of the vehicular electric machine acquired within a preset period of time is followed successively by 50 turns/s, 60 turns/
S, 40 turns/s, since 50 turns/s is greater than 40 turns/s less than 60 turns/s, 60 turns/s, hence, it can be determined that this 3 first revolving speeds exist
Jump up and down, and the hopping amplitude of this 3 the first revolving speeds is 10 turns/s, and 20 turns/s, above-mentioned example is merely illustrative, this public affairs
It opens and this is not construed as limiting.
When determining that the vehicle is in starting dither state, step S204 is executed；
When determining that the vehicle is in normal condition, return step S201.
S204 acquires the current rotating speed of the motor.
In this step, it when electric machine controller determines that the vehicle is in starting dither state, is adopted using rotary transformer
Collect the current rotating speed of the vehicular electric machine, above-mentioned example is merely illustrative, and the disclosure is not construed as limiting this.
S205 determines the second revolving speed of the motor according to the current rotating speed and predetermined acceleration.
In this step, the second revolving speed of the motor can be determined by following formula:
W=a*t+w0(0≤t≤t1)
Wherein, w indicates the second revolving speed of motor；A indicates predetermined acceleration；T indicates the time；w0Indicate motor works as forward
Speed.
S206 obtains first output torque changing value of the motor within the control period.
Illustratively, the initial value for obtaining output torque in the control period is output in 20Nm and the control period
The end value of torque is 35Nm, then the output torque by 20Nm rises to 35Nm in the control period, then can be true
The fixed first output torque changing value is 15Nm, and above-mentioned example is merely illustrative, and the disclosure is not construed as limiting this.
S207, the product for calculating parameter preset and the first output torque changing value obtain second output torque variation
Value.
Wherein, which can be the empirical value determined according to the accelerating ability of the vehicle.Continue with above-mentioned example
For, when determining that the first output torque changing value is 15Nm, and determining that the parameter preset is 2.5, then this is second defeated
Change in torque value is 37.5Nm out.
S208 controls the motor and runs according to second revolving speed and the second output torque changing value.
Wherein, the motor be direct current generator when, can be adjusted by electric machine controller the motor supply voltage or
Loop resistance is run to control the motor according to second revolving speed；When the motor is alternating current generator, can be become by adjusting
Frequency device changes frequency, but the motor can be made to be in overvoltage (i.e. overexcitation) when frequency reduces, and may be such that electricity in this way
Machine is burned, and therefore, can adjust voltage and frequency simultaneously to control the motor according to second revolving speed and run, above-mentioned example is only
It is for example, the disclosure is not construed as limiting this.
It should be noted that the revolving speed of the motor can be inhibited after by controlling the motor according to second revolving speed operation
Shake, and the violent shake of output torque is weakened, still, in order to further suppress the shake of output torque, in a kind of possibility
Implementation in, by the motor control the period in the first output torque changing value be adjusted to second output torque variation
Value, so that there is no shakes for the output torque of the motor.
The above method is used, so that the revolving speed of motor can be with even accelerated growth, and the output torque of motor is not deposited
It is jumping on a large scale, so as to effectively inhibit the revolving speed of the vehicular electric machine and the shake of output torque, so that with
Shake sense is not present in family in the process of moving, improves the usage experience of user.
Fig. 3 is a kind of block diagram of the device of vehicle control shown according to an exemplary embodiment, as shown in figure 3, the dress
It sets including the first acquisition module 301, first obtains module 302, and the first determining module 303, the second acquisition module 304, second really
Cover half block 305, second obtains module 306, and third obtains module 307 and control module 308.
First acquisition module 301, for acquiring multiple first revolving speeds of vehicular electric machine within a preset period of time；
The first acquisition module 302, for obtaining multiple first output torques of the motor in the preset time period；
First determining module 303, for determining that the vehicle is according to multiple first revolving speeds and multiple first output torques
It is no to be in starting dither state；
Second acquisition module 304, for acquiring the current of the motor when determining that the vehicle is in starting dither state
Revolving speed；
Second determining module 305, for determining the second revolving speed of the motor according to the current rotating speed and predetermined acceleration；
The second acquisition module 306, for obtaining first output torque changing value of the motor within the control period；
The third obtains module 307, for obtaining the second output according to the first output torque changing value and parameter preset
Change in torque value；
The control module 308 is run for controlling the motor according to second revolving speed and the second output torque changing value.
Optionally, first determining module 303, for determining that the hopping amplitude of multiple first revolving speeds is greater than or waits
When the hopping amplitude of the first hop value and multiple first output torque is more than or equal to the second hop value, the vehicle is determined
In starting dither state.
Optionally, second determining module 305, for determining the second revolving speed of the motor by following formula:
W=a*t+w0(0≤t≤t1)
Wherein, w indicates the second revolving speed of motor；A indicates predetermined acceleration；T indicates the time；w0Indicate motor works as forward
Speed.
Optionally, which obtains module 307, for calculating multiplying for the parameter preset and the first output torque changing value
Product obtains the second output torque changing value.
Optionally, control module 308, for adjusting first output torque changing value of the motor within the control period
For the second output torque changing value.
Above-mentioned apparatus is used, so that the revolving speed of motor can be with even accelerated growth, and the output torque of motor is not deposited
It is jumping on a large scale, so as to effectively inhibit the revolving speed of the vehicular electric machine and the shake of output torque, so that with
Shake sense is not present in family in the process of moving, improves the usage experience of user.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. a kind of method of vehicle control, which is characterized in that the described method includes:
Multiple first revolving speeds of vehicular electric machine are acquired within a preset period of time；
Obtain multiple first output torques of the motor in the preset time period；
Determine whether the vehicle is in starting shake shape according to multiple first revolving speeds and multiple first output torques
State；
When determining that the vehicle is in starting dither state, the current rotating speed of the motor is acquired, and work as forward according to described
Speed and predetermined acceleration determine the second revolving speed of the motor；
First output torque changing value of the motor within the control period is obtained, and according to the first output torque changing value
The second output torque changing value is obtained with parameter preset；
The motor is controlled to run according to second revolving speed and the second output torque changing value.
2. the method according to claim 1, wherein described according to multiple first revolving speeds and multiple described
One output torque determines whether the vehicle is in starting dither state and includes:
It is more than or equal to the first hop value and the multiple first output in the hopping amplitude for determining multiple first revolving speeds
When the hopping amplitude of torque is more than or equal to the second hop value, determine that the vehicle is in starting dither state.
3. the method according to claim 1, wherein described determine according to the current rotating speed and predetermined acceleration
Second revolving speed of the motor includes:
The second revolving speed of the motor is determined by following formula:
W=a*t+w0(0≤t≤t1)
Wherein, w indicates the second revolving speed of motor；A indicates predetermined acceleration；T and t1Indicate the time；w0Indicate motor works as forward
Speed.
4. the method according to claim 1, wherein described according to the first output torque changing value and default
Parameter obtains the second output torque changing value
The product for calculating the parameter preset and the first output torque changing value obtains the second output torque changing value.
5. according to the method described in claim 4, it is characterized in that, the control motor is according to second output torque
Changing value is run
First output torque changing value of the motor within the control period is adjusted to the second output torque changing value.
6. a kind of device of vehicle control, which is characterized in that described device includes:
First acquisition module, for acquiring multiple first revolving speeds of vehicular electric machine within a preset period of time；
First obtains module, for obtaining multiple first output torques of the motor in the preset time period；
First determining module, for determining that the vehicle is according to multiple first revolving speeds and multiple first output torques
It is no to be in starting dither state；
Second acquisition module, for acquiring the current rotating speed of the motor when determining that the vehicle is in starting dither state；
Second determining module, for determining the second revolving speed of the motor according to the current rotating speed and predetermined acceleration；
Second obtains module, for obtaining first output torque changing value of the motor within the control period；
Third obtains module, for obtaining the variation of the second output torque according to the first output torque changing value and parameter preset
Value；
Control module is run for controlling the motor according to second revolving speed and the second output torque changing value.
7. device according to claim 6, which is characterized in that first determining module, for determine it is multiple described
The hopping amplitude of first revolving speed is more than or equal to the first hop value and the hopping amplitude of the multiple first output torque is greater than
Or when being equal to the second hop value, determine that the vehicle is in starting dither state.
8. device according to claim 6, which is characterized in that second determining module, for true by following formula
Second revolving speed of the fixed motor:
W=a*t+w0(0≤t≤t1)
Wherein, w indicates the second revolving speed of motor；A indicates predetermined acceleration；T and t1Indicate the time；w0Indicate motor works as forward
Speed.
9. device according to claim 6, which is characterized in that the third obtains module, for calculating the default ginseng
Several and the first output torque changing value product obtains the second output torque changing value.
10. device according to claim 9, which is characterized in that the control module, for the motor is all in control
The first output torque changing value in phase is adjusted to the second output torque changing value.
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| CN201611208832.8A CN107487231B (en) | 2016-12-23 | 2016-12-23 | The method and apparatus of vehicle control |
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| CN201611208832.8A CN107487231B (en) | 2016-12-23 | 2016-12-23 | The method and apparatus of vehicle control |
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| CN107487231A (en) | 2017-12-19 |
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