CN108544984A - A kind of integral new-energy passenger wriggling control method and system - Google Patents
A kind of integral new-energy passenger wriggling control method and system Download PDFInfo
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- CN108544984A CN108544984A CN201810344216.8A CN201810344216A CN108544984A CN 108544984 A CN108544984 A CN 108544984A CN 201810344216 A CN201810344216 A CN 201810344216A CN 108544984 A CN108544984 A CN 108544984A
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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
- B60L15/2063—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 creeping
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention discloses a kind of integral new-energy passenger wriggling control method and system, this method include：Entire car controller is according to actual vehicle speed, gas pedal aperture and brake pedal aperture activation/closing wriggling control function；When wriggling control function is active, following operation is carried out：It is accustomed to determining desired speed based on driver driving；Proportional plus integral control is carried out to driving motor output torque based on the speed difference between desired speed and actual vehicle speed, to adjust driving motor desired output torque；Electric machine controller is controlled according to driving motor desired output torque.The integral new-energy passenger wriggling control method and system of the present invention covers different driving cycles, and performance is stable and easy to realize.
Description
Technical field
The invention belongs to integral new-energy passenger technical field, it is related to a kind of integral new-energy passenger wriggling control method and system.
Background technology
Wriggling function is a kind of technology carrying out auxiliary control to vehicle in the state that speed is relatively low, can be vehicle
Drive provide it is convenient, it is simple there is presently no a kind of algorithm and be easily achieved compacted for directly driving the integral new-energy passenger of mode
Flowing control method.
Application number CN201510395904.3 discloses a kind of wriggling interaction control method of double-clutch automatic gearbox automobile
And system, to optimize cooperation when automobile is wriggled between control unit of engine wriggling control mode and clutch moment of torque load,
Solve the problems, such as that engine speed drops excessive or even flame-out when automobile wriggling starting, promotes driving smooth-going when automobile is wriggled
Property.
Application number CN201210424540.3 discloses a kind of electric vehicle wriggling control method, device and electric vehicle, with
Realize gentle start and descending speed auxiliary control.
Application number CN201310311350.5 discloses a kind of automobile wriggling control method and system, it is double it is suitable for having
The vehicle (conventional truck) of clutch automatic gear-box mainly coordinates to realize control work(of wriggling by engine and clutch
Energy.Method proposed by the present invention is mainly real according to driver demand regulation motor rotating speed by entire car controller and electric machine controller
It now wriggles and controls.
Invention content
The purpose of the present invention is to provide a kind of integral new-energy passenger wriggling control method and systems, and it is suitable for pure electric vehicle visitors
Vehicle control.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of integral new-energy passenger wriggling control method, this method include：Entire car controller is according to actual vehicle speed, gas pedal
Aperture and brake pedal aperture activation/closing wriggling control function；When wriggling control function is active, carry out following
Operation：It is accustomed to determining desired speed based on driver driving；Based on the speed difference between desired speed and actual vehicle speed to driving electricity
Machine output torque carries out proportional plus integral control, to adjust driving motor desired output torque；It is turned round according to driving motor desired output
Square controls electric machine controller.
Before being controlled electric machine controller according to driving motor desired output torque, it is also necessary to it is expected driving motor
Output torque is limited：If driving motor desired output torque is more than or equal to the driving motor output torque upper limit, will drive
Dynamic motor desired output torque is adjusted to the driving motor output torque upper limit.
It is described to be accustomed to determining desired speed based on driver driving, including：
Entire car controller records the driving habit of driver under different operating modes, as driver is accustomed under traffic congestion, climbing road conditions
Speed, the speed being accustomed to according to driver determine desired speed.
It is described to be accustomed to determining that the phase determines desired speed based on driver driving, further include that speed limitation is carried out to desired speed；
It is described that speed limitation is carried out to desired speed, including：If it is desire to speed ＜ desired speed minimum values, it would be desirable to the numerical value of speed
It is adjusted to desired speed minimum value；If it is desire to speed ＞ desired speed maximum values, it would be desirable to which the numerical value of speed is adjusted to it is expected
Speed maximum value.
The speed difference based between desired speed and actual vehicle speed carries out proportional integration to driving motor output torque
Control, is to determine proportionality coefficient and integral coefficient according to actual vehicle situation.
The driving motor desired output torque controls electric machine controller, including：
Electric machine controller adjusts motor speed according to desired torque, to reach desired speed；
Entire car controller is according to expectation torque is adjusted, and regulation motor relative speed variation maintains a certain fixed value, to reach
The requirement that speed at the uniform velocity changes under different operating modes.
The entire car controller is wriggled according to actual vehicle speed, gas pedal aperture and the activation of brake pedal aperture/closing to be controlled
Function processed, including：
Judge P grades whether pull-up, wriggling control function is closed if P grades of pull-ups；
Judge whether automobile gears are in forward gear or reverse gear：
When automobile gears are in reverse gear, if speed≤wriggling speed irreducible minimum value and accelerator open degree≤wriggling throttle
Aperture minimum limit value activates wriggling control function；If speed >=wriggling speed threshold limit value or accelerator open degree >=wriggling oil
Door aperture threshold limit value, closes wriggling control function；
When automobile gears are in drive shift, if speed≤wriggling speed irreducible minimum value and accelerator open degree≤wriggling oil
Door aperture minimum limit value, activates wriggling control function；If speed >=wriggling speed threshold limit value or accelerator open degree >=wriggling
Accelerator open degree threshold limit value closes wriggling control function；
When automobile gears are in neutral gear, wriggling control function is closed.
The entire car controller is wriggled according to actual vehicle speed, gas pedal aperture and the activation of brake pedal aperture/closing to be controlled
Function processed, including：
There is level fault in Full Vehicle System, when influencing vehicle and normally exporting, closes wriggling function；
Judge whether vehicle front door, back door and middle door are opened, wriggling function is closed if opening.
There is level fault in the Full Vehicle System, is according to electric machine controller level fault, the event of battery management unit level-one
Barrier, vehicle state of insulation, auxiliary system state determine.
It is described that electric machine controller is controlled according to driving motor desired output torque, including；
When opening wriggling function, entire car controller asks electric machine controller to carry out driving torque output, is turned round without braking
Square is asked.
Beneficial effects of the present invention：The integral new-energy passenger wriggling control method and system of the present invention covers different traveling works
Condition, and performance is stable and easy to realize.
Description of the drawings
In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the drawings.
Fig. 1 is a kind of system block diagram of integral new-energy passenger wriggling control method of the present invention；
Fig. 2 is a kind of system block diagram of integral new-energy passenger wriggling control system of the present invention；
Fig. 3 is a kind of flow chart of integral new-energy passenger wriggling control system of the present invention.
Specific implementation mode
The present invention will be further described below in conjunction with the accompanying drawings：
A kind of integral new-energy passenger wriggling control method, including：Entire car controller according to actual vehicle speed, gas pedal aperture and
Brake pedal aperture activation/closing wriggling control function；When wriggling control function is active, following operation is carried out：
It is accustomed to determining desired speed based on driver driving；Driving motor is exported based on the speed difference between desired speed and actual vehicle speed
Torque carries out proportional plus integral control, to adjust driving motor desired output torque；According to driving motor desired output torque to electricity
Machine controller is controlled.
Further, before being controlled electric machine controller according to driving motor desired output torque, it is also necessary to driving
Dynamic motor desired output torque is limited：If driving motor desired output torque is more than or equal in driving motor output torque
Limit, then be adjusted to the driving motor output torque upper limit by driving motor desired output torque.
Further, it is accustomed to determining desired speed based on driver driving, including：Entire car controller records to be taken charge of under different operating modes
The speed that driver is accustomed under the driving habit of machine, such as traffic congestion, climbing road conditions, determines according to the speed of driver's custom and it is expected vehicle
Speed.
Further, it is accustomed to determining that the phase determines desired speed based on driver driving, further includes that speed is carried out to desired speed
Limitation；It is described that speed limitation is carried out to desired speed, including：If it is desire to speed ＜ desired speed minimum values, it would be desirable to speed
Numerical value be adjusted to desired speed minimum value；If it is desire to speed ＞ desired speed maximum values, it would be desirable to which the numerical value of speed adjusts
For desired speed maximum value.
Further, ratio is carried out to driving motor output torque based on the speed difference between desired speed and actual vehicle speed
Integration control is to determine proportionality coefficient and integral coefficient according to actual vehicle situation.
Further, driving motor desired output torque controls electric machine controller, including：Electric machine controller according to
It is expected that torque adjusts motor speed, to reach desired speed；Entire car controller it is expected torque, regulation motor rotating speed according to adjusting
Change rate maintains a certain fixed value, to reach the requirement that speed at the uniform velocity changes under different operating modes.
Further, entire car controller is activated/is closed according to actual vehicle speed, gas pedal aperture and brake pedal aperture and is compacted
Dynamic control function, including：
Judge P grades whether pull-up, wriggling control function is closed if P grades of pull-ups；
Judge whether automobile gears are in forward gear or reverse gear：
When automobile gears are in reverse gear, if speed≤wriggling speed irreducible minimum value and accelerator open degree≤wriggling throttle
Aperture minimum limit value activates wriggling control function；If speed >=wriggling speed threshold limit value or accelerator open degree >=wriggling oil
Door aperture threshold limit value, closes wriggling control function；
When automobile gears are in drive shift, if speed≤wriggling speed irreducible minimum value and accelerator open degree≤wriggling oil
Door aperture minimum limit value, activates wriggling control function；If speed >=wriggling speed threshold limit value or accelerator open degree >=wriggling
Accelerator open degree threshold limit value closes wriggling control function；
When automobile gears are in neutral gear, wriggling control function is closed.
Further, entire car controller is activated/is closed according to actual vehicle speed, gas pedal aperture and brake pedal aperture and is compacted
Dynamic control function, including：
There is level fault in Full Vehicle System, when influencing vehicle and normally exporting, closes wriggling function；
Judge whether vehicle front door, back door and middle door are opened, wriggling function is closed if opening.
Further, there is level fault in Full Vehicle System, is according to electric machine controller level fault, battery management unit one
The decisions such as grade failure, vehicle state of insulation, auxiliary system state.
Further, described that electric machine controller is controlled according to driving motor desired output torque, including；
When opening wriggling function, entire car controller asks electric machine controller to carry out driving torque output, is turned round without braking
Square is asked.
A kind of integral new-energy passenger wriggling control system as shown in Figure 2, including monitor supervision platform, the interior storage of monitor supervision platform are many
The information of vehicle；Monitor supervision platform is connected with entire car controller input terminal；Gas pedal is connected with the input terminal of entire car controller；System
Dynamic pedal is connected with the input terminal of entire car controller；Parking brake signal is connected with the input terminal of entire car controller；Angle signal with it is whole
The input terminal of vehicle controller is connected；The output end of entire car controller is connected with electric machine controller；Electric machine controller output end and electricity
Machine is connected.
By 4G transmitted data on network between monitor supervision platform and entire car controller, between electric machine controller and entire car controller
Pass through CAN bus transmission data.
As shown in figure 3, a kind of control method of integral new-energy passenger wriggling control system includes the following steps：
(1) entire car controller acquires gas pedal opening information；
(2) entire car controller acquires brake pedal opening information；
(3) entire car controller acquires parking brake information；
(4) entire car controller collection vehicle obliquity information；
(5) entire car controller receives the wriggling expectation rotating speed suggestion that monitor supervision platform is sent, and is practised with the driver driving of storage
It is used to compare, calculate desired rotating speed；
(6) entire car controller calculates demand torque by PI controls；
(7) entire car controller sends demand torque, and electric machine controller is exported according to entire car controller torque demand.
The specific method is as follows：
Entire car controller acquires gas pedal opening amount signal and wriggling accelerator open degree minimum limit value is compared, be less than etc.
Judge in next step in then entering, otherwise exits wriggling function；Entire car controller acquires brake pedal opening amount signal, and braking of wriggling
Aperture minimum limit value is compared, and is less than or equal to then enter judgement in next step, is otherwise exited wriggling function；Entire car controller acquires
Parking brake signal, parking brake is decontroled to be judged in next step, otherwise exits wriggling work(；Entire car controller determines that vehicle inclines according to angular transducer
Rake angle：When vehicle is in level land, entire car controller suggests the department of level land wriggling speed and storage according to monitor supervision platform
Machine driving habit, calculates level land desired speed, and actual vehicle speed is less than the wriggling pattern that level land desired speed enters level land, vehicle
Controller carries out proportional plus integral control to Motor torque according to actual vehicle speed and desired level land speed discrepancy and calculates desired torque 1,
Entire car controller carries out proportional plus integral control according to actual vehicle acceleration and fixed level land vehicle acceleration difference to Motor torque
Desired torque 2 is calculated, entire car controller compares desired torque 1 and desired torque 2, and smaller value in the two is taken to be sent to motor control
Device processed after electric machine controller receives torque command, exports the expectation torque of entire car controller at once；When vehicle is in climbing
It waits, entire car controller is accustomed to according to the driver driving of monitor supervision platform suggestion climbing wriggling speed and storage, calculates climbing and it is expected
Speed, actual vehicle speed are less than the wriggling pattern that desired speed enters climbing, and entire car controller it is expected according to actual vehicle speed and climbing
Speed discrepancy carries out proportional plus integral control to Motor torque and calculates desired torque 1, and entire car controller is according to actual vehicle acceleration
Proportional plus integral control is carried out to Motor torque with fixed climbing vehicle acceleration difference and calculates desired torque 2, entire car controller ratio
Compared with desired torque 1 and desired torque 2, smaller value in the two is taken to be sent to electric machine controller, electric machine controller receives torque command
Afterwards, the expectation torque of entire car controller is exported at once；When vehicle is in descending state, vehicle exits wriggling function.
As shown from the above technical solution, the present invention acquires gas pedal, brake pedal and motor shape by entire car controller
State, the driver intention of judgement, according to the driving intention of driver activation/closing wriggling control function.Activation, which is wriggled, controls work(
When, first entire car controller it needs to be determined that driver desired speed, the determination of desired speed is flat according to vehicle background monitoring
The custom of the big data of platform record and the driver of entire car controller storage in starting and climbing, if when vehicle start, vehicle prison
Control platform can send the starting situation of other drivers to entire car controller, and entire car controller can be according to the suggestion of monitor supervision platform and this
The custom of vehicle driver calculates the starting speed of driver's needs, and similarly entire car controller can also calculate the vehicle that climbing needs
Speed.After entire car controller has calculated desired speed, according to desired speed and actual vehicle speed difference to driving motor output torque into
Row proportional plus integral control, entire car controller control electric machine controller by CAN bus after calculating desired driving torque,
Speed is allowed to reach the desired speed of driver according to a comfortable value.
Integral new-energy passenger wriggling control method as described above, the activation/closing wriggling control function condition need full
The following several points of foot：
1, actual vehicle speed needs to be less than desired speed；
2, gas pedal aperture≤wriggling accelerator open degree minimum limit value of entire car controller acquisition；
3, brake pedal aperture≤wriggling of entire car controller acquisition brakes aperture minimum limit value；
4, motor operation direction is consistent with vehicle traffic direction；
5, the non-pull-up of parking brake signal.
Above some conditions need while meeting just activate wriggling control function, as long as one of condition is unsatisfactory for
Then close wriggling control function.
Integral new-energy passenger wriggling control method as described above, is to pass through between the monitor supervision platform and entire car controller
4G networks are communicated, and are compared between the desired speed that monitor supervision platform provides and the desired speed of entire car controller storage,
It gets the small value.
Integral new-energy passenger wriggling control method as described above, entire car controller determine the place of vehicle according to angular transducer
In what state, such as climbing, descending.
Integral new-energy passenger wriggling control method as described above, entire car controller is according between desired speed and actual vehicle speed
Speed difference and vehicle actual acceleration and fixed acceleration proportional plus integral control is carried out to driving motor output torque, with adjustment
Driving motor desired output torque accelerates to desired speed to reach vehicle according to fixed acceleration.This fixes acceleration one
As be to there is experimental data to obtain.
Integral new-energy passenger wriggling control method as described above, entire car controller is by CAN bus network desired torque
It is sent to electric machine controller, electric machine controller requires to execute driving torque according to entire car controller.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably explain the present invention
Principle and practical application, to enable skilled artisan to be best understood by and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (10)
1. a kind of integral new-energy passenger wriggling control method, which is characterized in that this method includes：
Entire car controller is according to actual vehicle speed, gas pedal aperture and brake pedal aperture activation/closing wriggling control function；
When wriggling control function is active, following operation is carried out：It is accustomed to determining desired speed based on driver driving；
Proportional plus integral control is carried out to driving motor output torque based on the speed difference between desired speed and actual vehicle speed, to adjust
Whole driving motor desired output torque；
Electric machine controller is controlled according to driving motor desired output torque.
2. a kind of integral new-energy passenger wriggling control method according to claim 1, which is characterized in that according to the driving motor phase
Before hoping output torque to control electric machine controller, it is also necessary to limit driving motor desired output torque：If
Driving motor desired output torque is more than or equal to the driving motor output torque upper limit, then adjusts driving motor desired output torque
For the driving motor output torque upper limit.
3. a kind of integral new-energy passenger wriggling control method according to claim 1, which is characterized in that described to be driven based on driver
It sails custom and determines desired speed, including：
Entire car controller records the speed that driver is accustomed under the driving habit of driver under different operating modes, such as traffic congestion, climbing road conditions,
The speed being accustomed to according to driver determines desired speed.
4. a kind of integral new-energy passenger wriggling control method according to claim 3, which is characterized in that described to be driven based on driver
It sails custom and determines that the phase determines desired speed, further include that speed limitation is carried out to desired speed；It is described that speed is carried out to desired speed
Limitation, including：If it is desire to speed ＜ desired speed minimum values, it would be desirable to which the numerical value of speed is adjusted to desired speed minimum value；
If it is desire to speed ＞ desired speed maximum values, it would be desirable to which the numerical value of speed is adjusted to desired speed maximum value.
5. a kind of integral new-energy passenger wriggling control method according to claim 1, which is characterized in that described to be based on desired vehicle
Speed difference between speed and actual vehicle speed carries out proportional plus integral control to driving motor output torque, is according to actual vehicle situation
Determine proportionality coefficient and integral coefficient.
6. a kind of integral new-energy passenger wriggling control method according to claim 1, which is characterized in that the driving motor phase
Output torque is hoped to control electric machine controller, including：
Electric machine controller adjusts motor speed according to desired torque, to reach desired speed；
Entire car controller maintains a certain fixed value according to expectation torque, regulation motor relative speed variation is adjusted, different to reach
The requirement that speed at the uniform velocity changes under operating mode.
7. a kind of integral new-energy passenger wriggling control method according to claim 1, which is characterized in that the entire car controller
According to actual vehicle speed, gas pedal aperture and brake pedal aperture activation/closing wriggling control function, including：
Judge P grades whether pull-up, wriggling control function is closed if P grades of pull-ups；
Judge whether automobile gears are in forward gear or reverse gear：
When automobile gears are in reverse gear, if speed≤wriggling speed irreducible minimum value and accelerator open degree≤wriggling accelerator open degree
Minimum limit value activates wriggling control function；If speed >=wriggling speed threshold limit value or accelerator open degree >=wriggling throttle are opened
Threshold limit value is spent, wriggling control function is closed；
When automobile gears are in drive shift, if speed≤wriggling speed irreducible minimum value and accelerator open degree≤wriggling throttle is opened
The minimum limit value of degree, activates wriggling control function；If speed >=wriggling speed threshold limit value or accelerator open degree >=wriggling throttle
Aperture threshold limit value closes wriggling control function；
When automobile gears are in neutral gear, wriggling control function is closed.
8. a kind of integral new-energy passenger wriggling control method according to claim 1, which is characterized in that the entire car controller
According to actual vehicle speed, gas pedal aperture and brake pedal aperture activation/closing wriggling control function, including：
There is level fault in Full Vehicle System, when influencing vehicle and normally exporting, closes wriggling function；
Judge whether vehicle front door, back door and middle door are opened, wriggling function is closed if opening.
9. a kind of integral new-energy passenger wriggling control method according to claim 8, which is characterized in that the Full Vehicle System goes out
Existing level fault is according to electric machine controller level fault, battery management unit level fault, vehicle state of insulation, auxiliary system
System state determines.
10. a kind of integral new-energy passenger wriggling control method according to claim 1, which is characterized in that described according to driving
Motor desired output torque controls electric machine controller, including；
When opening wriggling function, entire car controller asks electric machine controller to carry out driving torque output, is asked without braking torque
It asks.
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| CN109597317A (en) * | 2018-12-26 | 2019-04-09 | 广州小鹏汽车科技有限公司 | A kind of Vehicular automatic driving method, system and electronic equipment based on self study |
| CN109606130A (en) * | 2018-11-20 | 2019-04-12 | 智车优行科技（上海）有限公司 | Electric car crawling control method and system |
| CN110154780A (en) * | 2019-04-11 | 2019-08-23 | 汉腾汽车有限公司 | A kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system and method |
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| CN110254249A (en) * | 2019-06-25 | 2019-09-20 | 江铃汽车股份有限公司 | A kind of crawling control method of the electric car based on closed loop |
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| CN112172541A (en) * | 2020-09-28 | 2021-01-05 | 武汉格罗夫氢能汽车有限公司 | Control method for fuel cell hydrogen energy automobile speed limit |
| CN112297872A (en) * | 2019-08-02 | 2021-02-02 | 北京新能源汽车股份有限公司 | Automobile torque control method and device, control equipment and automobile |
| CN112549992A (en) * | 2020-12-18 | 2021-03-26 | 智新控制系统有限公司 | Creep control method and system for ramp-free sensor of pure electric vehicle |
| WO2021110025A1 (en) * | 2019-12-03 | 2021-06-10 | 长城汽车股份有限公司 | Control method and device for new energy vehicle |
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| CN109597317A (en) * | 2018-12-26 | 2019-04-09 | 广州小鹏汽车科技有限公司 | A kind of Vehicular automatic driving method, system and electronic equipment based on self study |
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| CN110254251A (en) * | 2019-06-26 | 2019-09-20 | 四川阿尔特新能源汽车有限公司 | It creeps control method, device, controller, vehicle and readable storage medium storing program for executing |
| CN112297872A (en) * | 2019-08-02 | 2021-02-02 | 北京新能源汽车股份有限公司 | Automobile torque control method and device, control equipment and automobile |
| CN110481553A (en) * | 2019-09-18 | 2019-11-22 | 奇瑞汽车股份有限公司 | Wriggling control method, device and the storage medium of automobile |
| CN110667377B (en) * | 2019-10-16 | 2022-06-28 | 安徽安凯汽车股份有限公司 | Adjustable maximum vehicle speed limiting system |
| CN110667377A (en) * | 2019-10-16 | 2020-01-10 | 安徽安凯汽车股份有限公司 | Adjustable maximum vehicle speed limiting system |
| WO2021110025A1 (en) * | 2019-12-03 | 2021-06-10 | 长城汽车股份有限公司 | Control method and device for new energy vehicle |
| CN111976501B (en) * | 2020-07-30 | 2022-02-25 | 中国汽车技术研究中心有限公司 | Creep control processing strategy for pure electric vehicle |
| CN111976501A (en) * | 2020-07-30 | 2020-11-24 | 中国汽车技术研究中心有限公司 | Creep control processing strategy for pure electric vehicle |
| CN112172541A (en) * | 2020-09-28 | 2021-01-05 | 武汉格罗夫氢能汽车有限公司 | Control method for fuel cell hydrogen energy automobile speed limit |
| CN112172541B (en) * | 2020-09-28 | 2022-08-05 | 武汉格罗夫氢能汽车有限公司 | Control method for fuel cell hydrogen energy automobile speed limit |
| CN112549992A (en) * | 2020-12-18 | 2021-03-26 | 智新控制系统有限公司 | Creep control method and system for ramp-free sensor of pure electric vehicle |
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