CN108909456B - Control method and device for electric vehicle, storage medium and electric vehicle - Google Patents
Control method and device for electric vehicle, storage medium and electric vehicle Download PDFInfo
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- CN108909456B CN108909456B CN201810708868.5A CN201810708868A CN108909456B CN 108909456 B CN108909456 B CN 108909456B CN 201810708868 A CN201810708868 A CN 201810708868A CN 108909456 B CN108909456 B CN 108909456B
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
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Abstract
The present disclosure relates to a control method and apparatus of an electric vehicle, a storage medium, and an electric vehicle. The method comprises the following steps: acquiring the state of charge, the temperature and the health state of a power battery when the electric vehicle runs; determining the allowable discharge power of the power battery according to the state of charge, the temperature and the state of health of the power battery; controlling an operation of the electric vehicle according to the allowable discharge power. Thus, when the electric vehicle runs according to the allowable discharge power determined by the method, the cycle life of the power battery is longer, and the running safety of the electric vehicle is higher.
Description
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a method and an apparatus for controlling an electric vehicle, a storage medium, and an electric vehicle.
Background
The electric vehicle takes the power battery as the power source of the vehicle, compared with a fuel vehicle, the electric vehicle has the advantages of clean energy and less emission pollution, and is more and more favored by the majority of users.
The allowable discharge power of a power battery in an electric vehicle influences the dynamic property of vehicle running, and the control strategy influences the cycle life of the power battery and the safety of vehicle running. Generally, the allowable discharge power of the power battery is determined by the State of Charge (SOC) of the power battery and the temperature of the power battery.
Disclosure of Invention
An object of the present disclosure is to provide a simple and practical electric vehicle control method, device, storage medium, and electric vehicle.
In order to achieve the above object, the present disclosure provides a control method of an electric vehicle. The method comprises the following steps: acquiring the state of charge, the temperature and the health state of a power battery when the electric vehicle runs; determining the allowable discharge power of the power battery according to the state of charge, the temperature and the state of health of the power battery; controlling an operation of the electric vehicle according to the allowable discharge power.
Optionally, the step of determining the allowable discharge power of the power battery according to the state of charge, the temperature and the state of health of the power battery comprises: determining basic discharge power according to the state of charge and the temperature of the power battery; determining a correction coefficient according to the health state of the power battery; determining the allowable discharge power of the power battery by the following formula:
P＝K·P0
wherein P is the allowable discharge power of the power battery, P0K is the correction factor for the base discharge power.
Optionally, the step of controlling the operation of the electric vehicle according to the allowable discharge power includes: when the power battery is judged to be in fault, acquiring the speed of the electric vehicle; determining a rate at which the allowable discharge power is reduced according to a vehicle speed of the electric vehicle; updating the allowable discharge power according to the rate at which the allowable discharge power decreases; controlling the operation of the electric vehicle according to the updated allowable discharge power.
Optionally, the step of determining the rate at which the discharge power is allowed to be reduced according to the vehicle speed of the electric vehicle includes: determining the rate at which the allowable discharge power is reduced as a first rate when the vehicle speed of the electric vehicle is in a first vehicle speed zone; when the speed of the electric vehicle is in a second vehicle speed interval, determining that the rate of allowing the discharging power to be reduced is a second rate, wherein the speed of the first vehicle speed interval is smaller than that of the second vehicle speed interval, and the first rate is greater than the second rate.
Optionally, the step of controlling the operation of the electric vehicle according to the allowable discharge power includes: when the power battery is judged to be in fault, judging the grade of the fault; the step of updating the allowable discharge power according to the rate at which the allowable discharge power is reduced includes: when the fault level is judged to be serious fault, updating the allowable discharging power according to the rate of reducing the allowable discharging power until the allowable discharging power is zero; when it is determined that the level of the fault is a slight fault, the allowable discharge power is updated according to the rate at which the allowable discharge power is reduced until the allowable discharge power is a predetermined power value.
The present disclosure also provides a control apparatus of an electric vehicle. The device comprises: the acquisition module is used for acquiring the state of charge, the temperature and the health state of the power battery when the electric vehicle runs; the determining module is connected with the acquiring module and used for determining the allowable discharging power of the power battery according to the state of charge, the temperature and the state of health of the power battery; and the control module is connected with the determination module and is used for controlling the operation of the electric vehicle according to the allowable discharge power.
The present disclosure also provides a computer-readable storage medium having a computer program stored thereon. The program when executed by a processor implements the steps of the above-described method provided by the present disclosure.
The present disclosure also provides an electric vehicle comprising a power cell and a controller configured to perform the steps of the above method provided by the present disclosure.
Through the technical scheme, the allowable discharge power is determined by taking the health state of the power battery as a reference factor, so that the determined result is more consistent with the actual condition of the power battery. Therefore, when the electric vehicle is operated according to the allowable discharge power, the cycle life of the power battery is longer, and the running safety of the electric vehicle is higher.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a control method of an electric vehicle provided in an exemplary embodiment;
FIG. 2 is a flowchart of a control method of an electric vehicle provided in another exemplary embodiment;
FIG. 3 is a flow chart provided by an exemplary embodiment for determining a rate at which discharge power reduction is allowed;
FIG. 4 is a flowchart of a control method of an electric vehicle provided in another exemplary embodiment;
FIG. 5 is a flow chart diagram of updating the discharge enable power provided by an exemplary embodiment;
fig. 6 is a block diagram of a control apparatus of an electric vehicle provided in an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a control method of an electric vehicle according to an exemplary embodiment. As shown in fig. 1, the method may include the following steps.
In step S11, the SOC, temperature, and state of Health (SOH) of the power battery are acquired while the electric vehicle is running.
The SOC, temperature, and SOH of the power battery may be detected by a common detection method, obtained from a dedicated detection device, or obtained from an ECU of the vehicle.
In step S12, the allowable discharge power of the power battery is determined based on the SOC, the temperature, and the SOH of the power battery.
As described above, generally, the allowable discharge power of the power battery is determined by the SOC and the temperature of the power battery. The vehicle can store the corresponding relation among the allowable discharge power, the SOC of the power battery and the temperature, and the corresponding allowable discharge power can be found out in real time according to the SOC and the temperature of the power battery. Table 1 shows the correspondence between the three provided in an embodiment.
TABLE 1
In the disclosure, the SOH reference factor of the power battery is added to determine the allowable discharge power. That is, the allowable discharge power of the power battery is determined according to the SOC, the temperature, and the SOH of the power battery.
In particular, the allowable discharge power of the power cell may be determined by a variety of methods. For example, simply, a database of correspondence relationships among the allowable discharge power, the SOC, SOH, and temperature of the power battery may be prepared in advance through experience or experiment, stored in the vehicle, acquired in real time, and the corresponding allowable discharge power may be determined by table lookup.
In step S13, the operation of the electric vehicle is controlled in accordance with the allowable discharge power.
After determining the permissible discharge power, the operation of the electric vehicle may be controlled, for example, according to a conventional control strategy.
Through the technical scheme, the allowable discharge power is determined by taking the health state of the power battery as a reference factor, so that the determined result is more consistent with the actual condition of the power battery. Therefore, when the electric vehicle is operated according to the allowable discharge power, the cycle life of the power battery is longer, and the running safety of the electric vehicle is higher.
In one embodiment, the allowable discharge power may be determined as the base discharge power by a conventional method, and the correction coefficient determined by the SOH may be used to correct the base discharge power to obtain the finally determined allowable discharge power. In this embodiment, on the basis of fig. 1, the step of determining the allowable discharge power of the power battery based on the SOC, the temperature, and the SOH of the power battery (step S12) includes the following steps.
Determining basic discharge power according to the SOC and the temperature of the power battery;
determining a correction coefficient according to the SOH of the power battery;
the allowable discharge power of the power battery is determined by the following formula:
P＝K·P0
wherein, P is the allowable discharge power of the power battery, P0K is a correction factor for the base discharge power. Base discharge power P0The SOC and the temperature of the power battery can be obtained through a table look-up mode when the SOC and the temperature of the power battery are obtained. The value range of the correction coefficient K can be more than or equal to 0 and less than or equal to 1. The SOH of the power battery reflects the state of the power batteryPercentage of pre-volume to factory volume. The larger the SOH is, the closer the current capacity of the power battery is to the factory capacity, and the better the health state is. Therefore, different correspondence relationships between the SOH and the correction coefficient K may be determined experimentally or empirically in advance and stored. Generally, the larger the SOH, the larger the correction coefficient K. When the SOH of the power battery is known, the correction factor K can be determined directly by means of a table look-up.
In the embodiment, the correction coefficient is determined through the SOH, the allowable discharge power obtained by the traditional method is corrected, the final allowable discharge power is obtained, the operation is simple, and the accuracy is good.
When the power battery fails, the allowable discharge power can be reduced at a certain rate to ensure the running safety of the vehicle. Fig. 2 is a flowchart of a control method of an electric vehicle according to another exemplary embodiment. As shown in fig. 2, the step of controlling the operation of the electric vehicle according to the allowable discharge power (step S13) may include the following steps on the basis of fig. 1.
In step S131, when it is determined that the power battery is malfunctioning, the vehicle speed of the electric vehicle is acquired.
Wherein, whether the power battery has a fault can be judged by various methods. For example, it may be determined that a fault occurs when the temperature of the power battery is greater than a predetermined temperature threshold value (e.g., 50 ℃), or it may be determined that a fault occurs when the insulation resistance value of the power battery is less than a predetermined resistance value (e.g., 10k Ω). The vehicle speed may be directly obtained from the ECU of the vehicle.
In step S132, the rate at which the discharge power is allowed to decrease is determined according to the vehicle speed of the electric vehicle.
That is, the rate at which the discharge power is allowed to decrease is related to the vehicle speed. For example, the correspondence between the vehicle speed and the rate at which the discharge power is allowed to be reduced may be empirically or experimentally determined in advance and stored. When the vehicle speed is known, the rate at which the discharge power is allowed to decrease can be determined directly by means of a look-up table. Specifically, the correspondence between the vehicle speed and the rate at which the discharge power is allowed to decrease may be set such that, as the vehicle speed is larger, the corresponding rate at which the discharge power is allowed to decrease is smaller, that is, the discharge power is allowed to change more slowly as the vehicle speed is faster, to ensure the safety of driving.
In step S133, the discharge allowable power is updated according to the rate at which the discharge allowable power is reduced.
In step S134, the operation of the electric vehicle is controlled based on the updated allowable discharge power.
Therefore, when the power battery is in failure, the speed of allowing the discharge power to be reduced is determined by referring to the current vehicle speed, so that the speed of allowing the discharge power to be reduced is more reasonable, and the running safety of the vehicle is guaranteed.
The correspondence between the vehicle speed and the rate at which the discharge power is allowed to decrease may be divided according to the interval of the vehicle speed. In still another embodiment, the step of determining the rate at which the discharge power is allowed to be reduced according to the vehicle speed of the electric vehicle (step S132) may include:
determining a rate at which the discharge power is allowed to be reduced as a first rate when a vehicle speed of the electric vehicle is in a first vehicle speed zone; when the vehicle speed of the electric vehicle is in the second vehicle speed zone, the rate at which the discharge power is allowed to be reduced is determined as the second rate. The vehicle speed of the first vehicle speed interval is smaller than that of the second vehicle speed interval, and the first speed is larger than the second speed.
That is, when the vehicle speed is in a vehicle speed interval in which the vehicle speed is greater, the corresponding rate at which the allowable discharge power is reduced is smaller, that is, the faster the vehicle speed is, the slower the allowable discharge power is changed, so as to ensure the safety of driving. The vehicle speed may be divided into a plurality of sections. FIG. 3 is a flow chart providing for determining a rate at which discharge power reduction is allowed, according to an exemplary embodiment. Wherein, V0＜V1The vehicle speed V is divided into three sections: v is less than or equal to V0、V0＜V＜V1、V1V, corresponding to a rate of reduction of allowable discharge power Δ A1、ΔA2、ΔA3And Δ A1＞ΔA2＞ΔA3。
In the embodiment, the vehicle speed is divided into the regions to determine the corresponding rate of reduction of the allowable discharge power, and the method is simple in operation and good in accuracy.
In addition, for different degrees of failure of the power cell, a final value after the discharge power is allowed to decrease may be set, that is, when the discharge power is allowed to decrease to the final value, the discharge power is not decreased. Fig. 4 is a flowchart of a control method of an electric vehicle according to another exemplary embodiment. As shown in fig. 4, on the basis of fig. 2, the step of controlling the operation of the electric vehicle according to the allowable discharge power (step S13) may further include step S135. In step S135, when it is determined that the power battery is out of order, the level of the failure is determined.
Wherein the level of the fault can be determined by a variety of methods. For example, when the temperature of the power battery is greater than 70 ℃, it may be determined that a serious fault occurs, and when the temperature of the power battery is greater than 50 ℃ and less than 70 ℃, it may be determined that a slight fault occurs. Alternatively, when the insulation resistance value of the power battery is less than 5k Ω, it may be determined that a serious fault has occurred, and when the insulation resistance value of the power battery is greater than 5k Ω and less than 10k Ω, it may be determined that a slight fault has occurred.
In this embodiment, the step of updating the discharge allowable power in accordance with the rate at which the discharge allowable power is decreased (step S133) includes the following steps.
In step S1331, when it is determined that the level of the fault is a serious fault, the allowable discharge power is updated according to the rate at which the allowable discharge power is reduced until the allowable discharge power is zero.
In step S1332, when it is determined that the level of the fault is a slight fault, the discharge allowable power is updated according to the rate at which the discharge allowable power is reduced until the discharge allowable power is a predetermined power value.
That is, when the power battery is severely failed, the discharge power is allowed to decrease until zero, and when the power battery is slightly failed, the discharge power is allowed to decrease to a predetermined power value, and the vehicle can still continue to operate at a low speed. In this way, the final running state of the vehicle is determined according to the severity of the failure of the power battery to ensure the safety of the vehicle running.
FIG. 5 is a flow for updating the discharge-allowed power provided by an exemplary embodimentA flow chart. Wherein, PAIs a predetermined power value.
The present disclosure also provides a control apparatus of an electric vehicle. Fig. 6 is a block diagram of a control apparatus of an electric vehicle provided in an exemplary embodiment. As shown in fig. 6, the control apparatus 10 of the electric vehicle may include an acquisition module 11, a determination module 12, and a control module 13.
The obtaining module 11 is used for obtaining the state of charge, the temperature and the state of health of the power battery when the electric vehicle runs.
The determination module 12 is connected to the obtaining module 11, and is configured to determine an allowable discharge power of the power battery according to the state of charge, the temperature, and the state of health of the power battery.
The control module 13 is connected to the determination module 12 for controlling the operation of the electric vehicle according to the allowable discharge power.
Optionally, the determination module 12 may include a first determination submodule, a second determination submodule, and a third determination submodule.
The first determining submodule is used for determining basic discharging power according to the state of charge and the temperature of the power battery.
And the second determining submodule is used for determining the correction coefficient according to the state of health of the power battery.
The third determination submodule is used for determining the allowable discharge power of the power battery through the following formula:
P＝K·P0
wherein, P is the allowable discharge power of the power battery, P0K is a correction factor for the base discharge power.
Optionally, the control module 13 may include an obtaining sub-module, a fourth determining sub-module, an updating sub-module, and a control sub-module.
The obtaining submodule is used for obtaining the speed of the electric vehicle when the power battery is judged to be in fault.
The fourth determination submodule is configured to determine a rate at which the discharge power is allowed to be reduced, based on the vehicle speed of the electric vehicle.
The update submodule is used for updating the allowable discharge power according to the rate of the allowable discharge power reduction.
The control submodule is used for controlling the running of the electric vehicle according to the updated allowable discharge power.
Optionally, the fourth determination submodule may include a fifth determination submodule and a sixth determination submodule.
The fifth determination submodule is configured to determine a rate at which the discharge power is allowed to be reduced as the first rate when the vehicle speed of the electric vehicle is in the first vehicle speed zone.
The sixth determination submodule is configured to determine a rate at which the discharge power is allowed to be reduced as the second rate when the vehicle speed of the electric vehicle is in the second vehicle speed zone. The vehicle speed of the first vehicle speed section is smaller than that of the second vehicle speed section, and the first speed is larger than the second speed.
Optionally, the control module 13 may include a judgment sub-module.
And the judging submodule is used for judging the grade of the fault when the power battery is judged to be in fault.
In this embodiment, the update sub-module may include a first update sub-module and a second update sub-module.
The first updating submodule is used for updating the allowable discharging power according to the rate of reduction of the allowable discharging power until the allowable discharging power is zero when the grade of the fault is judged to be a serious fault.
The second updating submodule is used for updating the allowable discharging power according to the rate of reduction of the allowable discharging power until the allowable discharging power is a preset power value when the level of the fault is judged to be a slight fault.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer-readable storage medium having a computer program stored thereon. Which when executed by a processor implements the steps of the above-described method.
The present disclosure also provides an electric vehicle including a power battery and a controller. The controller is configured to perform the steps of the above method.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (8)
1. A control method of an electric vehicle, characterized by comprising:
acquiring the state of charge, the temperature and the health state of a power battery when the electric vehicle runs;
determining the allowable discharge power of the power battery according to the state of charge, the temperature and the state of health of the power battery;
controlling the operation of the electric vehicle according to the allowable discharge power,
wherein controlling the operation of the electric vehicle according to the allowable discharge power includes:
when the power battery is judged to be in fault, acquiring the speed of the electric vehicle;
determining a rate at which the allowable discharge power is reduced according to a vehicle speed of the electric vehicle;
updating the allowable discharge power according to the rate at which the allowable discharge power decreases;
controlling the operation of the electric vehicle according to the updated allowable discharge power.
2. The method of claim 1, wherein the step of determining the allowable discharge power of the power cell based on the state of charge, temperature and state of health of the power cell comprises:
determining basic discharge power according to the state of charge and the temperature of the power battery;
determining a correction coefficient according to the health state of the power battery;
determining the allowable discharge power of the power battery by the following formula:
P＝K·P0
wherein P is the allowable discharge power of the power battery, P0K is the correction factor for the base discharge power.
3. The method of claim 1, wherein the step of determining the rate at which the allowable discharge power is reduced based on the vehicle speed of the electric vehicle comprises:
determining the rate at which the allowable discharge power is reduced as a first rate when the vehicle speed of the electric vehicle is in a first vehicle speed zone;
when the speed of the electric vehicle is in a second vehicle speed interval, determining that the rate of allowing the discharging power to be reduced is a second rate, wherein the speed of the first vehicle speed interval is smaller than that of the second vehicle speed interval, and the first rate is greater than the second rate.
4. The method according to claim 1, wherein the step of controlling the operation of the electric vehicle according to the allowable discharge power includes: when the power battery is judged to be in fault, judging the grade of the fault;
the step of updating the allowable discharge power according to the rate at which the allowable discharge power is reduced includes:
when the fault level is judged to be serious fault, updating the allowable discharging power according to the rate of reducing the allowable discharging power until the allowable discharging power is zero;
when it is determined that the level of the fault is a slight fault, the allowable discharge power is updated according to the rate at which the allowable discharge power is reduced until the allowable discharge power is a predetermined power value.
5. A control apparatus of an electric vehicle, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the state of charge, the temperature and the health state of the power battery when the electric vehicle runs;
the determining module is connected with the acquiring module and used for determining the allowable discharging power of the power battery according to the state of charge, the temperature and the state of health of the power battery;
a control module connected with the determination module for controlling the operation of the electric vehicle according to the allowable discharge power,
wherein the control module comprises:
the acquisition submodule is used for acquiring the speed of the electric vehicle when the power battery is judged to be in fault;
a fourth determination submodule for determining the rate at which the allowable discharge power is reduced, in accordance with a vehicle speed of the electric vehicle;
an update submodule for updating the allowable discharge power in accordance with the rate at which the allowable discharge power decreases;
and the control submodule is used for controlling the operation of the electric vehicle according to the updated allowable discharge power.
6. The apparatus of claim 5, wherein the determining module comprises:
the first determining submodule is used for determining basic discharging power according to the state of charge and the temperature of the power battery;
the second determining submodule is used for determining a correction coefficient according to the state of health of the power battery;
a third determination submodule, configured to determine an allowable discharge power of the power battery by using the following formula:
P＝K·P0
wherein P is the allowable discharge power of the power battery, P0K is the correction factor for the base discharge power.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
8. An electric vehicle comprising a power cell and a controller configured to perform the steps of the method of any of claims 1-4.
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| CN109649395B (en) * | 2018-12-29 | 2023-12-01 | 驭势科技（北京）有限公司 | Automatic driving adjustment method based on computing resources and vehicle-mounted equipment |
| CN109709490B (en) * | 2018-12-29 | 2021-09-14 | 重庆小康工业集团股份有限公司 | Correction method for full life cycle SOC of lithium battery system |
| CN110224461B (en) * | 2019-06-14 | 2021-05-18 | 桑顿新能源科技(长沙)有限公司 | Battery power limiting method and device, computer equipment and storage medium |
| CN112154341A (en) * | 2020-01-13 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Method for estimating power output capability, battery pack, movable platform and storage medium |
| CN112098853A (en) * | 2020-08-21 | 2020-12-18 | 北京车和家信息技术有限公司 | Capacity attenuation battery discharge power determination method and device |
| CN112677823B (en) * | 2021-01-29 | 2022-07-05 | 蜂巢能源科技股份有限公司 | Battery control method and device and vehicle |
| CN116685853A (en) * | 2021-11-09 | 2023-09-01 | 宁德时代新能源科技股份有限公司 | Method for determining direct current discharge resistance and maximum discharge power and battery management system |
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| US8790215B2 (en) * | 2011-01-13 | 2014-07-29 | Cummins Inc. | System, method, and apparatus for controlling power output distribution in a hybrid power train |
| CN103661391B (en) * | 2013-10-11 | 2016-04-13 | 吉林省高新电动汽车有限公司 | Pure electric coach drived control method |
| CN105523034B (en) * | 2014-09-29 | 2017-12-29 | 重庆长安汽车股份有限公司 | The limping travel control method and system of a kind of pure electric automobile |
| CN104537268B (en) * | 2015-01-19 | 2018-08-21 | 重庆长安汽车股份有限公司 | A kind of battery maximum discharge power evaluation method and device |
| DE102015209654A1 (en) * | 2015-05-27 | 2016-12-01 | Volkswagen Aktiengesellschaft | Emergency driving mode for a motor vehicle |
| CN107662499B (en) * | 2016-07-28 | 2020-06-09 | 长城汽车股份有限公司 | Pure electric vehicle complete vehicle fault power-off control method and system |
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| CN106740264B (en) * | 2017-01-09 | 2019-03-29 | 金龙联合汽车工业（苏州）有限公司 | Limping control method and its system based on electric car distribution drive system |
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