CN111661019A - Anti-slope-sliding control method for automobile - Google Patents
Anti-slope-sliding control method for automobile Download PDFInfo
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- CN111661019A CN111661019A CN201911265575.5A CN201911265575A CN111661019A CN 111661019 A CN111661019 A CN 111661019A CN 201911265575 A CN201911265575 A CN 201911265575A CN 111661019 A CN111661019 A CN 111661019A
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- vehicle
- automobile
- slope
- control unit
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
Abstract
The invention discloses an anti-slope-sliding control method of an automobile, wherein a vehicle control unit can acquire state information of the automobile, when the rotation direction of a motor is opposite to the running direction of the automobile, the vehicle control unit judges that the automobile needs to enter an anti-slope-sliding mode, and starts a parking braking system of the automobile to further prevent the automobile from sliding down a slope, and the motor does not need to be started for reverse braking in the process, so that the damage of the motor due to the heating of reverse braking can be avoided. When the rotation direction of the motor is the same as the running direction of the automobile, the vehicle control unit judges that the automobile does not need to enter the anti-slope-slipping mode. The arrangement in this way further improves the automation of the motor vehicle.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an anti-slope-sliding control method for an automobile.
Background
With the development of society, people have higher and higher requirements on the safety of vehicles, nowadays, new energy automobiles are increasingly popularized, people pay more and more attention to the technical problems of the new energy automobiles, and pure electric automobiles are naturally paid more and more attention as the main parts of the new energy automobiles. Hill start is a common situation in many cases of vehicle driving, and a vehicle is very easy to slip on a slope without a slope sensor, so an effective control method for preventing the vehicle from slipping on the slope is very important for an electric vehicle. In the prior art, most automobiles stop the vehicles by balancing torque in the reverse direction of the motor, but the structure can cause the risk of heating of the motor, and further damage to the motor can be caused.
Therefore, the anti-creep control method of the prior art automobile may cause damage to the motor.
Disclosure of Invention
The invention aims to solve the problem that the motor may be damaged by the slope-sliding prevention control method of the automobile in the prior art, so that the invention provides the slope-sliding prevention control method of the automobile, which can avoid the damage of the motor.
In order to solve the above problems, an embodiment of the present invention provides an anti-creep control method for an automobile, including the steps of:
s1: the method comprises the steps that a vehicle control unit obtains state information of a vehicle, wherein the state information comprises the rotation direction of a motor and the running direction of the vehicle;
s2: when the rotation direction of the motor is opposite to the running direction of the automobile, the vehicle control unit judges that the automobile needs to enter an anti-slope-slipping mode, and the step S3 is carried out; or
When the rotation direction of the motor is the same as the running direction of the automobile, the vehicle control unit judges that the automobile does not need to enter an anti-slope-slipping mode, and the step S1 is carried out;
s3: the vehicle control unit starts a parking brake system of the vehicle and proceeds to step S4;
s4: after the preset time length, the vehicle controller judges whether the vehicle meets the condition of exiting the parking braking system;
if yes, the vehicle controller closes the parking brake system in the vehicle, and the step S1 is carried out; if not, the process proceeds to step S3.
By adopting the technical scheme, the vehicle controller can start the parking braking system of the vehicle according to the rotation direction of the motor and the running direction of the vehicle after acquiring the rotation direction of the motor and the running direction of the vehicle, so as to prevent the vehicle from sliding down the slope, and the reverse braking of the motor is not needed to be started in the process, so that the damage of the motor due to the heating of the reverse braking can be avoided.
Further, another embodiment of the present invention provides an anti-creep control method of an automobile,
in step S1: the state information further includes: state information of a brake pedal and state information of an accelerator pedal; and the number of the first and second electrodes,
in step S2: when the brake pedal and the accelerator pedal are not engaged, the vehicle controller judges that the vehicle needs to enter an anti-slope-slipping mode, and the step S3 is executed; alternatively, the first and second electrodes may be,
when at least one of the brake pedal and the accelerator pedal is engaged, the vehicle control unit determines that the vehicle does not need to enter the anti-creep mode, and proceeds to step S1.
By adopting the technical scheme, the vehicle control unit can simultaneously acquire the state information of the brake pedal and the state information of the accelerator pedal of the vehicle and judge whether the parking brake system needs to be started or not according to the state information of the brake pedal and the state information of the accelerator pedal of the vehicle, and the method can prevent the vehicle control unit from mistakenly starting the parking brake system under the condition that the vehicle is manually operated to back the vehicle.
Further, another embodiment of the present invention provides an anti-creep control method of an automobile,
in step S4: the condition for exiting the parking brake system comprises the running state of the automobile; wherein
When the automobile is static, the vehicle control unit judges that the automobile meets the condition of exiting a parking braking system, closes the parking braking system in the automobile and enters step S1;
when the automobile is not stationary, the process proceeds to step S3.
By adopting the technical scheme, when the automobile is static, the whole automobile controller can automatically quit the parking braking system, and by adopting the control mode, the situation that the whole automobile controller still starts the parking braking system under the state that the parking braking system is not required to be started so as to consume electric energy can be avoided.
Further, another embodiment of the present invention provides an anti-creep control method of an automobile,
in step S4: the condition for exiting the parking brake system further includes: the vehicle control unit judges whether the time for the vehicle to enter the anti-slope-slipping mode is greater than a threshold value; wherein
When the time is larger than a threshold value, a gearbox in the automobile enters a P gear state;
when the time is less than the threshold, the process proceeds to step S4.
By adopting the technical scheme, after the parking brake system is started for a period of time, the vehicle controller can automatically control the gearbox to enter the P gear so as to limit the vehicle from sliding down the slope, and the vehicle can save more energy in the process of preventing the vehicle from sliding down the slope.
Further, another embodiment of the present invention provides an anti-creep control method for an automobile, wherein the threshold value is 0.5 to 1.5 minutes.
Further, another embodiment of the present invention provides an anti-creep control method of an automobile,
in step S3, the vehicle control unit controls the output torque of the motor to 0 while activating the parking brake system in the vehicle.
By adopting the technical scheme, the whole vehicle controller controls the output torque of the motor to be 0 when the parking braking system in the vehicle is started, and the arrangement mode can avoid that the motor still outputs power under braking of the vehicle, so that the motor is heated and burnt out.
Further, another embodiment of the present invention provides an anti-creep control method for an automobile, comprising, in step S1: the state information also comprises gear information of the gearbox; and is
In step S2, when the gear information of the transmission does not enter the P gear, the vehicle controller determines that the vehicle needs to enter the anti-creep mode, and then proceeds to step S3.
In addition, other features and corresponding advantages of the present invention are set forth in the description that follows, and it is to be understood that at least some of the advantages will be apparent from the description of the invention.
Drawings
Fig. 1 is a flowchart of an anti-creep control method for an automobile according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
One embodiment of the present embodiment provides an anti-creep control method for an automobile, as shown in fig. 1, including the steps of:
s1: the method comprises the steps that a vehicle control unit obtains state information of a vehicle, wherein the state information comprises the rotation direction of a motor and the running direction of the vehicle;
s2: when the rotation direction of the motor is opposite to the running direction of the automobile, the vehicle controller judges that the automobile needs to enter an anti-slope-sliding mode, and the step S3 is carried out; alternatively, the first and second electrodes may be,
when the rotation direction of the motor is the same as the running direction of the automobile, the vehicle control unit judges that the automobile does not need to enter the anti-slope-slipping mode, and the step S1 is carried out;
s3: the vehicle controller starts a parking brake system of the vehicle and proceeds to step S4;
s4: after the preset time length, the vehicle controller judges whether the vehicle meets the condition of exiting the parking braking system;
if yes, the vehicle controller closes the parking brake system in the vehicle, and the step S1 is carried out; if not, the process proceeds to step S3.
Specifically, according to the method for controlling the vehicle to slide down the slope provided by the embodiment, after the vehicle controller obtains the rotation direction of the motor and the running direction of the vehicle, the parking brake system of the vehicle can be started according to the rotation direction of the motor and the running direction of the vehicle, so that the vehicle is prevented from sliding down the slope, in the process, the motor does not need to be started for reverse braking, and the motor can be prevented from being damaged due to heat generated by the reverse braking.
More specifically, in the present embodiment, the automobile should be provided with a sensor for detecting the motor steering; when the sensor detects that the motor rotates reversely, the detected information is transmitted to the vehicle control unit, and the vehicle control unit starts the parking braking system according to the information.
More specifically, in the present embodiment, the sensor may be any one of various types of steering sensors, such as a C047A steering sensor, an ES250 steering sensor, and the like, which are commonly known to those skilled in the art. The specific configuration may be set according to actual design and use requirements, which is not limited in this embodiment.
More specifically, in this embodiment, the vehicle control unit is a controller on an automobile in the prior art, and this embodiment does not give any explanation to the specific structure of the vehicle control unit, and does not limit the model of the vehicle control unit.
More specifically, in the present embodiment, the parking brake system is a parking brake system on an existing automobile, and the structure of the present embodiment is not explained.
Further, another embodiment of the present embodiment provides an anti-creep control method of an automobile,
in step S1: the state information further includes: state information of a brake pedal and state information of an accelerator pedal; and the number of the first and second electrodes,
in step S2: when the brake pedal and the accelerator pedal are not engaged, the vehicle control unit judges that the vehicle needs to enter the anti-slope-slipping mode, and the step S3 is executed; alternatively, the first and second electrodes may be,
when at least one of the brake pedal and the accelerator pedal is engaged, the vehicle control unit determines that the vehicle does not need to enter the anti-creep mode, and proceeds to step S1.
Specifically, the vehicle controller can simultaneously acquire the state information of the brake pedal and the state information of the accelerator pedal of the vehicle, and judge whether the parking brake system needs to be started according to the state information of the brake pedal and the state information of the accelerator pedal of the vehicle, so that the method can prevent the vehicle controller from mistakenly starting the parking brake system under the condition that the vehicle is manually backed.
More specifically, in this embodiment, the vehicle should further include a sensor for detecting a position of a brake pedal and a position of an accelerator pedal, where the sensor is in communication connection with the vehicle controller and sends position information of the brake pedal and the accelerator pedal to the vehicle controller in real time, when the vehicle controller determines that both the brake pedal and the accelerator pedal are not engaged, the parking brake system is started, and when the vehicle controller determines that at least one of the brake pedal and the accelerator pedal is engaged, that is, the brake pedal is engaged, or the accelerator pedal is engaged, or the brake pedal and the accelerator pedal are engaged at the same time, the vehicle controller determines that the vehicle does not need to enter the anti-creep mode, and the process proceeds to step S1.
More specifically, in the present embodiment, the sensor may be any one of various types of position sensors, such as a position sensor of the ZARM series and a position sensor of the SY5120 series, which are commonly known to those skilled in the art, and the sensor may be specifically set according to actual design and usage requirements, which is not limited in the present embodiment.
Further, another embodiment of the present embodiment provides an anti-creep control method of an automobile,
in step S4: the condition for exiting the parking brake system includes an operating state of the vehicle; wherein
When the automobile is static, the vehicle control unit judges that the automobile meets the condition of exiting the parking braking system, closes the parking braking system in the automobile and enters step S1;
when the automobile is not stationary, the process proceeds to step S3.
Specifically, when the automobile is static, the whole automobile controller can automatically quit the parking braking system, and by adopting the control mode, the situation that the whole automobile controller still starts the parking braking system under the state that the parking braking system is not required to be started so as to consume electric energy can be avoided.
More specifically, in this embodiment, a dynamic sensor for detecting whether the vehicle moves should be further provided, the dynamic sensor is in communication connection with the vehicle controller and sends dynamic information of the vehicle to the vehicle controller in real time, when the vehicle controller determines that the vehicle is stationary according to the dynamic information, the vehicle controller determines that the vehicle meets a condition for exiting the parking brake system, and turns off the parking brake system in the vehicle, and the process goes to step S1;
and when the vehicle control unit judges that the vehicle is not static according to the dynamic information, the step S3 is executed.
More specifically, in the present embodiment, the dynamic sensor may be any one of various types of dynamic sensors, such as a TRADFRI dynamic sensor and an AUDI dynamic sensor, which are commonly known to those skilled in the art. The specific configuration may be set according to actual design and use requirements, which is not limited in this embodiment.
Further, another embodiment of the present embodiment provides an anti-creep control method of an automobile,
in step S4: the condition for exiting the parking brake system further includes: the vehicle control unit judges whether the time for the vehicle to enter the anti-slope-slipping mode is greater than a threshold value; wherein
When the time is larger than the threshold value, a gearbox in the automobile enters a P gear state;
when the time is less than the threshold value, the process proceeds to step S4.
Specifically, after the parking brake system in this embodiment is started for a period of time, the vehicle controller may automatically control the transmission to enter the P gear to limit the vehicle from slipping down the slope.
Further, another embodiment of the present invention provides a method for controlling an automobile to prevent a vehicle from sliding down a slope, wherein the threshold value is 0.5 to 1.5 minutes.
Specifically, in the present embodiment, the threshold may be 0.5 minute, 1 minute, or 1.5 minutes, and may be specifically set according to the use requirement, which is not limited in the present embodiment.
Further, another embodiment of the present embodiment provides an anti-creep control method of an automobile,
in step S3, the vehicle control unit controls the output torque of the motor to 0 while activating the parking brake system in the vehicle.
Specifically, in the embodiment, the vehicle control unit controls the output torque of the motor to be 0 while starting the parking brake system in the vehicle, and the arrangement mode can avoid that the motor still outputs power under braking of the vehicle, so that the motor is heated and burnt out.
More specifically, in the present embodiment, the vehicle control unit controls the motor to be turned off while starting the parking brake system in the vehicle, so that the output torque of the motor is 0.
Further, according to another embodiment of the present invention, there is provided a method for controlling an automobile to prevent a vehicle from rolling down a slope, comprising, in step S1: the state information also comprises gear information of the gearbox; and is
In step S2, when the shift information of the transmission does not enter the P range, the vehicle controller determines that the vehicle needs to enter the anti-creep mode, and proceeds to step S3.
Specifically, in the present embodiment, the gear information of the transmission is detected by a gear sensor on the vehicle, the present embodiment does not interpret the structure and the model of the transmission much, and the gear sensor transmits the detected gear information to the vehicle control unit in real time, when the vehicle control unit determines that the transmission enters the P gear according to the gear information, the vehicle control unit determines that the vehicle needs to enter the anti-creep mode, and the process proceeds to step S3. The gear sensor transmits detected gear information to the vehicle control unit in real time, when the vehicle control unit judges that the gearbox enters a P gear according to the gear information, the vehicle control unit judges that the vehicle needs to enter a slope slipping prevention mode, and the step S3 is carried out.
The embodiment provides an anti-slope-sliding control method for an automobile, wherein a vehicle control unit can acquire state information of the automobile, when the rotation direction of a motor is opposite to the running direction of the automobile, the vehicle control unit judges that the automobile needs to enter an anti-slope-sliding mode, and starts a parking braking system of the automobile, so that the automobile is prevented from sliding on a slope, in the process, the motor does not need to be started for reverse braking, and the motor can be prevented from being damaged due to heating of the reverse braking. When the rotation direction of the motor is the same as the running direction of the automobile, the vehicle control unit judges that the automobile does not need to enter the anti-slope-slipping mode. The arrangement in this way further improves the automation of the motor vehicle.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. An anti-slope-slipping control method for an automobile is characterized by comprising the following steps:
s1: the method comprises the steps that a vehicle control unit obtains state information of a vehicle, wherein the state information comprises the rotation direction of a motor and the running direction of the vehicle;
s2: when the rotation direction of the motor is opposite to the running direction of the automobile, the vehicle control unit judges that the automobile needs to enter an anti-slope-slipping mode, and the step S3 is carried out; alternatively, the first and second electrodes may be,
when the rotation direction of the motor is the same as the running direction of the automobile, the vehicle control unit judges that the automobile does not need to enter an anti-slope-slipping mode, and the step S1 is carried out;
s3: the vehicle control unit starts a parking brake system of the vehicle and proceeds to step S4;
s4: after the preset time length, the vehicle controller judges whether the vehicle meets the condition of exiting the parking braking system;
if yes, the vehicle controller closes the parking brake system in the vehicle, and the step S1 is entered; if not, the process proceeds to step S3.
2. The anti-creep control method for an automobile according to claim 1,
in step S1: the state information further includes: state information of a brake pedal and state information of an accelerator pedal; and is
In step S2: when the brake pedal and the accelerator pedal are not engaged, the vehicle controller judges that the vehicle needs to enter the anti-slope-slipping mode, and the step S3 is entered; or
When at least one of the brake pedal and the accelerator pedal is engaged, the vehicle control unit determines that the vehicle does not need to enter the anti-creep mode, and proceeds to step S1.
3. The anti-creep control method for an automobile according to claim 2,
in step S4: the condition for exiting the parking brake system includes an operating state of the vehicle; wherein the content of the first and second substances,
when the automobile is static, the vehicle controller judges that the automobile meets the condition of exiting the parking brake system, closes the parking brake system in the automobile, and enters the step S1;
when the vehicle is not stationary, the process proceeds to step S3.
4. The anti-creep control method for an automobile according to claim 3,
in step S4: the condition for exiting the parking brake system further includes: the vehicle control unit judges whether the time for the vehicle to enter the anti-slope-slipping mode is greater than a threshold value; wherein
When the time is larger than the threshold value, a gearbox in the automobile enters a P gear state;
when the time is less than the threshold, the process proceeds to step S4.
5. The method for controlling an automobile anti-creep slope according to claim 4, wherein the threshold value is 0.5 to 1.5 minutes.
6. The anti-creep control method for an automobile according to claim 4,
in step S3, the vehicle control unit controls the output torque of the motor to 0 while activating the parking brake system in the vehicle.
7. The method for controlling an automobile to prevent a vehicle from rolling down a slope as claimed in claim 1, wherein in step S1: the state information also comprises gear information of the gearbox; and the number of the first and second electrodes,
in step S2, when the gear information of the transmission does not enter the P gear, the vehicle controller determines that the vehicle needs to enter the hill-drop prevention mode, and then proceeds to step S3.
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| CN201911265575.5A CN111661019A (en) | 2019-12-11 | 2019-12-11 | Anti-slope-sliding control method for automobile |
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| CN201911265575.5A CN111661019A (en) | 2019-12-11 | 2019-12-11 | Anti-slope-sliding control method for automobile |
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Cited By (1)
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| CN109572698A (en) * | 2018-12-01 | 2019-04-05 | 郑州日产汽车有限公司 | Slope, starting control method are stayed in electric car ramp |
| CN110329084A (en) * | 2019-07-24 | 2019-10-15 | 江西江铃集团新能源汽车有限公司 | The control method of the anti-slip auxiliary system in electric car slope road |
Cited By (1)
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| WO2022083180A1 (en) * | 2020-10-23 | 2022-04-28 | 中车株洲电力机车有限公司 | Start control method and system for magnetic-levitation train, and device and storage medium |
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Application publication date: 20200915 |