CN111823857B - Tractor timely four-wheel drive system control method based on mechanical hydraulic stepless gearbox - Google Patents
Tractor timely four-wheel drive system control method based on mechanical hydraulic stepless gearbox Download PDFInfo
- Publication number
- CN111823857B CN111823857B CN202010476643.9A CN202010476643A CN111823857B CN 111823857 B CN111823857 B CN 111823857B CN 202010476643 A CN202010476643 A CN 202010476643A CN 111823857 B CN111823857 B CN 111823857B
- Authority
- CN
- China
- Prior art keywords
- wheel drive
- drive system
- tractor
- signal
- starting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
Abstract
The invention relates to a four-wheel drive system control method, in particular to a tractor timely four-wheel drive system control method based on a mechanical hydraulic stepless speed change box, and solves the problem that the existing control method for timely starting the four-wheel drive system of the tractor based on the mechanical hydraulic stepless speed change box is lacked. The method is characterized by comprising the following steps: step 1: detecting the real-time pressure of a clutch of a four-wheel drive system of the tractor and the real-time running state of the tractor, and respectively sending out corresponding four-wheel drive pre-starting command signals under the three running states; step 2: sending out a four-drive pre-enabling signal as long as any one four-drive pre-enabling command signal is received; and step 3: when the detected real-time pressure of the four-wheel drive system clutch is smaller than the lower boundary of the oil charging pressure of the four-wheel drive system clutch or a four-wheel drive pre-starting signal is received, sending out a four-wheel drive starting signal; and 4, step 4: and after receiving the four-wheel drive starting signal, controlling the electromagnetic valve in the four-wheel drive system to act, and starting the four-wheel drive system.
Description
Technical Field
The invention relates to a control method of a four-wheel drive system, in particular to a timely four-wheel drive system control method of a tractor based on a mechanical hydraulic stepless speed changing box.
Background
For a tractor based on a mechanical hydraulic continuously variable transmission (HMCVT), a four-wheel drive system is enabled, so that the traction force and the power of the tractor can be improved. Thus, in some cases, it is desirable to enable a four-wheel drive system. For example, when a tractor carries out deep ploughing or rotary tillage, the four-wheel drive system is started, which is beneficial to overcoming larger load; when wheels slip during field work, the four-wheel drive system is started, so that the tractor is easy to get rid of difficulties; when the tractor runs on a slope, the four-wheel drive system is started, so that the climbing capability of the tractor can be improved; when the emergency brake is performed, the four-wheel drive system is started, so that the braking force acting on the rear wheel can be transmitted to the front wheel at the same time, and the braking distance is shortened. However, if the system is started when the tractor is transferred or transported on a flat road, the tractor turns, which may adversely affect the maintenance cost and increase the fuel consumption. Therefore, under the condition that the tractor does not stop, according to the actual driving requirement, the four-wheel drive system is reasonably and timely started to be necessary, and the driving comfort and the driving safety are directly influenced.
However, there is a lack in the prior art of a control method for timely activation of the four-wheel drive system of a tractor based on a mechanical hydraulic continuously variable transmission.
Disclosure of Invention
The invention aims to provide a control method of a tractor four-wheel drive system in due time based on a mechanical hydraulic stepless speed changing box, and aims to solve the technical problem that a control method for starting the four-wheel drive system of the tractor in due time based on the mechanical hydraulic stepless speed changing box is lacked in the prior art.
And analyzing an application scene that the four-wheel drive system needs to be started timely and an application scene that the four-wheel drive system is not allowed to be started by combining the driving characteristics and the use working condition of the high-horsepower tractor. Application scenarios that need to enable the four-wheel drive system are: low speed and high load operation, emergency braking during high speed driving, and automatic parking enabling. Application scenarios that do not allow for enabling a four-wheel drive system are: during high-speed running and during braking during low-speed running.
The invention adopts the technical scheme that a tractor timely four-wheel drive system control method based on a mechanical hydraulic stepless gearbox is characterized by comprising the following steps:
step 1: detecting the real-time pressure of a clutch of a four-wheel drive system of the tractor and the real-time running state of the tractor, and respectively sending out corresponding four-wheel drive pre-starting command signals under the following three running states;
the first state: detecting a four-wheel drive button signal and a current speed signal of the tractor;
when the four-wheel drive button signal is detected to be 'ON' and the current vehicle speed is less than or equal to the maximum allowable starting four-wheel drive vehicle speed, sending a driving four-wheel drive pre-starting command signal, otherwise, not sending the four-wheel drive pre-starting command signal;
and a second state: detecting a brake pedal signal and a current speed signal of the tractor;
when a brake pedal signal can be detected and the current vehicle speed is greater than or equal to the minimum vehicle speed allowing four-wheel drive starting during brake braking, a four-wheel drive pre-starting command signal during service braking is sent, otherwise, the four-wheel drive pre-starting command signal during service braking is not sent;
and a third state: detecting an automatic parking signal of the tractor, and sending a four-wheel-drive pre-starting command signal after the automatic parking is enabled when the automatic parking is enabled, or not sending the four-wheel-drive pre-starting command signal after the automatic parking is enabled;
step 2: when any one of the four-drive pre-enabling command signals sent in the step 1 is received, sending a four-drive pre-enabling signal;
and step 3: when the real-time pressure value of the clutch of the four-wheel drive system of the tractor detected in the step 1 is smaller than the lower boundary of the oil charging pressure of the clutch of the four-wheel drive system, or when the four-wheel drive pre-starting signal sent in the step 2 is received, sending out a four-wheel drive starting signal;
and 4, step 4: and (4) after receiving the four-wheel drive starting signal sent out in the step (3), controlling an electromagnetic valve in the four-wheel drive system to act, and further starting the four-wheel drive system.
The four-wheel-drive pre-enabling command is defined firstly, and is not directly defined, because in the invention, in addition to three driving states, the four-wheel-drive system clutch pressure is too low, so that the four-wheel drive can be directly enabled, and the four-wheel-drive pre-enabling command is defined, which is beneficial to the follow-up confirmation of the four-wheel-drive enabling caused by what reason.
Further, in order to find out whether the electromagnetic valve is faulty as early as possible and quickly determine the reason why the four-wheel drive system cannot be normally started when the four-wheel drive system cannot be normally started, step 4 further includes detecting the electromagnetic valve, and when the electromagnetic valve is detected to be faultless, the electromagnetic valve is controlled to act, so that the four-wheel drive system is started.
Further, in step 4, the detection of the electromagnetic valve includes the following two detections:
1) detecting whether the electromagnetic valve is open to the ground or electricity;
2) detecting whether the electromagnetic valve is short-circuited to the ground or electricity;
when the electromagnetic valve is detected to be open to the ground or electrically short-circuited, indicating that the electromagnetic valve has a fault; when the electromagnetic valve is normally connected to the ground and the electricity, the electromagnetic valve is indicated to be free of faults.
Further, in the step 1, the step of detecting the real-time pressure of the clutch of the four-wheel drive system of the tractor is to detect the real-time pressure of the clutch of the four-wheel drive system of the tractor by using a pressure sensor.
The invention has the beneficial effects that:
(1) by adopting the timely four-wheel drive system control method, the four-wheel drive system can be started timely when the tractor based on the mechanical hydraulic stepless speed changing box operates at low speed and high load, emergently brakes during high-speed driving and automatically parks and enables, and when the real-time pressure value of the clutch of the four-wheel drive system is smaller than the lower boundary of the oil charging pressure of the clutch of the four-wheel drive system; when the vehicle is braked in high-speed running and low-speed running, the four-wheel drive system is not started; the timely four-wheel drive system control method is provided for the tractor based on the mechanical hydraulic stepless speed change box, and the technical problem that the control method for timely starting the four-wheel drive system of the tractor based on the mechanical hydraulic stepless speed change box is lacked in the prior art is solved. By adopting the timely four-wheel drive system control method, the driving comfort and safety can be improved; and by setting a pressure change range boundary, the friction plate abrasion caused by the slipping of a four-wheel drive system plate clutch due to the over-small pressure of the four-wheel drive system clutch is prevented, and the reliability of the four-wheel drive system is improved.
(2) In the timely four-wheel drive system control method, step 4 preferably further comprises detecting the electromagnetic valve, so that whether the electromagnetic valve has a fault can be found as early as possible, and when the four-wheel drive system cannot be normally started, the reason why the four-wheel drive system cannot be normally started can be quickly determined.
Drawings
FIG. 1 is a logic diagram of a four-drive pre-enable signal in the present invention;
FIG. 2 is a logic diagram of a four-wheel drive pre-enable command signal during driving in accordance with the present invention;
FIG. 3 is a logic diagram of a four-wheel-drive pre-enable command signal during service braking in accordance with the present invention;
FIG. 4 is a logic diagram of a four-wheel drive pre-enable command signal after automatic park enable in accordance with the present invention;
FIG. 5 is a logic diagram of a four-drive enable signal in an embodiment of the present invention;
FIG. 6 is a logic diagram for solenoid valve detection in an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 4, the invention relates to a tractor timely four-wheel drive system control method based on a mechanical hydraulic stepless transmission, which comprises the following steps:
step 1: detecting the real-time pressure of a clutch of a four-wheel drive system of the tractor and the real-time running state of the tractor, and respectively sending out corresponding four-wheel drive pre-starting command signals under the following three running states;
the first state: referring to fig. 2, a four-wheel drive button signal and a current vehicle speed signal of a tractor are detected;
when the four-wheel drive button signal is detected to be 'ON' and the current vehicle speed is less than or equal to the maximum allowable starting four-wheel drive vehicle speed, sending a driving four-wheel drive pre-starting command signal, otherwise, not sending the four-wheel drive pre-starting command signal; namely, if a driver presses a four-wheel drive starting button during the running process of the vehicle at the speed less than or equal to the maximum allowable starting four-wheel drive, a running four-wheel drive pre-starting command signal is sent out; conversely, if the vehicle speed is greater than the maximum allowable starting four-wheel drive vehicle speed, the in-driving four-wheel drive pre-enabling command signal will not be issued. The boundary condition of the speed is set because the gravity center of the high-horsepower tractor is high, the self weight is heavy, the four-wheel drive is suddenly combined when the speed is high, the ground friction is changed from resistance to driving force, the front wheels lose the gripping force instantly, and the driving danger is caused;
and a second state: referring to fig. 3, a brake pedal signal and a current vehicle speed signal of the tractor are detected;
when a brake pedal signal can be detected and the current vehicle speed is greater than or equal to the minimum vehicle speed allowing four-wheel drive starting during brake braking, a four-wheel drive pre-starting command signal during service braking is sent, otherwise, the four-wheel drive pre-starting command signal during service braking is not sent; namely, in the driving process, if a driver steps on a brake pedal and the vehicle speed is greater than or equal to the minimum vehicle speed allowing four-wheel drive starting during brake, a four-wheel drive pre-starting command signal is sent out during service braking; conversely, if the vehicle speed is below the minimum vehicle speed that allows four-wheel drive activation during braking, the brake pedal is depressed and the four-wheel drive pre-activation command signal will not be issued during service braking. After the driver steps on the brake pedal, the vehicle will produce braking force, if the speed of a motor vehicle is faster, also combine four drives when braking, will help reducing the braking distance, let the front wheel also can have braking force, make the brake more stable. After a driver slightly steps on a brake pedal, if the speed of the vehicle also meets the condition, a four-wheel-drive pre-starting command signal is successfully sent out during service braking; if the driver steps on the brake pedal and then releases the brake pedal, the four-wheel-drive pre-starting command signal is immediately released during service braking;
and a third state: referring to fig. 4, an automatic parking signal of the tractor is detected, when an automatic parking enable is detected, a four-wheel-drive pre-start command signal after the automatic parking enable is sent, otherwise, a four-wheel-drive pre-start command signal after the automatic parking enable is not sent;
step 2: referring to fig. 1, when any one of the four-drive pre-enable command signals issued in step 1 is received, a four-drive pre-enable signal is issued;
and step 3: when the real-time pressure value of the clutch of the four-wheel drive system of the tractor detected in the step 1 is smaller than the lower boundary of the oil charging pressure of the clutch of the four-wheel drive system, or when the four-wheel drive pre-starting signal sent in the step 2 is received, sending out a four-wheel drive starting signal;
in this embodiment, the pressure sensor is used to detect the real-time pressure of the four-wheel drive system clutch, and the real-time pressure measurement value of the four-wheel drive system clutch has the following three results, which are shown in fig. 5:
(1) is greater than the upper boundary value of the oil charging pressure of the clutch of the four-wheel drive system;
(2) the pressure is greater than the lower boundary value of the oil charging pressure of the four-wheel drive system clutch and is less than the upper boundary value of the oil charging pressure;
(3) is smaller than the lower boundary value of the oil charging pressure of the clutch of the four-wheel drive system.
When the pressure is the pressure monitoring signal (1) or (2), the pressure monitoring signal is output as 0 through signal processing; in the case of (3), the pressure monitor signal is output as 1 by signal processing. When the pressure monitoring signal output is 1, the pressure for disconnecting the four-wheel drive system is low, if no condition is available for sending the four-wheel drive pre-enabling signal, the four-wheel drive system plate clutch can be slipped, and therefore, the four-wheel drive enabling signal can be automatically sent whether the four-wheel drive pre-enabling signal is sent or not. Therefore, the working stability and safety of the four-wheel drive system can be ensured.
And 4, step 4: and (4) after receiving the four-wheel drive starting signal sent out in the step (3), controlling an electromagnetic valve in the four-wheel drive system to act, and further starting the four-wheel drive system.
Referring to fig. 6, the timely four-wheel drive system control method for the tractor based on the mechanical hydraulic stepless transmission of the embodiment preferably further includes, in step 4, detecting the electromagnetic valve, and when the electromagnetic valve is detected to be free of fault, controlling the electromagnetic valve to act, so as to start the four-wheel drive system. The detection of the electromagnetic valve comprises the following two detections:
1) detecting whether the electromagnetic valve is open to the ground or electricity;
2) detecting whether the electromagnetic valve is short-circuited to the ground or electricity;
when the electromagnetic valve is detected to be open to the ground or electrically short-circuited, indicating that the electromagnetic valve has a fault; when the electromagnetic valve is normally connected to the ground and the electricity, the electromagnetic valve is indicated to be free of faults. In this embodiment, the following concrete steps are performed: if the open circuit to the ground or the electricity is reported, the fault output zone bit outputs 1; if reporting a short circuit to ground or electricity, the fault output flag bit also outputs 1; and if the detection result is that no fault exists, outputting 0 by the fault output flag bit.
The method is suitable for controlling the four-wheel drive system of the tractor by controlling the wet type sheet clutch of the four-wheel drive system in the HMCVT gearbox bridge in an electric control hydraulic mode and transmitting power to the front drive output shaft to realize four-wheel drive, namely suitable for controlling the timely four-wheel drive system of the tractor based on the mechanical hydraulic stepless gearbox. Ensuring that the output torque of the engine can be distributed to the front wheels and the rear wheels according to a reasonable proportion in the four-wheel drive mode; and ensuring that the four-wheel drive mode is not suddenly abnormally started in the rear-wheel drive mode.
Claims (4)
1. A tractor timely four-wheel drive system control method based on a mechanical hydraulic stepless gearbox is characterized by comprising the following steps:
step 1: detecting the real-time pressure of a clutch of a four-wheel drive system of the tractor and the real-time running state of the tractor, and respectively sending out corresponding four-wheel drive pre-starting command signals under the following three running states;
the first state: detecting a four-wheel drive button signal and a current speed signal of the tractor;
when the four-wheel drive button signal is detected to be 'ON' and the current vehicle speed is less than or equal to the maximum allowable starting four-wheel drive vehicle speed, sending a driving four-wheel drive pre-starting command signal, otherwise, not sending the four-wheel drive pre-starting command signal;
and a second state: detecting a brake pedal signal and a current speed signal of the tractor;
when a brake pedal signal can be detected and the current vehicle speed is greater than or equal to the minimum vehicle speed allowing four-wheel drive starting during brake braking, a four-wheel drive pre-starting command signal during service braking is sent, otherwise, the four-wheel drive pre-starting command signal during service braking is not sent;
and a third state: detecting an automatic parking signal of the tractor, and sending a four-wheel-drive pre-starting command signal after the automatic parking is enabled when the automatic parking is enabled, or not sending the four-wheel-drive pre-starting command signal after the automatic parking is enabled;
step 2: when any one of the four-drive pre-enabling command signals sent in the step 1 is received, sending a four-drive pre-enabling signal;
and step 3: when the real-time pressure value of the clutch of the four-wheel drive system of the tractor detected in the step 1 is smaller than the lower boundary of the oil charging pressure of the clutch of the four-wheel drive system, or when the four-wheel drive pre-starting signal sent in the step 2 is received, sending out a four-wheel drive starting signal;
and 4, step 4: and (4) after receiving the four-wheel drive starting signal sent out in the step (3), controlling an electromagnetic valve in the four-wheel drive system to act, and further starting the four-wheel drive system.
2. The timely four-wheel drive system control method of the tractor based on the mechanical hydraulic stepless gearbox is characterized in that: and step 4, detecting the electromagnetic valve, and controlling the electromagnetic valve to act when the electromagnetic valve is detected to be free of faults so as to start the four-wheel drive system.
3. The timely four-wheel drive system control method of the tractor based on the mechanical hydraulic stepless gearbox is characterized in that:
in step 4, the detection of the electromagnetic valve comprises the following two detections:
1) detecting whether the electromagnetic valve is open to the ground or electricity;
2) detecting whether the electromagnetic valve is short-circuited to the ground or electricity;
when the electromagnetic valve is detected to be open to the ground or electrically short-circuited, indicating that the electromagnetic valve has a fault; when the electromagnetic valve is normally connected to the ground and the electricity, the electromagnetic valve is indicated to be free of faults.
4. The control method of the timely four-wheel drive system of the tractor based on the mechanical hydraulic stepless gearbox according to any one of claims 1 to 3, characterized in that: in the step 1, the step of detecting the real-time pressure of the clutch of the four-wheel drive system of the tractor is to detect the real-time pressure of the clutch of the four-wheel drive system of the tractor by adopting a pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010476643.9A CN111823857B (en) | 2020-05-29 | 2020-05-29 | Tractor timely four-wheel drive system control method based on mechanical hydraulic stepless gearbox |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010476643.9A CN111823857B (en) | 2020-05-29 | 2020-05-29 | Tractor timely four-wheel drive system control method based on mechanical hydraulic stepless gearbox |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111823857A CN111823857A (en) | 2020-10-27 |
| CN111823857B true CN111823857B (en) | 2021-05-18 |
Family
ID=72914084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010476643.9A Active CN111823857B (en) | 2020-05-29 | 2020-05-29 | Tractor timely four-wheel drive system control method based on mechanical hydraulic stepless gearbox |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111823857B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879117B (en) * | 2021-11-19 | 2022-07-22 | 广东皓耘科技有限公司 | Four-wheel drive control method, device and system, vehicle and tractor |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5819194A (en) * | 1994-09-21 | 1998-10-06 | Nissan Motor Co., Ltd. | System for controlling four-wheel drive for motor vehicle |
| CN203438853U (en) * | 2013-09-10 | 2014-02-19 | 安徽江淮汽车股份有限公司 | Intelligent automobile four-wheel-drive control system |
| CN104191966A (en) * | 2014-08-22 | 2014-12-10 | 山东常林农业装备股份有限公司 | Multifunctional self-propelled tillage machine with four-wheel-drive |
| CN106985647A (en) * | 2017-03-22 | 2017-07-28 | 中国煤炭科工集团太原研究院有限公司 | Mining in good time 4 wheel driven fluid drive multi-mode power-driven system |
| CN107020950A (en) * | 2015-12-25 | 2017-08-08 | 株式会社捷太格特 | Four-wheel drive vehicle |
| CN107472251A (en) * | 2017-08-08 | 2017-12-15 | 北京长城华冠汽车科技股份有限公司 | A kind of four-wheel driving electric vehicle slides control method and system |
| CN111152643A (en) * | 2020-01-03 | 2020-05-15 | 吉林大学 | Control method for timely four-wheel drive system of hybrid electric vehicle |
-
2020
- 2020-05-29 CN CN202010476643.9A patent/CN111823857B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5819194A (en) * | 1994-09-21 | 1998-10-06 | Nissan Motor Co., Ltd. | System for controlling four-wheel drive for motor vehicle |
| CN203438853U (en) * | 2013-09-10 | 2014-02-19 | 安徽江淮汽车股份有限公司 | Intelligent automobile four-wheel-drive control system |
| CN104191966A (en) * | 2014-08-22 | 2014-12-10 | 山东常林农业装备股份有限公司 | Multifunctional self-propelled tillage machine with four-wheel-drive |
| CN107020950A (en) * | 2015-12-25 | 2017-08-08 | 株式会社捷太格特 | Four-wheel drive vehicle |
| CN106985647A (en) * | 2017-03-22 | 2017-07-28 | 中国煤炭科工集团太原研究院有限公司 | Mining in good time 4 wheel driven fluid drive multi-mode power-driven system |
| CN107472251A (en) * | 2017-08-08 | 2017-12-15 | 北京长城华冠汽车科技股份有限公司 | A kind of four-wheel driving electric vehicle slides control method and system |
| CN111152643A (en) * | 2020-01-03 | 2020-05-15 | 吉林大学 | Control method for timely four-wheel drive system of hybrid electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111823857A (en) | 2020-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6516925B1 (en) | System and method for braking a towed conveyance | |
| CN103419765B (en) | Vehicle and the automatic parking system for vehicle | |
| US7553255B2 (en) | Locker clutch control for a differential mechanism | |
| US8364369B2 (en) | Low range drive ratio transfer changeover anti-rollback system and method | |
| US4363389A (en) | Vehicle transmission control system | |
| CN101985300B (en) | Torque control method capable of preventing driving wheels from slipping | |
| US20100250087A1 (en) | Resume speed adaptation | |
| CN107697046A (en) | Automatic emergency brake method and system | |
| GB2332286A (en) | Device for authorizing an unrestricted operating mode of a vehicle control device in the event of a failure of the ignition signal | |
| EP1833709B1 (en) | Retarder slip control | |
| US6029511A (en) | Method and apparatus for improving vehicle driving stability during deceleration | |
| CN111823857B (en) | Tractor timely four-wheel drive system control method based on mechanical hydraulic stepless gearbox | |
| JP2003327103A (en) | Method and apparatus for vehicle regenerative braking | |
| CN114051463A (en) | Method and device for controlling an electric drive of a trailer vehicle | |
| US20070179681A1 (en) | System and method for operating a vehicle | |
| CN201800699U (en) | Emergency control system for vehicle during reversing process | |
| CN102971172B (en) | For controlling the system with the torque transfer actuator of plurality of operating modes | |
| CN115210101A (en) | Method and device for controlling an electric drive of a trailer vehicle | |
| CN217347761U (en) | Automobile emergency stop system | |
| CN109677378A (en) | A kind of anti-auxiliary device and method slipped by slope with emergency braking of heavy-duty car | |
| CN201646704U (en) | Electronic parking brake system | |
| JP2006168392A (en) | Vehicle driving force controlling device | |
| CN210047463U (en) | Automobile brake control system, automobile brake system and automobile | |
| CN107206981A (en) | Control unit and method for preventing unintentionally vehicle movement | |
| US20230303160A1 (en) | Control device, method, computer program and computer readable medium for enabling power steering of a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |