CN113815492A - Heating control method, device and equipment and automobile - Google Patents
Heating control method, device and equipment and automobile Download PDFInfo
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- CN113815492A CN113815492A CN202010559166.2A CN202010559166A CN113815492A CN 113815492 A CN113815492 A CN 113815492A CN 202010559166 A CN202010559166 A CN 202010559166A CN 113815492 A CN113815492 A CN 113815492A
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- 238000010438 heat treatment Methods 0.000 title claims abstract description 408
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 6
- 230000002265 prevention Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/24—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries
- B60L58/27—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries for controlling the temperature of batteries by heating
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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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention provides a heating control method, a heating control device, heating control equipment and an automobile, and relates to the technical field of automobiles. The heating control method comprises the following steps: acquiring the current heating state of the heating controller; receiving a heating control instruction; and determining whether to heat the power battery or not according to the current heating state and the heating control instruction. The heating state of the heating controller is set by detecting the fault of the heating loop, so that the heating control instruction is executed more orderly and reliably, meanwhile, the heating controller is provided to facilitate the prevention of the heating fault, and the safety of the power battery in the heating process is ensured.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a heating control method, a heating control device, heating control equipment and an automobile.
Background
With the development of science and technology, automobiles become indispensable transportation means in daily life of people; because fuel oil is used as an unrenewable resource, more and more automobile manufacturers gradually focus on research and production of pure electric vehicles in order to reduce the usage amount of the fuel oil.
The optimal working temperature of the power battery used by the pure electric vehicle is 25-45 ℃, and when the power battery is used in a severe cold area in winter, the charging and discharging of the power battery can be affected by low temperature, so that the power battery of the electric vehicle needs to be heated when the temperature of the power battery is lower than a threshold temperature in order to ensure the normal use of the electric vehicle. Meanwhile, in order to ensure the orderliness and reliability of the heating process, the heating loops are required to be detected in real time before and during heating.
Disclosure of Invention
The embodiment of the invention provides a heating control method, a heating control device, heating control equipment and an automobile, and aims to solve the problem of how to ensure the ordering and reliability of the heating function of a power battery.
In order to solve the above technical problem, an embodiment of the present invention provides a heating control method, including:
acquiring the current heating state of the heating controller;
receiving a heating control instruction;
and determining whether to heat the power battery or not according to the current heating state and the heating control instruction.
Further, before the obtaining the current heating state of the heating controller, the method further comprises:
acquiring a wake-up signal sent out when a vehicle is powered on;
and controlling the heating controller to enter an activated state according to the wake-up signal.
Further, the acquiring the current heating state of the heating controller includes:
when a main positive relay and a main negative relay in a power battery heating loop are both closed, fault detection is carried out on the power battery heating loop;
if the power battery heating loop has a fault, setting the current heating state as a heating forbidding state, and controlling a heating controller to enter a standby state;
and if the power battery heating loop has no fault, setting the current heating state as a heating-allowed state.
Further, the determining whether to heat the power battery according to the current heating state and the heating control instruction includes:
if the current heating state is the heating-allowed state and the heating control instruction is heating starting, controlling to close a heating relay in a power battery heating loop to heat the power battery;
and if the current heating state is the heating forbidding state, controlling to disconnect the heating relay in the power battery heating loop and forbidding to heat the power battery.
Further, in the process of heating the power battery, the method further comprises the following steps:
carrying out fault detection on the power battery heating loop;
and when the heating circuit is detected to have a fault, the heating relay is controlled to be switched off, the power battery is stopped to be heated, and the heating controller is controlled to enter a standby state.
Further, in the process of heating the power battery, the method further comprises the following steps:
detecting a heating control instruction;
and when the heating control instruction is to stop heating, controlling a heating relay in the power battery heating loop to be disconnected.
An embodiment of the present invention further provides a heating control device, where the device includes:
the first acquisition module is used for acquiring the current heating state of the heating controller;
the receiving module is used for receiving a heating control instruction;
and the determining module is used for determining whether to heat the power battery according to the current heating state and the heating control instruction.
Further, the apparatus further comprises:
the second acquisition module is used for acquiring a wake-up signal sent out when the vehicle is powered on;
and the first control module is used for controlling the heating controller to enter an activated state according to the wake-up signal.
Specifically, the first obtaining module includes:
the detection unit is used for carrying out fault detection on the power battery heating loop when a main positive relay and a main negative relay in the power battery heating loop are both closed;
the first control unit is used for setting the current heating state as a heating forbidding state and controlling the heating controller to enter a standby state if the power battery heating loop has a fault;
and the second control unit is used for setting the current heating state as a heating-allowed state if the power battery heating loop has no fault.
Specifically, the determining module includes:
the third control unit is used for controlling to close a heating relay in a power battery heating loop to heat the power battery if the current heating state is the heating-allowed state and the heating control instruction is to start heating;
and the fourth control unit is used for controlling to disconnect the heating relay in the power battery heating loop and forbidding to heat the power battery if the current heating state is the heating forbidding state.
Specifically, in the process of heating the power battery, the device further comprises:
the first detection module is used for carrying out fault detection on the power battery heating loop;
and the second control module is used for controlling to disconnect the heating relay, stopping heating the power battery and controlling the heating controller to enter a standby state when detecting that the heating loop has a fault.
The second detection module is used for detecting a heating control instruction;
and the third control module is used for controlling the heating relay in the power battery heating loop to be disconnected when the heating control instruction is heating stop.
An embodiment of the present invention further provides a control device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the heating control method described above when executing the computer program.
An embodiment of the present invention further provides an automobile, including: the storage battery, the battery management system and the vehicle control unit are all electrically connected with the heating control device.
The invention has the beneficial effects that:
above-mentioned scheme sets up heating controller's heating state through detecting heating circuit trouble, has guaranteed that heating control command's execution is more orderly and reliable, and the while heating controller be provided with do benefit to the prevention of heating trouble, has guaranteed the security among the power battery heating process.
Drawings
FIG. 1 is a schematic flow chart of a heating control method according to an embodiment of the present invention;
FIG. 2 is a second schematic flow chart of a heating control method according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a heating control apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural view of an automobile according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The invention provides a heating control method, a heating control device, heating control equipment and an automobile, aiming at the problem of ensuring the orderliness and the reliability of the heating function of a power battery.
As shown in fig. 1, an embodiment of the present invention provides a heating control method, including:
and step 13, determining whether to heat the power battery or not according to the current heating state and the heating control instruction.
According to the embodiment of the invention, the heating state of the heating controller is set by detecting the fault of the heating loop, so that the execution of the heating control instruction is more orderly and reliable, meanwhile, the heating controller is favorable for preventing the heating fault, and the safety of the power battery in the heating process is ensured.
Specifically, before the step 11 obtains the current heating state of the heating controller, the method further includes:
acquiring a wake-up signal sent out when a vehicle is powered on;
and controlling the heating controller to enter an activated state according to the wake-up signal.
It should be noted that the states of the heating controller include an active state and a standby state, the heating state of the heating controller includes an initial state, a heating enabled state and a heating disabled state, and the heating control command includes starting heating and stopping heating. After the whole vehicle is powered on at low voltage, when the temperature of the power battery acquired by the temperature sensor meets the preset heating condition, which indicates that the power battery needs to be heated, the heating control method of the embodiment of the invention needs to acquire the current heating state and the heating control instruction, and determines whether to heat the power battery, that is, before the power battery is heated, the current circuit needs to be detected to ensure that the heating condition is met, and in the heating process, the heating control method of the embodiment of the invention detects the heating state and the heating control instruction in real time, and stops heating when a fault occurs or the heating stopping instruction is received.
It should be further noted that the heating controller in the embodiment of the present invention wakes up after the entire vehicle is powered on, specifically, other controllers wake up through a hard wire or wake up through a network, where the other controllers may be the entire vehicle controller VCU or the battery management system BMS. After the heating controller is awakened, the heating controller enters an activated state, at this time, the heating state of the heating controller is not determined, the heating state of the heating controller is an initial state, internal circuit check is carried out to ensure no fault, and if the fault is detected, the heating controller is controlled to enter a standby state and the heating state is kept as the initial state. When the internal circuit is checked to have no fault, the insulation detection between the heating sheet and the battery main positive relay and the battery main negative relay is carried out, and if the fault is detected, the heating controller is controlled to enter a standby state, and meanwhile, the heating state is kept to be an initial state.
Specifically, the step 11 of acquiring the current heating state of the heating controller includes:
when a main positive relay and a main negative relay in a power battery heating loop are both closed, fault detection is carried out on the power battery heating loop;
if the power battery heating loop has a fault, setting the current heating state as a heating forbidding state, and controlling a heating controller to enter a standby state;
and if the power battery heating loop has no fault, setting the current heating state as a heating-allowed state.
The heating state of the heating controller is determined, so that the safety of the heating process of the power battery can be effectively ensured, and before the power battery is heated, when a heating loop has a fault, the heating state of the heating controller is set to be a heating forbidding state from an initial state; and when the heating circuit has no fault, the heating state of the heating controller is set to be the heating allowing state from the initial state. In the heating process of the power battery, when the heating loop has a fault, the heating state of the heating controller is set to be a heating forbidding state from a heating permitting state; when the heating loop is not in fault, the heating state of the heating controller is kept as the heating allowing state.
Specifically, the step 13 determines whether to heat the power battery according to the current heating state and the heating control instruction, and includes:
if the current heating state is the heating-allowed state and the heating control instruction is heating starting, controlling to close a heating relay in a power battery heating loop to heat the power battery;
and if the current heating state is the heating forbidding state, controlling to disconnect the heating relay in the power battery heating loop and forbidding to heat the power battery.
It should be noted that, when the power battery needs to be heated, that is, when the entire vehicle enters the power battery heating mode, at this time, the heating loop providing heat needs to be detected, that is, the current heating state of the heating controller is obtained, when the heating state is the heating-allowed state and the heating control instruction is to start heating, the power battery is heated, that is, the heating relay in the heating loop is closed to conduct the heating loop, and the power battery is heated by the heat generated on the heating sheet.
Specifically, in the process of heating the power battery, the method further comprises the following steps:
carrying out fault detection on the power battery heating loop;
and when the heating circuit is detected to have a fault, the heating relay is controlled to be switched off, the power battery is stopped to be heated, and the heating controller is controlled to enter a standby state.
It should be noted that, in order to ensure the reliability of the heating function, in the heating process, the heating control method according to the embodiment of the present invention performs fault detection on the power battery heating circuit, and if a fault is detected, the power battery needs to be stopped being heated, at this time, the heating relay in the heating circuit is controlled to be turned off, so that the heating circuit is not turned on, the power battery is stopped being heated, and the heating controller is controlled to enter the standby state.
Specifically, in the process of heating the power battery, the method further comprises the following steps:
detecting a heating control instruction;
and when the heating control instruction is to stop heating, controlling a heating relay in the power battery heating loop to be disconnected.
It should be noted that, in the heating process, if some emergency occurs or a user does not need to use a vehicle or charge the power battery temporarily, or the temperature of the power battery reaches a preset temperature, it is indicated that the power battery does not need to be heated, at this time, a heating control instruction is sent to stop heating, the heating control method of the embodiment of the present invention monitors the heating control instruction in real time, and when the heating control instruction is stop heating, the heating relay in the power battery heating loop is controlled to be turned off.
As shown in fig. 2, in the heating control method according to the embodiment of the present invention, after the heating relay is awakened, the heating state is set to the initial state, low-voltage self-test is performed, and after the self-test is completed, insulation detection between the heating sheet and the main positive electrode and the main negative electrode of the battery is performed. When the whole car state is power battery heating mode, battery management system BMS closed main positive, main negative relay, and heating controller carries out heating circuit fault detection, specifically, heating circuit fault detection includes: fault detection of heating relays, heating current, heating time, etc. After the fault diagnosis is finished, the heating controller reports the heating fault grade; alternatively, no failure may be defined as 0; faults affecting the system performance class and faults affecting the system safety class are defined as natural numbers greater than 0, with the more severe the fault, the larger the number. If the fault grade is greater than 0, the heating state of the heating controller is a heating forbidding state, and the heating controller enters a standby mode; if the fault grade is 0, the heating state of the heating controller after self-checking is in a heating allowed state, and the heating control instruction is in a heating starting state, starting rapid heating; if the heating control command is 'stop heating', the heating controller enters fault diagnosis. In the heating process, when the fault level of the heating controller is equal to 0, the heating is continued until the heating control instruction is equal to stop heating, the heating relay is disconnected, and the heating state is equal to the initial state; and if the fault grade of the heating controller is greater than 0 in the heating process, performing heating alarm processing, and then entering a standby mode.
It should be noted that, after the self-checking of the heating controller is completed, timing is started, and if the control signal for setting the heating state to the heating-allowed state is not received within the preset time period, the heating controller enters the standby mode.
As shown in fig. 3, an embodiment of the present invention further provides a heating control apparatus, including:
a first obtaining module 31, configured to obtain a current heating state of the heating controller;
a receiving module 32, configured to receive a heating control instruction;
and the determining module 33 is configured to determine whether to heat the power battery according to the current heating state and the heating control instruction.
According to the embodiment of the invention, the heating state of the heating controller is set by detecting the fault of the heating loop, so that the execution of the heating control instruction is more orderly and reliable, meanwhile, the heating controller is favorable for preventing the heating fault, and the safety of the power battery in the heating process is ensured.
Specifically, the apparatus further comprises:
the second acquisition module is used for acquiring a wake-up signal sent out when the vehicle is powered on;
and the first control module is used for controlling the heating controller to enter an activated state according to the wake-up signal.
Specifically, the first obtaining module 31 includes:
the detection unit is used for carrying out fault detection on the power battery heating loop when a main positive relay and a main negative relay in the power battery heating loop are both closed;
the first control unit is used for setting the current heating state as a heating forbidding state and controlling the heating controller to enter a standby state if the power battery heating loop has a fault;
and the second control unit is used for setting the current heating state as a heating-allowed state if the power battery heating loop has no fault.
Specifically, the determining module 33 includes:
the third control unit is used for controlling to close a heating relay in a power battery heating loop to heat the power battery if the current heating state is the heating-allowed state and the heating control instruction is to start heating;
and the fourth control unit is used for controlling to disconnect the heating relay in the power battery heating loop and forbidding to heat the power battery if the current heating state is the heating forbidding state.
Specifically, in the process of heating the power battery, the device further comprises:
the first detection module is used for carrying out fault detection on the power battery heating loop;
and the second control module is used for controlling to disconnect the heating relay, stopping heating the power battery and controlling the heating controller to enter a standby state when detecting that the heating loop has a fault.
The second detection module is used for detecting a heating control instruction;
and the third control module is used for controlling the heating relay in the power battery heating loop to be disconnected when the heating control instruction is heating stop.
An embodiment of the present invention further provides a control device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the heating control method described above when executing the computer program.
As shown in fig. 4, an embodiment of the present invention further provides an automobile, including: the storage battery, the battery management system and the vehicle control unit are all electrically connected with the heating control device. Wherein, the heating control device is also connected with a heating relay and a current sensor in the heating loop. The storage battery is used for supplying power to the heating controller, the battery management system is used for awakening the heating controller, and information interaction is carried out between the heating controller and the vehicle control unit as well as between the heating controller and the battery management system through the CAN bus, so that the heating relay and the current sensor in the heating loop are controlled.
It should be noted that, when the vehicle with the heating control device is in the power battery heating mode, the heating state of the heating controller is set by detecting the fault of the heating loop, so that the execution of the heating control command is ensured to be more orderly and reliable, meanwhile, the arrangement of the heating controller is beneficial to the prevention of the heating fault, and the safety of the power battery in the heating process is ensured. The electric control architecture of the embodiment of the invention has simple design, and is matched with the control strategies of power on and power off, high voltage detection and fault detection which are interacted with the whole vehicle, thereby ensuring the orderliness and reliability of the heating function of the battery and being beneficial to the prevention, monitoring and diagnosis of the heating fault.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (10)
1. A heating control method, comprising:
acquiring the current heating state of the heating controller;
receiving a heating control instruction;
and determining whether to heat the power battery or not according to the current heating state and the heating control instruction.
2. The heating control method according to claim 1, wherein before the obtaining of the current heating state of the heating controller, the method further comprises:
acquiring a wake-up signal sent out when a vehicle is powered on;
and controlling the heating controller to enter an activated state according to the wake-up signal.
3. The heating control method according to claim 1, wherein the acquiring of the current heating state of the heating controller includes:
when a main positive relay and a main negative relay in a power battery heating loop are both closed, fault detection is carried out on the power battery heating loop;
if the power battery heating loop has a fault, setting the current heating state as a heating forbidding state, and controlling a heating controller to enter a standby state;
and if the power battery heating loop has no fault, setting the current heating state as a heating-allowed state.
4. The heating control method according to claim 3, wherein the determining whether to heat the power battery according to the current heating state and the heating control command comprises:
if the current heating state is the heating-allowed state and the heating control instruction is heating starting, controlling to close a heating relay in a power battery heating loop to heat the power battery;
and if the current heating state is the heating forbidding state, controlling to disconnect the heating relay in the power battery heating loop and forbidding to heat the power battery.
5. The heating control method according to claim 4, wherein in heating the power battery, the method further comprises:
carrying out fault detection on the power battery heating loop;
and when the heating circuit is detected to have a fault, the heating relay is controlled to be switched off, the power battery is stopped to be heated, and the heating controller is controlled to enter a standby state.
6. The heating control method according to claim 4, wherein in heating the power battery, the method further comprises:
detecting a heating control instruction;
and when the heating control instruction is to stop heating, controlling a heating relay in the power battery heating loop to be disconnected.
7. A heating control device, the device comprising:
the first acquisition module is used for acquiring the current heating state of the heating controller;
the receiving module is used for receiving a heating control instruction;
and the determining module is used for determining whether to heat the power battery according to the current heating state and the heating control instruction.
8. The heating control device of claim 7, further comprising:
the second acquisition module is used for acquiring a wake-up signal sent out when the vehicle is powered on;
and the first control module is used for controlling the heating controller to enter an activated state according to the wake-up signal.
9. A control apparatus, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the heating control method according to any one of claims 1 to 6 when executing the computer program.
10. An automobile, comprising: the storage battery, the battery management system and the vehicle control unit are characterized by further comprising the heating control device according to any one of claims 7 to 8, wherein the storage battery, the battery management system and the vehicle control unit are all electrically connected with the heating control device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010559166.2A CN113815492B (en) | 2020-06-18 | 2020-06-18 | Heating control method, heating control device, heating control equipment and automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010559166.2A CN113815492B (en) | 2020-06-18 | 2020-06-18 | Heating control method, heating control device, heating control equipment and automobile |
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| CN113815492A true CN113815492A (en) | 2021-12-21 |
| CN113815492B CN113815492B (en) | 2024-02-06 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103762398A (en) * | 2014-01-16 | 2014-04-30 | 北京智行鸿远汽车技术有限公司 | Low-temperature heating system of power battery and control method of system |
| CN106099255A (en) * | 2016-08-22 | 2016-11-09 | 重庆长安汽车股份有限公司 | The low-temperature heating method of a kind of electric automobile power battery and system |
| WO2019119997A1 (en) * | 2017-12-18 | 2019-06-27 | 清华大学 | Power battery pack safety prevention and control system for electric vehicle and control method |
-
2020
- 2020-06-18 CN CN202010559166.2A patent/CN113815492B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103762398A (en) * | 2014-01-16 | 2014-04-30 | 北京智行鸿远汽车技术有限公司 | Low-temperature heating system of power battery and control method of system |
| CN106099255A (en) * | 2016-08-22 | 2016-11-09 | 重庆长安汽车股份有限公司 | The low-temperature heating method of a kind of electric automobile power battery and system |
| WO2019119997A1 (en) * | 2017-12-18 | 2019-06-27 | 清华大学 | Power battery pack safety prevention and control system for electric vehicle and control method |
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| CN113815492B (en) | 2024-02-06 |
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