CN115923534B - Vehicle and energy recovery method and energy recovery device thereof - Google Patents
Vehicle and energy recovery method and energy recovery device thereof Download PDFInfo
- Publication number
- CN115923534B CN115923534B CN202211708892.1A CN202211708892A CN115923534B CN 115923534 B CN115923534 B CN 115923534B CN 202211708892 A CN202211708892 A CN 202211708892A CN 115923534 B CN115923534 B CN 115923534B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- rear axle
- axle motor
- factor
- influence factor
- 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
- 238000011084 recovery Methods 0.000 title claims abstract description 158
- 238000000034 method Methods 0.000 title claims abstract description 64
- 230000008569 process Effects 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims description 16
- 238000001914 filtration Methods 0.000 claims description 8
- 230000000087 stabilizing effect Effects 0.000 abstract description 15
- 230000006641 stabilisation Effects 0.000 description 8
- 238000011105 stabilization Methods 0.000 description 8
- 108010023321 Factor VII Proteins 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 108090000056 Complement factor B Proteins 0.000 description 1
- 102000003712 Complement factor B Human genes 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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 a vehicle, an energy recovery method and an energy recovery device thereof, wherein the vehicle comprises a front axle motor and a rear axle motor, the front axle motor is configured to drive front wheels, the rear axle motor is configured to drive rear wheels, and the method comprises the following steps: during the sliding process of the vehicle, the steering wheel angle, the vehicle speed, the front and rear axle speed difference and the recovery torque of the rear axle motor are obtained; acquiring a stability factor according to the steering wheel rotation angle, the vehicle speed, the front and rear axle speed difference and the rear axle motor recovery torque; and determining the switching time of switching the rear axle motor into the front axle motor according to the stability factor. The method determines a stabilizing factor based on steering wheel rotation angle, vehicle speed, front and rear axle speed difference and rear axle motor recovery torque, activates double-axle recovery through the stabilizing factor, and adjusts the switching rate of the rear axle motor to the front axle motor according to the stabilizing factor so as to ensure the running stability of the vehicle.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle energy recovery method, a vehicle energy recovery device, and a vehicle.
Background
When the dual-shaft driving electric vehicle provided with the front asynchronous motor and the rear synchronous motor is used for recovering sliding energy, a single rear shaft torque recovery technical scheme is generally selected for improving energy recovery efficiency, but the single rear shaft torque recovery scheme has higher lateral stability risk under large recovery deceleration.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, a first object of the present invention is to provide an energy recovery method of a vehicle, which determines a stabilization factor based on a steering wheel angle, a vehicle speed, a front-rear axle speed difference, and a rear axle motor recovery torque, activates a biaxial recovery by the stabilization factor, and adjusts a switching rate of a rear axle motor to a front axle motor according to the stabilization factor to ensure running stability of the vehicle.
A second object of the present invention is to provide an energy recovery device for a vehicle.
A third object of the present invention is to propose a vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides an energy recovery method of a vehicle including a front axle motor configured to drive front wheels and a rear axle motor configured to drive rear wheels, the energy recovery method of the vehicle including: during the sliding process of the vehicle, the steering wheel angle, the vehicle speed, the front and rear axle speed difference and the recovery torque of the rear axle motor are obtained; acquiring a stability factor according to the steering wheel rotation angle, the vehicle speed, the front and rear axle speed difference and the rear axle motor recovery torque; and determining the switching time of switching the rear axle motor into the front axle motor according to the stability factor.
According to the vehicle energy recovery method, firstly, in the process of vehicle sliding, steering wheel rotation angle, vehicle speed, front and rear shaft speed difference and rear shaft motor recovery torque are obtained, stability factors are obtained according to the steering wheel rotation angle, the vehicle speed, the front and rear shaft speed difference and the rear shaft motor recovery torque, and then switching time for switching the rear shaft motor into the front shaft motor is determined according to the stability factors. The method determines a stabilizing factor based on steering wheel rotation angle, vehicle speed, front and rear axle speed difference and rear axle motor recovery torque, activates double-axle recovery through the stabilizing factor, and adjusts the switching rate of the rear axle motor to the front axle motor according to the stabilizing factor so as to ensure the running stability of the vehicle.
In addition, the energy recovery method of the vehicle according to the above embodiment of the invention may further have the following additional technical features:
According to one embodiment of the present invention, determining a switching time for switching a rear-axle motor to a front-axle motor according to a stability factor includes: acquiring the corresponding relation between the stability factor and the switching time; and determining the switching time according to the stability factor and the corresponding relation, wherein the stability factor and the switching time are in a negative correlation relation.
According to one embodiment of the present invention, obtaining a stability factor from a steering wheel angle, a vehicle speed, a front-rear axle speed difference, and a rear axle motor recovery torque includes: acquiring a first influence factor according to the steering wheel angle; acquiring a second influence factor according to the vehicle speed; acquiring a third influence factor according to the speed difference of the front shaft and the rear shaft; acquiring a fourth influence factor according to the recovery torque of the rear axle motor; and determining a stability factor according to the product among the first influence factor, the second influence factor, the third influence factor and the fourth influence factor, wherein the value range of the stability factor is 0-1.
According to one embodiment of the invention, obtaining a first impact factor from a steering wheel angle comprises: determining a steering wheel angle rate according to an absolute value of a steering wheel angle; acquiring a first control coefficient of the steering wheel rotation angle rate, wherein the first control coefficient is the reciprocal of the maximum rotation angle rate allowed to be reached by the steering wheel; a first influencing factor is determined from the product between the steering wheel angle rate and the first control coefficient.
According to one embodiment of the present invention, acquiring the second influence factor according to the vehicle speed includes: acquiring a second control coefficient of the vehicle speed, wherein the second control coefficient is the reciprocal of the maximum speed which the vehicle speed is allowed to reach; a second influence factor is determined based on a product between the vehicle speed and the second control coefficient.
According to one embodiment of the present invention, acquiring the third influence factor according to the front-rear axle speed difference includes: filtering the speed difference of the front shaft and the rear shaft; acquiring a third control coefficient of the front-rear axle speed difference, wherein the third control coefficient is the reciprocal of the maximum front-rear axle speed difference allowed by the wheel speed of the wheel; and determining a third influence factor according to the product of the front and rear axle speed difference after the filtering processing and the third control coefficient.
According to one embodiment of the present invention, obtaining the fourth influence factor from the rear axle motor recovery torque includes: acquiring a fourth control coefficient of the recovery torque of the rear axle motor, wherein the fourth control coefficient is the reciprocal of the maximum recovery torque allowed by the rear axle motor; and determining a fourth influence factor according to the product between the absolute value of the recovery torque of the rear axle motor and the fourth control coefficient.
According to one embodiment of the present invention, the energy recovery method of a vehicle further includes: and carrying out amplitude limiting processing on the first influence factor, the second influence factor, the third influence factor and the fourth influence factor so that the first influence factor, the second influence factor, the third influence factor and the fourth influence factor are in a preset range.
To achieve the above object, a second aspect of the present invention provides an energy recovery device of a vehicle including a front axle motor configured to drive front wheels and a rear axle motor configured to drive rear wheels, the energy recovery device of the vehicle including: the first acquisition module is used for acquiring a steering wheel corner in the process of sliding of the vehicle; the second acquisition module is used for acquiring the vehicle speed; the third acquisition module is used for acquiring the speed difference of the front shaft and the rear shaft; the fourth acquisition module is used for acquiring the recovery torque of the rear axle motor; the fifth acquisition module is used for acquiring a stability factor according to the steering wheel rotation angle, the vehicle speed, the front and rear axle speed difference and the recovery torque of the rear axle motor; and the time determining module is used for determining the switching time of switching the rear axle motor into the front axle motor according to the stability factor.
According to the vehicle energy recovery device, the steering wheel rotation angle is acquired through the first acquisition module in the vehicle sliding process, the vehicle speed is acquired through the second acquisition module, the front-rear shaft speed difference is acquired through the third acquisition module, the rear shaft motor recovery torque is acquired through the fourth acquisition module, the stability factor is acquired through the fifth acquisition module according to the steering wheel rotation angle, the vehicle speed, the front-rear shaft speed difference and the rear shaft motor recovery torque, and the time determination module determines the switching time of the rear shaft motor to the front shaft motor according to the stability factor. The device determines a stabilizing factor based on steering wheel rotation angle, vehicle speed, front and rear axle speed difference and rear axle motor recovery torque, activates double-axle recovery through the stabilizing factor, and adjusts the switching rate of the rear axle motor to the front axle motor according to the stabilizing factor so as to ensure the running stability of the vehicle.
In order to achieve the above object, an embodiment of the present invention provides a vehicle, including a memory, a processor, and an energy recovery program of the vehicle stored in the memory and capable of running on the processor, wherein the processor implements the energy recovery method of the vehicle when executing the energy recovery program of the vehicle.
According to the vehicle disclosed by the embodiment of the invention, based on the energy recovery method of the vehicle, the stabilizing factor is determined based on the steering wheel angle, the vehicle speed, the front-rear axle speed difference and the recovery torque of the rear axle motor, the double-axle recovery is activated through the stabilizing factor, and the switching rate of the rear axle motor to the front axle motor is adjusted according to the stabilizing factor, so that the running stability of the vehicle is ensured.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method of energy recovery for a vehicle according to an embodiment of the invention;
FIG. 2 is a schematic illustration of a vehicle according to one embodiment of the invention;
FIG. 3 is a schematic control model of a method of energy recovery of a vehicle according to one embodiment of the invention;
Fig. 4 is a block diagram of an energy recovery device of a vehicle according to an embodiment of the present invention;
Fig. 5 is a block diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The following describes an energy recovery method of a vehicle, an energy recovery device of a vehicle, and a vehicle according to embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of an energy recovery method of a vehicle according to an embodiment of the present invention.
According to one embodiment of the present invention, as shown in fig. 2, the vehicle includes a front axle motor 1 and a rear axle motor 2, the front axle motor 1 being configured to drive front wheels 3, the rear axle motor 2 being configured to drive rear wheels 4. That is, the vehicle is an electric four-wheel drive vehicle driven by a front motor and a rear motor, and the front shaft motor 1 and the rear shaft motor 2 are respectively connected with the battery 5, so that the vehicle has the characteristic of completely decoupling front and rear driving torque.
In the process of recovering energy from the sliding of the vehicle, the stability of the recovered energy from the sliding is influenced by factors such as the selection of a sliding recovery shaft, the speed of the vehicle, the recovery strength, the slip rate of the recovery shaft, the steering input rate of a driver, the transverse acceleration of the vehicle and the like. In the case of a high vehicle speed recovery deceleration, when the driver inputs steering quickly, the vehicle is at risk of rapid instability, the application calculates the vehicle stability at the time of the driver's input steering quickly by designing a stability factor, and activates biaxial recovery and adjusts the rate of single biaxial switching by the factor to ensure the running stability of the vehicle. The energy recovery method of the vehicle of the present application will be described in detail.
As shown in fig. 1, the energy recovery method of the vehicle according to the embodiment of the invention may include the steps of:
S1, acquiring steering wheel rotation angle, vehicle speed, front-rear shaft speed difference and rear shaft motor recovery torque in the vehicle sliding process;
S2, obtaining a stability factor according to the steering wheel rotation angle, the vehicle speed, the front and rear axle speed difference and the rear axle motor recovery torque;
and S3, determining the switching time of switching the rear axle motor into the front axle motor according to the stability factor.
Specifically, when it is determined that the vehicle is under the working condition of coasting energy recovery, in order to improve the recovery efficiency, the rear axle motor is first controlled to perform the energy recovery operation, and the steering wheel angle, the vehicle speed, the front-rear axle speed difference, and the rear axle motor recovery torque are acquired during the process of the rear axle motor performing the energy recovery, thereby calculating the stability factor. And judging the stability of the vehicle according to the stability factor, namely determining the level of the risk of the lateral stability of the vehicle in the process of energy recovery of a single rear axle. And then determining the switching time of the rear axle motor to the front axle motor according to the stability of the vehicle determined by the stability factor, so as to avoid the condition that the recovery total torque fluctuates due to the too high switching speed and the deceleration fluctuates when the recovery torque is switched in a single double-axle mode. Or because the switching speed is too slow, which causes a risk of lateral stability of the vehicle in certain extreme situations, such as in the case of a driver's fast input steering.
That is, after the driver releases the accelerator, the vehicle enters a coasting recovery condition, and since the energy recovery efficiency of the rear axle motor is high, the vehicle is first controlled to brake by the rear axle motor, but if the rear wheel of the vehicle is unstable such as slipping, it is necessary to switch the rear axle motor to the front axle motor to perform energy recovery. Therefore, the energy recovery method judges the vehicle stability according to the stability factor, thereby determining the time for the rear axle motor to perform energy recovery, and the switching time for switching it to the front axle motor. Therefore, the stability factor under the sliding recovery working condition is calculated, and the stability factor is used for controlling the single double-shaft recovery switching and the switching speed under the extreme conditions such as rapid input steering of a driver, so that the stable operation of the vehicle is ensured.
According to one embodiment of the present invention, determining a switching time for switching a rear-axle motor to a front-axle motor according to a stability factor includes: acquiring the corresponding relation between the stability factor and the switching time; and determining the switching time according to the stability factor and the corresponding relation, wherein the stability factor and the switching time are in a negative correlation relation.
Specifically, the stability factor is used for representing the risk of vehicle instability, and when the risk of vehicle instability is determined to be large according to the stability factor, the switching time should take a small value, so that the rear axle motor and the front axle motor can be rapidly switched. When the risk of vehicle instability is determined to be small according to the stability factor, the switching time should take a relatively large value, i.e. the switching rates of the rear axle motor and the front axle motor can be slowed down.
It is assumed that the risk of vehicle instability is converted by a stability factor into a number between 0 and 1, where 0 indicates stability and 1 indicates instability. If the stability factor calculated according to the steering wheel rotation angle, the vehicle speed, the front and rear axle speed difference and the rear axle motor recovery torque is close to 0, the current vehicle is in a stable state, the instability risk is small, the switching operation can be slow a little at this time, namely, the switching time of a relatively large value is determined, and the rear axle motor is controlled to execute the energy recovery operation for a long time; if the stability factor is close to 1, the current vehicle is unstable, the instability risk is very high, the vehicle needs to be quickly switched, namely, the switching time of a relatively small value is determined, the rear axle motor is controlled to execute the energy recovery operation in a short time, and the vehicle is switched to the front axle motor to execute the energy recovery as soon as possible. Thus, the method determines in real time the switching times of the rear axle motor and the front axle motor of the vehicle based on the stability factor. The relative relationship between the stability factor and the switching time may be calibrated in advance according to the real vehicle information, for example, the stability factor may be calibrated in an expression manner, or may be calibrated in a corresponding table manner, for example, the relative relationship between the stability factor and the switching time is shown in table 1.
TABLE 1
| Stabilization factor | 0 | 0.2 | 0.4 | 0.6 | 0.8 | 1 |
| Switching time (time s) | 0.6 | 0.5 | 0.4 | 0.3 | 0.2 | 0.1 |
Taking table 1 as an example, the corresponding relation between the stability factor and the switching time shown in table 1 is determined according to the actual vehicle performance of the vehicle, then the stability factor of the current vehicle is determined according to the steering wheel angle, the vehicle speed, the front and rear axle speed difference and the rear axle motor recovery torque obtained in real time, the current switching time is determined based on table 1, and the switching of the rear axle motor and the front axle motor is controlled according to the current switching time.
It should be noted that, table 1 is only one possible implementation of the present application, and the specific switching time may be calibrated to different data according to actual vehicle performances of different vehicles, which is not limited herein.
The method for determining the stability factor is described in detail below.
According to one embodiment of the present invention, acquiring a front-to-rear axle speed difference includes: acquiring the wheel speed of a front wheel and the wheel speed of a rear wheel; determining a front axle speed according to the front wheel speed, and determining a rear axle speed according to the rear axle speed; the front-rear axle speed difference is determined from the difference between the front axle speed and the rear axle speed.
Specifically, the vehicle is provided with wheel speed sensors at four wheels, respectively, four wheel speeds are monitored in real time by the four wheel speed sensors, and the obtained front wheel speeds and rear wheel speeds are sent to a controller. The controller determines a front axle speed according to the wheel speeds of the two front wheels, determines a rear axle speed according to the wheel speeds of the two rear wheels, and then makes a difference between the front axle speed and the rear axle speed to obtain a front-rear axle speed difference.
According to one embodiment of the present invention, obtaining a stability factor from a steering wheel angle, a vehicle speed, a front-rear axle speed difference, and a rear axle motor recovery torque includes: acquiring a first influence factor according to the steering wheel angle; acquiring a second influence factor according to the vehicle speed; acquiring a third influence factor according to the speed difference of the front shaft and the rear shaft; acquiring a fourth influence factor according to the recovery torque of the rear axle motor; and determining a stability factor according to the product among the first influence factor, the second influence factor, the third influence factor and the fourth influence factor, wherein the value range of the stability factor is 0-1.
That is, the acquired steering wheel angle, the vehicle speed, the front-rear axle speed difference and the rear axle motor recovery torque are respectively subjected to data processing to obtain corresponding first influence factors, second influence factors, third influence factors and fourth influence factors, and then products of the first influence factors, the second influence factors, the third influence factors and the fourth influence factors are used as stability factors.
The method of determining the stability factor is illustrated below with reference to fig. 3.
According to one embodiment of the invention, obtaining a first impact factor from a steering wheel angle comprises: determining a steering wheel angle rate STEERANGSPD from an absolute value of the steering wheel angle; acquiring a first control coefficient A of a steering wheel turning rate STEERANGSPD, wherein the first control coefficient A is the reciprocal of the maximum turning rate which the steering wheel is allowed to reach; a first impact factor is determined based on a product between the steering wheel angle rate STEERANGSPD and the first control coefficient a.
Specifically, since the driver has a difference between a left rotation and a right rotation in the rotation direction of the steering wheel during driving the vehicle, the rotation direction of the steering wheel is marked with a sign in the control system of the vehicle, so when the steering wheel angle is obtained through the control system, the absolute value of the steering wheel angle is firstly processed, and then the steering wheel angle with the absolute value is integrated to obtain the steering wheel angle speed STEERANGSPD. A first control coefficient a for the steering wheel angle rate STEERANGSPD is obtained based on the big data processing. For example, assuming that 99.9% of drivers are driving the vehicle according to the big data survey, the maximum rotational angle rate that can be achieved is 600 °/s, based on which 600 is converted into 1, the first control coefficient a=1/600 is determined. At this time, the first influence factor is STEERANGSPD/600.
It will be appreciated that the first impact factor is used to characterize the impact of steering wheel turn rate on the stability factor, the faster the steering wheel turn rate, the greater the risk of vehicle instability.
According to one embodiment of the present invention, acquiring the second influence factor according to the vehicle speed includes: acquiring a second control coefficient B of the vehicle speed, wherein the second control coefficient B is the reciprocal of the maximum speed which the vehicle speed is allowed to reach; a second influence factor is determined based on a product between the vehicle speed vVeh and the second control coefficient B.
Specifically, when 99.9% of drivers drive the vehicle based on the big data survey, the highest vehicle speed is below 150kph, the vehicle speed is converted into 1, and the second control coefficient b=1/150. The real-time acquired vehicle speed vVeh is then multiplied by a second control factor B to determine a second influence factor, i.e., the second influence factor is vVeh/150.
It will be appreciated that the second impact factor characterizes the impact of vehicle speed on vehicle instability, wherein the faster the vehicle speed, the greater the risk of vehicle instability.
According to one embodiment of the present invention, acquiring the third influence factor according to the front-rear axle speed difference includes: filtering the speed difference of the front shaft and the rear shaft; acquiring a third control coefficient C of the front-rear axle speed difference, wherein the third control coefficient C is the reciprocal of the maximum front-rear axle speed difference allowed by the wheel speed of the wheel; and determining a third influence factor according to the product of the front and rear axle speed difference after the filtering processing and the third control coefficient C.
Specifically, since the wheel speeds of the front and rear wheels are rapid, the acquired front and rear axle speed difference data may have a lot of burrs, so the acquired front and rear axle speed difference is first input into a filter, smoothed by the filter, and the front and rear axle speed difference ripu. It should be noted that, because the signal burrs generated by the vehicle, the tire size, and the like may be different, the determination of the filter coefficients in the filter may be performed based on the real vehicle test, which is not limited herein. The method for determining the first control coefficient A and the second control coefficient B is analogically, the third control coefficient C also determines the maximum front-rear axle speed difference allowed by the speed of the vehicle wheel through big data investigation, then the determined maximum front-rear axle speed difference allowed by the speed of the vehicle wheel is converted into 1, the reciprocal of the maximum front-rear axle speed difference allowed by the speed of the vehicle wheel is taken as the third control coefficient C, and then the third influence factor is (RIPU. Trq) C.
It will be appreciated that the third impact factor characterizes the impact of the front-to-rear axle speed difference on vehicle instability, wherein the greater the front-to-rear axle speed difference, the greater the risk of vehicle instability.
According to one embodiment of the present invention, obtaining the fourth influence factor from the rear axle motor recovery torque includes: acquiring a fourth control coefficient D of the recovery torque of the rear axle motor, wherein the fourth control coefficient D is the reciprocal of the maximum recovery torque allowed by the rear axle motor; the fourth influence factor is determined from the product between the absolute value AxleSpdDiff of the rear axle motor recovery torque and the fourth control coefficient D.
Specifically, the recovery torque of the rear axle motor obtained in real time is input into a first input end 1 of the switch unit and a first input end 1 of the comparison unit, a value 0 set by a user is input into a second input end 2 of the switch unit and a second input end 2 of the comparison unit, and an output end of the comparison unit is connected with a control end of the switch unit. First, the obtained recovered torque of the rear axle motor is compared with 0, and if the recovered torque of the rear axle motor is less than or equal to 0, the comparison unit outputs a first control signal to connect the first input end 2 of the switching unit with the output end, and at this time, the torque of the rear axle motor is output through the output end of the switching unit and is subjected to absolute value processing. If the torque of the rear axle motor is greater than 0, the comparison unit outputs a second control signal to enable the second input end 2 of the switch unit to be connected with the output end, and the value 0 set by the user is output through the output end of the switch unit. It will be appreciated that during the energy recovery process, when the driver releases the accelerator pedal and the vehicle is in a coasting energy recovery condition, the rear axle motor will develop a negative torque to perform energy recovery, and the rear axle motor recovery torque obtained will be negative. Therefore, in the process of acquiring the fourth control coefficient, firstly, the acquired recovery torque of the rear axle motor is compared with 0, if the recovery torque of the rear axle motor is smaller than or equal to 0, the recovery torque of the rear axle motor is determined to be a negative value, the current vehicle is in a sliding energy recovery working condition, and accords with the application scene of the control method, and then the recovery torque of the rear axle motor is output through the switch unit for determining the fourth control coefficient. If the recovery torque of the rear axle motor is larger than 0, the recovery torque of the current rear axle motor is considered to be positive, and the current working condition of the vehicle does not accord with the application scene of the control method, so that the vehicle is not processed, and the output of the switch unit is 0.
The method for determining the first control coefficient A and the second control coefficient B is analogically, the fourth control coefficient D is used for obtaining the maximum recovery torque allowed by the rear axle motor based on big data analysis, the maximum recovery torque allowed by the rear axle motor is converted into 1, and the reciprocal of the maximum recovery torque allowed by the rear axle motor is used as the fourth control coefficient D. That is, the maximum recovery torque allowed by the rear axle motor takes an absolute value and then performs reciprocal processing to obtain the fourth control coefficient D. Thus, when the switching unit outputs the recovered torque of the rear axle motor, the recovered torque of the rear axle motor is subjected to absolute value processing to obtain AxleSpdDiff, and then multiplied by the fourth control coefficient D to obtain a fourth influence factor, namely AxleSpdDiff ×d.
It will be appreciated that the fourth influence factor is used to characterize the influence of the rear axle motor recovery torque on the risk of vehicle instability, wherein the greater the rear axle motor recovery torque, the more prone the vehicle to instability.
Thereby, the stabilization factor is determined based on the above-determined first control coefficient a, second control coefficient B, third control coefficient C, and fourth control coefficient D, and the calculation formula of the stabilization factor is:
K＝(SterrAngSpd*A)*(vVeh*B)*(RIPU.Trp*C)*(AxleSpdDiff*D) (1)
wherein K represents a stabilization factor, (STERRANGSPD a) represents a first influence factor, (vVeh B) represents a second influence factor, (ripu. Trp. C) represents a third influence factor, and (AxleSpdDiff D) represents a fourth influence factor.
According to one embodiment of the present invention, the energy recovery method of a vehicle further includes: and carrying out amplitude limiting processing on the first influence factor, the second influence factor, the third influence factor and the fourth influence factor so that the first influence factor, the second influence factor, the third influence factor and the fourth influence factor are in a preset range.
Specifically, since the control coefficient for calculating the influence factor is acquired based on the big data statistics determination, that is, by the set scaling factor, there is a case where the measured data exceeds the big data analysis determination data in the actual data acquisition process. For example, referring to the above method for determining the second control coefficient B, the second control coefficient b=1/150 is determined based on the highest vehicle speed 150kph of 99.9% of drivers in the driving vehicle in the big data survey, and when the vehicle speed vVeh acquired in real time is 160kph, the acquired second influence factor is 160/150 is calculated. Therefore, this embodiment subjects the influence factor obtained by calculation to clipping processing, thereby calculating a stabilization factor.
As shown in fig. 3, the first, second, third and fourth influencing factors are subjected to clipping processing by the first, second, third and fourth limiters, respectively. Taking the preset range of the four limiters as 0,1 as an example, the first influence factor, the second influence factor, the third influence factor and the fourth influence factor can be limited between 0 and 1 through the first limiter, the second limiter, the third limiter and the fourth limiter, namely, the influence factors exceeding 1 are output as 1 after passing through the limiters. And substituting the influence factors subjected to the amplitude limiting treatment into the formula (1) to multiply to obtain a stability factor, and calling and determining switching time based on the table 1 to control the switching rate of the rear axle motor to the front axle motor by the switching time so as to ensure that the vehicle stably runs.
In summary, according to the vehicle energy recovery method according to the embodiment of the invention, firstly, in the vehicle sliding process, the steering wheel angle, the vehicle speed, the front-rear axle speed difference and the rear axle motor recovery torque are obtained, the stability factor is obtained according to the steering wheel angle, the vehicle speed, the front-rear axle speed difference and the rear axle motor recovery torque, and then the switching time for switching the rear axle motor to the front axle motor is determined according to the stability factor. The method determines a stabilizing factor based on steering wheel rotation angle, vehicle speed, front and rear axle speed difference and rear axle motor recovery torque, activates double-axle recovery through the stabilizing factor, and adjusts the switching rate of the rear axle motor to the front axle motor according to the stabilizing factor so as to ensure the running stability of the vehicle.
Corresponding to the embodiment, the invention further provides an energy recovery device of the vehicle.
According to one embodiment of the present invention, a vehicle includes a front axle motor configured to drive front wheels and a rear axle motor configured to drive rear wheels.
As shown in fig. 4, the energy recovery device of the vehicle of the embodiment of the present invention may include: the first acquisition module 10, the second acquisition module 20, the third acquisition module 30, the fourth acquisition module 40, the fifth acquisition module 50, and the time determination module 60.
The first acquiring module 10 is configured to acquire a steering wheel angle during a vehicle coasting process. The second acquisition module 20 is used for acquiring the vehicle speed. The third acquisition module 30 is configured to acquire a front-rear axle speed difference. The fourth acquisition module 40 is configured to acquire the rear axle motor recovery torque. The fifth acquisition module 50 is configured to acquire a stability factor based on steering wheel angle, vehicle speed, front-rear axle speed difference, and rear axle motor recovery torque. The time determination module 60 is configured to determine a switching time for switching the rear axle motor to the front axle motor according to the stability factor.
According to one embodiment of the present invention, the time determination module 60 determines a switching time for switching the rear axle motor to the front axle motor according to the stability factor, specifically for: acquiring the corresponding relation between the stability factor and the switching time; and determining the switching time according to the stability factor and the corresponding relation.
According to one embodiment of the invention, the stability factor is inversely related to the switching time.
According to one embodiment of the invention, the third acquisition module 30 acquires the front-rear axle speed difference, specifically for: acquiring the wheel speed of a front wheel and the wheel speed of a rear wheel; determining a front axle speed according to the front wheel speed, and determining a rear axle speed according to the rear axle speed; the front-rear axle speed difference is determined from the difference between the front axle speed and the rear axle speed.
According to one embodiment of the invention, the fifth acquisition module 50 acquires stability factors based on steering wheel angle, vehicle speed, front-rear axle speed difference, and rear axle motor recovery torque, specifically for: acquiring a first influence factor according to the steering wheel angle; acquiring a second influence factor according to the vehicle speed; acquiring a third influence factor according to the speed difference of the front shaft and the rear shaft; acquiring a fourth influence factor according to the recovery torque of the rear axle motor; and determining a stability factor according to the product among the first influence factor, the second influence factor, the third influence factor and the fourth influence factor, wherein the value range of the stability factor is 0-1.
According to one embodiment of the present invention, the fifth obtaining module 50 obtains the first influencing factor according to the steering wheel angle, specifically for: determining a steering wheel angle rate according to an absolute value of a steering wheel angle; acquiring a first control coefficient of the steering wheel rotation angle rate, wherein the first control coefficient is the reciprocal of the maximum rotation angle rate allowed to be reached by the steering wheel; a first influencing factor is determined from the product between the steering wheel angle rate and the first control coefficient.
According to one embodiment of the present invention, the fifth obtaining module 50 obtains the second influence factor according to the vehicle speed, specifically for: acquiring a second control coefficient of the vehicle speed, wherein the second control coefficient is the reciprocal of the maximum speed which the vehicle speed is allowed to reach; a second influence factor is determined based on a product between the vehicle speed and the second control coefficient.
According to one embodiment of the present invention, the fifth obtaining module 50 obtains the third influence factor according to the front-rear axle speed difference, specifically for: filtering the speed difference of the front shaft and the rear shaft; acquiring a third control coefficient of the front-rear axle speed difference, wherein the third control coefficient is the reciprocal of the maximum front-rear axle speed difference allowed by the wheel speed of the wheel; and determining a third influence factor according to the product of the front and rear axle speed difference after the filtering processing and the third control coefficient.
According to one embodiment of the invention, the fifth obtaining module 50 obtains the fourth influence factor according to the rear axle motor recovery torque, specifically for: acquiring a fourth control coefficient of the recovery torque of the rear axle motor, wherein the fourth control coefficient is the reciprocal of the maximum recovery torque allowed by the rear axle motor; and determining a fourth influence factor according to the product between the absolute value of the recovery torque of the rear axle motor and the fourth control coefficient.
According to one embodiment of the present invention, the energy recovery device of a vehicle further includes: and the amplitude limiting processing module is used for carrying out amplitude limiting processing on the first influence factor, the second influence factor, the third influence factor and the fourth influence factor so that the first influence factor, the second influence factor, the third influence factor and the fourth influence factor are in a preset range.
It should be noted that, for details not disclosed in the energy recovery device of the vehicle in the embodiment of the present invention, please refer to details disclosed in the energy recovery method of the vehicle in the above embodiment of the present invention, and details are not described here again.
According to the vehicle energy recovery device, the steering wheel rotation angle is acquired through the first acquisition module in the vehicle sliding process, the vehicle speed is acquired through the second acquisition module, the front-rear shaft speed difference is acquired through the third acquisition module, the rear shaft motor recovery torque is acquired through the fourth acquisition module, the stability factor is acquired through the fifth acquisition module according to the steering wheel rotation angle, the vehicle speed, the front-rear shaft speed difference and the rear shaft motor recovery torque, and the time determination module determines the switching time of the rear shaft motor to the front shaft motor according to the stability factor. Therefore, the device determines the stability factor based on the steering wheel rotation angle, the vehicle speed, the front and rear axle speed difference and the rear axle motor recovery torque, activates double-axle recovery through the stability factor, and adjusts the switching rate of the rear axle motor to the front axle motor according to the stability factor so as to ensure the running stability of the vehicle.
Corresponding to the embodiment, the invention also provides a vehicle.
As shown in fig. 5, the vehicle 100 according to the embodiment of the invention includes a memory 110, a processor 120, and an energy recovery program of the vehicle stored in the memory 110 and capable of running on the processor 120, and the energy recovery method of the vehicle is implemented when the processor 120 executes the energy recovery program of the vehicle.
According to the vehicle disclosed by the embodiment of the invention, based on the energy recovery method of the vehicle, a stable factor is determined according to the steering wheel angle, the vehicle speed, the front-rear axle speed difference and the recovery torque of the rear axle motor, the double-axle recovery is activated through the stable factor, and the switching rate of the rear axle motor to the front axle motor is adjusted according to the stable factor, so that the running stability of the vehicle is ensured.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. A method of energy recovery for a vehicle, the vehicle including a front axle motor configured to drive front wheels and a rear axle motor configured to drive rear wheels, the method comprising:
During the sliding process of the vehicle, the steering wheel angle, the vehicle speed, the front and rear axle speed difference and the recovery torque of the rear axle motor are obtained;
acquiring a stability factor according to the steering wheel angle, the vehicle speed, the front and rear axle speed difference and the rear axle motor recovery torque;
and determining the switching time of switching the rear axle motor into the front axle motor according to the stability factor.
2. The method of energy recovery of a vehicle according to claim 1, characterized in that determining a switching time of a rear axle motor to a front axle motor according to the stability factor includes:
Acquiring the corresponding relation between the stability factor and the switching time;
determining the switching time according to the stability factor and the corresponding relation;
wherein the stability factor is inversely related to the switching time.
3. The energy recovery method of a vehicle according to claim 1, characterized in that acquiring a stability factor from the steering wheel angle, the vehicle speed, the front-rear axle speed difference, and the rear axle motor recovery torque includes:
Acquiring a first influence factor according to the steering wheel angle;
acquiring a second influence factor according to the vehicle speed;
acquiring a third influence factor according to the front-rear axle speed difference;
acquiring a fourth influence factor according to the recovery torque of the rear axle motor;
And determining the stability factor according to the product among the first influence factor, the second influence factor, the third influence factor and the fourth influence factor, wherein the value range of the stability factor is 0-1.
4. A vehicle energy recovery method according to claim 3, wherein acquiring a first influence factor from the steering wheel angle comprises:
Determining a steering wheel angle rate according to the absolute value of the steering wheel angle;
Acquiring a first control coefficient of the steering wheel turning rate, wherein the first control coefficient is the reciprocal of the maximum turning rate allowed to be reached by the steering wheel;
The first influencing factor is determined from the product between the steering wheel angle rate and the first control coefficient.
5. The energy recovery method of a vehicle according to claim 3, characterized in that acquiring a second influence factor according to the vehicle speed includes:
Acquiring a second control coefficient of the vehicle speed, wherein the second control coefficient is the reciprocal of the maximum speed which the vehicle speed is allowed to reach;
the second influence factor is determined from a product between the vehicle speed and the second control coefficient.
6. The energy recovery method of a vehicle according to claim 3, characterized in that acquiring a third influence factor from the front-rear axle speed difference includes:
Filtering the speed difference of the front shaft and the rear shaft;
Acquiring a third control coefficient of the front-rear axle speed difference, wherein the third control coefficient is the reciprocal of the maximum front-rear axle speed difference allowed by the wheel speed of the wheel;
and determining the third influence factor according to the product of the front-rear shaft speed difference after the filtering processing and the third control coefficient.
7. The energy recovery method of a vehicle according to claim 3, characterized in that obtaining a fourth influence factor from the rear axle motor recovery torque includes:
Acquiring a fourth control coefficient of the recovery torque of the rear axle motor, wherein the fourth control coefficient is the reciprocal of the maximum recovery torque allowed by the rear axle motor;
And determining the fourth influence factor according to the product between the absolute value of the recovery torque of the rear axle motor and the fourth control coefficient.
8. The energy recovery method of a vehicle according to any one of claims 4 to 7, characterized by further comprising:
And carrying out amplitude limiting processing on the first influence factor, the second influence factor, the third influence factor and the fourth influence factor so that the first influence factor, the second influence factor, the third influence factor and the fourth influence factor are in a preset range.
9. An energy recovery device for a vehicle, the vehicle including a front axle motor configured to drive front wheels and a rear axle motor configured to drive rear wheels, the device comprising:
the first acquisition module is used for acquiring a steering wheel corner in the process of sliding of the vehicle;
the second acquisition module is used for acquiring the vehicle speed;
The third acquisition module is used for acquiring the speed difference of the front shaft and the rear shaft;
the fourth acquisition module is used for acquiring the recovery torque of the rear axle motor;
the fifth acquisition module is used for acquiring a stability factor according to the steering wheel angle, the vehicle speed, the front and rear axle speed difference and the rear axle motor recovery torque;
and the time determining module is used for determining the switching time of switching the rear axle motor into the front axle motor according to the stability factor.
10. A vehicle comprising a memory, a processor and an energy recovery program of the vehicle stored on the memory and operable on the processor, the processor implementing the energy recovery method of the vehicle according to any one of claims 1-8 when executing the energy recovery program of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211708892.1A CN115923534B (en) | 2022-12-29 | 2022-12-29 | Vehicle and energy recovery method and energy recovery device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211708892.1A CN115923534B (en) | 2022-12-29 | 2022-12-29 | Vehicle and energy recovery method and energy recovery device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115923534A CN115923534A (en) | 2023-04-07 |
| CN115923534B true CN115923534B (en) | 2024-04-26 |
Family
ID=86697848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211708892.1A Active CN115923534B (en) | 2022-12-29 | 2022-12-29 | Vehicle and energy recovery method and energy recovery device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115923534B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202013104224U1 (en) * | 2013-03-22 | 2013-10-18 | Indo Consulting & Trading Ltd. | Electric vehicle |
| GB201608186D0 (en) * | 2016-05-10 | 2016-06-22 | Jaguar Land Rover Ltd | Vehicle and method |
| CN113071326A (en) * | 2021-05-06 | 2021-07-06 | 东风汽车集团股份有限公司 | Method and system for distributing regenerated energy recovery torque of four-wheel drive new energy automobile |
| CN113803460A (en) * | 2021-09-14 | 2021-12-17 | 东风汽车集团股份有限公司 | Front-rear axle two-gear shifting control method for electric four-wheel drive automobile |
| CN114312345A (en) * | 2021-10-26 | 2022-04-12 | 浙江零跑科技股份有限公司 | Dynamic and smooth compensation distribution control method for front and rear axle torques of four-wheel-drive pure electric vehicle |
| DE102021102203A1 (en) * | 2021-02-01 | 2022-08-04 | Audi Aktiengesellschaft | Method for operating a motor vehicle, vehicle system and motor vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9809130B2 (en) * | 2015-11-12 | 2017-11-07 | GM Global Technology Operations LLC | Vehicle speed control systems and methods |
-
2022
- 2022-12-29 CN CN202211708892.1A patent/CN115923534B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202013104224U1 (en) * | 2013-03-22 | 2013-10-18 | Indo Consulting & Trading Ltd. | Electric vehicle |
| GB201608186D0 (en) * | 2016-05-10 | 2016-06-22 | Jaguar Land Rover Ltd | Vehicle and method |
| DE102021102203A1 (en) * | 2021-02-01 | 2022-08-04 | Audi Aktiengesellschaft | Method for operating a motor vehicle, vehicle system and motor vehicle |
| CN113071326A (en) * | 2021-05-06 | 2021-07-06 | 东风汽车集团股份有限公司 | Method and system for distributing regenerated energy recovery torque of four-wheel drive new energy automobile |
| CN113803460A (en) * | 2021-09-14 | 2021-12-17 | 东风汽车集团股份有限公司 | Front-rear axle two-gear shifting control method for electric four-wheel drive automobile |
| CN114312345A (en) * | 2021-10-26 | 2022-04-12 | 浙江零跑科技股份有限公司 | Dynamic and smooth compensation distribution control method for front and rear axle torques of four-wheel-drive pure electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115923534A (en) | 2023-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11465628B2 (en) | Acceleration slip regulation method and vehicle | |
| US11731611B2 (en) | Vehicle stability control method and device | |
| US11273833B2 (en) | Acceleration slip regulation method and device for four-wheel drive electric vehicle | |
| CN106379198B (en) | A kind of driving torque distribution method, device and automobile | |
| CN111196311B (en) | Vehicle steering control method and device, controller and vehicle | |
| CN112874316B (en) | Stability control method and device for electric automobile and vehicle | |
| JPH05214974A (en) | Traction control device for vehicle | |
| KR19980018286A (en) | Traction Control System and Method of Electric Vehicles | |
| CN115923534B (en) | Vehicle and energy recovery method and energy recovery device thereof | |
| CN114802205A (en) | System and method for vehicle turning radius reduction | |
| CN112550547A (en) | Power-assisted pushing control method and device for electric scooter and computer equipment | |
| CN112319478B (en) | Vehicle driving mode switching method and device, storage medium and electric commercial vehicle | |
| CN114655215A (en) | Antiskid control method, device, equipment and storage medium | |
| CN114684157A (en) | Vehicle speed estimation method and device and electric vehicle | |
| JP4905085B2 (en) | Driving force distribution control device for four-wheel drive vehicles | |
| CN113771848A (en) | Vehicle driving control method and device, electronic equipment and storage medium | |
| CN114670668B (en) | Torque control method and device and electric automobile | |
| CN112744086B (en) | Vehicle control method and device and automobile | |
| JPH06153324A (en) | Electric automobile | |
| JPH05338457A (en) | Four-wheel drive device for vehicle | |
| CN115891678A (en) | Method and device for optimizing vehicle driving performance, vehicle and storage medium | |
| JP7445459B2 (en) | Electric vehicle control device | |
| JP7385464B2 (en) | Vehicle control device | |
| JP3395435B2 (en) | Regenerative braking control device | |
| CN116176295A (en) | Control method and control device for vehicle output torque and 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 | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230919 Address after: No. 48, room 1507, 15th floor, Fumin Building, 18 Beijiang Avenue, Zhaoqing high tech Zone, Zhaoqing City, Guangdong Province, 526238 Applicant after: Zhaoqing Xiaopeng New Energy Investment Co.,Ltd. Address before: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Applicant before: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |