EP3601004A1 - Verfahren zur steuerung des auf die räder eines elektro- oder hybridfahrzeuges übertragenen drehmomentes je nach zulässigem regenerativen drehmoment - Google Patents

Verfahren zur steuerung des auf die räder eines elektro- oder hybridfahrzeuges übertragenen drehmomentes je nach zulässigem regenerativen drehmoment

Info

Publication number
EP3601004A1
EP3601004A1 EP18704050.6A EP18704050A EP3601004A1 EP 3601004 A1 EP3601004 A1 EP 3601004A1 EP 18704050 A EP18704050 A EP 18704050A EP 3601004 A1 EP3601004 A1 EP 3601004A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
torque
neutral point
pedal
control method
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.)
Withdrawn
Application number
EP18704050.6A
Other languages
English (en)
French (fr)
Inventor
Loïc LE ROY
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Publication of EP3601004A1 publication Critical patent/EP3601004A1/de
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18181—Propulsion control with common controlling member for different functions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/463—Torque
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B60L2250/28—Accelerator pedal thresholds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/24—Energy storage means
    • B60W2710/242—Energy storage means for electrical energy
    • B60W2710/248—Current for loading or unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/92—Hybrid vehicles
    • 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
    • Y02T10/62—Hybrid vehicles
    • 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
    • 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

Definitions

  • the present invention relates to the control of torque to the wheel, on electric vehicles or hybrids.
  • a torque control method transmitted to the wheels of a vehicle comprising an electric machine, based on the interpretation of the position of the acceleration pedal moved by the driver between a release position and a depressing position foot down, on a driving stroke consisting of an upper zone, where the position of the pedal determines a negative torque setpoint, and a lower zone following it in the direction of depression, where the position of the pedal determines a positive torque setpoint.
  • the transition position between these two zones is a neutral point, corresponding to a zero torque setpoint.
  • the vehicle concerned may be a strictly electric vehicle, or a hybrid vehicle comprising in this case at least one heat engine and an electric machine.
  • a hybrid vehicle there are at least two actuators capable of providing torque to the wheel.
  • the driver's demand is satisfied by the sum of the torques provided by the electric machine and the heat engine. It is possible to optimize the overall consumption of the hybrid GMP, by distributing the driver's torque demand, from 100% electrical to 100% thermal.
  • an electric machine is reversible, and has two modes of operation, motor and generator.
  • the vehicle benefits from the accumulation of the deceleration produced by the friction of the engine, and the regeneration of the electric machine.
  • the total travel of the accelerator pedal of an electric or hybrid vehicle is generally separated into two zones.
  • a first driving zone the first from its upper position, manages the negative force instructions to zero.
  • the second following the first without the direction of the depression, manages the positive couples to the wheel.
  • the position of physical depression of the pedal corresponding to the transition between these two zones, corresponds to a zero torque setpoint: this is the neutral point of the pedal.
  • the maximum regeneration torque, or permissible regenerative torque, can vary for several reasons:
  • the value of the regenerative torque can also be varied over time:
  • the regenerative torque is always zero when stopped, to avoid a "dead” start of the race on the accelerator.
  • the ability of the driver to measure the regenerative force of the GMP with his accelerator pedal poses a crucial problem for driving pleasure and for safety of braking, especially when this force varies according to different parameters (load of the battery, vehicle speed, driving mode etc.).
  • the problem is all the more crucial, as the amplitude of variation of the regenerative torque over time is important.
  • the present invention aims to dose the regenerative torque to the accelerator pedal, pleasantly and without dead stroke, with different levels of regenerative force.
  • the negative torque setpoint is a torque setpoint supplied by an electric machine of the hybrid vehicle in regenerative mode.
  • the operation of the GMP in the generating mode of the electric machine is finely controlled, when the driver lifts his foot off the accelerator pedal. It becomes possible for him to obtain from the vehicle various behaviors, from the most "running” possible, to the most “braking” possible, consistent with the performance of the electric machine.
  • FIG. 1 illustrates the transmission of the torque as a function of the depression of the pedal
  • FIG. 2 shows, on one example, the differences in permissible regenerative torque between two driving modes
  • FIG. 3 highlights the effect of the change of mode on the travel of the pedal
  • Figure 4 illustrates the proposed neutral point shift strategy.
  • the nonlimiting embodiment of the invention relates to a particular case of control of the torque transmitted to the wheels of a strictly electric vehicle, or of a hybrid vehicle comprising at least one heat engine and an electric machine.
  • This command is based on the interpretation of the position of the accelerator pedal.
  • the pedal is moved by the driver enters a releasing position, and a depressing position foot fully. It moves on a driving stroke composed of an upper zone, where the position of the pedal determines a negative torque setpoint, and a lower zone following it in the direction of the depression, where the position of the pedal determines a positive torque setpoint.
  • the transition position between these two zones is a neutral point corresponding to a zero torque setpoint.
  • the negative torque setpoint is in principle a torque setpoint provided by an electric machine in regenerative mode, as in a strictly electric vehicle.
  • the regenerative torque setpoint is then limited by the energy storage capacity of the vehicle batteries.
  • the neutral point can advantageously be moved in response to a change of driving mode of the vehicle.
  • the nonlimiting case described below relates to the transition from a "nominal” or “normal” driving mode to a "brake” driving mode (with sustained regenerative braking). This passage is illustrated in FIG. 2.
  • the invention proposes that the neutral point be moved upwards on the pedal stroke, following the transition from a current driving mode, to a mode programmed to admit a regenerative torque level higher than the current mode.
  • the invention provides that the position of the neutral point is moved according to the permissible regenerative torque.
  • the neutral point is displaced for example by 10% to 20% depression of the pedal.
  • the transition from "normal” to "brake” mode is not supposed to have an influence on the behavior of the vehicle until the driver lifts his foot off the pedal. It is therefore preferable to shift in time the displacement of the neutral point, compared to the change of mode.
  • the invention proposes the strategy illustrated in FIG. 4, according to which no abrupt brutal neutral point displacement can take place before the driver asks the vehicle to brake, by raising the foot of the accelerator pedal. .
  • no mode transition has an impact on the behavior of the vehicle when the driver wishes his vehicle to accelerate, or maintain its speed (zone A).
  • the displacement of the neutral point of the pedal is thus delayed with respect to the evolution of the permissible regenerative torque.
  • the displacement of the neutral point is delayed in time compared to the adoption of the "brake" mode.
  • the change of mode is taken into account to move the neutral point, only when the driver wants to decelerate, especially when he manifests his intention by relieving his pedal.
  • the neutral point can then adapt (zone B). Finally, it is advantageous to filter the transition so that it is not unpleasantly felt by the driver.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
  • Hybrid Electric Vehicles (AREA)
EP18704050.6A 2017-03-28 2018-01-22 Verfahren zur steuerung des auf die räder eines elektro- oder hybridfahrzeuges übertragenen drehmomentes je nach zulässigem regenerativen drehmoment Withdrawn EP3601004A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1752571A FR3064574B1 (fr) 2017-03-28 2017-03-28 Procede de commande du couple transmis aux roues d'un vehicule electrique ou hybride en fonction du couple regeneratif admissible
PCT/FR2018/050146 WO2018178526A1 (fr) 2017-03-28 2018-01-22 Procede de commande du couple transmis aux roues d'un vehicule electrique ou hybride en fonction du couple regeneratif admissible

Publications (1)

Publication Number Publication Date
EP3601004A1 true EP3601004A1 (de) 2020-02-05

Family

ID=59070833

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18704050.6A Withdrawn EP3601004A1 (de) 2017-03-28 2018-01-22 Verfahren zur steuerung des auf die räder eines elektro- oder hybridfahrzeuges übertragenen drehmomentes je nach zulässigem regenerativen drehmoment

Country Status (7)

Country Link
EP (1) EP3601004A1 (de)
JP (1) JP7140770B2 (de)
KR (1) KR102267583B1 (de)
CN (1) CN110753649B (de)
BR (1) BR112019018940A2 (de)
FR (1) FR3064574B1 (de)
WO (1) WO2018178526A1 (de)

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US20200180432A1 (en) * 2018-12-11 2020-06-11 Atieva, Inc. Accelerator Pedal Providing Regenerative Brake Feedback
JP7338194B2 (ja) * 2019-03-28 2023-09-05 三菱自動車工業株式会社 車両の加減速制御装置
CN112389206B (zh) * 2020-11-20 2022-10-14 武汉格罗夫氢能汽车有限公司 一种燃料电池氢能电动车急油门误操作保护方法及系统
FR3134059A1 (fr) * 2022-03-30 2023-10-06 Psa Automobiles Sa Pilotage du niveau de couple moteur en fonction d’un mode de freinage récupératif sélectionné
FR3134058A1 (fr) * 2022-03-31 2023-10-06 Renault S.A.S Procédé de commande d’un véhicule automobile en zones à risques pour la sécurité routière

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JPH05191904A (ja) * 1992-01-13 1993-07-30 Honda Motor Co Ltd 電動車両のモータ制御装置
US6543565B1 (en) * 2000-11-10 2003-04-08 Ford Motor Company Method and system for collecting regenerative braking energy in a parallel hybrid electric vehicle
JP4232832B2 (ja) * 2007-02-27 2009-03-04 トヨタ自動車株式会社 車両用回生制動装置
FR2945243B1 (fr) * 2009-05-11 2012-06-01 Renault Sas Systeme de commande du couple aux roues d'un vehicule equipe d'au moins un moteur electrique.
CN102882263B (zh) * 2011-07-15 2016-01-06 三菱自动车工业株式会社 电动车辆的再生控制装置
DE102011081724A1 (de) * 2011-08-29 2013-02-28 Robert Bosch Gmbh Verfahren zur Steuerung einer Verzögerungsanordnung eines Kraftfahrzeugs
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JP2014104779A (ja) * 2012-11-26 2014-06-09 Nissan Motor Co Ltd 車両用走行制御装置
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FR3008369B1 (fr) * 2013-07-12 2015-06-26 Renault Sa Commande du couple transmis a une roue motrice d'un vehicule a motorisation hybride
FR3024855A1 (fr) * 2014-08-12 2016-02-19 Peugeot Citroen Automobiles Sa Procede et dispositif de determination du couple de consigne a appliquer aux roues d'un vehicule automobile
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JP6583620B2 (ja) 2015-06-29 2019-10-02 三菱自動車工業株式会社 電動車両の制御装置
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JP6260595B2 (ja) * 2015-09-03 2018-01-17 トヨタ自動車株式会社 ハイブリッド自動車

Also Published As

Publication number Publication date
KR102267583B1 (ko) 2021-06-22
FR3064574A1 (fr) 2018-10-05
FR3064574B1 (fr) 2020-06-12
WO2018178526A1 (fr) 2018-10-04
JP2020516214A (ja) 2020-05-28
KR20190123302A (ko) 2019-10-31
JP7140770B2 (ja) 2022-09-21
BR112019018940A2 (pt) 2020-04-22
CN110753649A (zh) 2020-02-04
CN110753649B (zh) 2023-12-15

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