SE1851161A1 - Method and control device for controlling energy levels of energy storage devices in a vehicle - Google Patents

Method and control device for controlling energy levels of energy storage devices in a vehicle

Info

Publication number
SE1851161A1
SE1851161A1 SE1851161A SE1851161A SE1851161A1 SE 1851161 A1 SE1851161 A1 SE 1851161A1 SE 1851161 A SE1851161 A SE 1851161A SE 1851161 A SE1851161 A SE 1851161A SE 1851161 A1 SE1851161 A1 SE 1851161A1
Authority
SE
Sweden
Prior art keywords
energy
drive modules
vehicle
controlling
control device
Prior art date
Application number
SE1851161A
Other languages
Swedish (sv)
Other versions
SE542827C2 (en
Inventor
André Claesson
Linus Ährlig
Mikko Kallio
Morgan Colling
Robert Sjödin
Sami Teppola
Tomas Skeppström
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1851161A priority Critical patent/SE542827C2/en
Priority to DE112019004903.8T priority patent/DE112019004903T5/en
Priority to PCT/SE2019/050788 priority patent/WO2020067948A1/en
Priority to CN201980061076.6A priority patent/CN112770931A/en
Publication of SE1851161A1 publication Critical patent/SE1851161A1/en
Publication of SE542827C2 publication Critical patent/SE542827C2/en

Links

Classifications

    • 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
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/13—Maintaining the SoC within a determined range
    • 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
    • B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/22—Balancing the charge of battery modules
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • 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
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/53—Batteries
    • 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
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/14—Preventing excessive discharging
    • 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
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/15—Preventing overcharging
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric 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
    • 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
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • 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
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
    • 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
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The present disclosure relates to techniques in the context of vehicles, and to a method for controlling energy levels of energy storage devices in a vehicle comprising a plurality of drive modules. According to a first aspect, the disclosure relates to a method for controlling energy levels of energy storage devices in a vehicle comprising a plurality of drive modules, wherein each drive module comprises an individual propulsion system operable to propel the vehicle and a chargeable energy storage device arranged to supply energy to the propulsion system. The method comprises determining energy levels of the chargeable energy storage devices of the plurality of drive modules, controlling operation of the individual drive modules, while operating the vehicle, based on the determined energy levels. The disclosure also relates to a corresponding control device, to a vehicle comprising the control device, to a computer program and a computerreadable medium.

Claims (14)

1. 21. laims 1 _ 3 4. A method for controlling energy levels of energy storage devices (70) in avehicle (1) comprising a plurality of drive modules (30), wherein each drivemodule (30) comprises an individual propulsion system (91) operable to propelthe vehicle (1) and a chargeable energy storage device (70) arranged tosupply energy to the propulsion system (91), the method comprising:- determining (S1) energy levels of the chargeable energy storagedevices (70) of the plurality of drive modules (30), and- controlling (S2) operation of the individual drive modules (30), whileoperating the vehicle (1 ), based on the determined energy levelsThe method according to claim 1, wherein the controlling (S2) of operation ofan individual drive module (30) comprises at least one of: - controlling the propulsion system (30) of the drive module (30) to propelthe vehicle (1 ), whereby the energy level of the corresponding energystorage device (70) is decreased, - controlling the propulsion system (30) of the drive module (30) tooperate as a generator, whereby the energy level of the correspondingenergy storage device (70) is increased, and/or - controlling the propulsion system (30) of the drive module (30) to bedeactivatedThe method according to claim 1 or 2, wherein the controlling (S2) comprisescontrolling operation of the drive modules (30) to balance the individual energylevels of the chargeable energy storage devices (70) among the drivemodules (30)The method according to any of the preceding claims, wherein the controlling(S2) comprises distributing energy outtake among the energy storage devices(70) drive modules (30) such that their individual energy levels do not go below a predetermined minimum energy level 22. _ The method according to any of the preceding claims, wherein the chargeable energy storage devices (70) of the drive modules (30) have individuallydifferent energy levels and wherein the controlling (S2) comprises propellingthe vehicle (1) using one or more of the drive modules (30) having the highest energy levels among the drive modules (30)_ The method according to any of the preceding claims, wherein the chargeable energy storage devices (70) of the drive modules (30) have individuallydifferent energy levels and wherein the controlling (S2) comprises operatingone or more of the drive modules (30) having the lowest energy levels amongthe drive modules (30) as generators, to charge their corresponding energystorage devices (70)_ The method according to any of the preceding claims, wherein the controlling (S2) comprises transferring energy between energy storage devices (70) ofthe different drive modules (30) by operating at least one of the drive modules(30) as a generator while propelling the vehicle (1) using at least one of theother drive modules (30)_ The method of claim 7, wherein the transferring is triggered by one or more of the energy storage devices of a drive module (30) having an energy levelbelow a predetermined threshold_ A computer program comprising instructions which, when the program is executed by a control device, cause the control device to carry out the methodof any one of the claims 1 to 8 10. _A computer-readable storage medium comprising instructions which, when executed by a control device, cause the control device to carry out the methodof any one of the claims 1 to 8 23. 11.A control device (200) for use in a vehicle (1) comprising a plurality of drivemodules (30), wherein each drive module (30) comprises an individualpropulsion system (91) ) operable to propel the vehicle (1) and a chargeableenergy storage device (70) arranged to supply energy to the propulsionsystem (91), the control device (200) being configured to: - determine energy levels of the chargeable energy storage devices (70)of the plurality of drive modules (30), and- controlling (S2) operation of the individual drive modules (30), while operating the vehicle (1 ), based on the determined energy levels 12. .The control device of claim 11, wherein the control device is configured toperform the method according to any one of claims 2-10 13. .The control device of claim 11 or 12, wherein the control device is comprisedin one of the drive modules (30) which is assigned to be a master drive moduleof the vehicle (1) and wherein the other drive modules (30) are slave drive modules 14. .A vehicle (1) comprising: - a plurality of drive modules (30), wherein each drive module (30)comprises a propulsion system (91) and a chargeable energy storagedevice (70) arranged to supply energy to the propulsion system (91 ), - the control device (200) according to claim 11 or 13.
SE1851161A 2018-09-28 2018-09-28 Method and control device for controlling energy levels of energy storage devices in a vehicle SE542827C2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE1851161A SE542827C2 (en) 2018-09-28 2018-09-28 Method and control device for controlling energy levels of energy storage devices in a vehicle
DE112019004903.8T DE112019004903T5 (en) 2018-09-28 2019-08-27 Method and control apparatus for controlling energy levels of energy storage devices in a vehicle
PCT/SE2019/050788 WO2020067948A1 (en) 2018-09-28 2019-08-27 Method and control device for controlling energy levels of energy storage devices in a vehicle
CN201980061076.6A CN112770931A (en) 2018-09-28 2019-08-27 Method and control device for controlling the energy level of an energy storage device in a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1851161A SE542827C2 (en) 2018-09-28 2018-09-28 Method and control device for controlling energy levels of energy storage devices in a vehicle

Publications (2)

Publication Number Publication Date
SE1851161A1 true SE1851161A1 (en) 2020-03-29
SE542827C2 SE542827C2 (en) 2020-07-14

Family

ID=69952320

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1851161A SE542827C2 (en) 2018-09-28 2018-09-28 Method and control device for controlling energy levels of energy storage devices in a vehicle

Country Status (4)

Country Link
CN (1) CN112770931A (en)
DE (1) DE112019004903T5 (en)
SE (1) SE542827C2 (en)
WO (1) WO2020067948A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022202410A1 (en) * 2022-03-10 2023-09-14 Siemens Mobility GmbH Method for operating a drive system with multiple energy storage devices

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JP4183013B1 (en) * 2007-05-15 2008-11-19 トヨタ自動車株式会社 Vehicle and control method thereof
US8647231B2 (en) * 2010-07-07 2014-02-11 Ford Global Technologies, Llc Transitioning between electric-drive and parallel-drive in a hybrid-electric vehicle powertrain
DE202012002846U1 (en) * 2012-03-05 2012-07-20 Deutsches Forschungszentrum für künstliche Intelligenz GmbH Electric motor vehicle, in particular electric passenger motor vehicle, or hybrid electric motor vehicle, in particular Hybrideletro-Personen-Kraftfahrzeug, unddStraßenzug from the same
DE102012207674A1 (en) * 2012-05-09 2013-11-14 Robert Bosch Gmbh Method and device for adjusting the states of charge of a battery
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CN104494599B (en) * 2014-01-30 2015-11-25 比亚迪股份有限公司 Vehicle and slide back-feed control method
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JP6714598B2 (en) * 2015-01-26 2020-06-24 ボルボトラックコーポレーション Electric propulsion system for vehicle
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WO2017123597A1 (en) * 2016-01-12 2017-07-20 Rivian Ip Holdings, Llc Systems and methods for reconfigurable electric vehicles
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Also Published As

Publication number Publication date
WO2020067948A1 (en) 2020-04-02
DE112019004903T5 (en) 2021-06-17
CN112770931A (en) 2021-05-07
SE542827C2 (en) 2020-07-14

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