CN105730279A - Overspeed control method and system for electric automobile - Google Patents
Overspeed control method and system for electric automobile Download PDFInfo
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- CN105730279A CN105730279A CN201410773399.7A CN201410773399A CN105730279A CN 105730279 A CN105730279 A CN 105730279A CN 201410773399 A CN201410773399 A CN 201410773399A CN 105730279 A CN105730279 A CN 105730279A
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Abstract
The invention provides an overspeed control method for an electric automobile. The method includes the steps that firstly, the current automobile speed is compared with the target limit automobile speed, and a first torque limit coefficient is calculated; then the current motor rotation speed is compared with the target limit rotation speed, and a second torque limit coefficient is calculated; the small number is selected from the first torque limit coefficient and the second torque limit coefficient to serve as a torque limit coefficient; and finally, the maximum motor torque is multiplied by the torque limit coefficient, so that an output motor torque limit value is obtained. Double protection is conducted through the automobile speed and the motor rotation speed, the control accuracy is improved, and the driving safety is improved as well. The problem that in the prior art, only motor rotation speed control is adopted, and consequently the torque is output unsteadily under the condition that the automobile is over speed is solved, the output effectiveness is guaranteed through double monitoring of the automobile speed and the motor rotation speed, and safety is improved.
Description
Technical field
The present invention relates to electric automobile field, specifically the hypervelocity control method of a kind of electric automobile.
Background technology
Electric automobile has the features such as zero-emission, pollution-free, energy conversion efficiency is high, noise is little, is the important channel solving urbanization automobile outstanding problem.Development of EV, by adjusting Industry Structure, the innovation ability improving major fields and the market competitiveness, promotes that coordinated development of the economy and society exerts far reaching influence.The value of electric automobile is not only energy-saving and emission-reduction, a kind of especially can the change of mode and the optimization of energy resource structure that thus brings, electric automobile could fundamentally solve oil dependence, environmental pollution, greenhouse gas emission and energy security problem, is the final selection of development new-energy automobile.
For the safety of vehicle and driver, vehicle is in the process of running at high speed, it is necessary to max. speed is controlled protection.Vehicle is in motion simultaneously, and speed is as motor speed and constantly rises and rise.When motor speed reaches necessarily big value, for the consideration to life-span of motor and driving safety, it is necessary to motor speed is limited.Orthodox car speed is not merely limited to engine output and moment of torsion, also has drive system gear ratio, and the max. speed of electric motor car is to be limited by drive motor and change speed gear box, and this is accomplished by entire car controller and electric machine controller and speed and motor speed are carried out speed limit.
Electric automobile being carried out the scheme of limit as it is shown in figure 1, gathered motor speed signal by entire car controller in prior art, tabling look-up according to current motor rotating speed interpolation obtains motor torque coefficient.Motor maximum torque is multiplied by coefficient and just obtains Motor torque limits value.In current programme, the numerical value of this form is:
| Rotating speed | 6000 | 9000 | 9150 | 9300 | 9500 |
| Coefficient | 1 | 1 | 0.5 | 0 | 0 |
It can be seen that before rotating speed is less than 9000rpm (calibration value), speed limit value coefficient is 1 always, to 9300rpm, speed limit value coefficient becomes 0.Difference arithmetic is adopted to calculate between 9000 9300rpm.Finally with motor, this rotational speed limit coefficient is resolved peak torque to be multiplied, obtain Motor torque limits value.
In such scheme, look into dimensional table by motor speed signal and obtain rotational speed limit coefficient, arrive 9300rpm(calibration value at rotating speed) after, speed limit value coefficient is 0, and the Motor torque obtained that is so multiplied with motor maximum permissible torque is 0.In the process of running at high speed, Motor torque becomes 0 and is equivalent to vehicle losing power, and under the effect of frictional force, speed does not increase counter dropping.The bend the throttle always when high speed, Motor torque can cut in and out, and subtracts when increasing during speed.This can allow driver take for vehicle trouble, and meaningless generation one fear affects safety of driving.
Summary of the invention
For this, the technical problem to be solved is in that method for controlling driving speed of the prior art, under some overspeed situation, Motor torque output cuts in and out, the problem affecting traffic safety, thus proposing a kind of overall speed and motor speed is controlled, stable electric automobile hypervelocity control method and system.
For solving above-mentioned technical problem, the offer one electric automobile of present invention hypervelocity control method and system.
The present invention provides the hypervelocity control method of a kind of electric automobile, comprises the steps:
Current vehicle speed and target restricted speed are compared, calculates the first torque limit coefficient；
Current motor rotating speed is compared with target restriction rotating speed, calculates the second torque limit coefficient；
Described first torque limit coefficient and described second torque limit coefficient are taken little, obtains torque limit coefficient；
Motor maximum torque is multiplied by described torque limit coefficient, obtains the Motor torque limits value of output.
Preferably, current vehicle speed and target restricted speed are compared, calculates the process of the first torque limit coefficient, including:
When current vehicle speed is less than target restricted speed, the first torque limit coefficient is 1；
When current vehicle speed is more than target restricted speed, calculates the difference of current vehicle speed and target restricted speed, and carry out PID adjustment, export the first torque limit coefficient.
Preferably, calculate in the process of the first torque limit coefficient, also include after carrying out PID adjustment carrying out upper lower limit value process, then export the first torque limit coefficient.
Preferably, current motor rotating speed is compared with target restriction rotating speed, calculates the process of the second torque limit coefficient, including:
When current motor rotating speed limits rotating speed less than target, the second torque limit coefficient is 1；
When current motor rotating speed limits rotating speed more than target, calculate the difference of current motor rotating speed and target restriction rotating speed, and carry out PID adjustment, export the second torque limit coefficient.
Preferably, calculate in the process of the second torque limit coefficient, also include after carrying out PID adjustment carrying out upper lower limit value process, then export the second torque limit coefficient.
The present invention also provides for the overspeed control system of a kind of electric automobile, comprises the steps:
First torque limit coefficient calculation unit: current vehicle speed and target restricted speed are compared, calculates the first torque limit coefficient；
Second torque limit coefficient calculation unit: current motor rotating speed is compared with target restriction rotating speed, calculates the second torque limit coefficient；
Take junior unit: take little by described first torque limit coefficient and described second torque limit coefficient, obtain torque limit coefficient；
Output unit: motor maximum torque is multiplied by described torque limit coefficient, obtains the Motor torque limits value of output.
Preferably, the first torque limit coefficient calculation unit, including:
Speed first compares subelement: when current vehicle speed is less than target restricted speed, and the first torque limit coefficient is 1；
Speed second compares subelement: when current vehicle speed is more than target restricted speed, calculates the difference of current vehicle speed and target restricted speed, and carries out PID adjustment, exports the first torque limit coefficient.
Preferably, speed second compares and also includes speed siding stopping unit in subelement, carries out upper lower limit value process after carrying out PID adjustment, then exports the first torque limit coefficient.
Preferably, the second torque limit coefficient calculation unit, including:
Rotating speed first compares subelement: when current motor rotating speed limits rotating speed less than target, the second torque limit coefficient is 1；
Rotating speed second compares subelement: when current motor rotating speed limits rotating speed more than target, calculates the difference of current motor rotating speed and target restriction rotating speed, and carries out PID adjustment, exports the second torque limit coefficient.
Preferably, rotating speed second compares and also includes rotating speed siding stopping unit in subelement, carries out upper lower limit value process after carrying out PID adjustment, then exports the second torque limit coefficient.
The technique scheme of the present invention has the following advantages compared to existing technology,
(1) present invention provides a kind of electric automobile hypervelocity control method, first current vehicle speed and target restricted speed are compared, calculate the first torque limit coefficient, then current motor rotating speed is compared with target restriction rotating speed, calculate the second torque limit coefficient, again described first torque limit coefficient and described second torque limit coefficient are taken little, as torque limit coefficient, finally, just obtain and motor maximum torque is multiplied by described torque limit coefficient, obtain the Motor torque limits value of output.By using speed and motor speed to carry out duplicate protection, not only increase the precision of control and improve the safety of driving.Effectively prevent in prior art only with motor speed control, when causing overspeed of vehicle, moment of torsion exports the problem cut in and out in any case, by the dual monitoring to speed and motor speed, it is ensured that effective row of output, improves safety.
(2) electric automobile of the present invention hypervelocity control method, when current vehicle speed is more than target restricted speed, calculate the difference of current vehicle speed and target restricted speed, and carry out PID adjustment, export the first torque limit coefficient, regulated by PID so that when current vehicle speed is to target restricted speed smooth transition, it is to avoid cross the impact that large gain produces.Also it is such control when current motor rotating speed is more than target restriction rotating speed so that its transition is more steady.
(3) electric automobile of the present invention hypervelocity control method, for motor speed and speed, upper lower limit value process also can be carried out after PID adjusts, it is possible produce larger fluctuation owing to PID controls inefficacy, by the mode that upper lower limit value processes, output it and control in rational scope, it is ensured that the reliability of control.
(4) present invention also provides for the overspeed control system of a kind of electric automobile; including the first torque limit coefficient calculation unit, the second torque limit coefficient calculation unit, take junior unit and output unit; the problem that the program solves the restriction protection of electric motor car max. speed and driving safety; the speed that electric vehicle is run at high speed by the program limits; and improve the safety of vehicle drive; owing to the rotating speed of motor has certain functional relationship with speed, therefore control motor speed simultaneously and speed has higher safety guarantee.
Accompanying drawing explanation
In order to make present disclosure be more likely to be clearly understood, below according to specific embodiments of the invention and in conjunction with accompanying drawing, the present invention is further detailed explanation, wherein
Fig. 1 is the schematic diagram of control method of exceeding the speed limit in prior art.
Fig. 2 is the flow chart of a kind of electric automobile hypervelocity control method in the embodiment of the present invention；
Fig. 3 is the schematic diagram of the entire car controller in the embodiment of the present invention；
Fig. 4 is the flow chart of the electric automobile hypervelocity control method of the entire car controller in the embodiment of the present invention；
Fig. 5 is the schematic flow sheet of the electric automobile hypervelocity control method of the entire car controller in the embodiment of the present invention；
Fig. 6 is the structured flowchart of a kind of electric automobile overspeed control system in the embodiment of the present invention.
Detailed description of the invention
The hypervelocity control method of the electric automobile in this concrete real-time mode, in the entire car controller of main application and electric automobile, limits the output moment of torsion of motor.Realize by having the instruction realizing following program.
Embodiment 1:
The present embodiment provides the hypervelocity control method of a kind of electric automobile, as in figure 2 it is shown, comprise the steps:
1, first, current vehicle speed and target restricted speed are compared, calculates the first torque limit coefficient.This process particularly as follows:
When current vehicle speed is less than target restricted speed, the first torque limit coefficient is 1.Target restricted speed is exactly the restricted speed to this vehicle, and owing to speed has not exceeded this target restricted speed, therefore without carrying out torque limit, the first torque limit coefficient value therefore obtained according to this speed is 1.
When current vehicle speed is more than target restricted speed, calculates the difference of current vehicle speed and target restricted speed, and carry out PID adjustment, export the first torque limit coefficient.In preferred scheme, in order to avoid the unexpected change that PID imbalance causes, it is necessary to carry out the process of upper lower limit value after PID regulates, output it and be limited in rational scope.Regulated by PID so that when current vehicle speed is to target restricted speed smooth transition, it is to avoid cross the impact that large gain produces.
PID adjustment is referred to and is adjusted by PID controller, PID controller is that passing ratio (proportion), integration (integration), differential (differentiation) are controlled, and is made up of proportional unit (P), integral unit (I) and differentiation element (D).Its input e (t) with the relation exporting u (t) is
In u (t)=kp [e (t)+1/TI ∫ e (t) dt+TD*de (t)/dt] formula, the bound of integration is 0 and t respectively
Therefore its transmission function is: G (s)=U (s)/E (s)=kp [1+1/ (TI*s)+TD*s]
Wherein kp is proportionality coefficient；TI is integration time constant；TD is derivative time constant.
2, then, current motor rotating speed is compared with target restriction rotating speed, calculates the second torque limit coefficient.This process includes:
When current motor rotating speed limits rotating speed less than target, the second torque limit coefficient is 1.Owing to now the rotating speed of motor is not out limiting, it is not necessary to adjust for it, therefore the second torque limit coefficient value is 1.
When current motor rotating speed limits rotating speed more than target, calculate the difference of current motor rotating speed and target restriction rotating speed, and carry out PID adjustment, export the second torque limit coefficient.Adjustment with speed is similar, and in preferred scheme, PID also can carry out the process of upper lower limit value after regulating, and the output after allowing PID regulate is limited in rational scope.Regulated by PID so that current motor rotating speed limits rotating speed smooth transition to target, it is to avoid cross the impact that large gain produces.
3, then, described first torque limit coefficient and described second torque limit coefficient are taken little, obtains torque limit coefficient.Owing to motor speed and speed have certain functional relationship, little by taking, it is possible to the control of vehicle to be carried out two ore control, improves control accuracy.
4, last, motor maximum torque is multiplied by described torque limit coefficient, obtains the Motor torque limits value of output.
The present embodiment provides a kind of electric automobile hypervelocity control method, first current vehicle speed and target restricted speed are compared, calculate the first torque limit coefficient, then current motor rotating speed is compared with target restriction rotating speed, calculate the second torque limit coefficient, more described first torque limit coefficient and described second torque limit coefficient are taken little, as torque limit coefficient, finally, just obtain and motor maximum torque is multiplied by described torque limit coefficient, obtain the Motor torque limits value of output.By using speed and motor speed to carry out duplicate protection, not only increase the precision of control and improve the safety of driving.Effectively prevent in prior art only with speed control, when causing overspeed of vehicle, moment of torsion exports the problem cut in and out in any case, by the dual monitoring to speed and motor speed, it is ensured that effective row of output, improves safety.
Embodiment 2:
Thering is provided the hypervelocity control method of a kind of electric automobile, this control method relates to two controllers: entire car controller, the integrality of management vehicle；Electric machine controller, controls the operation of motor.
Entire car controller includes input module, receives the signal of other controllers and peripheral components, gear signal, accelerator pedal signal, motor speed signal etc.；Speed limit coefficient module, calculates coefficient during speed limit；Output module, sends demand torque signal to electric machine controller, as shown in Figure 3.
Wherein, input module mainly receives other controllers and peripheral component is sent to the signal of entire car controller.Gear shifting device by rigid line to entire car controller send Current vehicle range state, gear shifting device has three states: D(forward gear), N(neutral), R(reverse gear).Scheme in the present embodiment refers to the situation at gear shifting device drive shift.The driving intention of current driver's is sent to entire car controller by rigid line by accelerator pedal.
Owing to the electric automobile of this programme is applicable to the mode of non-direct drive, so motor speed also exists multiple functional relationship with speed.Therefore the present embodiment gathers motor speed and speed simultaneously, so it is possible not only to improve control accuracy and improves drive safety.
Electric machine controller should receive the speed of entire car controller transmission and limits and perform, and sets up a rotating speed speed limit module simultaneously, for the maximum speed of limiting motor, play the effect of reverse gear duplicate protection inside electric machine controller.
Speed limit coefficient module mainly calculates speed limit coefficient when vehicle travels, and being multiplied with motor parsing moment of torsion by this coefficient obtains Motor torque.Speed limit coefficient is obtained by following steps, flow chart as shown in Figure 4, the schematic diagram of this flow process as shown in Figure 5:
First, current vehicle speed and the contrast of target restricted speed.If current vehicle speed is less than target restricted speed, then current vehicle speed not limited output limit value coefficient 1；Otherwise, current vehicle speed and target restricted speed is needed to do difference and export the first torque limit coefficient by PID adjustment and upper lower limit value；
Secondly, current motor rotating speed and target restriction rotating speed contrast.If current motor rotating speed limits rotating speed less than target, then current motor rotating speed not limited output limit value coefficient 1；Otherwise, current motor rotating speed and target limiting motor rotating speed is needed to do difference and export the second torque limit coefficient by PID adjustment and upper lower limit value；
Then the first torque limit coefficient and the second torque limit coefficient are taken little, motor maximum torque is multiplied by this and gets the small value, just obtain the Motor torque limits value of output.Thus can guarantee that vehicle is in more than rotating speed of target or speed, vehicle is to travel according to rotating speed of target or speed, it is achieved that the situation that double shielding and power cut in and out does not have, it is ensured that the ride comfort that vehicle travels.
Finally, the electric machine controller in this programme receives the Motor torque that entire car controller sends, and controls motor and performs this moment of torsion.
In the program, entire car controller accepts speed and motor speed signal, judges whether two signals reach threshold values respectively, and the signal exceeding threshold values carries out PID adjustment and restriction process, and then contrast obtains minimum limit coefficient.Electric machine controller accepts restriction signal, calculates the output speed of limiting motor.So not only improving the ride comfort of traveling, and motor is protected, speed is controlled thus improving the safety of driving.This programme adopts speed and motor speed jointly to limit, and duplicate protection improves safety guarantee.
Embodiment 3:
The present embodiment provides the overspeed control system of a kind of electric automobile, as shown in Figure 6, including:
First torque limit coefficient calculation unit: current vehicle speed and target restricted speed are compared, calculates the first torque limit coefficient；
Second torque limit coefficient calculation unit: current motor rotating speed is compared with target restriction rotating speed, calculates the second torque limit coefficient；
Take junior unit: take little by described first torque limit coefficient and described second torque limit coefficient, obtain torque limit coefficient；
Output unit: motor maximum torque is multiplied by described torque limit coefficient, obtains the Motor torque limits value of output.
In the present embodiment, the first torque limit coefficient calculation unit, including:
Speed first compares subelement: when current vehicle speed is less than target restricted speed, and the first torque limit coefficient is 1；
Speed second compares subelement: when current vehicle speed is more than target restricted speed, calculates the difference of current vehicle speed and target restricted speed, and carries out PID adjustment, exports the first torque limit coefficient.
In other preferred embodiments, speed second compares and also includes speed siding stopping unit in subelement, carries out upper lower limit value process after carrying out PID adjustment, then exports the first torque limit coefficient.
In the present embodiment, the second torque limit coefficient calculation unit, including:
Rotating speed first compares subelement: when current motor rotating speed limits rotating speed less than target, the second torque limit coefficient is 1；
Rotating speed second compares subelement: when current motor rotating speed limits rotating speed more than target, calculates the difference of current motor rotating speed and target restriction rotating speed, and carries out PID adjustment, exports the second torque limit coefficient.
As preferred mode, rotating speed second compares and also includes rotating speed siding stopping unit in subelement, carries out upper lower limit value process after carrying out PID adjustment, then exports the second torque limit coefficient.
The overspeed control system of the electric automobile in the present embodiment; the problem solving the restriction protection of electric motor car max. speed and driving safety; the speed that electric vehicle is run at high speed by the program limits; and improve the safety of vehicle drive; owing to the rotating speed of motor has certain functional relationship with speed, therefore control motor speed simultaneously and speed has higher safety guarantee.
Obviously, above-described embodiment is only for clearly demonstrating example, and is not the restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.And the apparent change thus extended out or variation are still among the protection domain of the invention.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, complete software implementation or the embodiment in conjunction with software and hardware aspect.And, the present invention can adopt the form at one or more upper computer programs implemented of computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) wherein including computer usable program code.
The present invention is that flow chart and/or block diagram with reference to method according to embodiments of the present invention, equipment (system) and computer program describe.It should be understood that can by the combination of the flow process in each flow process in computer program instructions flowchart and/or block diagram and/or square frame and flow chart and/or block diagram and/or square frame.These computer program instructions can be provided to produce a machine to the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device so that the instruction performed by the processor of computer or other programmable data processing device is produced for realizing the device of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and can guide in the computer-readable memory that computer or other programmable data processing device work in a specific way, the instruction making to be stored in this computer-readable memory produces to include the manufacture of command device, and this command device realizes the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, make on computer or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computer or other programmable devices provides for realizing the step of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art are once know basic creative concept, then these embodiments can be made other change and amendment.So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.
Claims (10)
1. the hypervelocity control method of an electric automobile, it is characterised in that comprise the steps:
Current vehicle speed and target restricted speed are compared, calculates the first torque limit coefficient；
Current motor rotating speed is compared with target restriction rotating speed, calculates the second torque limit coefficient；
Described first torque limit coefficient and described second torque limit coefficient are taken little, obtains torque limit coefficient；
Motor maximum torque is multiplied by described torque limit coefficient, obtains the Motor torque limits value of output.
2. method according to claim 1, it is characterised in that current vehicle speed and target restricted speed are compared, calculates the process of the first torque limit coefficient, including:
When current vehicle speed is less than target restricted speed, the first torque limit coefficient is 1；
When current vehicle speed is more than target restricted speed, calculates the difference of current vehicle speed and target restricted speed, and carry out PID adjustment, export the first torque limit coefficient.
3. method according to claim 1, it is characterized in that, current vehicle speed and target restricted speed are compared, calculate the process of the first torque limit coefficient, including in the process calculating the first torque limit coefficient, also include after carrying out PID adjustment carrying out upper lower limit value process, then export the first torque limit coefficient.
4. the method according to claim 1 or 2 or 3, it is characterised in that current motor rotating speed is compared with target restriction rotating speed, calculates the process of the second torque limit coefficient, including:
When current motor rotating speed limits rotating speed less than target, the second torque limit coefficient is 1；
When current motor rotating speed limits rotating speed more than target, calculate the difference of current motor rotating speed and target restriction rotating speed, and carry out PID adjustment, export the second torque limit coefficient.
5. method according to claim 4, it is characterised in that calculate in the process of the second torque limit coefficient, also includes after carrying out PID adjustment carrying out upper lower limit value process, then exports the second torque limit coefficient.
6. the overspeed control system of an electric automobile, it is characterised in that comprise the steps:
First torque limit coefficient calculation unit: current vehicle speed and target restricted speed are compared, calculates the first torque limit coefficient；
Second torque limit coefficient calculation unit: current motor rotating speed is compared with target restriction rotating speed, calculates the second torque limit coefficient；
Take junior unit: take little by described first torque limit coefficient and described second torque limit coefficient, obtain torque limit coefficient；
Output unit: motor maximum torque is multiplied by described torque limit coefficient, obtains the Motor torque limits value of output.
7. system according to claim 6, it is characterised in that the first torque limit coefficient calculation unit, including:
Speed first compares subelement: when current vehicle speed is less than target restricted speed, and the first torque limit coefficient is 1；
Speed second compares subelement: when current vehicle speed is more than target restricted speed, calculates the difference of current vehicle speed and target restricted speed, and carries out PID adjustment, exports the first torque limit coefficient.
8. system according to claim 7, it is characterised in that described speed second compares and also includes speed siding stopping unit in subelement, carries out upper lower limit value process after carrying out PID adjustment, then exports the first torque limit coefficient.
9. the system according to claim 6 or 7 or 8, it is characterised in that the second torque limit coefficient calculation unit, including:
Rotating speed first compares subelement: when current motor rotating speed limits rotating speed less than target, the second torque limit coefficient is 1；
Rotating speed second compares subelement: when current motor rotating speed limits rotating speed more than target, calculates the difference of current motor rotating speed and target restriction rotating speed, and carries out PID adjustment, exports the second torque limit coefficient.
10. system according to claim 9, it is characterised in that rotating speed second compares and also includes rotating speed siding stopping unit in subelement, carries out upper lower limit value process after carrying out PID adjustment, then exports the second torque limit coefficient.
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| CN106080211A (en) * | 2016-07-19 | 2016-11-09 | 合肥威博尔汽车技术有限公司 | Electric automobile overspeed protection method |
| CN107336638A (en) * | 2016-11-30 | 2017-11-10 | 安徽江淮汽车集团股份有限公司 | The method and system for preventing electric vehicle from exceeding the speed limit |
| CN107696868A (en) * | 2017-09-29 | 2018-02-16 | 北京新能源汽车股份有限公司 | Electric vehicle overspeed fault processing method and device and vehicle-mounted equipment |
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| CN113815433A (en) * | 2021-10-29 | 2021-12-21 | 重庆长安新能源汽车科技有限公司 | Electric vehicle torque limit control method and system and electric vehicle |
| CN113829897A (en) * | 2021-11-15 | 2021-12-24 | 合众新能源汽车有限公司 | Control method and device for maximum speed limit of electric automobile |
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