CN107487231A - The method and apparatus of wagon control - Google Patents
The method and apparatus of wagon control Download PDFInfo
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- CN107487231A CN107487231A CN201611208832.8A CN201611208832A CN107487231A CN 107487231 A CN107487231 A CN 107487231A CN 201611208832 A CN201611208832 A CN 201611208832A CN 107487231 A CN107487231 A CN 107487231A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000001133 acceleration Effects 0.000 claims abstract description 24
- 230000008859 change Effects 0.000 claims description 38
- 230000009191 jumping Effects 0.000 claims description 19
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
This disclosure relates to a kind of method and apparatus of wagon control, multiple first rotating speeds of collection vehicle motor in preset time period；Obtain multiple first output torques of motor in preset time period；Determine vehicle whether in starting dither state according to multiple first rotating speeds and multiple first output torques；When it is determined that vehicle is in starting dither state, the current rotating speed of motor is gathered, and the second rotating speed of motor is determined according to current rotating speed and predetermined acceleration；First output torque changing value of the motor in controlling cycle is obtained, and the second output torque changing value is obtained according to the first output torque changing value and parameter preset；Controlled motor is run according to the second rotating speed and the second output torque changing value, so, can effectively suppress the rotating speed of vehicular electric machine and the shake of output torque, so as to improve the usage experience of user.
Description
Technical Field
The present disclosure relates to the field of control, and in particular, to a method and apparatus for vehicle control.
Background
When the electric vehicle is just started, the output torque of the motor is changed in a large range, so that the rotating speed of the motor is changed in a large range, the electric vehicle is shaken, the shaking effect of a user is caused in the driving process, and the experience effect of the user is reduced.
At present, when the electric vehicle is determined to be in a starting jittering state, the rotating speed is smoothed through a smoothing algorithm (such as processing of multiple sampling averaging, low-pass filtering or output amplitude limiting), but the adopted smoothing algorithm can only weaken the jittering of the rotating speed and cannot eliminate the jittering of the rotating speed, so that a user still has uncomfortable feeling in the driving process.
Disclosure of Invention
To solve the problems in the prior art, the present disclosure provides a method and apparatus for vehicle control.
According to a first aspect of embodiments of the present disclosure, there is provided a method of vehicle control, the method comprising: collecting a plurality of first rotating speeds of a vehicle motor in a preset time period; acquiring a plurality of first output torques of the motor within the preset time period; determining whether the vehicle is in a starting jittering state according to the first rotating speeds and the first output torques; when the vehicle is determined to be in a starting shaking state, acquiring the current rotating speed of the motor, and determining a second rotating speed of the motor according to the current rotating speed and a preset acceleration; acquiring a first output torque change value of the motor in a control period, and acquiring a second output torque change value according to the first output torque change value and a preset parameter; and controlling the motor to operate according to the second rotating speed and the second output torque variation value.
Optionally, the determining whether the vehicle is in a take-off judder state based on the plurality of first rotational speeds and the plurality of first output torques comprises: and when the jumping amplitudes of the first rotating speeds are larger than or equal to a first jumping value and the jumping amplitudes of the first output torques are larger than or equal to a second jumping value, determining that the vehicle is in a starting shaking state.
Optionally, the determining the second rotation speed of the motor according to the current rotation speed and the preset acceleration includes: determining a second rotational speed of the motor by:
w＝a*t+w0(0≤t≤t1)
wherein,w represents a second rotational speed of the motor; a represents a preset acceleration; t represents time; w is a0Representing the current rotational speed of the motor.
Optionally, the obtaining a second output torque variation value according to the first output torque variation value and a preset parameter includes: and calculating the product of the preset parameter and the first output torque change value to obtain the second output torque change value.
Optionally, the controlling the motor to operate according to the second output torque variation value includes: and adjusting the first output torque change value of the motor in the control period to the second output torque change value.
According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for vehicle control, the apparatus comprising: the first acquisition module is used for acquiring a plurality of first rotating speeds of a vehicle motor in a preset time period; the first acquisition module is used for acquiring a plurality of first output torques of the motor within the preset time period; the first determining module is used for determining whether the vehicle is in a starting jitter state according to a plurality of first rotating speeds and a plurality of first output torques; the second acquisition module is used for acquiring the current rotating speed of the motor when the vehicle is determined to be in a starting shaking state; the second determining module is used for determining a second rotating speed of the motor according to the current rotating speed and a preset acceleration; the second acquisition module is used for acquiring a first output torque change value of the motor in a control period; the third obtaining module is used for obtaining a second output torque change value according to the first output torque change value and a preset parameter; and the control module is used for controlling the motor to operate according to the second rotating speed and the second output torque variation value.
Optionally, the first determining module is configured to determine that the vehicle is in a starting jittering state when it is determined that the jump amplitude of the plurality of first rotation speeds is greater than or equal to a first jump value and the jump amplitude of the plurality of first output torques is greater than or equal to a second jump value.
Optionally, the second determining module is configured to determine the second rotation speed of the motor by the following formula:
w＝a*t+w0(0≤t≤t1)
wherein w represents a second rotational speed of the motor; a represents a preset acceleration; t represents time; w is a0Representing the current rotational speed of the motor.
Optionally, the third obtaining module is configured to calculate a product of the preset parameter and the first output torque variation value to obtain the second output torque variation value.
Optionally, the control module is configured to adjust a first output torque variation value of the motor in a control period to the second output torque variation value.
According to the technical scheme, a plurality of first rotating speeds of the vehicle motor are collected within a preset time period; acquiring a plurality of first output torques of the motor within the preset time period; determining whether the vehicle is in a starting jittering state according to the first rotating speeds and the first output torques; when the vehicle is determined to be in a starting shaking state, acquiring the current rotating speed of the motor, and determining the second rotating speed of the motor according to the current rotating speed and the preset acceleration; acquiring a first output torque change value of the motor in a control period, and acquiring a second output torque change value according to the first output torque change value and a preset parameter; the motor is controlled to operate according to the second rotating speed and the second output torque change value, so that the rotating speed of the motor can be increased at uniform acceleration, large-range jumping of the output torque of the motor does not exist, the rotating speed and the shaking of the output torque of the vehicle motor can be effectively inhibited, shaking sense of a user in the driving process is avoided, and the use experience of the user is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of vehicle control according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating yet another method of vehicle control according to an exemplary embodiment;
FIG. 3 is a block diagram illustrating an apparatus for vehicle control according to an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
The method can be applied to a vehicle starting scene, in the scene, the output torque of the motor is changed in a large range when the vehicle starts, so that the rotating speed of the motor is changed in a large range, the vehicle is further shaken, and a user has shaking feeling in the driving process.
In order to solve the above problems, the present disclosure proposes a method and apparatus for vehicle control, the method including collecting a plurality of first rotational speeds of a vehicle motor for a preset time period; acquiring a plurality of first output torques of the motor within the preset time period; determining whether the vehicle is in a starting jittering state according to the first rotating speeds and the first output torques; when the vehicle is determined to be in a starting shaking state, acquiring the current rotating speed of the motor, and determining the second rotating speed of the motor according to the current rotating speed and the preset acceleration; acquiring a first output torque change value of the motor in a control period, and acquiring a second output torque change value according to the first output torque change value and a preset parameter; the motor is controlled to operate according to the second rotating speed and the second output torque change value, so that the rotating speed of the motor can be increased at uniform acceleration, large-range jumping of the output torque of the motor does not exist, the rotating speed and the shaking of the output torque of the vehicle motor can be effectively inhibited, shaking sense of a user in the driving process is avoided, and the use experience of the user is improved.
The present disclosure is described below with reference to specific examples.
FIG. 1 is a flow chart illustrating a method of vehicle control, as shown in FIG. 1, including the following steps, according to an exemplary embodiment.
S101, collecting a plurality of first rotating speeds of a vehicle motor in a preset time period.
The first rotation speeds of the vehicle motor may be obtained through a resolver arranged on the motor, and of course, other methods may also be adopted, for example, an encoder sensor is used to collect the first rotation speeds of the motor, which is not limited in this disclosure.
And S102, acquiring a plurality of first output torques of the motor in the preset time period.
The current value of the motor may be acquired by a current sensor in the motor controller, and the plurality of first output torques of the motor may be obtained according to the current value, the preset rotation radius, the preset motor constant, and the preset motor magnetic flux.
And S103, determining whether the vehicle is in a starting shaking state or not according to the first rotating speeds and the first output torques.
The starting jittering state is a state that the vehicle jitters due to the fact that the first output torques and the first rotating speeds jump up and down (namely, the first output torques and the first rotating speeds increase and decrease) when the vehicle starts.
And S104, acquiring the current rotating speed of the motor when the vehicle is determined to be in a starting shaking state, and determining the second rotating speed of the motor according to the current rotating speed and the preset acceleration.
And S105, acquiring a first output torque change value of the motor in a control period, and acquiring a second output torque change value according to the first output torque change value and a preset parameter.
Wherein the preset parameter may be an empirical value determined according to acceleration performance of the vehicle.
And S106, controlling the motor to operate according to the second rotating speed and the second output torque variation value.
By adopting the method, the rotating speed of the motor can be increased in a uniform acceleration way, and the output torque of the motor does not jump in a large range, so that the shaking of the rotating speed and the output torque of the vehicle motor can be effectively inhibited, the shaking sense of a user is avoided in the driving process, and the use experience of the user is improved.
FIG. 2 is a flow chart illustrating a method of vehicle control, as shown in FIG. 2, including the following steps, according to an exemplary embodiment.
S201, collecting a plurality of first rotating speeds of a vehicle motor in a preset time period.
The first rotation speeds of the vehicle motor may be obtained through a resolver arranged on the motor, and of course, other methods may also be adopted, for example, an encoder sensor is used to acquire the first rotation speeds of the motor, which is not limited in this disclosure.
In this step, the plurality of rotation speeds of the vehicle motor may be collected according to a preset collection period within a preset time period, for example, the preset collection period may be 1 second, so that the resolver may collect the first rotation speed of the vehicle motor every 1 second, and of course, the plurality of first rotation speeds of the vehicle motor may also be collected randomly within the preset time period, which is not limited by the present disclosure.
And S202, acquiring a plurality of first output torques of the motor in the preset time period.
The current value of the vehicle motor can be acquired through a current sensor in the motor controller, and a plurality of first output torques of the vehicle motor can be obtained according to the current value, the preset rotation radius, the preset motor constant and the preset motor magnetic flux. Similarly, a plurality of current values of the vehicle motor may be collected according to a preset collection cycle within the preset time period, and a plurality of first output torques may be obtained according to the plurality of current values, or of course, a plurality of current values of the vehicle motor may be randomly collected within the preset time period, and a plurality of first output torques may be obtained according to the plurality of current values.
And S203, determining whether the vehicle is in a starting shaking state according to the first rotating speeds and the first output torques.
In one possible implementation manner, it may be determined whether the jump amplitude of the first rotation speeds is greater than or equal to a first jump value and the jump amplitude of the first output torques is greater than or equal to a second jump value, and when it is determined that the jump amplitude of the first rotation speeds is greater than or equal to the first jump value and the jump amplitude of the first output torques is greater than or equal to the second jump value, it is determined that the vehicle is in a starting shake state; and determining that the vehicle is in a normal state when the jumping amplitude of the plurality of first rotating speeds is smaller than the first jumping value or the jumping amplitude of the plurality of first output torques is smaller than the second jumping value.
Wherein there are up-and-down jumps in the first output torques and the first rotation speeds, that is, there are processes of increasing and decreasing the first output torques and the first rotation speeds, for example, the first output torques of the vehicle motor collected in a preset time period are 29N · m, 20N · m, 35N · m in sequence, since 29N · m is greater than 20N · m and 20N · m is less than 35N · m, it can be determined that there are up-and-down jumps in the 3 first output torques, and the jump amplitude of the 3 first output torques is 9N · m, 15N · m; as another example, the first rotation speeds of the vehicle motor collected in the preset time period are 50 rpm, 60 rpm and 40 rpm in sequence, and since 50 rpm is less than 60 rpm and 60 rpm is greater than 40 rpm, it can be determined that there is an up-and-down jump in the 3 first rotation speeds, and the jump amplitude of the 3 first rotation speeds is 10 rpm and 20 rpm, which is only an example and is not limited by the present disclosure.
Executing step S204 when the vehicle is determined to be in the starting shaking state;
upon determining that the vehicle is in the normal state, the process returns to step S201.
And S204, acquiring the current rotating speed of the motor.
In this step, when the motor controller determines that the vehicle is in a starting jittering state, the resolver is used to acquire the current rotation speed of the motor of the vehicle, and the above example is only an example, and the disclosure does not limit this.
And S205, determining a second rotating speed of the motor according to the current rotating speed and the preset acceleration.
In this step, the second rotational speed of the motor may be determined by the following formula:
w＝a*t+w0(0≤t≤t1)
wherein w represents a second rotational speed of the motor; a represents a preset acceleration; t represents time; w is a0Representing the current rotational speed of the motor.
And S206, acquiring a first output torque change value of the motor in a control period.
For example, if the initial value of the output torque in the control period is 20N · m and the final value of the output torque in the control period is 35N · m, the output torque in the control period is increased from 20N · m to 35N · m, and the first output torque variation value may be determined to be 15N · m.
And S207, calculating the product of a preset parameter and the first output torque change value to obtain the second output torque change value.
Wherein the preset parameter may be an empirical value determined according to acceleration performance of the vehicle. Continuing with the above example, when the first output torque variation value is determined to be 15N · m and the preset parameter is determined to be 2.5, then the second output torque variation value is 37.5N · m.
And S208, controlling the motor to operate according to the second rotating speed and the second output torque variation value.
When the motor is a direct current motor, the power supply voltage or the loop resistance of the motor can be adjusted through a motor controller, so that the motor is controlled to operate according to the second rotating speed; when the motor is an ac motor, the frequency may be changed by adjusting the frequency converter, but when the frequency is reduced, the motor may be in an overvoltage (i.e., overexcitation) which may cause the motor to be burned out, and therefore, the voltage and the frequency may be adjusted at the same time to control the motor to operate at the second rotation speed.
It should be noted that after the motor is controlled to operate at the second rotation speed, the rotation speed jitter of the motor can be suppressed, and the sharp jitter of the output torque can be reduced, but in order to further suppress the jitter of the output torque, in a possible implementation manner, the first output torque variation value of the motor in the control period is adjusted to the second output torque variation value, so that the output torque of the motor has no jitter.
By adopting the method, the rotating speed of the motor can be increased in a uniform acceleration way, and the output torque of the motor does not jump in a large range, so that the shaking of the rotating speed and the output torque of the vehicle motor can be effectively inhibited, the shaking sense of a user is avoided in the driving process, and the use experience of the user is improved.
Fig. 3 is a block diagram illustrating an apparatus for controlling a vehicle according to an exemplary embodiment, and as shown in fig. 3, the apparatus includes a first acquisition module 301, a first obtaining module 302, a first determining module 303, a second acquisition module 304, a second determining module 305, a second obtaining module 306, a third obtaining module 307, and a control module 308.
The first acquisition module 301 is configured to acquire a plurality of first rotational speeds of a vehicle motor within a preset time period;
the first obtaining module 302 is configured to obtain a plurality of first output torques of the motor within the preset time period;
the first determining module 303 is configured to determine whether the vehicle is in a starting jittering state according to the first rotation speeds and the first output torques;
the second collecting module 304 is configured to collect the current rotation speed of the motor when it is determined that the vehicle is in a starting shaking state;
the second determining module 305 is configured to determine a second rotation speed of the motor according to the current rotation speed and a preset acceleration;
the second obtaining module 306 is configured to obtain a first output torque variation value of the motor in a control period;
the third obtaining module 307 is configured to obtain a second output torque variation value according to the first output torque variation value and a preset parameter;
the control module 308 is configured to control the motor to operate according to the second speed and the second output torque variation value.
Optionally, the first determining module 303 is configured to determine that the vehicle is in a start shaking state when it is determined that the jumping amplitude of the first rotation speed is greater than or equal to a first jumping value and the jumping amplitude of the first output torque is greater than or equal to a second jumping value.
Optionally, the second determining module 305 is configured to determine the second rotation speed of the motor by the following equation:
w＝a*t+w0(0≤t≤t1)
wherein w represents a second rotational speed of the motor; a represents a preset acceleration; t represents time; w is a0Representing the current rotational speed of the motor.
Optionally, the third obtaining module 307 is configured to calculate a product of the preset parameter and the first output torque variation value to obtain the second output torque variation value.
Optionally, the control module 308 is configured to adjust a first output torque variation value of the motor in a control period to the second output torque variation value.
By adopting the device, the rotating speed of the motor can be uniformly accelerated and increased, and the output torque of the motor does not have large-range jumping, so that the rotating speed and the output torque of the motor of the vehicle can be effectively inhibited from shaking, a user does not have shaking sense in the driving process, and the use experience of the user is improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of vehicle control, the method comprising:
collecting a plurality of first rotating speeds of a vehicle motor in a preset time period;
acquiring a plurality of first output torques of the motor within the preset time period;
determining whether the vehicle is in a starting jittering state according to the first rotating speeds and the first output torques;
when the vehicle is determined to be in a starting shaking state, acquiring the current rotating speed of the motor, and determining a second rotating speed of the motor according to the current rotating speed and a preset acceleration;
acquiring a first output torque change value of the motor in a control period, and acquiring a second output torque change value according to the first output torque change value and a preset parameter;
and controlling the motor to operate according to the second rotating speed and the second output torque variation value.
2. The method of claim 1, wherein said determining whether the vehicle is in a launch shudder state based on a plurality of said first rotational speeds and a plurality of said first output torques comprises:
and when the jumping amplitudes of the first rotating speeds are larger than or equal to a first jumping value and the jumping amplitudes of the first output torques are larger than or equal to a second jumping value, determining that the vehicle is in a starting shaking state.
3. The method of claim 1, wherein determining the second rotational speed of the motor based on the current rotational speed and a preset acceleration comprises:
determining a second rotational speed of the motor by:
w＝a*t+w0(0≤t≤t1)
wherein w represents a second rotational speed of the motor; a represents a preset acceleration; t represents time; w is a0Representing the current rotational speed of the motor.
4. The method of claim 1, wherein said deriving a second output torque change value based on said first output torque change value and a predetermined parameter comprises:
and calculating the product of the preset parameter and the first output torque change value to obtain the second output torque change value.
5. The method of claim 4, wherein said controlling said electric machine to operate at said second output torque variation value comprises:
and adjusting the first output torque change value of the motor in the control period to the second output torque change value.
6. An apparatus for vehicle control, characterized in that the apparatus comprises:
the first acquisition module is used for acquiring a plurality of first rotating speeds of a vehicle motor in a preset time period;
the first acquisition module is used for acquiring a plurality of first output torques of the motor within the preset time period;
the first determining module is used for determining whether the vehicle is in a starting jitter state according to a plurality of first rotating speeds and a plurality of first output torques;
the second acquisition module is used for acquiring the current rotating speed of the motor when the vehicle is determined to be in a starting shaking state;
the second determining module is used for determining a second rotating speed of the motor according to the current rotating speed and a preset acceleration;
the second acquisition module is used for acquiring a first output torque change value of the motor in a control period;
the third obtaining module is used for obtaining a second output torque change value according to the first output torque change value and a preset parameter;
and the control module is used for controlling the motor to operate according to the second rotating speed and the second output torque variation value.
7. The apparatus of claim 6, wherein the first determining module is configured to determine that the vehicle is in a take-off judder state when a plurality of jump steps of the first speed is determined to be greater than or equal to a first jump value and a plurality of jump steps of the first output torque is determined to be greater than or equal to a second jump value.
8. The apparatus of claim 6, wherein the second determining module is configured to determine the second speed of the motor by:
w＝a*t+w0(0≤t≤t1)
wherein w represents a second rotational speed of the motor; a represents a preset acceleration; t represents time; w is a0Representing the current rotational speed of the motor.
9. The apparatus of claim 6, wherein the third obtaining module is configured to calculate a product of the preset parameter and the first output torque variation value to obtain the second output torque variation value.
10. The apparatus of claim 9, wherein the control module is configured to adjust a first output torque change value of the electric machine over a control period to the second output torque change value.
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| CN201611208832.8A CN107487231B (en) | 2016-12-23 | 2016-12-23 | The method and apparatus of vehicle control |
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| CN201611208832.8A CN107487231B (en) | 2016-12-23 | 2016-12-23 | The method and apparatus of vehicle control |
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| CN104228606A (en) * | 2014-08-30 | 2014-12-24 | 重庆长安汽车股份有限公司 | Control method for eliminating jitter of pure electric vehicle |
| JP2016053382A (en) * | 2014-09-03 | 2016-04-14 | トヨタ自動車株式会社 | Gearing-type engagement device |
| CN105691378A (en) * | 2014-11-28 | 2016-06-22 | 上海汽车集团股份有限公司 | Vehicle control method and device |
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| CN107487231B (en) | 2019-09-20 |
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