CN109484208A - The control method and system of a kind of electric car ramp parking - Google Patents
The control method and system of a kind of electric car ramp parking Download PDFInfo
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- CN109484208A CN109484208A CN201811526559.2A CN201811526559A CN109484208A CN 109484208 A CN109484208 A CN 109484208A CN 201811526559 A CN201811526559 A CN 201811526559A CN 109484208 A CN109484208 A CN 109484208A
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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
- B60L15/2009—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 for braking
- B60L15/2018—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 for braking for braking on a slope
-
- 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
- B60L2240/421—Speed
-
- 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
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides the control method and system of a kind of parking of electric car ramp, this method comprises: obtaining motor speed, vehicle gear accelerator pedal aperture and direction of motor rotation when entire car controller receives ramp auxiliary request signal.If the vehicle gear is forward range, the direction of motor rotation is reversion, and the motor speed is greater than the first rotary speed threshold value and less than the second rotary speed threshold value, then motor enters rotational speed regulation mode, makes motor speed zero, vehicle enters parked state.When the accelerator pedal aperture is greater than setting aperture threshold value, acquisition request torque simultaneously judges whether the requested torque is greater than motor parking torque and so that vehicle is exited parked state if it is, motor enters torque control mode.The present invention can solve existing electric car during uphill starting, since the problem of car slipping backward easily occurs in gravity, can improve the safety and intelligence of vehicle parking on ramp.
Description
Technical field
The present invention relates to parking electric automobile technical field more particularly to a kind of control methods of electric car ramp parking
And system.
Background technique
For automobile when on ramp, the downslide component of gravity can make automobile have the tendency that downslide.Since the power of electric vehicle is defeated
Mechanism and fuel-engined vehicle are entirely different out.Internal combustion engine does not have torque output when shutting down, and the motor of electric vehicle can be in rotor
Torque in full is exported in the state of static.Therefore, it only need to control the output torque of power drive system and load torque balances each other,
It is static on ramp that electric car can be realized.Existing electric vehicle calculates after ramp parking often passes through and obtains ramp obliquity information
Motor output torque is obtained, slips wave phenomenon to control vehicle on ramp.But this method is accurate due to ramp Dip countion
Degree is limited, and being easy to appear vehicle, there is a phenomenon where shake or slip by slope, seriously may cause motor damage on ramp.
Summary of the invention
The present invention provides the control method and system of a kind of parking of electric car ramp, solves existing electric car in ramp
In starting-up process, since easily there is the problem of car slipping backward in gravity, can improve vehicle on ramp the safety of parking and
Intelligence.
In order to achieve the above object, the present invention the following technical schemes are provided:
A kind of control method of electric car ramp parking, comprising:
When entire car controller receives ramp auxiliary request signal, motor speed is obtained, vehicle gear accelerator pedal is opened
Degree and direction of motor rotation；
If the vehicle gear is forward range, the direction of motor rotation is reversion, and the motor speed is greater than the
One rotary speed threshold value and less than the second rotary speed threshold value, then motor enters rotational speed regulation mode, makes motor speed zero, and vehicle, which enters, stays
Car state；
When the accelerator pedal aperture is greater than setting aperture threshold value, acquisition request torque simultaneously judges that the requested torque is
It is no so that vehicle is exited parked state if it is, motor enters torque control mode greater than motor parking torque.
Preferably, the motor enters rotational speed regulation mode and includes:
Motor speed table corresponding with PI parameter is set；
PI parameter setting is carried out according to the motor speed, and the increment type PI for carrying out motor speed is adjusted.
Preferably, the increment type PI, which is adjusted, includes:
Required for rotational speed difference increment and integral adjustment required for calculating separately proportion adjustment according to the motor speed
Rotational speed difference increment；
Proportion adjustment torque increase and integral adjustment torque increase are obtained according to the rotational speed difference increment, is turned with adjusting motor
Speed.
Preferably, the motor enters torque control mode and includes:
If the requested torque that entire car controller receives is greater than the motor parking torque, the defeated of motor is controlled
Torque is equal to the requested torque out, makes vehicle driving；
If the requested torque is less than the motor parking torque, the output torque for controlling motor is equal to the motor
Parking torque, makes vehicle parks.
Preferably, further includes:
Current ramp inclination angle is obtained, and the required motor parking of according to current ramp Dip countion vehicle parking when
Torque；
Motor vector controlled id and iq value is obtained according to the motor parking torque, to control motor speed as 0.
The present invention also provides a kind of control systems of electric car ramp parking, comprising:
Acquiring unit, for when entire car controller receives ramp auxiliary request signal, obtaining motor speed, vehicle gear
Position accelerator pedal aperture and direction of motor rotation；
Motor speed adjusts unit, and for being forward range in the vehicle gear, the direction of motor rotation is reversion,
The motor speed is greater than the first rotary speed threshold value and when less than the second rotary speed threshold value, and control motor enters rotational speed regulation mode, makes
Motor speed is zero, and vehicle enters parked state；
Motor torque control unit, for when the accelerator pedal aperture is greater than setting aperture threshold value, acquisition request to be turned round
Square simultaneously judges whether the requested torque is greater than motor parking torque and makes vehicle if it is, motor enters torque control mode
Exit parked state.
Preferably, the motor speed adjusting unit includes:
Revolving speed PI adjusts unit, for motor speed table corresponding with PI parameter to be arranged, carries out also according to the motor speed
PI parameter setting, and the increment type PI for carrying out motor speed is adjusted.
Preferably, the revolving speed PI adjusts unit, comprising:
Rotational speed difference incremental computations unit, for rotational speed difference required for calculating separately proportion adjustment according to the motor speed
Rotational speed difference increment required for increment and integral adjustment；
Torque increase computing unit, for obtaining proportion adjustment torque increase and integral adjustment according to the rotational speed difference increment
Torque increase, to adjust motor speed.
Preferably, the Motor torque control unit includes:
Starting unit, when the requested torque for receiving in entire car controller is greater than the motor parking torque,
The output torque for controlling motor is equal to the requested torque, makes vehicle driving；
Park unit, for controlling the output torque of motor when the requested torque is less than the motor parking torque
Equal to the motor parking torque, make vehicle parks.
Preferably, further includes:
Parking torque arithmetic unit, for obtaining current ramp inclination angle, and according to the current ramp Dip countion vehicle
Required motor parking torque when parking；
Current of electric control unit, for obtaining motor vector controlled id and iq value according to the motor parking torque, with
Controlling motor speed is 0.
The present invention provides the control method and system of a kind of parking of electric car ramp, by carrying out to vehicle parking condition
Judgement, if conditions are not met, then motor carries out moment of torsion control, makes vehicle if it is satisfied, then motor, which carries out rotational speed regulation, makes vehicle parking
Exit parked state.Existing electric car is solved during uphill starting, since car slipping backward easily occurs in gravity
Problem can improve the safety and intelligence of vehicle parking on ramp.
Detailed description of the invention
In order to illustrate more clearly of specific embodiments of the present invention, attached drawing needed in the embodiment will be made below
Simply introduce.
Fig. 1: being a kind of control method flow chart of electric car ramp parking provided by the invention.
Fig. 2: being the electric machine control system schematic diagram that one embodiment of the invention provides.
Specific embodiment
The scheme of embodiment in order to enable those skilled in the art to better understand the present invention with reference to the accompanying drawing and is implemented
Mode is described in further detail the embodiment of the present invention.
Aiming at the problem that current parking electric automobile easily slips by slope, the present invention provides a kind of parking of electric car ramp
Control method and system stay vehicle if it is satisfied, then motor carries out rotational speed regulation by judging vehicle parking condition
Vehicle makes vehicle exit parked state if conditions are not met, then motor carries out moment of torsion control.Existing electric car is solved to rise in ramp
During step, since the problem of car slipping backward easily occurs in gravity, the safety and intelligence of vehicle parking on ramp can be improved
It can property.
As shown in Figure 1, a kind of control method of electric car ramp parking, comprising:
S1: when entire car controller receives ramp auxiliary request signal, motor speed, vehicle gear accelerator pedal are obtained
Aperture and direction of motor rotation；
S2: if the vehicle gear is forward range, the direction of motor rotation is reversion, and the motor speed is greater than
First rotary speed threshold value and less than the second rotary speed threshold value, then motor enters rotational speed regulation mode, makes motor speed zero, and vehicle enters
Parked state；
S3: when the accelerator pedal aperture is greater than setting aperture threshold value, acquisition request torque simultaneously judges that the request is turned round
Whether square is greater than motor parking torque makes vehicle exit parked state if it is, motor enters torque control mode.
In one embodiment, ramp parking is divided into two parts, first part is logic judgment, and second part is 0 turn
Fast closed-loop control.Identify whether motor meets condition and enter or exit park mode by logic judgment first.When meeting item
Part enters park mode, and motor enters rotational speed regulation mode and adjusted by speed closed loop, to realize parking function.When meeting condition
Park mode is exited, it is torque control mode that motor, which enters,.Rotational speed regulation mode entry condition is that entire car controller receives slope
Road auxiliary request signal, vehicle hangs forward range, motor drive direction is to retreat, and motor speed is greater than 20rpm, and motor speed
Less than 200rpm.Torque control mode entry condition are as follows: entire car controller does not receive ramp auxiliary request signal or non-advance
Gear, and accelerator pedal aperture is greater than 10%.Wherein, in entry condition, it is in order to avoid work that motor speed, which is less than 200rpm,
Condition erroneous judgement causes control abnormal.Such as on level road, artificially cart backward, is altered before leading to vehicle.
Further, it includes: setting motor speed table corresponding with PI parameter that the motor, which enters rotational speed regulation mode,；According to institute
It states motor speed and carries out PI parameter setting, and the increment type PI for carrying out motor speed is adjusted.
Specifically, rotational speed regulation is by adjusting PI parameter, to control torque, revolving speed table corresponding with PI parameter such as table 1
It is shown, slip in practical applications, after vehicle maximum (top) speed control in 80rpm hereinafter, advance maximum (top) speed control 20rpm with
Under.
Table 1
| Revolving speed rpm | P | I |
| ≤10 | 8000 | 80 |
| ≤20 | 15000 | 80 |
| ≤30 | 15000 | 100 |
| ≤40 | 15000 | 100 |
| ≤50 | 12000 | 120 |
| ≤60 | 10000 | 150 |
| ≤70 | 7000 | 180 |
| ≤80 | 7000 | 180 |
| ≤90 | 7000 | 180 |
| ≤100 | 7000 | 200 |
| Other | 7000 | 200 |
Further, the increment type PI adjusting includes: required for calculating separately proportion adjustment according to the motor speed
Rotational speed difference increment and integral adjustment required for rotational speed difference increment；Proportion adjustment torque is obtained according to the rotational speed difference increment to increase
Amount and integral adjustment torque increase, to adjust motor speed.
In practical applications, increment type PI is adjusted, comprising: motor speed difference and rotational speed difference incremental computations calculate separately ratio
Example adjusts required rotational speed difference increment, rotating speed difference required for integral adjustment.The torque increase meter of ratio, integral adjustment
It calculates, torque iterative calculation, torque resolution adjustment, during being slipped after vehicle, torque is adjusted by proportional integration, makes vehicle
Stop rapidly, then vehicle can be travelled slowly forward, this process torque will continue to adjust, until vehicle stops completely.
If it includes: that the requested torque that receives of entire car controller is greater than institute that the motor, which enters torque control mode,
Motor parking torque is stated, then the output torque for controlling motor is equal to the requested torque, makes vehicle driving.If the request is turned round
Square is less than the motor parking torque, then the output torque for controlling motor is equal to the motor parking torque, makes vehicle parks.
This method further include:
S4: obtaining current ramp inclination angle, and according to current ramp Dip countion vehicle parking when required motor
Parking torque；
S5: obtaining motor vector controlled id and iq value according to the motor parking torque, to control motor speed as 0.
Specifically, motor parking torque finds corresponding id*, iq* value, by electricity by motor vector control strategy
It flows ring PI to adjust, phase current is converted into id, iq by reverse rotation transformation, current closed-loop feedback regulation is carried out, can refer to Fig. 2's
Electric machine control system figure.
As it can be seen that the present invention provides a kind of control method of electric car ramp parking, by carrying out to vehicle parking condition
Judgement, if conditions are not met, then motor carries out moment of torsion control, makes vehicle if it is satisfied, then motor, which carries out rotational speed regulation, makes vehicle parking
Exit parked state.Existing electric car is solved during uphill starting, since car slipping backward easily occurs in gravity
Problem can improve the safety and intelligence of vehicle parking on ramp.
The present invention also provides a kind of control systems of electric car ramp parking, comprising: acquiring unit, in vehicle control
When device processed receives ramp auxiliary request signal, motor speed, vehicle gear accelerator pedal aperture and direction of motor rotation are obtained.
Motor speed adjusts unit, and for being forward range in the vehicle gear, the direction of motor rotation is reversion, the motor
Revolving speed is greater than the first rotary speed threshold value and when less than the second rotary speed threshold value, and control motor enters rotational speed regulation mode, makes motor speed
It is zero, vehicle enters parked state.Motor torque control unit, for being greater than setting aperture threshold value in the accelerator pedal aperture
When, acquisition request torque simultaneously judges whether the requested torque is greater than motor parking torque, if it is, motor enters torque control
Molding formula, makes vehicle exit parked state.
It includes: that revolving speed PI adjusts unit that the motor speed, which adjusts unit, corresponding with PI parameter for motor speed to be arranged
Table carries out PI parameter setting also according to the motor speed, and the increment type PI for carrying out motor speed is adjusted.
The revolving speed PI adjusts unit, comprising: rotational speed difference incremental computations unit, by according to the motor speed respectively based on
Calculate rotational speed difference increment required for rotational speed difference increment required for proportion adjustment and integral adjustment.Torque increase computing unit is used
In obtaining proportion adjustment torque increase and integral adjustment torque increase according to the rotational speed difference increment, to adjust motor speed.
The Motor torque control unit includes: starting unit, and the request for receiving in entire car controller is turned round
When square is greater than the motor parking torque, the output torque for controlling motor is equal to the requested torque, makes vehicle driving.Park is single
Member, the output torque for when the requested torque is less than the motor parking torque, controlling motor are equal to the motor and stay
Vehicle torque, makes vehicle parks.
The system further include: parking torque arithmetic unit, for obtaining current ramp inclination angle, and according to the current ramp
Required motor parking torque when Dip countion vehicle parking.Current of electric control unit, for according to the motor parking
Torque obtains motor vector controlled id and iq value, to control motor speed as 0.
As it can be seen that the present invention provides a kind of control system of electric car ramp parking, by carrying out to vehicle parking condition
Judgement, if it is satisfied, then motor speed, which adjusts unit progress rotational speed regulation, makes vehicle parking, if conditions are not met, then Motor torque
Control unit carries out moment of torsion control, and vehicle is made to exit parked state.Existing electric car is solved during uphill starting, due to
Easily there is the problem of car slipping backward in gravity, can improve the safety and intelligence of vehicle parking on ramp.
Structure, feature and effect of the invention, the above institute is described in detail according to diagrammatically shown embodiment above
Only presently preferred embodiments of the present invention is stated, but the present invention does not limit the scope of implementation as shown in the drawings, it is all according to structure of the invention
Think made change or equivalent example modified to equivalent change, when not going beyond the spirit of the description and the drawings,
It should all be within the scope of the present invention.
Claims (10)
1. a kind of control method of electric car ramp parking characterized by comprising
When entire car controller receives ramp auxiliary request signal, obtain motor speed, vehicle gear accelerator pedal aperture and
Direction of motor rotation；
If the vehicle gear is forward range, the direction of motor rotation is reversion, and the motor speed is greater than first turn
Fast threshold value and less than the second rotary speed threshold value, then motor enters rotational speed regulation mode, makes motor speed zero, and vehicle enters parking shape
State；
When the accelerator pedal aperture is greater than setting aperture threshold value, acquisition request torque simultaneously judges whether the requested torque is big
Vehicle is set to exit parked state if it is, motor enters torque control mode in motor parking torque.
2. the control method of electric car ramp according to claim 1 parking, which is characterized in that the motor, which enters, to be turned
Fast shaping modes include:
Motor speed table corresponding with PI parameter is set；
PI parameter setting is carried out according to the motor speed, and the increment type PI for carrying out motor speed is adjusted.
3. the control method of electric car ramp according to claim 2 parking, which is characterized in that the increment type PI tune
Section includes:
Revolving speed required for rotational speed difference increment and integral adjustment required for calculating separately proportion adjustment according to the motor speed
Poor increment；
Proportion adjustment torque increase and integral adjustment torque increase are obtained according to the rotational speed difference increment, to adjust motor speed.
4. the control method of electric car ramp according to claim 3 parking, which is characterized in that the motor enters torsion
Square control model includes:
If the requested torque that entire car controller receives is greater than the motor parking torque, the output for controlling motor is turned round
Square is equal to the requested torque, makes vehicle driving；
If the requested torque is less than the motor parking torque, the output torque for controlling motor is equal to the motor parking
Torque makes vehicle parks.
5. the control method of electric car ramp according to claim 4 parking, which is characterized in that further include:
Current ramp inclination angle is obtained, and the required motor parking of according to current ramp Dip countion vehicle parking when is turned round
Square；
Motor vector controlled id and iq value is obtained according to the motor parking torque, to control motor speed as 0.
6. a kind of control system of electric car ramp parking characterized by comprising
Acquiring unit, for obtaining motor speed when entire car controller receives ramp auxiliary request signal, vehicle gear adds
Speed pedal aperture and direction of motor rotation；
Motor speed adjusts unit, and for being forward range in the vehicle gear, the direction of motor rotation is reversion, described
Motor speed is greater than the first rotary speed threshold value and when less than the second rotary speed threshold value, and control motor enters rotational speed regulation mode, makes motor
Revolving speed is zero, and vehicle enters parked state；
Motor torque control unit, for when the accelerator pedal aperture is greater than setting aperture threshold value, acquisition request torque to be simultaneously
Judge whether the requested torque is greater than motor parking torque and exits vehicle if it is, motor enters torque control mode
Parked state.
7. the control system of electric car ramp according to claim 6 parking, which is characterized in that the motor speed tune
Saving unit includes:
Revolving speed PI adjusts unit, for motor speed table corresponding with PI parameter to be arranged, carries out PI ginseng also according to the motor speed
Number setting, and the increment type PI for carrying out motor speed is adjusted.
8. the control system of electric car ramp according to claim 7 parking, which is characterized in that the revolving speed PI is adjusted
Unit, comprising:
Rotational speed difference incremental computations unit, for rotational speed difference increment required for calculating separately proportion adjustment according to the motor speed
With rotational speed difference increment required for integral adjustment；
Torque increase computing unit, for obtaining proportion adjustment torque increase and integral adjustment torque according to the rotational speed difference increment
Increment, to adjust motor speed.
9. the control system of electric car ramp according to claim 8 parking, which is characterized in that the Motor torque control
Unit processed includes:
Starting unit, when the requested torque for receiving in entire car controller is greater than the motor parking torque, control
The output torque of motor is equal to the requested torque, makes vehicle driving；
Park unit, for when the requested torque is less than the motor parking torque, the output torque for controlling motor to be equal to
The motor parking torque, makes vehicle parks.
10. the control system of electric car ramp according to claim 9 parking, which is characterized in that further include:
Parking torque arithmetic unit, for obtaining current ramp inclination angle, and according to the current ramp Dip countion vehicle parking
When required motor parking torque；
Current of electric control unit, for obtaining motor vector controlled id and iq value according to the motor parking torque, with control
Motor speed is 0.
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| CN201811526559.2A CN109484208A (en) | 2018-12-13 | 2018-12-13 | The control method and system of a kind of electric car ramp parking |
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| CN201811526559.2A CN109484208A (en) | 2018-12-13 | 2018-12-13 | The control method and system of a kind of electric car ramp parking |
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| CN110154780A (en) * | 2019-04-11 | 2019-08-23 | 汉腾汽车有限公司 | A kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system and method |
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| WO2021008527A1 (en) * | 2019-07-16 | 2021-01-21 | 长城汽车股份有限公司 | Motor control method, apparatus and device, and computer readable storage medium |
| CN111483327B (en) * | 2019-07-16 | 2021-11-02 | 长城汽车股份有限公司 | Motor control method, device, equipment and computer readable storage medium |
| CN111483327A (en) * | 2019-07-16 | 2020-08-04 | 长城汽车股份有限公司 | Motor control method, device, equipment and computer readable storage medium |
| CN110329084A (en) * | 2019-07-24 | 2019-10-15 | 江西江铃集团新能源汽车有限公司 | The control method of the anti-slip auxiliary system in electric car slope road |
| CN110435443A (en) * | 2019-08-19 | 2019-11-12 | 安徽江淮汽车集团股份有限公司 | Ramp auxiliary control method, device, equipment and storage medium |
| CN110435443B (en) * | 2019-08-19 | 2021-08-27 | 安徽江淮汽车集团股份有限公司 | Ramp auxiliary control method, device, equipment and storage medium |
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| CN110979301A (en) * | 2019-12-13 | 2020-04-10 | 海马新能源汽车有限公司 | Hill start assist control method, hill start assist control system and vehicle |
| CN111086399B (en) * | 2019-12-30 | 2021-08-24 | 深圳市蓝海华腾技术股份有限公司 | Vehicle, and vehicle slope-parking control method and system |
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| CN113246748A (en) * | 2021-06-30 | 2021-08-13 | 重庆长安新能源汽车科技有限公司 | Electric automobile slope-sliding prevention control method and system and vehicle |
| CN114393997A (en) * | 2022-01-04 | 2022-04-26 | 珠海格力电器股份有限公司 | Electric vehicle hill-holding control method and device, storage medium and controller |
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