CN113619406A - Control method and device for automobile power-assisted function - Google Patents
Control method and device for automobile power-assisted function Download PDFInfo
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- CN113619406A CN113619406A CN202111025085.5A CN202111025085A CN113619406A CN 113619406 A CN113619406 A CN 113619406A CN 202111025085 A CN202111025085 A CN 202111025085A CN 113619406 A CN113619406 A CN 113619406A
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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
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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
- 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)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a method and a device for controlling an automobile power assisting function, wherein the method comprises the following steps: acquiring a current working mode fed back by the vehicle control unit; the working modes comprise: a pure electric mode, a traditional mode and a hybrid mode; if the obtained working mode is a traditional mode or a hybrid mode, executing a dynamic power assisting function, wherein the executing of the dynamic power assisting function comprises: and sending a motor dynamic power-assisted torque demand to the motor, receiving an actual motor dynamic power-assisted torque returned by the motor, and compensating the power performance of the engine according to the actual motor dynamic power-assisted torque. According to the invention, the motor which is controlled by the vehicle controller and responds quickly is used for dynamic torque compensation, the vehicle requirement can be met in a short time, the acceleration of the vehicle is improved, and the driving feeling is improved.
Description
Technical Field
The invention relates to the field of automobile power, in particular to a control method and a control device for an automobile power assisting function.
Background
In a hybrid power control system in the prior art, in a traditional mode or a hybrid mode driven by an engine and a motor together, a vehicle control unit distributes required torque to the engine and the motor according to dynamic requirements and economic requirements; however, the engine response is delayed compared with the motor response, so that the acceleration effect of the whole vehicle is influenced when a driver starts or accelerates in the pure electric mode, the traditional mode and the hybrid mode.
Disclosure of Invention
The invention provides a control method and a control device for an automobile power-assisting function, which are used for solving the problems that in the prior art, in a traditional mode of hybrid power, the driving feeling is influenced due to the fact that the torque required by an engine is changed and the dynamic response of the engine is slow.
In order to solve the above problems, the present invention is realized by:
in a first aspect, the present invention provides a method for controlling an automotive power assist function, comprising:
acquiring a current working mode fed back by the vehicle control unit; the working modes comprise: a pure electric mode, a traditional mode and a hybrid mode;
if the obtained working mode is a traditional mode or a hybrid mode, executing a dynamic power assisting function, wherein the executing of the dynamic power assisting function comprises: and sending a motor dynamic power-assisted torque demand to the motor, receiving an actual motor dynamic power-assisted torque returned by the motor, and compensating the power performance of the engine according to the actual motor dynamic power-assisted torque.
Optionally, if the obtained working mode is the conventional mode or the hybrid mode, the dynamic boosting function is not executed.
Optionally, if it is obtained that the working mode is the conventional mode, executing the dynamic assistance function further includes:
subtracting the actual torque of the engine from the required torque of the whole vehicle acquired by the whole vehicle controller to obtain the dynamic power-assisted torque of the first motor;
and comparing the first motor dynamic assistance torque with the maximum torque allowing motor assistance, and selecting the actual motor dynamic assistance torque with a smaller value.
Optionally, if it is obtained that the working mode is the hybrid mode, executing the dynamic assistance function further includes:
distributing the finished automobile required torque acquired by the finished automobile controller to the engine and the motor, and distributing the finished automobile required torque to first engine required torque and first motor required torque;
comparing the first engine request torque with the maximum driving torque allowed by the engine, and selecting a smaller value as a second engine request torque;
subtracting the actual torque of the engine from the second engine demand torque to obtain a second motor dynamic power-assisted torque;
and adding the dynamic assistance torque of the second motor with the required torque of the first motor, comparing the dynamic assistance torque of the second motor with the maximum torque allowing the assistance of the motor, and selecting the actual dynamic assistance torque of the motor with a smaller value.
In a second aspect, the present invention provides a control device for a power assist function of an automobile, comprising:
the acquisition module is used for acquiring the current working mode fed back by the vehicle control unit; the working modes comprise: a pure electric mode, a traditional mode and a hybrid mode;
the first dynamic power assisting function module is used for executing a dynamic power assisting function if the obtained working mode is a traditional mode or a hybrid mode, wherein the executing dynamic power assisting function comprises: and sending a motor dynamic power-assisted torque demand to the motor, receiving an actual motor dynamic power-assisted torque returned by the motor, and compensating the power performance of the engine according to the actual motor dynamic power-assisted torque.
Optionally, the second dynamic power assisting function module is configured to not execute the dynamic power assisting function if the obtained working mode is the conventional mode or the hybrid mode.
Optionally, the first dynamic power assisting function module further includes:
the first execution submodule, configured to execute the dynamic power assisting function if the working mode is a traditional mode, further includes:
subtracting the actual torque of the engine from the required torque of the whole vehicle acquired by the whole vehicle controller to obtain the dynamic power-assisted torque of the first motor;
and comparing the first motor dynamic assistance torque with the maximum torque allowing motor assistance, and selecting the actual motor dynamic assistance torque with a smaller value.
Optionally, the first dynamic power assisting function module further includes:
the second execution submodule, configured to execute the dynamic assistance function if the working mode is the hybrid mode, further includes:
distributing the finished automobile required torque acquired by the finished automobile controller to the engine and the motor, and distributing the finished automobile required torque to first engine required torque and first motor required torque;
comparing the first engine request torque with the maximum driving torque allowed by the engine, and selecting a smaller value as a second engine request torque;
subtracting the actual torque of the engine from the second engine demand torque to obtain a second motor dynamic power-assisted torque;
and adding the dynamic assistance torque of the second motor with the required torque of the first motor, comparing the dynamic assistance torque of the second motor with the maximum torque allowing the assistance of the motor, and selecting the actual dynamic assistance torque of the motor with a smaller value.
In a third aspect, the present invention provides a server, including a processor, a memory, and a program or an instruction stored on the memory and executable on the processor, wherein the program or the instruction, when executed by the processor, implements the steps of the method for controlling an automotive power assist function according to any one of the first aspect.
In a fourth aspect, the present invention provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the method for controlling an automotive power assist function according to any one of the first aspect.
In the invention, the motor with faster response is controlled by the vehicle controller to perform dynamic torque compensation, so that the motor not only provides the required torque distributed to the driving motor by the vehicle controller, but also provides the torque of the required missing part caused by slower dynamic response of the engine, the vehicle requirement is met in a shorter time, and the acceleration of the vehicle is improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart of a method for controlling an automobile power assisting function according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a dynamic assistance function selection process in a method for controlling an assistance function of an automobile according to an embodiment of the present invention;
FIG. 3 is a process diagram of a method for controlling a power assist function of a vehicle according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating a method for controlling an automobile power assisting function according to an embodiment of the present invention applied to a conventional mode;
FIG. 5 is a schematic flow chart illustrating a method for controlling a power-assisted function of a vehicle in a hybrid mode according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a control device for a power assist function of a vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a server according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a method for controlling an automobile power assisting function, including:
step 11: acquiring a current working mode fed back by the vehicle control unit; the working modes comprise: a pure electric mode, a traditional mode and a hybrid mode;
step 12: if the obtained working mode is a traditional mode or a hybrid mode, executing a dynamic power assisting function, wherein the executing of the dynamic power assisting function comprises: and sending a motor dynamic power-assisted torque demand to the motor, receiving an actual motor dynamic power-assisted torque returned by the motor, and compensating the power performance of the engine according to the actual motor dynamic power-assisted torque.
In the embodiment of the invention, the motor with faster response is controlled by the vehicle control unit to perform dynamic torque compensation, so that the motor not only provides the required torque distributed to the driving motor by the vehicle control unit, but also provides the torque of the required missing part caused by slower dynamic response of the engine, the requirement of the vehicle is met in a shorter time, and the acceleration of the vehicle is improved.
In the embodiment of the invention, in step 11, the vehicle controller determines the working mode of the vehicle according to the vehicle state; the working modes comprise: a pure electric mode, a traditional mode and a hybrid mode; referring to fig. 2, in step 12, if it is obtained that the working mode is the conventional mode or the hybrid mode, the dynamic boosting function is executed; referring to fig. 3, the dynamic boosting function is that in a conventional mode or an electric boosting mode, the vehicle control unit distributes required torques to the engine and the motor according to the power requirement and the economic requirement, and because the response of the engine is delayed, the dynamic boosting function compensates for the deficiency of slow dynamic response of the engine by providing additional torque to the motor, so as to meet the driver's requirement and improve the acceleration performance.
In this embodiment of the present invention, optionally, if it is obtained that the working mode is the conventional mode, the executing the dynamic power assisting function further includes: subtracting the actual torque of the engine from the required torque of the whole vehicle acquired by the whole vehicle controller to obtain the dynamic power-assisted torque of the first motor; and comparing the first motor dynamic assistance torque with the maximum torque allowing motor assistance, and selecting the actual motor dynamic assistance torque with a smaller value.
Referring to fig. 4, in the embodiment of the present invention, when the operating mode is the conventional mode, the vehicle controller distributes the required torque to the engine according to the required torque of the vehicle; because the response of the engine is slow, the vehicle controller sends a dynamic power-assisted torque demand to the motor through the dynamic power-assisted function module in the dynamic change process that the actual torque of the engine does not reach the required torque, and the capacity of a vehicle system is considered; namely, the engine demand torque is selected as the actual torque of the engine with a small value according to the comparison result of the vehicle demand torque and the maximum driving torque allowed by the engine; when the engine uses the maximum driving torque allowed by the engine and can not meet the requirement torque of the whole vehicle, the motor provides extra torque for compensation, namely the actual torque of the engine is subtracted from the requirement torque of the whole vehicle, the dynamic assistance torque of the first motor is obtained, the actual dynamic assistance torque of the first motor and the maximum torque allowed to be assisted by the motor are compared, the smaller value is selected as the dynamic assistance torque of the actual motor, and the acceleration performance of the whole vehicle is ensured.
In this embodiment of the present invention, optionally, if it is obtained that the working mode is the hybrid mode, the executing the dynamic power assisting function further includes:
distributing the finished automobile required torque acquired by the finished automobile controller to the engine and the motor, and distributing the finished automobile required torque to first engine required torque and first motor required torque;
comparing the first engine request torque with the maximum driving torque allowed by the engine, and selecting a smaller value as a second engine request torque;
subtracting the actual torque of the engine from the second engine demand torque to obtain a second motor dynamic power-assisted torque;
and adding the dynamic assistance torque of the second motor with the required torque of the first motor, comparing the dynamic assistance torque of the second motor with the maximum torque allowing the assistance of the motor, and selecting the actual dynamic assistance torque of the motor with a smaller value.
Referring to fig. 5, in the embodiment of the present invention, the vehicle controller allocates the required torque of the vehicle to the engine and the motor according to the requirements of the dynamic performance and the economic performance of the vehicle, and allocates the required torque to the first engine required torque and the first motor required torque, and because the engine responds slowly, the vehicle controller sends a dynamic power-assisted torque requirement to the motor through the dynamic power-assisted function module in the torque dynamic change process that the actual torque of the engine does not reach the required torque, and the system capacity of the vehicle is considered; distributing the required torque of the whole vehicle to an engine and a motor, distributing the required torque to a first engine required torque (engine preliminary required torque) and a first motor required torque (motor preliminary required torque), comparing the first engine required torque with the maximum driving torque allowed by the engine, and selecting a smaller value as a second engine required torque (engine required torque); subtracting the actual torque of the engine from the second engine demand torque to obtain a second motor dynamic power-assisted torque; and adding the dynamic assistance torque of the second motor and the required torque of the first motor to obtain the dynamic assistance torque which should be theoretically provided by the motor, comparing the dynamic assistance torque with the maximum torque which allows the motor to assist, and selecting the dynamic assistance torque with a smaller value as the actual dynamic assistance torque of the motor to ensure the acceleration performance of the whole vehicle.
In the embodiment of the present invention, optionally, if the obtained working mode is the conventional mode or the hybrid mode, the dynamic assistance function is not executed.
In the embodiment of the invention, the motor with faster response is controlled by the vehicle control unit to perform dynamic torque compensation, so that the motor not only provides the required torque distributed to the driving motor by the vehicle control unit, but also provides the torque of the required missing part caused by slower dynamic response of the engine, the requirement of the vehicle is met in a shorter time, and the acceleration of the vehicle is improved.
Referring to fig. 6, the present invention provides a control device for a power assisting function of an automobile, including:
the acquiring module 61 is used for acquiring a current working mode fed back by the vehicle control unit; the working modes comprise: a pure electric mode, a traditional mode and a hybrid mode;
a first dynamic assistance function module 62, configured to execute a dynamic assistance function if the obtained operating mode is a traditional mode or a hybrid mode, where the executing dynamic assistance function includes: and sending a motor dynamic power-assisted torque demand to the motor, receiving an actual motor dynamic power-assisted torque returned by the motor, and compensating the power performance of the engine according to the actual motor dynamic power-assisted torque.
In the embodiment of the present invention, optionally, the second dynamic power assisting function module is configured to not execute the dynamic power assisting function if the obtained operating mode is the conventional mode or the hybrid mode.
In an embodiment of the present invention, optionally, the first dynamic power assisting function module further includes:
the first execution submodule, configured to execute the dynamic power assisting function if the working mode is a traditional mode, further includes:
subtracting the actual torque of the engine from the required torque of the whole vehicle acquired by the whole vehicle controller to obtain the dynamic power-assisted torque of the first motor;
and comparing the first motor dynamic assistance torque with the maximum torque allowing motor assistance, and selecting the actual motor dynamic assistance torque with a smaller value.
In an embodiment of the present invention, optionally, the first dynamic power assisting function module further includes:
the second execution submodule, configured to execute the dynamic assistance function if the working mode is the hybrid mode, further includes:
distributing the finished automobile required torque acquired by the finished automobile controller to the engine and the motor, and distributing the finished automobile required torque to first engine required torque and first motor required torque;
comparing the first engine request torque with the maximum driving torque allowed by the engine, and selecting a smaller value as a second engine request torque;
subtracting the actual torque of the engine from the second engine demand torque to obtain a second motor dynamic power-assisted torque;
and adding the dynamic assistance torque of the second motor with the required torque of the first motor, comparing the dynamic assistance torque of the second motor with the maximum torque allowing the assistance of the motor, and selecting the actual dynamic assistance torque of the motor with a smaller value.
The control device for the automobile power assisting function provided by the embodiment of the invention can realize each process realized by the control method for the automobile power assisting function in the method embodiment of fig. 1, and is not described again to avoid repetition.
Referring to fig. 7, an embodiment of the present invention further provides a server 70, which includes a processor 71, a memory 72, and a computer program stored in the memory 72 and capable of running on the processor 71, where the computer program, when executed by the processor 71, implements the processes of the control method of the above-mentioned vehicle power assisting function, and can achieve the same technical effects, and therefore, in order to avoid repetition, the descriptions are omitted here.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the control method for an automobile power assisting function, and can achieve the same technical effect, and in order to avoid repetition, the detailed description is omitted here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a terminal) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A control method for an automobile power assisting function is characterized by comprising the following steps:
acquiring a current working mode fed back by the vehicle control unit; the working modes comprise: a pure electric mode, a traditional mode and a hybrid mode;
if the obtained working mode is a traditional mode or a hybrid mode, executing a dynamic power assisting function, wherein the executing of the dynamic power assisting function comprises: and sending a motor dynamic power-assisted torque demand to the motor, receiving an actual motor dynamic power-assisted torque returned by the motor, and compensating the power performance of the engine according to the actual motor dynamic power-assisted torque.
2. The control method for an assist function of a vehicle according to claim 1,
and if the working mode is the traditional mode or the hybrid mode, the dynamic power assisting function is not executed.
3. The control method for an assist function of a vehicle according to claim 1,
if the acquired working mode is the traditional mode, executing the dynamic power assisting function further comprises:
subtracting the actual torque of the engine from the required torque of the whole vehicle acquired by the whole vehicle controller to obtain the dynamic power-assisted torque of the first motor;
and comparing the first motor dynamic assistance torque with the maximum torque allowing motor assistance, and selecting the actual motor dynamic assistance torque with a smaller value.
4. The control method for an assist function of a vehicle according to claim 1,
if the obtained working mode is the hybrid mode, executing the dynamic power assisting function further comprises:
distributing the finished automobile required torque acquired by the finished automobile controller to the engine and the motor, and distributing the finished automobile required torque to first engine required torque and first motor required torque;
comparing the first engine request torque with the maximum driving torque allowed by the engine, and selecting a smaller value as a second engine request torque;
subtracting the actual torque of the engine from the second engine demand torque to obtain a second motor dynamic power-assisted torque;
and adding the dynamic assistance torque of the second motor with the required torque of the first motor, comparing the dynamic assistance torque of the second motor with the maximum torque allowing the assistance of the motor, and selecting the actual dynamic assistance torque of the motor with a smaller value.
5. A control device for an assist function of a vehicle, comprising:
the acquisition module is used for acquiring the current working mode fed back by the vehicle control unit; the working modes comprise: a pure electric mode, a traditional mode and a hybrid mode;
the first dynamic power assisting function module is used for executing a dynamic power assisting function if the obtained working mode is a traditional mode or a hybrid mode, wherein the executing dynamic power assisting function comprises: and sending a motor dynamic power-assisted torque demand to the motor, receiving an actual motor dynamic power-assisted torque returned by the motor, and compensating the power performance of the engine according to the actual motor dynamic power-assisted torque.
6. The control device for an assist function of a vehicle according to claim 5,
and the second dynamic power assisting function module is used for not executing the dynamic power assisting function if the working mode is the traditional mode or the hybrid mode.
7. The apparatus of claim 5, wherein the first dynamic boost function module comprises:
the first execution submodule, configured to execute the dynamic power assisting function if the working mode is a traditional mode, further includes:
subtracting the actual torque of the engine from the required torque of the whole vehicle acquired by the whole vehicle controller to obtain the dynamic power-assisted torque of the first motor;
and comparing the first motor dynamic assistance torque with the maximum torque allowing motor assistance, and selecting the actual motor dynamic assistance torque with a smaller value.
8. The apparatus of claim 5, wherein the first dynamic boost function module comprises:
the second execution submodule, configured to execute the dynamic assistance function if the working mode is the hybrid mode, further includes:
distributing the finished automobile required torque acquired by the finished automobile controller to the engine and the motor, and distributing the finished automobile required torque to first engine required torque and first motor required torque;
comparing the first engine request torque with the maximum driving torque allowed by the engine, and selecting a smaller value as a second engine request torque;
subtracting the actual torque of the engine from the second engine demand torque to obtain a second motor dynamic power-assisted torque;
and adding the dynamic assistance torque of the second motor with the required torque of the first motor, comparing the dynamic assistance torque of the second motor with the maximum torque allowing the assistance of the motor, and selecting the actual dynamic assistance torque of the motor with a smaller value.
9. A server, comprising: processor, memory and program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the method of controlling a vehicle power assist function according to any one of claims 1 to 4.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method for controlling a power assist function of a vehicle according to any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111025085.5A CN113619406A (en) | 2021-09-02 | 2021-09-02 | Control method and device for automobile power-assisted function |
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| CN202111025085.5A CN113619406A (en) | 2021-09-02 | 2021-09-02 | Control method and device for automobile power-assisted function |
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