CN105438006B - Electric automobile and ramp parking control method and system thereof - Google Patents
Electric automobile and ramp parking control method and system thereof Download PDFInfo
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- CN105438006B CN105438006B CN201511017557.7A CN201511017557A CN105438006B CN 105438006 B CN105438006 B CN 105438006B CN 201511017557 A CN201511017557 A CN 201511017557A CN 105438006 B CN105438006 B CN 105438006B
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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
- B60L15/2009—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
- 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
- B60L15/2072—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 drive off
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- 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)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a control method and a control system for hill-hold of an electric automobile and the electric automobile with the system, wherein the method comprises the following steps: when the electric automobile starts and stops on a ramp, the vehicle control unit collects various signals of the electric automobile, respectively generates various instructions according to the collected signals and sends the instructions to the motor controller; the method comprises the following steps that a motor controller collects various kinds of information of a motor and estimates the output torque required by the motor when the electric automobile is parked on a ramp according to the collected information; the motor controller judges whether the motor meets the condition of entering a zero rotating speed control mode or not according to the instruction sent by the vehicle controller and the current state of the motor; if the condition is satisfied, the motor controller takes the estimated torque as an initial output torque command; the torque required when the motor is parked on a slope is regulated through the proportional-integral controller, the motor is controlled to output the torque according to the command torque, and the rotating speed of the motor is regulated to be zero. The method can improve the safety of the vehicle on-off on the ramp and the driving comfort.
Description
Technical field
The present invention relates to electric vehicle engineering field, more particularly to a kind of electric automobile ramp parking control method,
Control system and the electric automobile with the system.
Background technology
At present, the features such as electric automobile is due to its environmental protection and energy saving, convenience and safety, more and more welcomed by the people.
However, electric automobile, during parking on ramp or starting, vehicle occurs travel direction with gear direction not
Consistent situation, this can make it that the car slipping that car ramp travels is in larger distance, influence driving safety, and motor stabilizing is to 0r/min
Time it is longer, influence drive comfortableness.Therefore, how to reduce electric automobile on ramp stop or start to walk when car slipping away from
From, the safety of car ramp traveling is improved, and how to make vehicle on ramp under fast and stable, improve the comfortable of driving
Property, turn into current urgent problem to be solved.
The content of the invention
The purpose of the present invention is intended to one of technical problem at least solving in correlation technique to a certain extent.
Therefore, it is an object of the present invention to propose a kind of ramp parking control method of electric automobile.This method is not
Car slipping distance of the electric automobile when stopping or starting to walk on ramp can be only reduced, the safety of car ramp traveling is improved, may be used also
So that vehicle under fast and stable, improves the comfortableness of driving on ramp.
Second object of the present invention is the ramp parking control system for proposing a kind of electric automobile.
Third object of the present invention is to propose a kind of electric automobile.
For the above-mentioned purpose, first aspect present invention embodiment proposes a kind of ramp parking controlling party of electric automobile
Method, comprise the following steps：During the electric automobile is stopped or started to walk on ramp, entire car controller is adopted in real time
Collect accelerator pedal signal, shift signal and the GES of the electric automobile, and according to the accelerator pedal signal, gear
Signal and GES generate torque instruction, speed information, acceleration information and the fault message of motor respectively, and send
To electric machine controller；The electric machine controller gathers the actual speed information, actual steering information and reality of the motor in real time
Border output torque information；The electric machine controller in real time according to the speed information, the acceleration information, the motor reality
Border rotary speed information and reality output moment information estimate the electric automobile in parking on the ramp needed for the motor
The output torque wanted；The electric machine controller instructs according to the gear, the torque instruction of motor, fault message, the motor
Actual speed information and actual steering information judge whether the motor meets the condition into zero rotating speed control mode；Such as
Motor described in fruit meets the condition for entering zero rotating speed control mode, the electricity that the electric machine controller then will be estimated currently
It is initial defeated required for the motor when output torque required for machine enters zero rotating speed control mode as the motor
Go out torque；And the motor is adjusted out on the ramp according to the initial output torque passing ratio integral controller and stayed
The motor current desired output torque wanted during car, and control the motor to enter according to the current desired output torque wanted
Row torque output, and by the rotational speed regulation of the motor to zero velocity.
The ramp parking control method of electric automobile according to embodiments of the present invention, when electric automobile is stopped on ramp
During car or starting, required output torque when electric machine controller is by estimating vehicle parking, and by this output torque
Integrated as the initial output torque required for motor when entering zero-turn fast mode, and according to initial output torque passing ratio
Controller adjusts out the current desired output torque wanted of motor motor in parking on ramp, and according to the current desired output wanted
Torque-controlled motors carry out torque output, and by the rotational speed regulation of motor to zero velocity, not only reduce electric automobile in ramp
Car slipping distance when upper parking or starting, improves the security of electric automobile ramp driving, also reduces motor being adjusted to 0r/
Min time, electric automobile is got off with fast and stable, improve the comfortableness of driving.
According to one embodiment of present invention, the electric machine controller instructed according to the gear, the torque instruction of motor,
Fault message, the actual speed information of the motor and actual steering information judge whether the motor meets to enter zero-turn speed
The condition of control model, including：The electric machine controller judges whether the fault message is catastrophe failure；If the failure
Information is not catastrophe failure, and the electric machine controller is then according to gear instruction, the torque instruction of motor and the motor
Actual steering information judge the motor actual steering whether with the entire car controller send motor steering instruction not
Together；If the actual steering of the motor is different from the motor steering instruction that the entire car controller is sent, the motor control
Device then judges whether the actual speed information of the motor is more than the first predetermined threshold value；And the if actual speed of the motor
Information is more than first predetermined threshold value, and the electric machine controller then judges that the motor meets that the zero-turn speed that enters controls mould
The condition of formula.
According to one embodiment of present invention, when meeting following condition, electric automobile is on the slope described in real-time estimation
Output torque on road during parking required for the motor：The current rotating speed of the motor is less than the second predetermined threshold value；And institute
State motor and be currently at torque control model.
According to one embodiment of present invention, the electric machine controller estimates the electric automobile in institute by below equation
State the output torque required for motor during parking on ramp：
Wherein, TiniFor output torque of the electric automobile in parking on the ramp required for the motor；
TfeedbackFor the reality output torque of the motor current feedback；M is the electric automobile empty mass；A is current acceleration；
R is the radius of wheel of the electric automobile；igFor the decelerator speed reducing ratio of the electric automobile；N works as forward for the motor
Speed；V is speed；V1For current vehicle speed；V0For the speed before preset time Δ t, wherein, Δ t takes 10ms.
According to one embodiment of present invention, wherein, the pi controller is configured as follows：
TP(k)=KP(0-n)
TI(k)=TI(k-1)+KI(0-n)
TPI(k)=TP(k)+TI(k)
Tcmd(k)=Tini+TPI(k)
Wherein, TP(k) it is current time proportional component output valve；TI(k) it is current time integral element output valve；TI(k-
1) it is last moment integral element output valve；TPI(k) it is the output valve of pi controller described in current time；Tcmd(k) it is
Current time is sent to the torque command value of the electric machine controller；KPFor proportional component coefficient；KIFor integral element coefficient；Tini
For the initial output torque.
According to one embodiment of present invention, first predetermined threshold value is 20r/min.
According to one embodiment of present invention, second predetermined threshold value is 200r/min.
According to one embodiment of present invention, according to the rotating speed of the motor and acceleration direction determine respectively
KP、KIValue.
For the above-mentioned purpose, second aspect of the present invention embodiment proposes a kind of ramp parking control system of electric automobile
System, including：Entire car controller, during being stopped or being started to walk on ramp in the electric automobile, collection in real time
Accelerator pedal signal, shift signal and the GES of the electric automobile, and believed according to the accelerator pedal signal, gear
Number and GES generate torque instruction, speed information, acceleration information and the fault message of motor respectively；With it is described whole
The connected electric machine controller of vehicle controller, gear instruction, the torque of motor sent for receiving the entire car controller
Instruction, speed information, acceleration information and fault message, and the actual speed information of the motor, reality turn are gathered in real time
To information and reality output moment information, meanwhile, in real time according to the speed information, the acceleration information, the motor
Actual speed information and reality output moment information estimate electric automobile motor in parking on the ramp
Required output torque, and in the reality according to gear instruction, the torque instruction of motor, fault message, the motor
When rotary speed information and actual steering information judge that the motor is met into the condition of zero rotating speed control mode, will currently it estimate
The motor required for output torque when entering zero rotating speed control mode as the motor required for the motor
Initial output torque, and the motor is adjusted out on the slope according to the initial output torque passing ratio integral controller
The motor current desired output torque wanted during parking on road, and according to the current desired output torque control wanted
Motor carries out torque output, and by the rotational speed regulation of the motor to zero velocity.
The ramp parking control system of automobile according to embodiments of the present invention, stopped on ramp when electric automobile or
During starting, required output torque when electric machine controller is by estimating vehicle parking, and using this output torque as
Initial output torque into required for motor during zero-turn fast mode, and according to initial output torque passing ratio integration control
Device adjusts out the current desired output torque wanted of motor motor in parking on ramp, and according to the current desired output torque wanted
Controlled motor carries out torque output, and by the rotational speed regulation of motor to zero velocity, not only reduces electric automobile and stop on ramp
Car slipping distance when car or starting, improves the security of electric automobile ramp driving, also reduces motor being adjusted to 0r/min's
Time, electric automobile is got off with fast and stable, improve the comfortableness of driving.
According to one embodiment of present invention, the electric machine controller is specifically used for：Judge the fault message whether be
Catastrophe failure；When the fault message is not catastrophe failure, according to gear instruction, the torque instruction of motor, Yi Jisuo
State motor actual steering information judge the motor actual steering whether with the entire car controller send motor steering
Instruction is different；When the actual steering of the motor is different from the motor steering instruction that the entire car controller is sent, institute is judged
Whether the actual speed information for stating motor is more than the first predetermined threshold value；It is more than described first in the actual speed information of the motor
During predetermined threshold value, judge that the motor meets the condition for entering zero rotating speed control mode.
According to one embodiment of present invention, the electric machine controller is electric described in real-time estimation when meeting following condition
Output torque of the electrical automobile in parking on the ramp required for the motor：It is pre- that the current rotating speed of the motor is less than second
If threshold value；And the motor is currently at torque control model.
According to one embodiment of present invention, the electric machine controller estimates the electric automobile in institute by below equation
State the output torque required for motor during parking on ramp：
Wherein, TiniFor output torque of the electric automobile in parking on the ramp required for the motor；
TfeedbackFor the reality output torque of the motor current feedback；M is the electric automobile empty mass；A is current acceleration；
R is the radius of wheel of the electric automobile；igFor the decelerator speed reducing ratio of the electric automobile；N works as forward for the motor
Speed；V is speed；V1For current vehicle speed；V0For the speed before preset time Δ t, wherein, Δ t takes 10ms.
According to one embodiment of present invention, wherein, the pi controller is configured as follows：
TP(k)=KP(0-n)
TI(k)=TI(k-1)+KI(0-n)
TPI(k)=TP(k)+TI(k)
Tcmd(k)=Tini+TPI(k)
Wherein, TP(k) it is current time proportional component output valve；TI(k) it is current time integral element output valve；TI(k-
1) it is last moment integral element output valve；TPI(k) it is the output valve of pi controller described in current time；Tcmd(k) it is
Current time is sent to the torque command value of the electric machine controller；KPFor proportional component coefficient；KIFor integral element coefficient；Tini
For the initial output torque.
According to one embodiment of present invention, first predetermined threshold value is 20r/min.
According to one embodiment of present invention, second predetermined threshold value is 200r/min.
According to one embodiment of present invention, the pi controller is according to the rotating speed and acceleration of the motor
Direction determines the K respectivelyP、KIValue.
For the above-mentioned purpose, third aspect present invention embodiment proposes a kind of electric automobile, including second party of the present invention
The ramp parking control system of the electric automobile of face embodiment.
Electric automobile according to embodiments of the present invention, during electric automobile is stopped or started to walk on ramp,
Required output torque when electric machine controller is by estimating vehicle parking, and using this output torque as entering zero-turn fast mode
When motor required for initial output torque, and motor is adjusted out according to initial output torque passing ratio integral controller and existed
The motor current desired output torque wanted during parking on ramp, and turned round according to the current desired output torque controlled motor wanted
Square exports, and by the rotational speed regulation of motor to zero velocity, not only reduces electric automobile slipping when stopping or starting to walk on ramp
Car distance, the security of electric automobile ramp driving is improved, the time that motor is adjusted to 0r/min is also reduced, makes electric automobile
It can be got off with fast and stable, improve the comfortableness of driving.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein,
Fig. 1 is the flow chart of the ramp parking control method of electric automobile according to an embodiment of the invention；
Fig. 2 is the structural representation of the ramp parking control system of electric automobile according to an embodiment of the invention；
Fig. 3 is the course of work flow according to the ramp parking control system of the electric automobile of another embodiment of the invention
Figure.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings describe the control method of the ramp parking of the electric automobile of the embodiment of the present invention, control system and
Electric automobile with the control system.
Fig. 1 is the flow chart of the ramp parking control method of electric automobile according to an embodiment of the invention.
As shown in figure 1, the ramp parking control method of the electric automobile may comprise steps of：
S101, during electric automobile is stopped or started to walk on ramp, entire car controller gathers electronic in real time
Accelerator pedal signal, shift signal and the GES of automobile, and believed according to accelerator pedal signal, shift signal and speed
Torque instruction, speed information, acceleration information and the fault message of motor are generated number respectively, and are sent to electric machine controller.
S102, actual speed information, actual steering information and the reality output of electric machine controller motor in real time turn
Square information.
S103, electric machine controller state the actual speed information and reality of motor according to speed information, acceleration information in real time
Output torque of the border output torque data-evaluation electric automobile in parking on ramp required for motor.
It should be noted that in embodiments of the present invention, in order to reduce amount of calculation, it is necessary to when meeting following condition, electricity
Machine controller can be with real-time estimation electric automobile in parking on ramp required for motor output torque：The current rotating speed of motor
Less than the second predetermined threshold value；And motor is currently at torque mode.
Wherein, in embodiments of the present invention, the second predetermined threshold value can be 200r/min.
It is understood that torque mode is exactly to allow motor to be rotated by given torque, motor current ring is kept
Export constant.If external loading torque is more than or equal to the output torque of motor setting, the output torque of motor can be kept
Constant in setting torque, motor can follow load to move.If external loading torque is less than the output torque of motor setting,
Motor can accelerate to alarm after the maximum permissible speed beyond motor or driving to stop always.
Specifically, in embodiments of the present invention, after above-mentioned condition is met, electric machine controller estimates electricity by below equation
Output torque of the electrical automobile in parking on ramp required for motor：
Wherein, TiniFor output torque of the electric automobile in parking on the ramp required for motor；TfeedbackFor motor
The reality output torque of current feedback；M is electric automobile empty mass；A is current acceleration；R is the wheel half of electric automobile
Footpath；igFor the decelerator speed reducing ratio of electric automobile；N is the current rotating speed of motor；V is speed；V1For current vehicle speed；V0It is default
Speed before time Δ t, wherein, Δ t takes 10ms.
S104, electric machine controller instructs according to gear, the actual speed of the torque instruction of motor, fault message, motor letter
Breath and actual steering information judge whether motor meets the condition into zero rotating speed control mode.
In embodiments of the present invention, electric machine controller instructed according to gear, the torque instruction of motor, fault message, motor
Actual speed information and actual steering information judge motor whether meet into zero rotating speed control mode condition it is specific
Implementation process may include：Whether electric machine controller failure judgement information is catastrophe failure；If fault message is not catastrophe failure,
Electric machine controller then instructs according to gear, the actual steering information of the torque instruction of motor and motor judges the reality of motor
Whether different from the motor steering instruction that entire car controller is sent turn to；If the actual steering of motor is sent with entire car controller
Motor steering instruction it is different, electric machine controller then judges whether the actual speed information of motor is more than the first predetermined threshold value；Such as
The actual speed information of fruit motor is more than the first predetermined threshold value, and electric machine controller then judges that motor meets to enter zero-turn speed control mould
The condition of formula.
Wherein, in embodiments of the present invention, the first predetermined threshold value can be 20r/min.
It should be noted that in embodiments of the present invention, if electric machine controller judges that motor is unsatisfactory for entering zero-turn speed
The condition of control model weighs failure, then motor enters the torque instruction of torque mode, i.e. motor response entire car controller.
S105, if motor meets the condition into zero rotating speed control mode, the electricity that electric machine controller then will be estimated currently
Initial output torque when output torque required for machine enters zero rotating speed control mode as motor required for motor.
S106, motor electricity in parking on the ramp is adjusted out according to initial output torque passing ratio integral controller
The current desired output torque wanted of machine, and torque output is carried out according to the current desired output torque controlled motor wanted, and will
The rotational speed regulation of motor is to zero velocity.
In embodiments of the present invention, pi controller is configured as follows：
TP(k)=KP(0-n)
TI(k)=TI(k-1)+KI(0-n)
TPI(k)=TP(k)+TI(k)
Tcmd(k)=Tini+TPI(k)
Wherein, TP(k) it is current time proportional component output valve；TI(k) it is current time integral element output valve；TI(k-
1) it is last moment integral element output valve；TPI(k) it is the output valve of current time pi controller；Tcmd(k) it is current
Moment is sent to the torque command value of electric machine controller；KPFor proportional component coefficient；KIFor integral element coefficient；TiniTo be initial defeated
Go out torque.
In order that electric automobile under fast and stable, improves the comfortableness of driving on ramp, in embodiments of the present invention,
K can be determined respectively according to the rotating speed and acceleration direction of motorP、KIValue.Specifically, KP、KICan be according to as follows
Form value.
Method in summary, during electric automobile is stopped or started to walk on ramp, electric machine controller leads to
Output torque required during estimation vehicle parking is crossed, and using this output torque as needed for motor when entering zero-turn fast mode
The initial output torque wanted, and motor is adjusted out in parking on ramp according to initial output torque passing ratio integral controller
The current desired output torque wanted of motor, and torque output is carried out according to the current desired output torque controlled motor wanted, and
By the rotational speed regulation of motor to zero velocity, car slipping distance of the electric automobile when stopping or starting to walk on ramp is not only reduced, is carried
The security of high electric automobile ramp driving, also reduces the time that motor is adjusted to 0r/min, allows electric automobile quick
Settle out, improve the comfortableness of driving.
Corresponding with the ramp parking control method for the electric automobile that above-mentioned several embodiments provide, one kind of the invention is real
The ramp parking control system that example also provides a kind of electric automobile is applied, due to the ramp of electric automobile provided in an embodiment of the present invention
Parking control system is corresponding with the ramp parking control method for the electric automobile that above-mentioned several embodiments provide, therefore foregoing
The embodiment of the ramp parking control method of electric automobile is also applied for the ramp parking of the electric automobile of the present embodiment offer
Control system, it is not described in detail in the present embodiment.Fig. 2 is that the ramp of electric automobile according to an embodiment of the invention is stayed
The structural representation of vehicle control, as shown in Fig. 2 the ramp parking control system of the electric automobile can include：Vehicle control
Device 10 and electric machine controller 20 processed.
Specifically, entire car controller 10 can be used for during electric automobile is stopped or started to walk on ramp, real
When gather accelerator pedal signal, shift signal and the GES of electric automobile, and according to accelerator pedal signal, shift signal
And GES generates torque instruction, speed information, acceleration information and the fault message of motor respectively.
The electric machine controller 20 being connected with entire car controller 10, refer to available for the gear for receiving the transmission of entire car controller 10
Make, the torque instruction of motor, speed information, acceleration information and fault message, and the actual speed letter of motor in real time
Breath, actual steering information and reality output moment information, meanwhile, in real time according to speed information, acceleration information, motor reality
The output torque of border rotary speed information and reality output moment information estimation electric automobile in parking on ramp required for motor,
And instructed according to gear, the actual speed information of the torque instruction of motor, fault message, motor and actual steering information are sentenced
When power machine is met into the condition of zero rotating speed control mode, using the output torque required for the motor currently estimated as motor
Into the initial output torque required for motor during zero rotating speed control mode, and integrated and controlled according to initial output torque passing ratio
Device processed adjusts out the current desired output torque wanted of motor motor in parking on ramp, and is turned according to the current desired output wanted
Square controlled motor carries out torque output, and by the rotational speed regulation of motor to zero velocity.
In embodiments of the present invention, electric machine controller 20 is specifically used for：Whether failure judgement information is catastrophe failure；In event
Hinder information when not being catastrophe failure, instructed according to gear, the actual steering information of the torque instruction of motor and motor judges electricity
Whether the actual steering of machine is different from the motor steering instruction that entire car controller 10 is sent；Actual steering and vehicle control in motor
When the motor steering instruction that device 10 processed is sent is different, judge whether the actual speed information of motor is more than the first predetermined threshold value；
When the actual speed information of motor is more than the first predetermined threshold value, judge that motor meets the condition into zero rotating speed control mode.
Wherein, in embodiments of the present invention, the first predetermined threshold value can be 20r/min.
In embodiments of the present invention, in order to reduce amount of calculation, electric machine controller 20 is needed when meeting following condition, just can
With output torque of the real-time estimation electric automobile in parking on ramp required for motor：It is pre- that the current rotating speed of motor is less than second
If threshold value；And motor is currently at torque control model.
Wherein, in embodiments of the present invention, the second predetermined threshold value can be 200r/min.
It is understood that torque mode is exactly to allow motor to be rotated by given torque, motor current ring is kept
Export constant.If external loading torque is more than or equal to the output torque of motor setting, the output torque of motor can be kept
Constant in setting torque, motor can follow load to move.If external loading torque is less than the output torque of motor setting,
Motor can accelerate to alarm after the maximum permissible speed beyond motor or driving to be parked in always.
Further, in embodiments of the present invention, electric machine controller 20 estimates electric automobile in ramp by below equation
Output torque during upper parking required for motor：
Wherein, TiniFor output torque of the electric automobile in parking on ramp required for motor；TfeedbackIt is current for motor
The reality output torque of feedback；M is electric automobile empty mass；A is current acceleration；R is the radius of wheel of electric automobile；ig
For the decelerator speed reducing ratio of electric automobile；N is the current rotating speed of motor；V is speed；V1For current vehicle speed；V0For preset time Δ
Speed before t, wherein, Δ t takes 10ms.
It should be noted that in embodiments of the present invention, pi controller is configured as follows：
TP(k)=KP(0-n)
TI(k)=TI(k-1)+KI(0-n)
TPI(k)=TP(k)+TI(k)
Tcmd(k)=Tini+TPI(k)
Wherein, TP(k) it is current time proportional component output valve；TI(k) it is current time integral element output valve；TI(k-
1) it is last moment integral element output valve；TPI(k) it is the output valve of current time pi controller；Tcmd(k) it is current
Moment is sent to the torque command value of electric machine controller 20；KPFor proportional component coefficient；KIFor integral element coefficient；TiniTo be described
Initial output torque.
In order that electric automobile under fast and stable, improves the comfortableness of driving on ramp, in embodiments of the present invention,
K can be determined respectively according to the rotating speed and acceleration direction of motorP、KIValue.Specifically, KP、KICan be according to as follows
Form value.
In summary, the ramp parking control system of electric automobile according to embodiments of the present invention, when electric automobile is on slope
During being stopped or started to walk on road, required output torque when electric machine controller 20 is by estimating vehicle parking, and
Using this output torque as the initial output torque required for motor when entering zero-turn fast mode, and according to initial output torque
Passing ratio integral controller adjusts out the current desired output torque wanted of motor motor in parking on ramp, and according to current
Required output torque controlled motor carries out torque output, and by the rotational speed regulation of motor to zero velocity, not only reduces
Car slipping distance of the electric automobile when stopping or starting to walk on ramp, improves the security of electric automobile ramp driving, also reduces
Motor is adjusted to 0r/min time, electric automobile is got off with fast and stable, improves the comfortableness of driving.
In order that the present embodiment can clearly be understood by obtaining those skilled in the art, it is situated between below in conjunction with Fig. 3
Continue electric automobile ramp parking control system the course of work.
For example, Fig. 3 is the course of work flow chart of the ramp parking control system of electric automobile.It is as shown in figure 3, electric
The course of work of the ramp parking control system of electrical automobile may comprise steps of：
S301, during electric automobile is stopped or started to walk on ramp, entire car controller gathers electronic vapour in real time
Accelerator pedal signal, shift signal and the GES of car, and according to accelerator pedal signal, shift signal and GES
Torque instruction, speed information, acceleration information and the fault message of motor are generated respectively, and are sent to electric machine controller.
S302, actual speed information, actual steering information and the reality output of electric machine controller motor in real time turn
Square information.
S303, electric machine controller judge the current rotating speed of motor whether be less than the second predetermined threshold value and motor it is current whether
In torque mode.
Specifically, actual speed information, the reality output moment information that electric machine controller can be according to the motor gathered in real time
Judge whether the current rotating speed of motor is less than whether the second predetermined threshold value and motor are currently in torque mode.
In embodiments of the present invention, the second predetermined threshold value can be 200r/min.
If meeting above-mentioned condition, i.e., the current rotating speed of motor is less than the second predetermined threshold value and motor is currently at torque
Pattern, then go to S304；If being unsatisfactory for above-mentioned condition, S301 is returned.
S304, electric machine controller in real time according to speed information, acceleration information, motor actual speed information and reality
Output torque of the output torque data-evaluation electric automobile in parking on ramp required for motor.
Specifically, in embodiments of the present invention, electric machine controller estimates that electric automobile is stayed on ramp by below equation
Output torque during car required for motor：
Wherein, TiniFor output torque of the electric automobile in parking on the ramp required for motor；TfeedbackFor motor
The reality output torque of current feedback；M is electric automobile empty mass；A is current acceleration；R is the wheel half of electric automobile
Footpath；igFor the decelerator speed reducing ratio of electric automobile；N is the current rotating speed of motor；V is speed；V1For current vehicle speed；V0It is default
Speed before time Δ t, wherein, Δ t takes 10ms.
S305, electric machine controller instructs according to gear, the actual speed of the torque instruction of motor, fault message, motor letter
Breath and actual steering information judge whether motor meets the condition into zero rotating speed control mode.If motor meets to enter zero
The condition of rotating speed control mode, then go to S307, and S306 is gone to if being unsatisfactory for.
In embodiments of the present invention, electric machine controller instructed according to gear, the torque instruction of motor, fault message, motor
Actual speed information and actual steering information judge motor whether meet into zero rotating speed control mode condition it is specific
Implementation process may include：Whether electric machine controller failure judgement information is catastrophe failure；If fault message is not catastrophe failure,
Electric machine controller then instructs according to gear, the actual steering information of the torque instruction of motor and motor judges the reality of motor
Whether different from the motor steering instruction that entire car controller is sent turn to；If the actual steering of motor is sent with entire car controller
Motor steering instruction it is different, electric machine controller then judges whether the actual speed information of motor is more than the first predetermined threshold value；Such as
The actual speed information of fruit motor is more than the first predetermined threshold value, and electric machine controller then judges that motor meets to enter zero-turn speed control mould
The condition of formula.
Wherein, in embodiments of the present invention, the first predetermined threshold value can be 20r/min.
S306, motor enter the torque instruction of torque mode, i.e. motor response entire car controller, are then back to S301.
The output torque required for the motor currently estimated is entered zero-turn speed control by S307, electric machine controller
Initial output torque during pattern required for motor.
S308, motor electricity in parking on the ramp is adjusted out according to initial output torque passing ratio integral controller
The current desired output torque wanted of machine, and torque output is carried out according to the current desired output torque controlled motor wanted, and will
The rotational speed regulation of motor is to zero velocity.
In embodiments of the present invention, pi controller is configured as follows：
TP(k)=KP(0-n)
TI(k)=TI(k-1)+KI(0-n)
TPI(k)=TP(k)+TI(k)
Tcmd(k)=Tini+TPI(k)
Wherein, TP(k) it is current time proportional component output valve；TI(k) it is current time integral element output valve；TI(k-
1) it is last moment integral element output valve；TPI(k) it is the output valve of current time pi controller；Tcmd(k) it is current
Moment is sent to the torque command value of electric machine controller；KPFor proportional component coefficient；KIFor integral element coefficient；TiniTo be initial defeated
Go out torque.
In order that electric automobile under fast and stable, improves the comfortableness of driving on ramp, in embodiments of the present invention,
K can be determined respectively according to the rotating speed and acceleration direction of motorP、KIValue.Specifically, KP、KICan be according to as follows
Form value.
In summary, the ramp parking control system of electric automobile according to embodiments of the present invention, when electric automobile is on slope
During being stopped or started to walk on road, required output torque when electric machine controller is by estimating vehicle parking, and will
This output torque is led to as the initial output torque required for motor when entering zero-turn fast mode according to initial output torque
Cross pi controller and adjust out the current desired output torque wanted of motor motor in parking on ramp, and according to current institute
The output torque controlled motor that needs carries out torque output, and by the rotational speed regulation of motor to zero velocity, not only reduces electricity
Electrical automobile on ramp stop or start to walk when car slipping distance, improve electric automobile ramp driving security, also reduce by
Motor is adjusted to 0r/min time, electric automobile is got off with fast and stable, improves the comfortableness of driving.
In order to realize above-described embodiment, the present invention also proposes a kind of electric automobile, and it includes the ramp of above-mentioned electric automobile
Parking control system.
Electric automobile according to embodiments of the present invention, by the ramp parking control system in the electric automobile, not only subtract
Car slipping distance of the electric automobile when stopping or starting to walk on ramp is lacked, has improved the security of electric automobile ramp driving, also subtract
Lack the time that motor is adjusted to 0r/min, electric automobile is got off with fast and stable, improve the comfortableness of driving.
In the description of the invention, it is to be understood that term " first ", " second " are only used for describing purpose, and can not
It is interpreted as indicating or implies relative importance or imply the quantity of the technical characteristic indicated by indicating.Thus, define " the
One ", at least one this feature can be expressed or be implicitly included to the feature of " second ".In the description of the invention, " multiple "
It is meant that at least two, such as two, three etc., unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Any process or method described otherwise above description in flow chart or herein is construed as, and represents to include
Module, fragment or the portion of the code of the executable instruction of one or more the step of being used to realize specific logical function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium, which can even is that, to print the paper of described program thereon or other are suitable
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method carries
Suddenly it is that by program the hardware of correlation can be instructed to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..Although have been shown and retouch above
Embodiments of the invention are stated, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as the limit to the present invention
System, one of ordinary skill in the art can be changed to above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (17)
1. the ramp parking control method of a kind of electric automobile, it is characterised in that comprise the following steps：
During the electric automobile is stopped or started to walk on ramp, entire car controller gathers the electronic vapour in real time
Accelerator pedal signal, shift signal and the GES of car, and according to the accelerator pedal signal, shift signal and speed
Signal generates torque instruction, speed information, acceleration information and the fault message of motor respectively, and sends to motor control
Device；
The electric machine controller gathers the actual speed information, actual steering information and reality output torque of the motor in real time
Information；
The electric machine controller in real time according to the speed information, the acceleration information, the motor actual speed information
And reality output moment information estimates that output of the electric automobile in parking on the ramp required for the motor turns
Square；
The electric machine controller instructs according to the gear, the torque instruction of motor, fault message, the actual speed of the motor
Information and actual steering information judge whether the motor meets the condition into zero rotating speed control mode；
If the motor meets the condition for entering zero rotating speed control mode, the electric machine controller then will be estimated currently
When output torque required for the motor enters zero rotating speed control mode as the motor required for the motor
Initial output torque；And
Motor parking when institute on the ramp is adjusted out according to the initial output torque passing ratio integral controller
The current desired output torque wanted of motor is stated, and controls the motor to carry out moment of torsion according to the current desired output torque wanted
Output, and by the rotational speed regulation of the motor to zero velocity.
2. the ramp parking control method of electric automobile as claimed in claim 1, it is characterised in that the electric machine controller root
According to gear instruction, the actual speed information and actual steering information of the torque instruction of motor, fault message, the motor
Judge whether the motor meets the condition into zero rotating speed control mode, including：
The electric machine controller judges whether the fault message is catastrophe failure；
If the fault message is not catastrophe failure, the electric machine controller is then according to gear instruction, the torque of motor
The actual steering information of instruction and the motor judges whether the actual steering of the motor sends with the entire car controller
Motor steering instruction it is different；
If the actual steering of the motor is different from the motor steering instruction that the entire car controller is sent, the motor control
Device then judges whether the actual speed information of the motor is more than the first predetermined threshold value；And
If the actual speed information of the motor is more than first predetermined threshold value, the electric machine controller then judges the electricity
Machine meets the condition for entering zero rotating speed control mode.
3. the ramp parking control method of electric automobile as claimed in claim 1, it is characterised in that meeting following condition
When, output torque of the electric automobile described in real-time estimation in parking on the ramp required for the motor：
The current rotating speed of the motor is less than the second predetermined threshold value；And
The motor is currently at torque mode.
4. the ramp parking control method of electric automobile as claimed in claim 1, it is characterised in that the electric machine controller leads to
Cross below equation and estimate output torque of the electric automobile in parking on the ramp required for the motor：
Wherein, TiniFor output torque of the electric automobile in parking on the ramp required for the motor；TfeedbackFor
The reality output torque of the motor current feedback；M is the electric automobile empty mass；A is current acceleration；R is described
The radius of wheel of electric automobile；igFor the decelerator speed reducing ratio of the electric automobile；N is the current rotating speed of the motor；V is car
Speed；V1For current vehicle speed；V0For the speed before preset time Δ t, wherein, Δ t takes 10ms.
5. the ramp parking control method of electric automobile as claimed in claim 1, it is characterised in that wherein, the ratio product
Sub-controller is configured as follows：
TP(k)=KP(0-n)
TI(k)=TI(k-1)+KI(0-n)
TPI(k)=TP(k)+TI(k)
Tcmd(k)=Tini+TPI(k)
Wherein, TP(k) it is current time proportional component output valve；TI(k) it is current time integral element output valve；TI(k-1) it is
Last moment integral element output valve；TPI(k) it is the output valve of pi controller described in current time；Tcmd(k) it is current
Moment is sent to the torque command value of the electric machine controller；KPFor proportional component coefficient；KIFor integral element coefficient；TiniFor institute
State initial output torque.
6. the ramp parking control method of electric automobile as claimed in claim 2, it is characterised in that wherein, described first is pre-
If threshold value is 20r/min.
7. the ramp parking control method of electric automobile as claimed in claim 3, it is characterised in that wherein, described second is pre-
If threshold value is 200r/min.
8. the ramp parking control method of electric automobile as claimed in claim 5, it is characterised in that wherein, according to the electricity
The rotating speed of machine and acceleration direction determine the K respectivelyP、KIValue.
A kind of 9. ramp parking control system of electric automobile, it is characterised in that including：
Entire car controller, during being stopped or being started to walk on ramp in the electric automobile, in real time described in collection
Accelerator pedal signal, shift signal and the GES of electric automobile, and according to the accelerator pedal signal, shift signal with
And GES generates torque instruction, speed information, acceleration information and the fault message of motor respectively；
The electric machine controller being connected with the entire car controller, refer to for receiving the gear that the entire car controller is sent
Make, the torque instruction of motor, speed information, acceleration information and fault message, and the reality for gathering the motor in real time turns
Fast information, actual steering information and reality output moment information, meanwhile, in real time according to the speed information, the acceleration
Information, the actual speed information of the motor and reality output moment information estimate that the electric automobile is stayed on the ramp
Output torque during car required for the motor, and according to gear instruction, the torque instruction of motor, fault message, institute
State the actual speed information of motor and actual steering information judges that the motor meets the condition into zero rotating speed control mode
When, enter zero rotating speed control mode when institute using the output torque required for the motor currently estimated as the motor
The initial output torque required for motor is stated, and according to being adjusted out the initial output torque passing ratio integral controller
Motor current desired output torque wanted of the motor in parking on the ramp, and according to the current desired output wanted
Motor described in direct torque carries out torque output, and by the rotational speed regulation of the motor to zero velocity.
10. the ramp parking control system of electric automobile as claimed in claim 9, it is characterised in that the electric machine controller
It is specifically used for：
Judge whether the fault message is catastrophe failure；
When the fault message is not catastrophe failure, according to gear instruction, the torque instruction of motor and the motor
Actual steering information judge the motor actual steering whether with the entire car controller send motor steering instruction not
Together；
When the actual steering of the motor is different from the motor steering instruction that the entire car controller is sent, the motor is judged
Actual speed information whether be more than the first predetermined threshold value；
When the actual speed information of the motor is more than first predetermined threshold value, judge that the motor meets described to enter zero
The condition of rotating speed control mode.
11. the ramp parking control system of electric automobile as claimed in claim 9, it is characterised in that the electric machine controller
When meeting following condition, output of the electric automobile described in real-time estimation in parking on the ramp required for the motor turns
Square：
The current rotating speed of the motor is less than the second predetermined threshold value；And
The motor is currently at torque control model.
12. the ramp parking control system of electric automobile as claimed in claim 9, it is characterised in that the electric machine controller
Output torque of the electric automobile in parking on the ramp required for the motor is estimated by below equation：
Wherein, TiniFor output torque of the electric automobile in parking on the ramp required for the motor；TfeedbackFor
The reality output torque of the motor current feedback；M is the electric automobile empty mass；A is current acceleration；R is described
The radius of wheel of electric automobile；igFor the decelerator speed reducing ratio of the electric automobile；N is the current rotating speed of the motor；V is car
Speed；V1For current vehicle speed；V0For the speed before preset time Δ t, wherein, Δ t takes 10ms.
13. the ramp parking control system of electric automobile as claimed in claim 9, it is characterised in that wherein, the ratio product
Sub-controller is configured as follows：
TP(k)=KP(0-n)
TI(k)=TI(k-1)+KI(0-n)
TPI(k)=TP(k)+TI(k)
Tcmd(k)=Tini+TPI(k)
Wherein, TP(k) it is current time proportional component output valve；TI(k) it is current time integral element output valve；TI(k-1) it is
Last moment integral element output valve；TPI(k) it is the output valve of pi controller described in current time；Tcmd(k) it is current
Moment is sent to the torque command value of the electric machine controller；KPFor proportional component coefficient；KIFor integral element coefficient；TiniFor institute
State initial output torque.
14. the ramp parking control system of electric automobile as claimed in claim 10, it is characterised in that wherein, described first
Predetermined threshold value is 20r/min.
15. the ramp parking control system of electric automobile as claimed in claim 11, it is characterised in that wherein, described second
Predetermined threshold value is 200r/min.
16. the ramp parking control system of electric automobile as claimed in claim 13, it is characterised in that wherein, the ratio
Integral controller determines the K respectively according to the rotating speed and acceleration direction of the motorP、KIValue.
A kind of 17. electric automobile, it is characterised in that including：Ramp parking control as any one of claim 9 to 16
System.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511017557.7A CN105438006B (en) | 2015-12-29 | 2015-12-29 | Electric automobile and ramp parking control method and system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511017557.7A CN105438006B (en) | 2015-12-29 | 2015-12-29 | Electric automobile and ramp parking control method and system thereof |
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