CN112265601B - Auxiliary climbing control method and auxiliary climbing system for two-wheeled electric vehicle - Google Patents
Auxiliary climbing control method and auxiliary climbing system for two-wheeled electric vehicle Download PDFInfo
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- CN112265601B CN112265601B CN202011377767.8A CN202011377767A CN112265601B CN 112265601 B CN112265601 B CN 112265601B CN 202011377767 A CN202011377767 A CN 202011377767A CN 112265601 B CN112265601 B CN 112265601B
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- 239000000725 suspension Substances 0.000 claims description 21
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- 238000004891 communication Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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Abstract
The invention discloses an auxiliary climbing control method and an auxiliary climbing system for a two-wheeled electric vehicle, wherein the method comprises the steps of detecting inclination by two inclination angle sensors, calculating theoretical torque according to the opening degree of a turning handle, and detecting the bearing pressure of a rear wheel by a pressure sensor; then calculating the rear wheel load and the theoretical rotating speed; detecting the actual rotation speed of the rear wheel through a rotation speed sensor, judging whether to start a climbing auxiliary function by comparing the actual rotation speed with a theoretical rotation speed, and finally calculating auxiliary torque through an ECU controller and controlling an auxiliary motor to provide auxiliary torque; the climbing assistance system comprises an ECU controller and a display instrument panel, wherein the ECU controller is connected with a first inclination angle sensor, a second inclination angle sensor, a pressure sensor and a rotating speed sensor; the rear wheel of the electric vehicle is connected with a hub motor, and the hub motor is connected with an auxiliary motor through a belt wheel and a synchronous belt. The invention is used in the two-wheeled electric vehicle, not only can improve the driving feeling during climbing, but also has the advantages of good driving safety and convenient use.
Description
Technical Field
The invention relates to an auxiliary climbing control method and an auxiliary climbing system, in particular to an auxiliary climbing control method and an auxiliary climbing system for a two-wheeled electric vehicle.
Background
Two-wheeled electric vehicles are very popular in life as short-distance vehicles, and generally drive rear wheels to rotate through an in-wheel motor so as to push the whole to advance; the general two-wheeled electric vehicle comprises a front wheel, a front wheel suspension (front fork), a rear wheel suspension, a handlebar, a rotating handle, a hub motor, a storage battery (power supply), a vehicle body, a display, an ECU controller and other structures; when driving, the rotating handle is rotated, and the output torque of the hub motor is controlled according to the opening degree of the rotating handle and by utilizing the Hall principle, so that the running speed and the running acceleration of the two-way electric vehicle are controlled. However, when the two-wheeled electric vehicle runs to an uphill, the response of the speed and the acceleration brought by the rotation of the rotating handle is not enough in time, so that the uphill driving feel is not ideal; even when the two-wheeled electric vehicle is too heavy in load or the gradient of an ascending slope is large, the problems of insufficient power and the like are easy to occur, so that the driving safety is not ideal. Therefore, the conventional two-wheeled electric vehicle has the problems of unsatisfactory driving feeling and unsatisfactory driving safety when climbing a slope.
Disclosure of Invention
The invention aims to provide an auxiliary climbing control method and an auxiliary climbing system for a two-wheeled electric vehicle. The invention is used in the two-wheeled electric vehicle, not only can improve the driving feeling during climbing, but also has the advantage of good driving safety.
The technical scheme of the invention is as follows: the auxiliary climbing control method of the two-wheeled electric vehicle comprises the following steps of;
S1, respectively detecting the inclination of the front and rear parts of a two-wheel electric vehicle by installing a first inclination angle sensor on a front fork of the two-wheel electric vehicle and installing a second inclination angle sensor on a rear wheel suspension of the electric vehicle; the first tilt sensor measures the tilt θ 1 and the second tilt sensor measures the tilt θ 2;
s2, calculating according to the opening degree of a turning handle of the two-wheeled electric vehicle to obtain theoretical torque T 1;
S3, detecting the bearing pressure F of the rear wheel by installing a pressure sensor on a rear wheel suspension, and then calculating the rear wheel load M Load carrier ,M Load carrier =F/（g×cosθ2); wherein F is a pressure value detected by a pressure sensor, g is standard gravity acceleration, and theta 2 is the inclination measured by a second inclination angle sensor;
S4, calculating a theoretical rotating speed n 1 corresponding to the theoretical torque T 1 according to a torque and rotating speed calculation formula, wherein the calculating formula is T 1=J Total (S) Δω/Δt=（M Load carrier R2+M Wheel R2/2）×2πΔn1/deltat; wherein J Total (S) is the total rotational inertia of the rear wheel under the condition of load, M Load carrier is the load of the rear wheel, M Wheel is the dead weight of the rear wheel, R is the radius of the rear wheel, ω is the rotational angular velocity of the rear wheel, t is the time, and Δω/Δt is the rotational angular acceleration of the rear wheel;
S5, detecting the actual rotation speed n 2 of the rear wheel by installing a rotation speed sensor at the rear wheel;
S6, judging whether to start the climbing auxiliary function by comparing the actual rotation speed with the theoretical rotation speed through the ECU controller, setting a rotation speed difference threshold value a, starting the climbing auxiliary function when n 1-n2 is more than or equal to a, and closing the climbing auxiliary function when n 1-n2 is less than a;
S7, after starting a climbing auxiliary function, the ECU controller calculates auxiliary torque T 2 required to be provided, and calculates auxiliary torque T 2 according to a formula T 2=T1n1/n2-T1, wherein T 1 is theoretical torque, n 1 is theoretical rotating speed, and n 2 is actual rotating speed;
S8, an auxiliary motor is arranged on the two-wheeled electric vehicle in a middle mode, the auxiliary motor is started, the auxiliary motor drives the rear wheels through a synchronous belt, auxiliary torque T 2 is provided for the rear wheels, and therefore accurate climbing assistance is achieved.
In the above-mentioned two-wheeled electric vehicle auxiliary climbing control method, in step S6, the ECU controller compares the actual rotation speed with the theoretical rotation speed, and then combines the values of the inclination angle θ 1 and the inclination angle θ 2 to determine whether to start the climbing auxiliary function, a rotation speed difference threshold value a is set, when n 1-n2 is greater than or equal to a and both θ 1 and θ 2 are greater than zero, the climbing auxiliary function is started, and when n 1-n2 < a or θ 1 is equal to zero or θ 2 is equal to zero, the climbing auxiliary function is closed.
In the above-mentioned two-wheeled electric vehicle auxiliary climbing control method, step S7 is that, after starting the climbing auxiliary function, the ECU controller calculates an auxiliary torque T 2 to be provided, and calculates an auxiliary torque T 2 according to a formula T 2=T1n1/n2+T3-T1, where T 1 is a theoretical torque, n 1 is a theoretical rotational speed, n 2 is an actual rotational speed, and T 3 is an electric vehicle handlebar steering additional resistance torque; the rotation angle sensor is arranged on the handle of the electric vehicle to detect the rotation angle theta 3 of the corresponding vehicle body of the handle, when theta 3 is smaller than or equal to 30 degrees, the additional resistance torque for steering is calculated through T 3=f（θ3, f (theta 3) is a monotonically increasing function of theta 3, and when theta 3 is larger than 30 degrees, the formula model of T 3=0;f（θ3) is obtained through multiple tests.
The climbing auxiliary system constructed according to the two-wheeled electric vehicle auxiliary climbing control method comprises an ECU controller and a display instrument panel, wherein the ECU controller is connected with a first inclination angle sensor positioned on a front fork of the electric vehicle and a second inclination angle sensor positioned on a rear wheel suspension of the electric vehicle through wireless communication; the ECU controller is also connected with a pressure sensor positioned on the rear wheel suspension of the electric vehicle and a rotation speed sensor arranged at the rear wheel through wireless communication; the ECU controller is connected with the display instrument panel, a hub motor is connected in the rear wheel of the electric vehicle, and one side of the hub motor is connected with a belt wheel; the belt wheel is connected with an auxiliary motor through a synchronous belt, and the auxiliary motor is arranged on the electric vehicle; the auxiliary motor is connected with an auxiliary power supply, and the auxiliary motor and the auxiliary power supply are connected with an ECU controller.
In the climbing auxiliary system, the ECU controller is connected with a rotation angle sensor in a wireless mode, and the rotation angle sensor is located on the handle of the electric vehicle.
In the above climbing assistance system, the first inclination angle sensor is used for detecting an inclination angle of an operation gesture at a front wheel position of the electric vehicle, and the second inclination angle sensor is used for detecting an inclination angle of an operation gesture at a rear wheel position of the electric vehicle.
In the climbing auxiliary system, the pressure sensor is an annular pressure sensor, and the annular pressure sensor is sleeved between the rear wheel suspension and the bearing.
In the climbing auxiliary system, the hub motor is connected with the belt wheel through an electronic clutch.
Compared with the prior art, the invention designs an auxiliary climbing control method and an auxiliary climbing system for a two-wheeled electric vehicle, wherein the inclination of the front and rear parts of the two-wheeled electric vehicle is detected by installing a first inclination angle sensor and a second inclination angle sensor, and the two-wheeled electric vehicle can be generally installed on a front wheel suspension and a rear wheel suspension for detection, and whether the electric vehicle is in an inclined state is judged according to the two inclination angle data; the method comprises the steps of combining a pressure sensor to detect the pressure of a rear wheel to calculate the load of the rear wheel, further calculating the theoretical rotating speed according to the theoretical torque, introducing gradient and load parameters when calculating the theoretical rotating speed, enabling a calculation result to be adaptive to the gradient and the load, detecting the actual rotating speed of the rear wheel through a rotating speed sensor, judging whether the two-wheel electric vehicle is in a climbing state or not and starting climbing assistance according to comparison of the theoretical rotating speed and the actual rotating speed, realizing the allowable error of the theoretical rotating speed and the actual rotating speed through setting a rotating speed difference threshold value a, avoiding climbing assistance false start, enabling an auxiliary motor to accurately provide auxiliary torque through calculation of auxiliary torque, accordingly realizing self-adaptive load and gradient auxiliary torque output, improving speed and acceleration adjustment response under the conditions of different loads and different climbing gradients, and improving driving feeling and driving safety during climbing. In addition, the invention also provides a rotation angle sensor for detecting the rotation angle of the handle bars of the two-wheeled electric vehicle, and the front wheel resistance caused by turning or rotation of the vehicle head can be counteracted by additionally providing auxiliary torque by the auxiliary motor, so that the driving feel and the driving safety during climbing are further improved; the annular pressure sensor is arranged, so that the pressure applied to the rear wheel by the rear wheel suspension can be accurately and conveniently detected, and the load and the auxiliary torque of the rear wheel can be conveniently and accurately calculated; through setting up the electronic clutch and can break off the connection between band pulley and the wheel hub motor when not needing climbing assistance, can avoid the band pulley to rotate and increase the energy consumption when normally going (not climbing), facilitate the use. Therefore, the invention is used in the two-wheeled electric vehicle, not only can improve the driving feeling during climbing, but also has the advantages of good driving safety and convenient use.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the connection structure of the auxiliary motor;
Fig. 3 is a schematic view of the connection structure at the pressure sensor.
The marks in the drawings are: 1-ECU controller, 2-display instrument panel, 3-first tilt angle sensor, 4-second tilt angle sensor, 5-pressure sensor, 6-rotational speed sensor, 7-wheel hub motor, 8-band pulley, 9-hold-in range, 10-auxiliary motor, 11-auxiliary power supply, 12-rotation angle sensor, 13-electronic clutch, 14-rear wheel, 15-rear wheel suspension, 16-bearing.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to be limiting.
Examples. The auxiliary climbing control method for the two-wheeled electric vehicle is structured as shown in fig. 1 to 3, and comprises the following steps:
S1, respectively detecting the inclination of the front and rear parts of a two-wheel electric vehicle by installing a first inclination angle sensor 3 on a front fork of the two-wheel electric vehicle and installing a second inclination angle sensor 4 on a rear wheel suspension of the electric vehicle; the first tilt sensor measures the tilt θ 1 and the second tilt sensor measures the tilt θ 2;
s2, calculating according to the opening degree of a turning handle of the two-wheeled electric vehicle to obtain theoretical torque T 1;
S3, detecting rear wheel bearing pressure F by installing a pressure sensor 5 on a rear wheel suspension 15, and then calculating a rear wheel load M Load carrier ,M Load carrier =F/（g×cosθ2; wherein F is the pressure value of 5 detected by the pressure sensor, g is the standard gravity acceleration, and θ 2 is the inclination measured by the second inclination angle sensor;
S4, calculating a theoretical rotating speed n 1 corresponding to the theoretical torque T 1 according to a torque and rotating speed calculation formula, wherein the calculating formula is T 1=J Total (S) Δω/Δt=（M Load carrier R2+M Wheel R2/2）×2πΔn1/deltat; wherein J Total (S) is the total rotational inertia of the rear wheel 14 under the load condition, M Load carrier is the rear wheel load, M Wheel is the rear wheel dead weight, R is the rear wheel radius, ω is the rear wheel rotational angular velocity, t is the time, and Δω/Δt is the rear wheel rotational angular acceleration;
S5, detecting the actual rotation speed n 2 of the rear wheel by installing a rotation speed sensor 6 at the rear wheel 14;
S6, judging whether to start the climbing auxiliary function by comparing the actual rotation speed with the theoretical rotation speed through the ECU controller 1, setting a rotation speed difference threshold value a, starting the climbing auxiliary function when n 1-n2 is more than or equal to a, and closing the climbing auxiliary function when n 1-n2 is less than a;
S7, after starting a climbing auxiliary function, the ECU controller 1 calculates auxiliary torque T 2 required to be provided, and calculates auxiliary torque T 2 according to a formula T 2=T1n1/n2-T1, wherein T 1 is theoretical torque, n 1 is theoretical rotating speed, and n 2 is actual rotating speed;
S8, an auxiliary motor 11 is arranged in the two-wheeled electric vehicle, the auxiliary motor 11 is started, the auxiliary motor 11 drives the rear wheel 14 through the synchronous belt 9, and auxiliary torque T 2 is provided for the rear wheel 14, so that accurate climbing assistance is realized.
In the step S6, the ECU controller 1 compares the actual rotation speed with the theoretical rotation speed, and then combines the values of the gradient theta 1 and the gradient theta 2 to judge whether to start the climbing auxiliary function, a rotation speed difference threshold value a is set, when n 1-n2 is more than or equal to a and both theta 1 and theta 2 are more than zero, The hill-climbing assistance function is activated and turned off when n 1-n2 < a or θ 1 equals zero or θ 2 equals zero. In the step S7, after the hill-climbing assisting function is started, the ECU controller 1 calculates an assisting torque T 2 to be provided, calculates an assisting torque T 2 according to a formula T 2=T1n1/n2+T3-T1, wherein T 1 is a theoretical torque, n 1 is the theoretical rotation speed, n 2 is the actual rotation speed, and T 3 is the steering additional resistance torque of the handle of the electric vehicle; The turning angle sensor 12 is arranged on the handle of the electric vehicle to detect the turning angle theta 3 of the corresponding vehicle body of the handle, when theta 3 is less than or equal to 30 degrees, the turning additional resistance torque is calculated through T 3=f（θ3), f (theta 3) is a monotonically increasing function of theta 3 (the monotonically increasing function can be constructed by setting relevant parameter values after a plurality of experiments, Or constructing corresponding resistance torque T 3 under different theta 3 conditions, preparing corresponding tables of theta 3 and T 3, Then look-up table is performed on the detected value of θ 3 to obtain the value of T 3), when θ 3 is greater than 30 °, T 3 =0.
The climbing assistance system constructed according to the two-wheeled electric vehicle assistance climbing control method is shown in fig. 1 to 3, and comprises an ECU controller 1 and a display instrument panel 2, wherein the ECU controller 1 is connected with a first inclination angle sensor 3 positioned on a front fork of the electric vehicle and a second inclination angle sensor 4 positioned on a rear wheel suspension of the electric vehicle through wireless communication; the ECU controller 1 is also connected with a pressure sensor 5 positioned on the rear wheel suspension of the electric vehicle and a rotating speed sensor 6 arranged at the rear wheel through wireless communication; the ECU controller 1 is connected with the display instrument panel 2, a hub motor 7 is connected in the rear wheel of the electric vehicle, and one side of the hub motor 7 is connected with a belt wheel 8; the belt pulley 8 is connected with an auxiliary motor 10 through a synchronous belt 9, and the auxiliary motor 10 is arranged on the electric vehicle; an auxiliary power supply 11 is connected to the auxiliary motor 10, and the auxiliary motor 10 and the auxiliary power supply 11 are connected to the ECU controller 1.
The ECU controller 1 is connected with a rotation angle sensor 12 in a wireless way, and the rotation angle sensor 12 is positioned on the handle of the electric vehicle; the first inclination angle sensor 3 is used for detecting the inclination angle of the running gesture at the position of the front wheel of the electric vehicle, and the second inclination angle sensor 4 is used for detecting the inclination angle of the running gesture at the position of the rear wheel of the electric vehicle; the pressure sensor 5 is an annular pressure sensor which is sleeved between the rear wheel suspension and the bearing; the hub motor 7 and the belt pulley 8 are connected through an electronic clutch 13.
Claims (7)
1. The auxiliary climbing control method for the two-wheeled electric vehicle is characterized by comprising the following steps of:
S1, respectively detecting the inclination of the front and rear parts of a two-wheel electric vehicle by installing a first inclination angle sensor on a front fork of the two-wheel electric vehicle and installing a second inclination angle sensor on a rear wheel suspension of the electric vehicle; the first tilt sensor measures the tilt θ 1 and the second tilt sensor measures the tilt θ 2;
s2, calculating according to the opening degree of a turning handle of the two-wheeled electric vehicle to obtain theoretical torque T 1;
S3, detecting the bearing pressure F of the rear wheel by installing a pressure sensor on a rear wheel suspension, and then calculating the rear wheel load M Load carrier ,M Load carrier =F/（g×cosθ2); wherein F is a pressure value detected by a pressure sensor, g is standard gravity acceleration, and theta 2 is the inclination measured by a second inclination angle sensor;
S4, calculating a theoretical rotating speed n 1 corresponding to the theoretical torque T 1 according to a torque and rotating speed calculation formula, wherein the calculating formula is T 1=J Total (S) Δω/Δt=（M Load carrier R2+M Wheel R2/2）×2πΔn1/deltat; wherein J Total (S) is the total rotational inertia of the rear wheel under the condition of load, M Load carrier is the load of the rear wheel, M Wheel is the dead weight of the rear wheel, R is the radius of the rear wheel, ω is the rotational angular velocity of the rear wheel, t is the time, and Δω/Δt is the rotational angular acceleration of the rear wheel;
S5, detecting the actual rotation speed n 2 of the rear wheel by installing a rotation speed sensor at the rear wheel;
S6, judging whether to start the climbing auxiliary function by comparing the actual rotation speed with the theoretical rotation speed through the ECU controller, setting a rotation speed difference threshold value a, starting the climbing auxiliary function when n 1-n2 is more than or equal to a, and closing the climbing auxiliary function when n 1-n2 is less than a;
S7, after starting a climbing auxiliary function, the ECU controller calculates auxiliary torque T 2 required to be provided, and calculates auxiliary torque T 2 according to a formula T 2=T1n1/n2-T1, wherein T 1 is theoretical torque, n 1 is theoretical rotating speed, and n 2 is actual rotating speed;
S8, an auxiliary motor is arranged on the two-wheeled electric vehicle in a middle mode, the auxiliary motor is started, the auxiliary motor drives the rear wheels through a synchronous belt, auxiliary torque T 2 is provided for the rear wheels, and therefore accurate climbing assistance is achieved; in the step S6, the ECU controller compares the actual rotation speed with the theoretical rotation speed, and then combines the values of the inclination angle θ 1 and the inclination angle θ 2 to determine whether to start the hill-climbing assistance function, a rotation speed difference threshold value a is set, when n 1-n2 is greater than or equal to a and both θ 1 and θ 2 are greater than zero, the hill-climbing assistance function is started, and when n 1-n2 < a or θ 1 is equal to zero or θ 2 is equal to zero, the hill-climbing assistance function is closed.
2. The two-wheeled electric vehicle auxiliary climbing control method according to claim 1, characterized by: step S7 is that, after the hill-climbing auxiliary function is started, the ECU controller calculates an auxiliary torque T 2 to be provided, and calculates an auxiliary torque T 2 according to a formula T 2=T1n1/n2+T3-T1, wherein T 1 is a theoretical torque, n 1 is a theoretical rotational speed, n 2 is an actual rotational speed, and T 3 is an additional resistance torque for steering the handle of the electric vehicle; and a rotation angle sensor is arranged on the handle of the electric vehicle to detect the rotation angle theta 3 of the corresponding vehicle body of the handle, when theta 3 is smaller than or equal to 30 degrees, the additional resistance torque for steering is calculated through T 3=f（θ3, f (theta 3) is a monotonically increasing function of theta 3, and when theta 3 is larger than 30 degrees, T 3 =0.
3. The hill climbing assistance system constructed according to the two-wheeled electric vehicle auxiliary hill climbing control method according to claim 1 or 2, characterized in that: the device comprises an ECU controller (1) and a display instrument panel (2), wherein the ECU controller (1) is connected with a first inclination angle sensor (3) positioned on a front fork of the electric vehicle and a second inclination angle sensor (4) positioned on a rear wheel suspension of the electric vehicle through wireless communication; the ECU controller (1) is also connected with a pressure sensor (5) positioned on the rear wheel suspension of the electric vehicle and a rotating speed sensor (6) arranged at the rear wheel through wireless communication; the ECU controller (1) is connected with the display instrument panel (2), a hub motor (7) is connected in the rear wheel of the electric vehicle, and one side of the hub motor (7) is connected with a belt wheel (8); an auxiliary motor (10) is connected to the belt wheel (8) through a synchronous belt (9), and the auxiliary motor (10) is arranged on the electric vehicle; an auxiliary power supply (11) is connected to the auxiliary motor (10), and the auxiliary motor (10) and the auxiliary power supply (11) are connected with the ECU controller (1).
4. A hill climbing assistance system according to claim 3 wherein: the ECU controller (1) is connected with a rotation angle sensor (12) in a wireless mode, and the rotation angle sensor (12) is located on the handle of the electric vehicle.
5. A hill climbing assistance system according to claim 3 wherein: the first inclination angle sensor (3) is used for detecting the inclination angle of the running gesture at the front wheel position of the electric vehicle, and the second inclination angle sensor (4) is used for detecting the inclination angle of the running gesture at the rear wheel position of the electric vehicle.
6. A hill climbing assistance system according to claim 3 wherein: the pressure sensor (5) is an annular pressure sensor which is sleeved between the rear wheel suspension and the bearing.
7. The climbing assistance system according to any one of claims 3 to 6, wherein: the hub motor (7) is connected with the belt wheel (8) through an electronic clutch (13).
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| CN116118927A (en) * | 2022-12-12 | 2023-05-16 | 骑记(深圳)科技有限公司 | Electric power bicycle capable of detecting gesture and intelligently increasing range |
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| US8033955B2 (en) * | 2008-03-06 | 2011-10-11 | Toyota Motor Engineering & Manufacturing North America, Inc. | Methods and systems for regulating hill descent speed of an electric vehicle |
| CN101691118B (en) * | 2009-10-13 | 2014-05-07 | 奇瑞汽车股份有限公司 | Motor-assistant driving mode control method of hybrid electric vehicle |
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