Electric vehicle emergency driving control method and electric vehicle

Abstract

The present application provides an electric vehicle emergency driving control method and an electric vehicle, wherein the electric vehicle includes a control system, an emergency switch, a driver, a drive motor, and an original encoder. The method is applied to the control system, including: obtaining emergency state switching information, wherein the emergency state switching information is generated when the emergency switch switches the electric vehicle from a normal state to an emergency state, and when the electric vehicle is in a normal state, the control system is connected to the original encoder for communication, and the electric vehicle is controlled based on the output signal of the original encoder; according to the emergency state switching information, the communication connection between the control system and the original encoder is cut off; the gear signal and the throttle signal are obtained, and a control instruction is generated according to the gear signal and the throttle signal, and sent to the driver, so that the driver controls the operation of the drive motor based on the control instruction. In this way, emergency operation can be realized when the electric vehicle cannot run, which is convenient for the vehicle to be sent for repair and saves manpower and material resources.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to an electric vehicle emergency driving control method and an electric vehicle. Background Art

[0002] With the advancement of new energy vehicle technology, the market share of electric vehicles is getting higher and higher. Electric vehicles equipped with AC asynchronous motors or AC permanent magnet synchronous motors are equipped with encoders to feedback the vehicle's running speed. During normal operation, the encoder can be used to judge the vehicle's operating status, which has a protective effect on the driver and the matching motor. However, once the control system of the electric vehicle detects that there is no encoder feedback signal during operation, the motor driver will stop driving the asynchronous motor or permanent magnet synchronous motor to achieve the effect of mutual protection. Then the goal of mutual protection is achieved, but the electric vehicle cannot drive, which brings great difficulties to the vehicle repair.

[0003] According to the investigation, such failures often occur, accounting for more than 70% of the after-sales failures of electric vehicles. Among such failures, a very small number (less than 10%) are mechanical jamming failures, which cause the motor to stall, and are the target of mutual protection between the driver and the matching motor. The vast majority of the rest (more than 90%) are caused by damage to the motor speed encoder or line failure, which makes the vehicle unable to drive, bringing great difficulties to the vehicle repair and consuming a lot of manpower and material resources. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an electric vehicle emergency driving control method and an electric vehicle, so that when the electric vehicle cannot run, emergency control of the electric vehicle can be achieved through emergency processing, which facilitates the repair of the vehicle and saves manpower and material resources.

[0005] In order to achieve the above purpose, the embodiments of the present application are implemented in the following ways:

[0006] In a first aspect, an embodiment of the present application provides an emergency driving control method for an electric vehicle, wherein the electric vehicle comprises a control system, an emergency switch, a driver, a driving motor, and an original encoder, wherein the control system is communicatively connected to the emergency switch, the driver, and the original encoder, respectively, and the driver is connected to the driving motor. The method is applied to the control system, comprising: obtaining emergency state switching information, wherein the emergency state switching information is generated when the emergency switch switches the electric vehicle from a normal state to an emergency state, and when the electric vehicle is in a normal state, the control system is communicatively connected to the original encoder, and driving control of the electric vehicle is implemented based on an output signal of the original encoder; according to the emergency state switching information, the communication connection between the control system and the original encoder is cut off; a gear signal and a throttle signal are obtained, and a control instruction is generated based on the gear signal and the throttle signal, and sent to the driver, so that the driver controls the operation of the driving motor based on the control instruction.

[0007] In the embodiment of the present application, the control system of the electric vehicle is respectively connected to the emergency switch, the driver, and the original encoder, and the driver is connected to the drive motor. The emergency state switching information (generated when the emergency switch switches the electric vehicle from the normal state to the emergency state) is obtained through the control system. When the electric vehicle is in the normal state, the control system is connected to the original encoder, and the driving control of the electric vehicle is realized based on the output signal of the original encoder; and in the emergency state, the control system cuts off the communication connection between the control system and the original encoder according to the emergency state switching information; the gear signal and the throttle signal are obtained, and the control command is generated according to the gear signal and the throttle signal, and sent to the driver, so that the driver controls the operation of the drive motor based on the control command. In this way, the state of the electric vehicle can be switched by one key to enter the mode in the emergency state, so that the control system does not rely on the output signal of the original encoder, and the emergency control of the electric vehicle can be realized. When the original encoder fails and causes the electric vehicle to stop running, the communication connection between the control system and the original encoder is cut off by the emergency switch, and the emergency control of the electric vehicle is realized by the control system. In this way, when the electric vehicle cannot run (usually caused by the failure of the encoder), it is convenient to send the vehicle for repair, saving manpower and material resources.

[0008] In combination with the first aspect, in a first possible implementation manner of the first aspect, a virtual coding signal generating unit is preset in the control system, and the generating of the control instruction according to the gear signal and the throttle signal includes: obtaining the virtual coding signal output by the virtual coding signal generating unit by inputting the gear signal and the throttle signal into the virtual coding signal generating unit, wherein the virtual coding signal generating unit is used to simulate the output signal of the original encoder based on the gear signal and the throttle signal, thereby outputting the virtual coding signal; and generating the control instruction according to the gear signal of the next cycle, the throttle signal of the next cycle and the virtual coding signal.

[0009] In this implementation, a virtual coding signal generating unit is preset in the control system. By inputting the gear signal and the throttle signal into the virtual coding signal generating unit, the virtual coding signal output by the virtual coding signal generating unit can be obtained (the virtual coding signal generating unit simulates the output signal of the original encoder based on the gear signal and the throttle signal, thereby outputting the virtual coding signal), and further generates a control instruction according to the gear signal of the next cycle, the throttle signal of the next cycle and the virtual coding signal. In this way, the output signal of the original encoder can be simulated by the virtual coding signal generating unit of the control system to obtain a virtual coding signal, so that the control system can realize emergency control of the electric vehicle while taking into account the mechanism of mutual protection between the driver and the matching motor, so that there is no need to make additional adjustments to the protection mechanism of the control system, and it can be realized by setting up a new virtual coding signal generating unit, which can save a lot of workload and reduce the difficulty of development. Therefore, the emergency operation control of the electric vehicle can be realized efficiently.

[0010] In combination with the first aspect, in a second possible implementation of the first aspect, the electric vehicle also includes a backup encoder, and the original encoder and the backup encoder are coaxially arranged at a first position and a second position on the motor shaft of the drive motor respectively. Before generating a control instruction according to the gear signal and the throttle signal, the method also includes: activating the communication connection between the control system and the backup encoder according to the emergency state switching information; correspondingly, generating a control instruction according to the gear signal and the throttle signal includes: obtaining a backup coding signal fed back by the backup encoder, wherein the backup coding signal is a signal obtained by the backup encoder when detecting the drive motor based on the gear signal and the throttle signal; generating the control instruction according to the backup coding signal, the gear signal of the next cycle, and the throttle signal of the next cycle.

[0011] In this implementation, the electric vehicle also includes a backup encoder, and the original encoder and the backup encoder are coaxially arranged at the first position and the second position on the motor shaft of the drive motor, respectively. The communication connection between the control system and the backup encoder can be activated according to the emergency state switching information; the backup encoding signal fed back by the backup encoder is obtained; and the control instruction is generated according to the backup encoding signal, the gear signal of the next cycle, and the throttle signal of the next cycle. In this way, by setting a backup encoder, when the original encoder fails, it can switch to the use of the backup encoder, thereby being able to well replace the work of the original encoder, and this method is conducive to realizing long-term emergency operation control of electric vehicles.

[0012] In combination with the first aspect, in a third possible implementation of the first aspect, the electric vehicle further includes a towing motor and a speed regulating device, the output shaft of the original encoder is softly connected to the output shaft of the towing motor, the speed regulating device is respectively connected to the control system and the towing motor, and before generating a control instruction according to the gear signal and the throttle signal, the method further includes: activating a communication connection between the control system and the speed regulating device according to the emergency state switching information; correspondingly, generating a control instruction according to the gear signal and the throttle signal includes: sending the gear signal and the throttle signal to the speed regulating device, so that the speed regulating device adjusts the steering direction and speed of the towing motor based on the gear signal and the throttle signal; receiving an operation signal of the towing motor; and generating the control instruction according to the operation signal, the gear signal of the next cycle, and the throttle signal of the next cycle.

[0013] In this implementation, the electric vehicle also includes a towing motor and a speed regulating device, the output shaft of the original encoder is softly connected to the output shaft of the towing motor, and the speed regulating device is connected to the control system and the towing motor respectively. According to the emergency state switching information, the communication connection between the control system and the speed regulating device is activated; then the gear signal and the throttle signal are sent to the speed regulating device, so that the speed regulating device adjusts the direction and speed of the towing motor based on the gear signal and the throttle signal; receives the operation signal of the towing motor; generates a control instruction according to the operation signal, the gear signal of the next cycle and the throttle signal of the next cycle. In this way, the operation signal (i.e., another form of "standby coding signal") can be generated through the cooperation of the speed regulating device and the towing motor, so that the control system can realize the emergency operation control of the electric vehicle based on this operation signal.

[0014] In combination with the first aspect, in a fourth possible implementation of the first aspect, an emergency program is preset in the control system, and the emergency program includes an instruction generation relationship based on a voltage signal and an output frequency, and the emergency program also includes a current protection relationship based on the instruction generation relationship and the current, and the control instruction is generated according to the gear signal and the throttle signal, including: generating the control instruction according to the gear signal of the next cycle, the throttle signal of the next cycle and the instruction generation relationship; and after generating the control instruction, the method also includes: detecting the running current of the drive motor, and determining whether the running current satisfies the current protection relationship, and stopping the emergency operation control of the electric vehicle when the running current does not satisfy the current protection relationship.

[0015] In this implementation, an emergency program can also be preset in the control system, and the emergency program includes an instruction generation relationship based on the voltage signal and the output frequency, and a current protection relationship based on the instruction generation relationship and the current. Then the control system can generate a control instruction based on the gear signal of the next cycle, the throttle signal of the next cycle and the instruction generation relationship; and after generating the control instruction, detect the operating current of the drive motor, and determine whether the operating current satisfies the current protection relationship, and stop the emergency operation control of the electric vehicle when the operating current does not satisfy the current protection relationship. In this way, when implementing the emergency operation control of the electric vehicle, it can play a role of current protection, thereby avoiding other damages to the electric vehicle caused by emergency operation.

[0016] In a second aspect, an embodiment of the present application provides an electric vehicle, including a control system, an emergency switch, a driver, a drive motor, an original encoder and a spare encoder, wherein the control system is communicatively connected to the emergency switch, the driver and the original encoder respectively, the driver is connected to the drive motor, the original encoder and the spare encoder are coaxially arranged at a first position and a second position on the motor shaft of the drive motor respectively, and the emergency switch is used to activate the communication connection between the control system and the spare encoder and disconnect the communication connection between the control system and the original encoder upon receiving an operation of starting an emergency state from the user, so as to switch the electric vehicle from a normal state to an emergency state; when the electric vehicle is in the normal state, the control system is communicatively connected to the original encoder, and based on the original encoder, the control system activates the communication connection between the control system and the spare encoder and disconnects the communication connection between the control system and the original encoder. The output signal of the encoder realizes driving control of the electric vehicle; the control system is used to transmit the gear signal and the throttle signal to the standby encoder; the standby encoder is used to receive the gear signal and the throttle signal, and feed back the detected standby coding signal, wherein the standby coding signal is the state of the drive motor running based on the gear signal and the throttle signal detected by the standby encoder; the control system is also used to receive the standby coding signal and transmit corresponding control instructions to the driver, so that the driver controls the operation of the drive motor based on the control instructions, so as to realize emergency operation control of the electric vehicle in an emergency state, wherein the control instruction is the instruction determined by the control system based on the standby coding signal, the gear signal of the next cycle and the throttle signal of the next cycle.

[0017] In the embodiment of the present application, by setting the original encoder and the spare encoder in this way, when the original encoder fails and causes the electric vehicle to stop running, the emergency switch can be used to switch to the emergency state, and the original encoder in use can be switched to the spare encoder, so that the spare encoder can replace the work of the original encoder to achieve emergency operation control of the electric vehicle. In this way, when the electric vehicle cannot run (usually caused by an encoder failure), it is convenient to send the vehicle for repair, saving manpower and material resources.

[0018] In combination with the second aspect, in a first possible implementation of the second aspect, the model of the spare encoder is consistent with the model of the original encoder, the spare encoder is connected to the rotating shaft of the drive motor through a rotating gear, and the number of teeth of the rotating gear is consistent with the pulse frequency of the spare encoder.

[0019] In this implementation, the model of the backup encoder is consistent with the model of the original encoder, and the backup encoder is connected to the shaft of the drive motor through a rotating gear, and the number of teeth of the rotating gear is consistent with the pulse frequency of the backup encoder. This method can ensure the consistency of the backup encoder and the original encoder, thereby ensuring the emergency control effect of the control system, and without making too many changes to the control system. On the one hand, it can ensure the stability and reliability of the control system, and on the other hand, it can reduce the difficulty of development.

[0020] In a third aspect, an embodiment of the present application provides an electric vehicle, including a control system, an emergency switch, a driver, a drive motor, an original encoder, a tow motor and a speed regulating device, wherein the control system is respectively communicated with the emergency switch, the driver and the original encoder, the driver is connected to the drive motor, the output shaft of the original encoder is softly connected to the output shaft of the tow motor, the speed regulating device is respectively connected to the control system and the tow motor, and the emergency switch is used to activate the communication connection between the control system and the speed regulating device upon receiving an operation of turning on the emergency state by the user, and disconnect the communication connection between the control system and the original encoder, so as to switch the electric vehicle from a normal state to an emergency state, and when the electric vehicle is in the normal state, the control system is communicated with the original encoder, and the electric vehicle is controlled based on the output signal of the original encoder. The electric vehicle realizes driving control; the control system is used to transmit the gear signal and the throttle signal to the speed regulating device; the speed regulating device is used to receive the gear signal and the throttle signal, and adjust the steering and speed of the towing motor based on the gear signal and the throttle signal, and feedback the detected operation signal of the towing motor, wherein the operation signal is the state of the towing motor detected by the speed regulating device based on the gear signal and the throttle signal; the control system is also used to receive the operation signal and transmit the corresponding control instruction to the driver, so that the driver controls the operation of the drive motor based on the control instruction, so as to realize emergency operation control of the electric vehicle in an emergency state, wherein the control instruction is the instruction determined by the control system based on the operation signal, the gear signal of the next cycle and the throttle signal of the next cycle.

[0021] In the embodiment of the present application, by setting the original encoder, the towing motor and the speed regulating device in this way, when the original encoder fails and causes the electric vehicle to stop running, the emergency switch can be used to switch to the emergency state, and the original encoder used can be switched to the speed regulating device and the towing motor, so that the speed regulating device is used to regulate the speed of the towing motor, and the operation signal of the towing motor is fed back to the control system, so that the control system can realize emergency operation control of the electric vehicle based on the operation signal. In this way, it is convenient to send the vehicle for repair when the electric vehicle cannot run (usually caused by encoder failure), saving manpower and material resources.

[0022] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A control connection diagram of an electric vehicle with emergency driving control function provided in an embodiment of the present application.

[0025] Figure 2 A schematic diagram of the installation of a spare encoder and an original encoder provided in an embodiment of the present application.

[0026] Figure 3 A control connection diagram of another electric vehicle with emergency driving control function provided in an embodiment of the present application.

[0027] Figure 4 A schematic diagram of the installation of a tow motor and an original encoder provided in an embodiment of the present application.

[0028] Figure 5 A flowchart of an electric vehicle emergency driving control method provided in an embodiment of the present application.

[0029] Icons: 100-electric vehicle; 110-control system; 120-emergency switch; 130-spare encoder; 131-rotating gear; 140-original encoder; 141-output shaft of original encoder; 150-accelerator pedal; 160-gear adjustment mechanism; 170-driver; 180-temperature sensor; 191-speed control device; 192-tow motor; 193-output shaft of tow motor; 194-fixing frame; 195-fastening bolts. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0031] See also Figure 1 , Figure 1 A control connection diagram of an electric vehicle 100 with an emergency driving control function provided in an embodiment of the present application.

[0032] In this embodiment, the electric vehicle 100 may include a control system 110, a drive control device, an original encoder 140, an emergency switch 120, a spare encoder 130, a temperature sensor 180, a drive motor ( Figure 1 not shown in the figure).

[0033] In this embodiment, the control system 110 is respectively connected to the emergency switch 120, the driver 170, and the original encoder 140, the driver 170 is connected to the drive motor, and the original encoder 140 and the spare encoder 130 are coaxially arranged at a first position and a second position on the motor shaft of the drive motor. The emergency switch 120 can be connected between the control system 110 and the original encoder 140 (through the driver 170 as an intermediary), and the emergency switch 120 is also connected between the control system 110 and the spare encoder 130.

[0034] To facilitate understanding of the installation method of the spare encoder 130, please refer to Figure 2 , Figure 2 A schematic diagram of the installation of a spare encoder 130 and an original encoder 140 provided in an embodiment of the present application.

[0035] In this embodiment, the original encoder 140 and the backup encoder 130 are coaxially arranged at a first position and a second position on the motor shaft of the driving motor, respectively. The backup encoder 130 and the motor shaft may be connected via a rotating gear 131, that is, the rotating gear 131 is sleeved on the motor shaft, and the backup encoder 130 is sleeved on the outer periphery of the rotating gear 131, and the rotating gear 131 is driven to rotate by the motor shaft, so that the backup encoder 130 detects the running state of the driving motor.

[0036] For example, in order to ensure the stability and reliability of the control system 110 for the emergency operation of the electric vehicle 100 in an emergency state, a spare encoder 130 having the same model as the original encoder 140 may be used. Also, in order to ensure the accuracy of the detection, the number of teeth of the rotating gear 131 may be consistent with the pulse frequency of the spare encoder 130.

[0037] This approach can ensure the consistency between the backup encoder 130 and the original encoder 140, thereby ensuring the emergency control effect of the control system 110, and without making too many changes to the control system 110. On the one hand, it can ensure the stability and reliability of the control system 110, and on the other hand, it can reduce the difficulty of development.

[0038] When the electric vehicle 100 is in a normal state, the control system 110 is in communication connection with the original encoder 140, and can realize driving control of the electric vehicle 100 based on the output signal of the original encoder 140. When the encoder of the electric vehicle 100 fails, for the mutual protection of the driver 170 and the matching motor (i.e., the drive motor), once the control system 110 detects that there is no signal fed back by the original encoder 140 during operation, the driver 170 will stop driving the asynchronous motor or the permanent magnet synchronous motor (i.e., the drive motor) to achieve the effect of mutual protection, but the electric vehicle 100 cannot run, and the electric vehicle 100 is in a fault state.

[0039] Exemplarily, the emergency switch 120 can activate the communication connection between the backup encoder 130 and the control system 110 by switching the state, and cut off the communication connection between the control system 110 and the original encoder 140, so that the electric vehicle 100 switches from the normal state to the emergency state. For example, by operating the emergency switch 120, the power interface is switched from the first position to the second position, the power supply of the original encoder 140 is cut off, and the backup encoder 130 is powered.

[0040] Exemplarily, the control system 110 can be used to transmit the acquired gear signal and throttle signal (the acquisition of the gear signal and the throttle signal will be described later) to the standby encoder 130. The standby encoder 130 can receive the gear signal and the throttle signal, and feed back the detected standby coding signal, wherein the standby coding signal is the state of the drive motor running based on the gear signal and the throttle signal detected by the standby encoder 130. The control system 110 is also used to receive the standby coding signal and transmit the corresponding control instruction to the driver 170, so that the driver 170 controls the operation of the drive motor based on the control instruction to achieve emergency operation control of the electric vehicle 100 in an emergency state. Here, the control instruction can be an instruction determined by the control system 110 based on the standby coding signal, the gear signal of the next cycle, and the throttle signal of the next cycle. In some possible ways, the control instruction can also be an instruction determined based on the standby coding signal, the gear signal of the same cycle, and the throttle signal of the same cycle, depending on the control instruction generation logic of the electric vehicle 100, which is not limited here.

[0041] For example, an example that can be actually applied is used here to illustrate this: illustratively, the size of the motor rotor shaft (i.e., the motor shaft) can be extended, and the appropriate motor end cover structure can be modified so that two sets of motor speed encoders (i.e., the original encoder 140 and the spare encoder 130) can be installed at the same time, and the model of the spare encoder 130 is consistent with the model of the original encoder 140. The EnA and EnB ports are adaptively connected (i.e., the port of the spare encoder 130 is connected to the port of the original encoder 140 in the same way), and the power supply can be switched through the conversion switch (i.e., the emergency switch 120). When switching between the "normal" and "emergency" states of the electric vehicle 100, it is ensured that only one set of motor speed encoders is powered at the same time (for example, when the original encoder 140 is powered, the spare encoder 130 is powered off, and when the spare encoder 130 is powered, the original encoder 140 is powered off). After the original encoder 140 fails, the toggle switch can be flipped (i.e., the emergency switch 120 is operated) to change the state of the electric vehicle 100 from the "normal" state to the "emergency" state, cut off the power supply of the original encoder 140, and supply power to the backup encoder 130 to achieve emergency driving control of the electric vehicle 100.

[0042] By setting the original encoder 140 and the spare encoder 130 in this way, when the original encoder 140 fails and causes the electric vehicle 100 to stop running, the emergency switch 120 can be used to switch to an emergency state, and the original encoder 140 in use can be switched to the spare encoder 130, so that the spare encoder 130 can replace the work of the original encoder 140 to achieve emergency operation control of the electric vehicle 100. In this way, when the electric vehicle 100 cannot run (usually caused by an encoder failure), it is convenient to send the vehicle for repair, saving manpower and material resources.

[0043] In this embodiment, the driver 170 can be connected to the original encoder 140 and the temperature sensor 180 respectively, and the original encoder 140 and the temperature sensor 180 are respectively connected to the drive motor (here, the connection of the temperature sensor 180 to the drive motor actually means that the temperature sensor 180 detects the operating temperature parameters of the drive motor, and the connection of the original encoder 140 to the drive motor means that the original encoder 140 detects the operating condition of the drive motor to output a corresponding signal).

[0044] It should be noted that, in this embodiment, the original encoder 140, temperature sensor 180, etc. can feed back the detected signal to the control system 110 by feeding back the detected signal to the drive control device, and then feeding back the signal to the control system 110 through the drive control device. The control system 110 can also directly communicate with the original encoder 140 to obtain the feedback signal of the original encoder 140. This is not limited here.

[0045] When the electric vehicle 100 is in a normal state, the original encoder 140 can be used to detect the operation of the drive motor to output a corresponding signal, so that the control system 110 controls the driver 170 based on the output signal of the original encoder 140, thereby realizing the driving control of the electric vehicle 100. For example, the control system 110 can generate a control instruction for controlling the driver 170 based on the output signal of the original encoder 140 and the gear signal and the throttle signal (here, the gear signal and the throttle signal can be the signals of the next cycle, and the output signal can be the signal of the previous cycle, and the difference between the two can be one control cycle. When the control instruction is determined based on the spare coding signal (or running signal) and the gear signal and the throttle signal, it can still be similar to this, with a difference of one control cycle, which will not be repeated in the following text), and send it to the driver 170, so as to control the operation of the drive motor based on the control instruction, and realize the operation control of the electric vehicle 100. This method can stably realize the operation control of the electric vehicle 100.

[0046] In this embodiment, the electric vehicle 100 may further include an accelerator pedal 150 and a gear adjustment mechanism 160. The accelerator pedal 150 and the gear adjustment mechanism 160 may be disposed in the cockpit of the electric vehicle 100 and connected to the control system 110 respectively.

[0047] The accelerator pedal 150 can generate a corresponding throttle signal based on the user's pedaling operation and send it to the control system 110. The gear adjustment mechanism 160 can generate a corresponding gear signal based on the user's gear adjustment operation and send it to the control system 110.

[0048] Of course, there are other ways to realize the emergency operation function of the electric vehicle 100, for example, see Figure 3 , Figure 3 A control connection diagram of another electric vehicle 100 with emergency driving control function provided in an embodiment of the present application.

[0049] In this embodiment, the electric vehicle 100 may include a control system 110, an emergency switch 120, a driver 170, a drive motor, an original encoder 140, a towing motor 192, and a speed regulating device 191. The control system 110 may be respectively connected to the emergency switch 120, the driver 170, and the original encoder 140 for communication, the driver 170 is connected to the drive motor, the output shaft 141 of the original encoder 140 may be softly connected to the output shaft 193 of the towing motor 192, and the speed regulating device 191 is respectively connected to the control system 110 and the towing motor 192.

[0050] For easier understanding, see Figure 4 , Figure 4A schematic diagram of the installation of a towing motor 192 and an original encoder 140 provided in an embodiment of the present application.

[0051] In this embodiment, the output shaft 141 of the original encoder 140 can be softly connected to the output shaft 193 of the towing motor 192. In order to ensure the installation stability of the original encoder 140 and the towing motor 192, a fixing frame 194 can be respectively connected to the two opposite surfaces of the original encoder 140 and the towing motor 192 to fix the original encoder 140 and the towing motor 192. The connection between the fixing frame 194 and the original encoder 140 or the towing motor 192 can be achieved by fastening bolts 195. Of course, other connection methods can also be used, such as snap-on connection, etc., which are not limited here.

[0052] Then, the emergency switch 120 can be used to activate the communication connection between the control system 110 and the speed control device 191 when receiving the user's operation to start the emergency state, and disconnect the communication connection between the control system 110 and the original encoder 140 to switch the electric vehicle 100 from the normal state to the emergency state.

[0053] The control system 110 can transmit the gear signal and the throttle signal to the speed regulating device 191. The speed regulating device 191 can receive the gear signal and the throttle signal, and adjust the direction and speed of the towing motor 192 based on the gear signal and the throttle signal, and then can feed back the detected operation signal of the towing motor 192 to the control system 110. The operation signal here is the state of the towing motor 192 detected by the speed regulating device 191 based on the gear signal and the throttle signal.

[0054] Exemplarily, the control system 110 is also used to receive the operation signal and transmit the corresponding control instruction to the driver 170, so that the driver 170 controls the operation of the drive motor based on the control instruction to achieve emergency operation control of the electric vehicle 100 in an emergency state. Here, the control instruction is an instruction determined by the control system 110 based on the operation signal, the gear signal of the next cycle, and the throttle signal of the next cycle.

[0055] For example, here is an example that can be actually applied to illustrate this: when the speed encoder of the motor in use (i.e., the original encoder 140) fails, the toggle switch (i.e., the emergency switch 120) can be turned to switch the electric vehicle 100 from the "normal" state to the "emergency" state, cut off the power supply of the speed encoder of the motor in use (i.e., the original encoder 140), and supply power to the towing motor 192 and the speed regulating device 191. The towing motor 192 (which can be an AC motor variable frequency speed regulating device 191 or a DC motor voltage speed regulating device 191) runs under the control of the speed regulating device 191, and then the speed regulating device 191 (which can be a variable frequency speed regulating system, similar to a small inverter) can provide a suitable pulse signal (i.e., an operation signal) to the driver 170. For example, the speed control device 191 can receive a throttle voltage signal (i.e., a throttle signal) and establish a corresponding linear relationship with the output speed (i.e., the motor speed); the forward and reverse rotation of the towing motor 192 can be adjusted through the "forward" and "reverse" gear switching signals (i.e., gear signals), and the EnA and EnB square wave pulse phases can be adjusted accordingly, so that the driver 170 provides corresponding forward and reverse instructions to control the drive motor, thereby realizing emergency driving control of the electric vehicle 100 in an emergency state.

[0056] By setting the original encoder 140, the towing motor 192 and the speed regulating device 191 in this way, when the original encoder 140 fails and causes the electric vehicle 100 to stop running, the emergency switch 120 can be used to switch to the emergency state, and the original encoder 140 used can be switched to the speed regulating device 191 and the towing motor 192, so that the speed regulating device 191 is used to regulate the speed of the towing motor 192, and the operation signal of the towing motor 192 is fed back to the control system 110, so that the control system 110 can realize emergency operation control of the electric vehicle 100 based on the operation signal. In this way, it is convenient to send the vehicle for repair when the electric vehicle 100 cannot run (usually caused by encoder failure), saving manpower and material resources.

[0057] In addition, it should be noted that the functions and connection methods of other components of this electric vehicle 100 (such as the accelerator pedal 150, the gear adjustment mechanism 160, etc.) can refer to the setting method and function introduction of the previous electric vehicle 100 (that is, the electric vehicle 100 that is installed with both the original encoder 140 and the spare encoder 130), and will not be repeated here.

[0058] The above is an introduction to several electric vehicles 100 with emergency driving functions provided in the embodiments of the present application. The following is an introduction to the emergency driving control method of the electric vehicle 100 provided in the embodiments of the present application. The emergency driving control method of the electric vehicle 100 is not limited to the several electric vehicles 100 provided in the embodiments of the present application, and can also be applied to other forms of electric vehicles 100 (for example, by developing and setting the control system 110) to achieve emergency driving control of the electric vehicle 100. It should be noted that the electric vehicle 100 should include a control system 110, an emergency switch 120, a driver 170, a drive motor, and an original encoder 140. The control system 110 is respectively connected to the emergency switch 120, the driver 170, and the original encoder 140 for communication, and the driver 170 is connected to the drive motor. The emergency driving control method of the electric vehicle 100 can be applied to the control system 110 of the electric vehicle 100.

[0059] See also Figure 5 , Figure 5 The flowchart of an emergency driving control method of an electric vehicle 100 provided in an embodiment of the present application. In this embodiment, the emergency driving control method of the electric vehicle 100 may include step S10, step S20 and step S30.

[0060] When the electric vehicle 100 cannot operate due to a failure of the original encoder 140 , the user (driver) can operate the emergency switch 120 to switch the electric vehicle 100 from a normal state to an emergency state, so as to perform emergency driving control on the electric vehicle 100 .

[0061] Thereby, the control system may execute step S10.

[0062] Step S10: Obtain emergency state switching information, wherein the emergency state switching information is generated when the emergency switch switches the electric vehicle from a normal state to an emergency state. When the electric vehicle is in a normal state, the control system is communicated with the original encoder and controls the driving of the electric vehicle based on the output signal of the original encoder.

[0063] In this embodiment, the user operates the emergency switch to switch the electric vehicle from a normal state to an emergency state. At this time, the emergency switch generates an emergency state switching message. When the electric vehicle is in a normal state, the control system communicates with the original encoder and controls the electric vehicle based on the output signal of the original encoder.

[0064] The control system can obtain the emergency state switching information. Then, the control system can execute step S20.

[0065] Step S20: according to the emergency state switching information, the communication connection between the control system and the original encoder is cut off.

[0066] To realize the emergency driving control of electric vehicles, it is necessary to get rid of the output signal of the original encoder (that is, the original encoder that has a fault is the one that causes the electric vehicle to fail). Therefore, the control system can switch information according to the emergency state and cut off the communication connection between the control system and the original encoder. For example, it can be achieved by cutting off the power supply of the original encoder, but it is not limited to this (for example, it can also be possible to keep the power on but refuse to receive the output signal of the original encoder, or not process and use the output signal of the original encoder, etc.).

[0067] The control system may then execute step S30.

[0068] Step S30: acquiring a gear signal and a throttle signal, generating a control instruction according to the gear signal and the throttle signal, and sending the control instruction to the driver, so that the driver controls the operation of the drive motor based on the control instruction.

[0069] In this embodiment, the control system can obtain the gear signal and the throttle signal, generate a control instruction according to the gear signal and the throttle signal, and send it to the driver, so that the driver controls the operation of the drive motor based on the control instruction.

[0070] For example, the control system can be set to a certain extent. For example, when the electric vehicle is in an emergency state, the control system does not need the output signal of the encoder, and directly sends control instructions (control instructions are generated based on the gear signal and throttle signal) to the driver to control the emergency operation of the electric vehicle. This emergency driving method is simple and does not require too much setup and development, nor does it require additional hardware layout. However, this method has certain risks and may cause some unexpected minor problems to the electric vehicle.

[0071] The control system of the electric vehicle is respectively connected to the emergency switch, the driver, and the original encoder, and the driver is connected to the drive motor. The emergency state switching information (generated when the emergency switch switches the electric vehicle from the normal state to the emergency state) is obtained through the control system. When the electric vehicle is in the normal state, the control system is connected to the original encoder, and the driving control of the electric vehicle is realized based on the output signal of the original encoder; in the emergency state, the control system cuts off the communication connection between the control system and the original encoder according to the emergency state switching information; obtains the gear signal and the throttle signal, generates a control instruction according to the gear signal and the throttle signal, and sends it to the driver, so that the driver controls the operation of the drive motor based on the control instruction. In this way, the state of the electric vehicle can be switched by one key to enter the emergency state mode, so that the control system does not rely on the output signal of the original encoder, and realizes the emergency control of the electric vehicle. Therefore, when the original encoder fails and causes the electric vehicle to stop operating, the communication connection between the control system and the original encoder can be cut off through the emergency switch, and the control system can be used to realize the emergency control of the electric vehicle. In this way, when the electric vehicle cannot run (usually caused by the failure of the encoder), it is convenient to send the vehicle for repair, saving manpower and material resources.

[0072] In order to further improve the safety and stability of emergency driving control of electric vehicles in emergency situations, a virtual coding signal generating unit may be preset in the control system.

[0073] Then, the control system can obtain the virtual coding signal output by the virtual coding signal generating unit by inputting the gear signal and the throttle signal into the virtual coding signal generating unit, wherein the virtual coding signal generating unit is used to simulate the output signal of the original encoder based on the gear signal and the throttle signal, thereby outputting the virtual coding signal. Then, according to the gear signal of the next cycle, the throttle signal of the next cycle and the virtual coding signal, a control instruction is generated to realize the emergency driving control of the electric vehicle.

[0074] A virtual coding signal generating unit is preset in the control system. By inputting the gear signal and the throttle signal into the virtual coding signal generating unit, the virtual coding signal output by the virtual coding signal generating unit can be obtained (the virtual coding signal generating unit simulates the output signal of the original encoder based on the gear signal and the throttle signal, thereby outputting the virtual coding signal), and further generates a control instruction according to the gear signal of the next cycle, the throttle signal of the next cycle and the virtual coding signal. In this way, the output signal of the original encoder can be simulated by the virtual coding signal generating unit of the control system to obtain a virtual coding signal, so that the control system can realize emergency control of the electric vehicle while taking into account the mechanism of mutual protection between the driver and the matching motor, so that there is no need to make additional adjustments to the protection mechanism of the control system, and it can be realized by setting up a new virtual coding signal generating unit, which can save a lot of workload and reduce the difficulty of development. Therefore, the emergency operation control of the electric vehicle can be realized efficiently.

[0075] Exemplarily, the virtual coding signal generating unit can establish the relationship between the gear signal and the throttle signal and the output signal of the original encoder by self-learning, and the data source can be collected by the control system when the electric vehicle is running. In this way, the electric vehicle can be well implemented in emergency operation without too much hardware development and modification. Among them, when collecting data, the data of the electric vehicle when going uphill (including the throttle signal, the gear signal and the output signal of the corresponding original encoder) can be preferred, so that the relationship obtained by self-learning is very stable and can meet the requirements of emergency operation control of the electric vehicle. Because if the electric vehicle is uphill, its data is usually at the control limit. If self-learning is performed on this basis and the corresponding relationship is established, a virtual coding signal that meets the limit condition can be output based on this. Then, when the electric vehicle is in other road conditions, it can also meet the requirements of emergency operation control, thereby ensuring the stability and reliability of the emergency driving control device of the electric vehicle.

[0076] For the case where the electric vehicle includes a spare encoder (i.e., the method is applied to the electric vehicle described above that is simultaneously equipped with an original encoder and a spare encoder), since the original encoder and the spare encoder are coaxially arranged at the first position and the second position on the motor shaft of the drive motor, respectively. Then, before the control system executes step S30, the control system will also activate the communication connection between the control system and the spare encoder according to the emergency state switching information. Then, at this time, the control system generates a control instruction according to the gear signal and the throttle signal, which can be: the control system obtains a spare coding signal fed back by the spare encoder, wherein the spare coding signal is a signal obtained by the spare encoder when detecting the drive motor based on the gear signal and the throttle signal, and then generates a control instruction according to the spare coding signal, the gear signal of the next cycle, and the throttle signal of the next cycle.

[0077] This method can be used to set up a spare encoder and switch to the use of the spare encoder when the original encoder fails, thereby being able to well replace the work of the original encoder. This method is conducive to achieving long-term emergency operation control of electric vehicles.

[0078] For the case where the electric vehicle includes a towing motor and a speed regulating device (the method is applied to the electric vehicle installed with the original encoder, towing motor and speed regulating device as described above), since the output shaft of the original encoder is softly connected to the output shaft of the towing motor, and the speed regulating device is connected to the control system and the towing motor respectively, then, before the control system executes step S30, the communication connection between the control system and the speed regulating device can also be activated according to the emergency state switching information. At this time, the control system can generate control instructions according to the gear signal and the throttle signal in the following manner: the control system sends the gear signal and the throttle signal to the speed regulating device, so that the speed regulating device adjusts the direction and speed of the towing motor based on the gear signal and the throttle signal. Then, the feedback operation signal of the towing motor is received, and the control instruction is generated according to the operation signal, the gear signal of the next cycle and the throttle signal of the next cycle.

[0079] This method can realize the generation of an operating signal (i.e. another form of "standby coding signal") through the cooperation of the speed regulating device and the towing motor, so that the control system can realize emergency operation control of the electric vehicle based on the operating signal.

[0080] In addition, an emergency program can be preset in the control system, and the emergency program can include an instruction generation relationship based on the voltage signal and the output frequency, and can also include a current protection relationship based on the instruction generation relationship and the current. Then the control system can generate control instructions according to the gear signal and the throttle signal: the control system generates control instructions according to the gear signal of the next cycle, the throttle signal of the next cycle and the instruction generation relationship; and, after generating the control instruction, detect the operating current of the drive motor, and determine whether the operating current satisfies the current protection relationship, and stop the emergency operation control of the electric vehicle when the operating current does not satisfy the current protection relationship. In this way, it can play a role of current protection when realizing the emergency operation control of the electric vehicle, thereby avoiding other damages to the electric vehicle caused by the emergency operation.

[0081] For example, here is an example that can be used in practice: for example, an external "emergency" signal can be added to the driver. When the motor speed encoder (i.e., the original encoder) is damaged or the line fails, the user can press the "emergency" key and lock it. At this time, the driver can no longer execute the previous closed-loop control program, but run the preset emergency program.

[0082] When running the emergency program, it is not necessary to detect the EnA and EnB square wave pulse signals of the original encoder (i.e., the output signals of the original encoder), but to establish the corresponding relationship between the throttle voltage signal (e.g., 0-5VDC or 0.8-4.6VDC, etc., depending on the model of the original encoder) and the output frequency 0-204Hz (the frequency can be set to the maximum value here, and it varies for different brands of drivers), and through simulation calculation and test measurement, according to the corresponding relationship between the voltage signal and the output frequency, establish the corresponding relationship with the current as a protective control measure for driving in an emergency state. The driver can realize the driving control of the electric vehicle in an emergency state by stepping on the accelerator.

[0083] In summary, the embodiment of the present application provides an electric vehicle emergency driving control method and an electric vehicle, wherein the control system of the electric vehicle is respectively connected to the emergency switch, the driver, and the original encoder, and the driver is connected to the drive motor, and the emergency state switching information (generated when the emergency switch switches the electric vehicle from the normal state to the emergency state) is obtained through the control system, and when the electric vehicle is in the normal state, the control system is connected to the original encoder, and the driving control of the electric vehicle is realized based on the output signal of the original encoder; and in the emergency state, the control system cuts off the communication connection between the control system and the original encoder according to the emergency state switching information; obtains the gear signal and the throttle signal, generates a control instruction according to the gear signal and the throttle signal, and sends it to the driver, so that the driver controls the operation of the drive motor based on the control instruction. In this way, the state of the electric vehicle can be switched by one key to enter the mode in the emergency state, so that the control system does not rely on the output signal of the original encoder, and realizes the emergency control of the electric vehicle, so that when the original encoder fails and causes the electric vehicle to stop operating, the communication connection between the control system and the original encoder can be cut off by the emergency switch, and the emergency control of the electric vehicle can be realized by using the control system. In this way, when the electric vehicle cannot run (usually caused by the failure of the encoder), it is convenient to send the vehicle for repair, saving manpower and material resources.

[0084] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0085] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0087] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0088] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An electric vehicle emergency driving control method, characterized in that: The electric vehicle comprises a control system, an emergency switch, a driver, a drive motor, and an original encoder. The control system is respectively connected to the emergency switch, the driver, and the original encoder for communication. The driver is connected to the drive motor. The method is applied to the control system and comprises: Acquire emergency state switching information, wherein the emergency state switching information is generated when the emergency switch switches the electric vehicle from a normal state to an emergency state, and when the electric vehicle is in a normal state, the control system is in communication connection with the original encoder, and implements driving control of the electric vehicle based on an output signal of the original encoder; According to the emergency state switching information, cutting off the communication connection between the control system and the original encoder; Acquire a gear signal and a throttle signal, generate a control instruction according to the gear signal and the throttle signal, and send the control instruction to the driver, so that the driver controls the operation of the drive motor based on the control instruction; The control system is preset with a virtual coding signal generating unit, and the generating of the control instruction according to the gear signal and the throttle signal includes: By inputting the gear position signal and the throttle signal into the virtual coding signal generating unit, a virtual coding signal output by the virtual coding signal generating unit is obtained, wherein the virtual coding signal generating unit is used to simulate the output signal of the original encoder based on the gear position signal and the throttle signal, thereby outputting the virtual coding signal; Generate the control instruction according to the gear signal of the next cycle, the throttle signal of the next cycle and the virtual coding signal; Among them, the virtual coding signal generation unit establishes the relationship between the gear signal, throttle signal and the output signal of the original encoder through self-learning, collects data at the control limit, conducts self-learning on this basis, establishes the corresponding relationship, and outputs a virtual coding signal that meets the limit conditions based on this.

2. The electric vehicle emergency driving control method according to claim 1, characterized in that: The electric vehicle further includes a spare encoder, the original encoder and the spare encoder are coaxially arranged at a first position and a second position on the motor shaft of the drive motor, respectively. Before generating a control instruction according to the gear signal and the throttle signal, the method further includes: activating the communication connection between the control system and the standby encoder according to the emergency state switching information; Correspondingly, generating a control instruction according to the gear signal and the throttle signal includes: Acquire a standby encoding signal fed back by the standby encoder, wherein the standby encoding signal is a signal obtained by the standby encoder detecting the drive motor based on the gear signal and the throttle signal; The control instruction is generated according to the standby coding signal, the gear signal of the next cycle and the throttle signal of the next cycle.

3. The electric vehicle emergency driving control method according to claim 1, characterized in that: The electric vehicle further comprises a towing motor and a speed regulating device, the output shaft of the original encoder is softly connected to the output shaft of the towing motor, the speed regulating device is respectively connected to the control system and the towing motor, and before generating a control instruction according to the gear signal and the throttle signal, the method further comprises: activating the communication connection between the control system and the speed regulating device according to the emergency state switching information; Correspondingly, generating a control instruction according to the gear signal and the throttle signal includes: Sending the gear signal and the throttle signal to the speed regulating device, so that the speed regulating device adjusts the direction and speed of the towing motor based on the gear signal and the throttle signal; Receiving the operation signal of the pair of towing motors; The control instruction is generated according to the operation signal, the gear signal of the next cycle and the throttle signal of the next cycle.

4. The electric vehicle emergency driving control method according to claim 1, characterized in that: The control system is preset with an emergency program, which includes an instruction generation relationship based on a voltage signal and an output frequency, and a current protection relationship based on the instruction generation relationship and a current. The control instruction is generated according to the gear signal and the throttle signal, including: Generate the control instruction according to the gear signal of the next cycle, the throttle signal of the next cycle and the instruction generation relationship; And, after generating the control instruction, the method further includes: The running current of the driving motor is detected, and it is determined whether the running current satisfies the current protection relationship, and the emergency running control of the electric vehicle is stopped when the running current does not satisfy the current protection relationship.

5. An electric vehicle, characterized in that: The invention comprises a control system, an emergency switch, a driver, a drive motor, an original encoder and a spare encoder, wherein the control system is respectively connected to the emergency switch, the driver and the original encoder for communication, the driver is connected to the drive motor, the original encoder and the spare encoder are respectively coaxially arranged at a first position and a second position on the motor shaft of the drive motor, and the control system is used to run the electric vehicle emergency driving control method according to claim 1, The emergency switch is used to activate the communication connection between the control system and the backup encoder and disconnect the communication connection between the control system and the original encoder when receiving the user's operation of starting the emergency state, so as to switch the electric vehicle from a normal state to an emergency state. When the electric vehicle is in the normal state, the control system is in communication connection with the original encoder and realizes driving control of the electric vehicle based on the output signal of the original encoder; The control system is used to transmit the gear position signal and the throttle signal to the standby encoder; The standby encoder is used to receive the gear signal and the throttle signal, and feed back a detected standby encoding signal, wherein the standby encoding signal is a state of the drive motor running based on the gear signal and the throttle signal detected by the standby encoder; The control system is also used to receive the backup coding signal and transmit corresponding control instructions to the driver, so that the driver controls the operation of the drive motor based on the control instructions to achieve emergency operation control of the electric vehicle in an emergency state, wherein the control instructions are instructions determined by the control system based on the backup coding signal, the gear signal of the next cycle and the throttle signal of the next cycle.

6. The electric vehicle according to claim 5, characterized in that: The model of the spare encoder is consistent with the model of the original encoder. The spare encoder is connected to the rotating shaft of the driving motor through a rotating gear. The number of teeth of the rotating gear is consistent with the pulse frequency of the spare encoder.

7. An electric vehicle, characterized in that: It includes a control system, an emergency switch, a driver, a drive motor, an original encoder, a towing motor and a speed regulating device. The control system is respectively connected to the emergency switch, the driver and the original encoder for communication. The driver is connected to the drive motor. The output shaft of the original encoder is softly connected to the output shaft of the towing motor. The speed regulating device is respectively connected to the control system and the towing motor. The control system is used to run the electric vehicle emergency driving control method according to claim 1. The emergency switch is used to activate the communication connection between the control system and the speed regulating device and disconnect the communication connection between the control system and the original encoder when receiving the user's operation of turning on the emergency state, so as to switch the electric vehicle from a normal state to an emergency state. When the electric vehicle is in the normal state, the control system is in communication connection with the original encoder and realizes driving control of the electric vehicle based on the output signal of the original encoder; The control system is used to transmit the gear position signal and the throttle signal to the speed regulating device; The speed regulating device is used to receive the gear signal and the throttle signal, and adjust the direction and speed of the towing motor based on the gear signal and the throttle signal, and feedback the detected operation signal of the towing motor, wherein the operation signal is the state of the towing motor detected by the speed regulating device based on the gear signal and the throttle signal. The control system is also used to receive the operating signal and transmit corresponding control instructions to the driver, so that the driver controls the operation of the drive motor based on the control instructions to achieve emergency operation control of the electric vehicle in an emergency state, wherein the control instructions are instructions determined by the control system based on the operating signal, the gear signal of the next cycle, and the throttle signal of the next cycle.

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