Method, system, electronic device and storage medium for preventing electric vehicle from flying away

Abstract

The present invention provides an electric vehicle anti-flying method, system, electronic device and storage medium, wherein the method comprises: S1, monitoring the current working state of the electric vehicle: periodically counting the applied current to the electric vehicle motor and the average speed of the electric vehicle; calculating the vehicle mass based on the applied current and the average speed counted in the current cycle and the previous cycle; judging whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value; if the vehicle mass is greater than the first mass setting value, the current working state of the electric vehicle is a loaded running state; if the vehicle mass is less than the second mass setting value, the current working state of the electric vehicle is an unloaded running state; S2, if the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled, and if the current working state of the electric vehicle is an unloaded running state, the electric vehicle is controlled to travel at a limited speed. The present invention solves the shortcomings of the existing electric vehicle anti-flying technology.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric vehicles, and in particular relates to a method, system, electronic equipment and storage medium for preventing an electric vehicle from running away. Background Art

[0002] In recent years, electric vehicles have gradually become one of the main means of transportation for people due to their convenience, and the safety hazards of electric vehicles have also received more and more attention. The phenomenon of electric vehicle flying away mainly occurs when people have no riding awareness and misoperate the handlebars, causing the vehicle to gain greater driving force, resulting in the electric vehicle flying away or the wheels injuring people.

[0003] In order to prevent electric vehicles from flying away, the prior art discloses an electric bicycle anti-flying device with application number 202022279351.4. It mainly determines whether there is someone riding on the electric vehicle by installing a pressure sensor. If there is someone riding, power output is allowed, and if there is no one riding, power is cut off. However, the use of the above technology requires the installation of a pressure sensor, which requires additional hardware costs. Moreover, when the user pushes the car, the person is not sitting on the car, and the electric car cannot output auxiliary pushing power, which is inconvenient to use and has a poor experience. Moreover, when the main bracket of the electric vehicle is erected, the rear wheel of the electric vehicle does not touch the ground. When the user sits on the electric vehicle, opens the electric door lock, and turns the handlebar, the electric vehicle will also output a large driving force, and the rear wheel can easily hurt people.

[0004] In addition, the prior art also discloses an electric vehicle anti-runaway device with application number 201410815553.2, which mainly sets up dual controllers. When the first controller fails, it quickly switches to the second controller for control. However, the above technical solution requires adding a controller, which is very costly, and is only a backup solution for the runaway phenomenon caused by the failure of the first controller. It cannot protect the user from the wrong operation that is not intended by the user, and has low safety. Summary of the invention

[0005] The object of the present invention is to provide an electric vehicle anti-runaway method, system, electronic device and storage medium to solve the deficiencies of the existing electric vehicle anti-runaway technology.

[0006] The present invention is achieved through the following technical solutions:

[0007] A method for preventing an electric vehicle from running away comprises the following steps:

[0008] S1. Monitor the current working status of the electric vehicle:

[0009] S11, periodically counting the current applied to the motor of the electric vehicle and the average speed of the electric vehicle;

[0010] S12, calculating the vehicle mass according to a preset formula based on the applied current and average vehicle speed in the current cycle and the applied current and average vehicle speed in the previous cycle;

[0011] S13, determining whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value;

[0012] S14, if the vehicle mass is greater than a preset first mass setting value, the current working state of the electric vehicle is a loaded running state;

[0013] S15. If the vehicle mass is less than the preset second mass setting value, the current working state of the electric vehicle is a no-load running state;

[0014] S2. Control the speed of the electric vehicle according to the current working state of the electric vehicle. If the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled. If the current working state of the electric vehicle is a no-load running state, the electric vehicle is controlled to travel at a limited speed.

[0015] Furthermore, in the step of calculating the vehicle mass according to a preset formula:

[0016] The default formula is Where m is the vehicle mass, ∑I d1 is the applied current counted in the previous cycle, ∑I d2 is the applied current counted in this cycle, V1 is the average vehicle speed counted in the previous cycle, V2 is the average vehicle speed counted in this cycle, and η is the proportional coefficient between the applied current and the driving force of the electric vehicle motor.

[0017] Further, the step of determining whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value includes:

[0018] Get the current speed of the electric vehicle;

[0019] Determining whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value, and determining whether the current vehicle speed is less than a preset vehicle speed setting value;

[0020] If the vehicle mass is greater than the preset first mass setting value, the current working state of the electric vehicle is a loaded running state, and the steps include:

[0021] If the vehicle mass is greater than the preset first mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the current working state of the electric vehicle is the loaded running state;

[0022] If the vehicle mass is less than the preset second mass setting value, the current working state of the electric vehicle is a no-load running state, and the steps include:

[0023] If the mass of the entire vehicle is less than the preset second mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the current working state of the electric vehicle is a no-load running state.

[0024] Furthermore, if the vehicle mass is greater than a preset first mass setting value and the current vehicle speed is less than a preset vehicle speed setting value, the step of setting the current working state of the electric vehicle to a loaded running state includes:

[0025] If the vehicle mass is greater than the preset first mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the loaded count is increased by 1, and it is determined whether the loaded count is greater than the preset number of times setting value;

[0026] If yes, the current working state of the electric vehicle is the loaded running state, and the loaded count is cleared;

[0027] If not, steps S11 to S13 are repeated.

[0028] Furthermore, if the vehicle mass is less than a preset second mass setting value and the current vehicle speed is less than a preset vehicle speed setting value, the current working state of the electric vehicle is a no-load running state, the step includes:

[0029] If the vehicle mass is less than the preset second mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the no-load count is increased by 1, and it is determined whether the no-load count is greater than the preset number setting value;

[0030] If yes, the current working state of the electric vehicle is no-load running state, and the no-load count is cleared;

[0031] If not, steps S11 to S13 are repeated.

[0032] Furthermore, if the current working state of the electric vehicle is a no-load running state, the step of controlling the electric vehicle to travel at a limited speed includes:

[0033] Obtaining the current gear position of the electric vehicle, and obtaining the vehicle speed threshold corresponding to the gear position according to a predetermined correspondence relationship between the gear position and the vehicle speed threshold;

[0034] The speed of the electric vehicle is controlled to be limited to a speed threshold.

[0035] The present invention also proposes an electric vehicle anti-runaway system, comprising:

[0036] A monitoring module is used to monitor the current working status of the electric vehicle;

[0037] The monitoring modules include:

[0038] A statistical submodule, used for periodically counting the current applied to the electric vehicle motor and the average speed of the electric vehicle;

[0039] A calculation submodule, used to calculate the vehicle mass according to a preset formula based on the applied current and average vehicle speed counted in this cycle and the applied current and average vehicle speed counted in the previous cycle; a judgment submodule, used to judge whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value;

[0040] The loaded submodule is used for determining that the current working state of the electric vehicle is a loaded running state if the mass of the entire vehicle is greater than a preset first mass setting value;

[0041] The no-load submodule is used to determine that if the mass of the entire vehicle is less than a preset second mass setting value, the current working state of the electric vehicle is a no-load running state;

[0042] The control module is used to control the speed of the electric vehicle according to the current working state of the electric vehicle. If the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled. If the current working state of the electric vehicle is a no-load running state, the electric vehicle is controlled to travel at a limited speed.

[0043] The present invention also discloses an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0044] The present invention also discloses a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0045] Compared with the prior art, the beneficial effects of the present invention are as follows: it is only necessary to determine whether the electric vehicle is in a loaded or unloaded state through the statistical analysis of the applied current and the average vehicle speed within a period, which is simple and reliable, does not require the addition of additional hardware such as pressure sensors, and has lower costs; by determining the loaded and unloaded running states of the electric vehicle, the driving speed of the electric vehicle is not controlled in the loaded running state, and in the unloaded running state, the electric vehicle is controlled to run at a limited speed, so that the speed of the electric vehicle is limited to a lower speed, which can effectively prevent the electric vehicle from running away and protect the safety of the user, and when the user pushes the car, the power of the electric vehicle will not be cut off to assist the user in pushing the car, which is very labor-saving and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A flowchart of the steps of the method for preventing an electric vehicle from flying away according to the present invention;

[0047] Figure 2 It is a module schematic diagram of the method for preventing electric vehicles from flying away of the present invention;

[0048] Figure 3 It is a structural schematic diagram of an embodiment of an electronic device of the present invention;

[0049] Figure 4 The present invention is a schematic block diagram of a computer-readable storage medium according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0054] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0055] See also Figure 1 , Figure 1 The present invention is a flowchart of the steps of the method for preventing an electric vehicle from flying away. The method for preventing an electric vehicle from flying away comprises the following steps:

[0056] S1. Monitor the current working status of the electric vehicle:

[0057] S11, periodically counting the current applied to the motor of the electric vehicle and the average speed of the electric vehicle;

[0058] S12, calculating the vehicle mass according to a preset formula based on the applied current and average vehicle speed in the current cycle and the applied current and average vehicle speed in the previous cycle;

[0059] S13, determining whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value;

[0060] S14, if the vehicle mass is greater than a preset first mass setting value, the current working state of the electric vehicle is a loaded running state;

[0061] S15. If the vehicle mass is less than the preset second mass setting value, the current working state of the electric vehicle is a no-load running state;

[0062] S2. Control the speed of the electric vehicle according to the current working state of the electric vehicle. If the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled. If the current working state of the electric vehicle is a no-load running state, the electric vehicle is controlled to travel at a limited speed.

[0063] In the above step S1, the current working state of the electric vehicle includes a loaded running state and an unloaded running state. Since the mass / inertia of the electric vehicle is very different when it is in the loaded running state and the unloaded running state, the acceleration of the electric vehicle is very different when different driving forces are applied. Therefore, the loaded and unloaded electric vehicles can be distinguished by estimating the mass (inertia) of the electric vehicle in different states. After the electric vehicle is turned on by turning on the electric door, the current working state of the electric vehicle is assumed to be the unloaded running state.

[0064] In the above step S11, the statistical cycle can be determined according to the actual situation, for example, once every 10ms, that is, in the first 10ms, the cumulative applied current ∑I to the electric vehicle motor within the statistical cycle of 10ms is counted. d1 and the average vehicle speed V1, and then the cumulative applied current ∑I to the electric vehicle motor within the next statistical cycle 10ms is counted d2 and the average vehicle speed V2, so as to continuously count the accumulated applied current and average vehicle speed of the electric vehicle motor within the statistical period of 10ms.

[0065] In the above step S12, after the applied current and average vehicle speed of a statistical cycle are counted, the applied current ∑I d2 and the average vehicle speed V2, as well as the applied current ∑I calculated in the previous cycle d1 and average vehicle speed V1, according to the preset formula Calculate the vehicle mass m, where m is the vehicle mass, ∑I d1 is the applied current counted in the previous cycle, ∑I d2 is the applied current counted in this cycle, 2 is the average coefficient of the current in two statistical cycles, V1 is the average vehicle speed counted in the previous cycle, V2 is the average vehicle speed counted in this cycle, and η is the proportional coefficient between the applied current and the driving force of the electric vehicle motor, which can be obtained by experimental testing.

[0066] Furthermore, the preset formula The derivation process is as follows:

[0067] From the formula of momentum in physics F*t=m*ΔV, we know that the mass of the vehicle m=F*t / ΔV, where the speed change value ΔV=V1-V1, V1 is the average speed in the previous cycle, and V2 is the average speed in this cycle; the average value of the resultant force applied in the two statistical cycles is F1 is the force applied in the previous cycle, and F2 is the force applied in this cycle. Therefore, the vehicle mass can be calculated by calculating the average value ΔF of the combined force applied in the two statistical cycles before and after and the change value ΔV of the vehicle speed in the two statistical cycles before and after. Therefore, the key is to calculate the average value ΔF of the combined force applied in the two statistical cycles before and after and the change value ΔV of the vehicle speed.

[0068] The driving force of an electric vehicle is essentially the driving force of the current on the motor. Therefore, the force applied during the statistical period can be obtained by accumulating the driving current of the electric vehicle motor during the statistical period, that is, F1*t=η∑I d1 , F2*t=η∑I d2 Therefore, substituting ΔF and ΔV into m = F*t / ΔV, we get the formula

[0069] In the above steps S13 to S15, the first mass setting value and the second mass setting value are preset according to the actual situation of the electric vehicle. For example, the first mass setting value can be obtained by testing the test data of the electric vehicle under different working conditions, such as starting, accelerating, uphill, downhill, sliding, rear wheel slipping, etc. The second mass setting value can be obtained by adding an appropriate upper deviation to the actual measurement of the real electric vehicle when it is unloaded. After the applied current to the electric vehicle motor and the average speed of the electric vehicle within the statistical period are obtained and the vehicle mass is calculated, if the vehicle mass is greater than the preset first mass setting value, it indicates that the vehicle mass of the electric vehicle is relatively large and is in a loaded state, and the current working state of the electric vehicle enters a loaded running state; if the vehicle mass is less than the preset second mass setting value, it indicates that the vehicle mass of the electric vehicle is relatively small and is in an unloaded state, and the current working state of the electric vehicle enters an unloaded running state.

[0070] Further, in step S13, the step of determining whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value includes:

[0071] S131, obtaining the current speed of the electric vehicle;

[0072] S132, determining whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value, and determining whether the current vehicle speed is less than a preset vehicle speed setting value;

[0073] In S14, if the vehicle mass is greater than the preset first mass setting value, the current working state of the electric vehicle is a loaded running state, and the steps include:

[0074] S141: If the vehicle mass is greater than a preset first mass setting value and the current vehicle speed is less than a preset vehicle speed setting value, the current working state of the electric vehicle is a loaded running state;

[0075] In step S15, if the vehicle mass is less than the preset second mass setting value, the current working state of the electric vehicle is the no-load running state, and the steps include:

[0076] S151. If the mass of the entire vehicle is less than a preset second mass setting value and the current vehicle speed is less than a preset vehicle speed setting value, the current working state of the electric vehicle is a no-load running state.

[0077] In the above steps S131 and S132, after the current working state of the electric vehicle is determined, the speed of the electric vehicle will be controlled according to the current working state of the electric vehicle. If the working state is switched when the speed of the electric vehicle is relatively high, it will cause a sudden deceleration or acceleration under the premise of the handlebar opening. Therefore, for the sake of user safety and to prevent operations not intended by the user, the judgment of the current speed of the electric vehicle is added, and the working state is switched when the speed of the electric vehicle is relatively low.

[0078] In the above steps S141 and S151, if the mass of the entire vehicle is greater than the preset first mass setting value, indicating that the mass of the entire vehicle of the electric vehicle is relatively large and is in a loaded state, and when the current speed of the electric vehicle is less than the preset speed setting value, the speed is relatively low and the working state can be switched, then the current working state of the electric vehicle enters a loaded running state; if the mass of the entire vehicle is less than the preset second mass setting value, indicating that the mass of the entire vehicle of the electric vehicle is relatively small and is in an unloaded state, and when the current speed of the electric vehicle is less than the preset speed setting value, the speed is relatively low and the working state can be switched, then the current working state of the electric vehicle enters an unloaded running state.

[0079] Further, in step S141, if the vehicle mass is greater than a preset first mass setting value and the current vehicle speed is less than a preset vehicle speed setting value, the step of setting the current working state of the electric vehicle to a loaded running state includes:

[0080] S1411, if the vehicle mass is greater than a preset first mass setting value and the current vehicle speed is less than a preset vehicle speed setting value, then the loaded count is increased by 1, and it is determined whether the loaded count is greater than a preset number setting value;

[0081] S1412: If yes, the current working state of the electric vehicle is the loaded running state, and the loaded count is cleared;

[0082] S1413: If not, repeat steps S11 to S14.

[0083] In the above steps S1411 to S1413, the initial value of the loaded count is 0. After judging that the vehicle mass is greater than the preset first mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, it is equivalent to that the working state of the electric vehicle enters the loaded running state. By increasing the loaded count, it is determined whether the cumulative number of times the electric vehicle continues to be in the loaded running state is greater than the preset number setting value. The working state of the electric vehicle is confirmed multiple times, that is, the duration after the working state of the electric vehicle enters the loaded running state is determined. When the loaded count is greater than the preset number setting value, it is considered that the current working state of the electric vehicle enters the loaded running state to avoid misjudgment, so that the current working state of the electric vehicle can be more accurately judged. When the loaded count is less than or equal to the preset number setting value, the current applied to the electric vehicle motor and the average speed of the electric vehicle are continued to be periodically counted, and then the vehicle mass is calculated and the current speed of the electric vehicle is obtained, so as to continue to judge whether the vehicle mass is greater than the preset first mass setting value or less than the preset second mass setting value, and whether the current vehicle speed is less than the preset vehicle speed setting value.

[0084] Further, in step S151, if the vehicle mass is less than the preset second mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the step of setting the current working state of the electric vehicle to the no-load running state includes:

[0085] S1511, if the vehicle mass is less than the preset second mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, then add 1 to the no-load count and determine whether the no-load count is greater than the preset number setting value;

[0086] S1512: If yes, the current working state of the electric vehicle is a no-load running state, and the no-load count is cleared;

[0087] S1513: If not, repeat steps S11 to S14.

[0088] In the above steps S1511 to S1513, the initial value of the no-load count is 0. After judging that the vehicle mass is less than the preset second mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, it is equivalent to that the working state of the electric vehicle enters the no-load running state. By increasing the loaded count, it is determined whether the cumulative number of times the electric vehicle is in the no-load running state is greater than the preset number setting value. The working state of the electric vehicle is confirmed multiple times, that is, the duration after the working state of the electric vehicle enters the no-load running state is determined. When the no-load count is greater than the preset number setting value, it is considered that the current working state of the electric vehicle enters the no-load running state, so as to avoid misjudgment, so as to more accurately judge the current working state of the electric vehicle. When the no-load count is less than or equal to the preset number setting value, the current applied to the electric vehicle motor and the average vehicle speed of the electric vehicle are continued to be periodically counted, and then the vehicle mass is calculated and the current vehicle speed of the electric vehicle is obtained, so as to continue to judge whether the vehicle mass is greater than the preset first mass setting value or less than the preset second mass setting value, and whether the current vehicle speed is less than the preset vehicle speed setting value.

[0089] In the above step S2, it is determined whether it is necessary to control the speed of the electric vehicle according to the current working state of the electric vehicle. Specifically, if the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled, that is, when there is an input on the handlebar of the electric vehicle, the normal driving program is executed, and there is no need to limit the speed of the electric vehicle; if the current working state of the electric vehicle is a no-load running state, the electric vehicle is controlled to travel at a limited speed, that is, when there is an input on the handlebar of the electric vehicle, the no-load speed limit program is executed, and the upper limit value of the speed of the electric vehicle is set, and the speed of the electric vehicle is limited to the upper limit value, so that the electric vehicle is stabilized at a lower speed, preventing the electric vehicle from flying away, and facilitating the user to obtain a certain amount of pushing assistance when pushing the vehicle.

[0090] Furthermore, in step S2, if the current working state of the electric vehicle is a no-load running state, the step of controlling the electric vehicle to travel at a limited speed includes:

[0091] S21, obtaining the current gear position of the electric vehicle, and obtaining the vehicle speed threshold corresponding to the gear position according to a predetermined correspondence relationship between the gear position and the vehicle speed threshold;

[0092] S22. Control the speed of the electric vehicle to be limited to a speed threshold.

[0093] In the above steps S21 to S22, considering that the electric vehicle may have different gears and different gears correspond to driving forces, after obtaining the current gear of the electric vehicle and the corresponding vehicle speed threshold, different speed limits are set according to the different gears of the electric vehicle to obtain different driving forces.

[0094] Please refer to Figure 2 , Figure 2 The present invention also proposes an electric vehicle anti-flying system, comprising:

[0095] Monitoring module 1, used to monitor the current working status of the electric vehicle;

[0096] Monitoring module 1 includes:

[0097] A statistics submodule 11 is used to periodically count the current applied to the electric vehicle motor and the average speed of the electric vehicle;

[0098] The calculation submodule 12 is used to calculate the vehicle mass according to a preset formula based on the applied current and average vehicle speed counted in the current cycle and the applied current and average vehicle speed counted in the previous cycle;

[0099] A judgment submodule 13 is used to judge whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value;

[0100] The loaded submodule 14 is used for, if the mass of the whole vehicle is greater than a preset first mass setting value, the current working state of the electric vehicle is a loaded running state;

[0101] The no-load submodule 15 is used to determine that the current working state of the electric vehicle is a no-load running state if the vehicle mass is less than a preset second mass setting value;

[0102] The control module 2 is used to control the speed of the electric vehicle according to the current working state of the electric vehicle. If the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled. If the current working state of the electric vehicle is a no-load running state, the electric vehicle is controlled to travel at a limited speed.

[0103] The current working state of the electric vehicle includes a loaded running state and an unloaded running state. Since the mass / inertia of the electric vehicle is very different when it is in the loaded running state and the unloaded running state, the acceleration of the electric vehicle is very different when different driving forces are applied. Therefore, the monitoring module 1 can distinguish between loaded and unloaded electric vehicles by estimating the mass (inertia) of the electric vehicle in different states. After the electric vehicle is turned on by opening the electric door lock, the current working state of the electric vehicle is assumed to be the unloaded running state.

[0104] The statistical cycle in the statistical submodule 11 can be determined according to the actual situation, for example, once every 10ms, that is, the statistical submodule 11 counts the cumulative applied current ∑I to the electric vehicle motor within the statistical cycle of 10ms in the first 10ms. d1 and the average vehicle speed V1, and then the cumulative applied current ∑I to the electric vehicle motor within the next statistical cycle 10ms is counted d2and the average vehicle speed V2, so as to continuously count the accumulated applied current and average vehicle speed of the electric vehicle motor within the statistical period of 10ms.

[0105] After the applied current and average vehicle speed of a statistical cycle are counted, the calculation submodule 12 calculates the applied current ∑I based on the statistics in this cycle. d2 and the average vehicle speed V2, as well as the applied current ∑I calculated in the previous cycle d1 and average vehicle speed V1, according to the preset formula Calculate the vehicle mass m, where m is the vehicle mass, ∑I d1 is the applied current counted in the previous cycle, ∑I d2 is the applied current counted in this cycle, 2 is the average coefficient of the current in two statistical cycles, V1 is the average vehicle speed counted in the previous cycle, V2 is the average vehicle speed counted in this cycle, and η is the proportional coefficient between the applied current and the driving force of the electric vehicle motor, which can be obtained by experimental testing.

[0106] The first mass setting value and the second mass setting value are pre-set according to the actual situation of the electric vehicle. The first mass setting value can be obtained by testing the test data of the electric vehicle under different working conditions, such as starting, accelerating, uphill, downhill, sliding, rear wheel slipping, etc. The second mass setting value can be obtained by adding appropriate upper deviation to the actual measurement of the real electric vehicle when it is unloaded. After the applied current to the electric vehicle motor and the average speed of the electric vehicle in the statistical period are obtained and the vehicle mass is calculated, the judgment submodule 13 is used to judge. If the vehicle mass is greater than the preset first mass setting value, it indicates that the vehicle mass of the electric vehicle is relatively large and is in a loaded state, then the loaded submodule 15 judges that the current working state of the electric vehicle enters a loaded running state; if the vehicle mass is less than the preset second mass setting value, it indicates that the vehicle mass of the electric vehicle is relatively small and is in an unloaded state, then the unloaded submodule 16 judges that the current working state of the electric vehicle enters an unloaded running state.

[0107] Furthermore, the determination submodule 13 includes:

[0108] An acquisition unit, used for acquiring the current speed of the electric vehicle;

[0109] A judging unit, used to judge whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value, and to judge whether the current vehicle speed is less than a preset vehicle speed setting value;

[0110] The carrier module 14 includes:

[0111] The loaded unit is used to determine that the current working state of the electric vehicle is a loaded running state if the vehicle mass is greater than a preset first mass setting value and the current vehicle speed is less than a preset vehicle speed setting value;

[0112] The idle submodule 15 includes:

[0113] The no-load unit is used to determine that if the mass of the entire vehicle is less than a preset second mass setting value and the current vehicle speed is less than a preset vehicle speed setting value, the current working state of the electric vehicle is a no-load running state.

[0114] After determining the current working state of the electric vehicle, the speed of the electric vehicle will be controlled according to the current working state of the electric vehicle. If the working state is switched when the speed of the electric vehicle is relatively high, it will cause a sudden deceleration or acceleration under the premise of the handlebar opening. Therefore, for the sake of user safety and to prevent operations not intended by the user, after the acquisition unit obtains the current speed of the electric vehicle, the current speed of the electric vehicle is judged by the judgment unit, and the working state is switched when the speed of the electric vehicle is relatively low.

[0115] If the total vehicle mass is greater than the preset first mass setting value, indicating that the total vehicle mass of the electric vehicle is relatively large, and it is in a loaded state, and when the current speed of the electric vehicle is less than the preset speed setting value, the speed is relatively low, and the working state can be switched, then the loaded unit will change the current working state of the electric vehicle into a loaded running state; if the total vehicle mass is less than the preset second mass setting value, indicating that the total vehicle mass of the electric vehicle is relatively small, and it is in an unloaded state, and when the current speed of the electric vehicle is less than the preset speed setting value, the speed is relatively low, and the working state can be switched, then the unloaded unit will change the current working state of the electric vehicle into a unloaded running state.

[0116] Furthermore, the on-load unit comprises:

[0117] A first counting subunit is used to increase the loaded count by 1 if the vehicle mass is greater than a preset first mass setting value and the current vehicle speed is less than a preset vehicle speed setting value, and to determine whether the loaded count is greater than a preset number setting value;

[0118] The first determination subunit is used for: if yes, the current working state of the electric vehicle is a loaded running state, and the loaded count is cleared;

[0119] The first repeating sub-unit is used for repeatedly executing the statistical sub-module 11 to the judging sub-module 13 if no.

[0120] In the first counting subunit, the initial value of the loaded count is 0. After judging that the vehicle mass is greater than the preset first mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, it is equivalent to that the working state of the electric vehicle enters the loaded running state. By increasing the loaded count, it is determined whether the cumulative number of times the electric vehicle is in the loaded running state is greater than the preset number setting value. The working state of the electric vehicle is confirmed multiple times, that is, the duration after the working state of the electric vehicle enters the loaded running state is determined. When the loaded count is greater than the preset number setting value, the first determination subunit considers that the current working state of the electric vehicle enters the loaded running state to avoid misjudgment, so that the current working state of the electric vehicle can be more accurately judged. When the loaded count is less than or equal to the preset number setting value, the first repeating subunit repeatedly executes the statistical submodule 11 to the judgment submodule 13, continues to periodically count the current applied to the electric vehicle motor and the average speed of the electric vehicle, and then calculates the vehicle mass and obtains the current speed of the electric vehicle, so as to continue to judge whether the vehicle mass is greater than the preset first mass setting value or less than the preset second mass setting value, and judges whether the current vehicle speed is less than the preset vehicle speed setting value.

[0121] Further, the no-load unit comprises:

[0122] A second counting subunit is used to increase the no-load count by 1 if the vehicle mass is less than a preset second mass setting value and the current vehicle speed is less than a preset vehicle speed setting value, and to determine whether the no-load count is greater than a preset number setting value;

[0123] The second determining subunit is used for: if yes, the current working state of the electric vehicle is a no-load running state, and clearing the no-load count;

[0124] The second repeating sub-unit is used for repeatedly executing the statistical sub-module 11 to the judging sub-module 13 if no.

[0125] In the second counting subunit, the initial value of the no-load count is 0. After judging that the vehicle mass is less than the preset second mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, it is equivalent to that the working state of the electric vehicle enters the no-load running state. By increasing the loaded count, it is determined whether the cumulative number of times the electric vehicle is in the no-load running state is greater than the preset number setting value. The working state of the electric vehicle is confirmed multiple times, that is, the duration after the working state of the electric vehicle enters the no-load running state is determined. When the no-load count is greater than the preset number setting value, the second determination subunit considers that the current working state of the electric vehicle enters the no-load running state to avoid misjudgment, so that the current working state of the electric vehicle can be more accurately judged. When the no-load count is less than or equal to the preset number setting value, the second repetition subunit repeatedly executes the statistical submodule 11 to the judgment submodule 13, continues to periodically count the current applied to the electric vehicle motor and the average speed of the electric vehicle, and then calculates the vehicle mass and obtains the current speed of the electric vehicle, so as to continue to judge whether the vehicle mass is greater than the preset first mass setting value or less than the preset second mass setting value, and judges whether the current vehicle speed is less than the preset vehicle speed setting value.

[0126] The control module 2 determines whether it is necessary to control the speed of the electric vehicle according to the current working state of the electric vehicle. Specifically, if the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled, that is, when there is an input on the handlebar of the electric vehicle, the normal driving program is executed, and there is no need to limit the speed of the electric vehicle; if the current working state of the electric vehicle is a no-load running state, the electric vehicle is controlled to travel at a limited speed, that is, when there is an input on the handlebar of the electric vehicle, the no-load speed limit program is executed, and the upper limit value of the speed of the electric vehicle is set, and the speed of the electric vehicle is limited to the upper limit value, so that the electric vehicle is stabilized at a lower speed, preventing the electric vehicle from flying away, and facilitating the user to obtain a certain amount of pushing assistance when pushing the vehicle.

[0127] Furthermore, the control module 2 includes:

[0128] The acquisition submodule is used to acquire the current gear position of the electric vehicle and obtain the vehicle speed threshold value corresponding to the gear position according to the predetermined correspondence relationship between the gear position and the vehicle speed threshold value;

[0129] The control submodule is used to control the speed of the electric vehicle to be limited to a speed threshold.

[0130] Considering that electric vehicles may have different gears and different gears correspond to driving forces, after the acquisition submodule obtains the current gear of the electric vehicle and the corresponding vehicle speed threshold, the control submodule sets different speed limits according to the different gears of the electric vehicle to obtain different driving forces.

[0131] Please refer to Figure 3 , Figure 3A schematic block diagram of the structure of an embodiment of an electronic device of the present invention. An embodiment of the present invention further proposes an electronic device 1001, including a memory 1003 and a processor 1002, wherein the memory 1003 stores a computer program 1004, and when the processor 1002 executes the computer program 1004, the steps of implementing any of the above-mentioned sound source localization methods include: S1, monitoring the current working state of the electric vehicle; S2, controlling the speed of the electric vehicle according to the current working state of the electric vehicle, if the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled, and if the current working state of the electric vehicle is an unloaded running state, the speed of the electric vehicle is controlled to be limited.

[0132] Please refer to Figure 4 , Figure 4 The present invention is a schematic block diagram of a computer-readable storage medium according to an embodiment of the present invention. An embodiment of the present invention further provides a computer-readable storage medium 2001, on which a computer program 1004 is stored. When the computer program 1004 is executed by a processor 1002, the steps of implementing any of the above-mentioned sound source localization methods include: S1, monitoring the current working state of the electric vehicle; S2, controlling the speed of the electric vehicle according to the current working state of the electric vehicle, if the current working state of the electric vehicle is a loaded running state, then the speed of the electric vehicle is not controlled, if the current working state of the electric vehicle is an unloaded running state, then the electric vehicle is controlled to travel at a limited speed.

[0133] Compared with the prior art, the beneficial effects of the present invention are as follows: it is only necessary to determine whether the electric vehicle is in a loaded or unloaded state through the statistical analysis of the applied current and the average vehicle speed within a period, which is simple and reliable, does not require the addition of additional hardware such as pressure sensors, and has lower costs; by determining the loaded and unloaded running states of the electric vehicle, the driving speed of the electric vehicle is not controlled in the loaded running state, and in the unloaded running state, the electric vehicle is controlled to run at a limited speed, so that the speed of the electric vehicle is limited to a lower speed, which can effectively prevent the electric vehicle from running away and protect the safety of the user, and when the user pushes the car, the power of the electric vehicle will not be cut off to assist the user in pushing the car, which is very labor-saving and convenient.

[0134] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0135] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, device, article or method including the element.

[0136] The present invention is not limited to the above-mentioned embodiments. If various changes or modifications to the present invention do not depart from the spirit and scope of the present invention, and if these changes and modifications fall within the scope of the claims and equivalent technologies of the present invention, the present invention is also intended to include these changes and modifications.

Claims

1. A method for preventing an electric vehicle from running away, characterized in that: The following steps are involved: S1. Monitor the current working status of the electric vehicle: S11, periodically counting the current applied to the motor of the electric vehicle and the average speed of the electric vehicle; S12, calculating the vehicle mass according to a preset formula based on the applied current and average vehicle speed in the current cycle and the applied current and average vehicle speed in the previous cycle; S13, determining whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value; S14, if the vehicle mass is greater than a preset first mass setting value, the current working state of the electric vehicle is a loaded running state; S15. If the vehicle mass is less than the preset second mass setting value, the current working state of the electric vehicle is a no-load running state; S2. Control the speed of the electric vehicle according to the current working state of the electric vehicle. If the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled. If the current working state of the electric vehicle is a no-load running state, the electric vehicle is controlled to travel at a limited speed.

2. The method for preventing electric vehicles from flying away according to claim 1, characterized in that: In the step of calculating the vehicle mass according to a preset formula: The default formula is Where m is the vehicle mass, ∑I d1 is the applied current counted in the previous cycle, ∑I d2 is the applied current counted in this cycle, V1 is the average vehicle speed counted in the previous cycle, V2 is the average vehicle speed counted in this cycle, and η is the proportional coefficient between the applied current and the driving force of the electric vehicle motor.

3. The method for preventing an electric vehicle from flying away according to claim 1, characterized in that: The step of determining whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value comprises: Get the current speed of the electric vehicle; Determining whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value, and determining whether the current vehicle speed is less than a preset vehicle speed setting value; If the vehicle mass is greater than the preset first mass setting value, the current working state of the electric vehicle is a loaded running state, comprising: If the vehicle mass is greater than the preset first mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the current working state of the electric vehicle is the loaded running state; If the vehicle mass is less than the preset second mass setting value, the current working state of the electric vehicle is a no-load running state, the step includes: If the mass of the entire vehicle is less than the preset second mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the current working state of the electric vehicle is a no-load running state.

4. The method for preventing an electric vehicle from flying away according to claim 3, characterized in that: The step of determining that the current working state of the electric vehicle is a loaded running state if the vehicle mass is greater than a preset first mass setting value and the current vehicle speed is less than a preset vehicle speed setting value comprises: If the vehicle mass is greater than the preset first mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the loaded count is increased by 1, and it is determined whether the loaded count is greater than the preset number of times setting value; If yes, the current working state of the electric vehicle is the loaded running state, and the loaded count is cleared; If not, steps S11 to S13 are repeated.

5. The method for preventing an electric vehicle from flying away according to claim 3, characterized in that: If the vehicle mass is less than the preset second mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the current working state of the electric vehicle is the no-load running state, the step includes: If the vehicle mass is less than the preset second mass setting value and the current vehicle speed is less than the preset vehicle speed setting value, the no-load count is increased by 1, and it is determined whether the no-load count is greater than the preset number setting value; If yes, the current working state of the electric vehicle is no-load running state, and the no-load count is cleared; If not, steps S11 to S13 are repeated.

6. The method for preventing an electric vehicle from flying away according to claim 1, characterized in that: If the current working state of the electric vehicle is a no-load running state, the step of controlling the electric vehicle to travel at a limited speed includes: Obtaining the current gear position of the electric vehicle, and obtaining the vehicle speed threshold corresponding to the gear position according to a predetermined correspondence relationship between the gear position and the vehicle speed threshold; The speed of the electric vehicle is controlled to be limited to a speed threshold.

7. An anti-runaway system for electric vehicles, characterized in that: include: A monitoring module is used to monitor the current working status of the electric vehicle; The monitoring modules include: A statistics submodule, used for periodically counting the current applied to the electric vehicle motor and the average speed of the electric vehicle; A calculation submodule, for calculating the vehicle mass according to a preset formula based on the applied current and average vehicle speed counted in the current cycle and the applied current and average vehicle speed counted in the previous cycle; A judgment submodule, used to judge whether the vehicle mass is greater than a preset first mass setting value or less than a preset second mass setting value; The loaded submodule is used for determining that the current working state of the electric vehicle is a loaded running state if the mass of the entire vehicle is greater than a preset first mass setting value; The no-load submodule is used to determine that if the mass of the entire vehicle is less than a preset second mass setting value, the current working state of the electric vehicle is a no-load running state; The control module is used to control the speed of the electric vehicle according to the current working state of the electric vehicle. If the current working state of the electric vehicle is a loaded running state, the speed of the electric vehicle is not controlled. If the current working state of the electric vehicle is a no-load running state, the electric vehicle is controlled to travel at a limited speed.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images