Emergency stop control system, method, and road machine

Abstract

The application discloses an emergency stop control system, method and road machinery, and the emergency stop control system comprises a low-voltage power supply system, a vehicle controller VCU, a motor controller, a motor and an emergency stop switch, wherein the low-voltage power supply system is connected with the vehicle controller VCU and the motor controller, the emergency stop switch is arranged on a circuit connecting the low-voltage power supply system with the vehicle controller VCU and the motor controller, the vehicle controller VCU is used for generating a braking instruction and sending the braking instruction to the motor controller in the case that the emergency stop signal of the emergency stop switch is not detected within a first preset time when a preset fault occurs, and the motor controller is used for applying a braking torque to the motor connected with the motor controller according to the braking instruction, so as to control the corresponding motor to slow down, thereby completing the power-off task of the vehicle body. When the driver cannot make an emergency stop operation in time, the method can realize automatic speed reduction control of the vehicle body, and to a certain extent, the safety of the vehicle is ensured.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle technology, specifically to an emergency stop control system, method, and road machinery. Background Technology

[0002] With the support of national policies and the advancement of electric vehicle technology, electric vehicles are gradually becoming more widespread, and more and more people are choosing electric vehicles as their mode of transportation. Among these features, the drive motor of an electric vehicle has energy recovery capabilities. When a malfunction occurs while driving or when the driver needs to brake suddenly, the drive motor can provide a certain braking torque to help decelerate the vehicle and convert the vehicle's kinetic energy into electrical energy stored in the power battery.

[0003] However, if the driver cannot react in time when an emergency braking situation occurs, such as initiating an emergency stop operation, the vehicle will not be able to stop quickly, which may cause a traffic accident or even threaten the safety of the driver and passengers. Summary of the Invention

[0004] This invention provides an emergency stop control system, method, and road machinery to achieve emergency stop control when the driver cannot make timely emergency braking, thereby ensuring the safety of the driver and passengers to a certain extent. Specifically, the embodiments of this application disclose the following technical solutions:

[0005] In a first aspect, embodiments of the present invention disclose an emergency stop control system, comprising: a low-voltage power supply system, a vehicle controller (VCU), a motor controller, a motor, and an emergency stop switch; wherein, the low-voltage power supply system is connected to the vehicle controller (VCU) and the motor controller, and the emergency stop switch is disposed on a circuit connecting the low-voltage power supply system to the vehicle controller (VCU) and the motor controller;

[0006] The vehicle control unit (VCU) is used to generate a braking command and send the braking command to the motor controller if no emergency stop signal from the emergency stop switch is detected within a first preset time after a preset fault occurs.

[0007] The motor controller is connected to the motor and is used to apply braking torque to the connected motor according to the braking command.

[0008] In conjunction with the first aspect, in one possible implementation of the first aspect, the emergency stop control system further includes a battery management system (BMS);

[0009] The motor controller is also used to collect the rotational speed of the motor after the braking torque is applied, and send the rotational speed of the motor to the vehicle controller (VCU);

[0010] The vehicle control unit (VCU) is also used to generate a power-down command when it determines that the motor speed has reached the minimum speed value, and send the power-down command to the battery management system (BMS).

[0011] The battery management system (BMS) is used to receive the power-down command and complete the power-down task according to the power-down command.

[0012] In conjunction with the first aspect, in another possible implementation of the first aspect, the braking command includes: a first braking command and a second braking command, wherein the motor controller is configured to apply a first braking torque to the motor connected to it according to the first braking command, and to apply a second braking torque to the motor connected to it according to the second braking command, wherein the first braking torque is greater than the second braking torque;

[0013] The vehicle controller (VCU) is also configured to send the first braking command to the motor controller, receive the first speed of the motor measured by the motor controller, and send the second braking command to the motor controller when the first speed is greater than a first threshold.

[0014] Wherein, the first speed is the speed of the motor after the first braking torque is applied by the motor controller.

[0015] In conjunction with the first aspect, in another possible implementation of the first aspect, the emergency stop control system further includes a sensor for fault detection, the sensor being connected to the vehicle controller (VCU); the vehicle controller (VCU) is also used to generate an alarm signal when the sensor detects a preset fault, and to send the alarm signal to an alarm device for alarm activation.

[0016] In conjunction with the first aspect, in another possible implementation of the first aspect, the emergency stop control system further includes: a braking device and a brake; the braking device is connected to the vehicle controller (VCU) and the brake, respectively;

[0017] The vehicle control unit (VCU) is further configured to, after sending the braking command, determine whether the collected motor speed has decreased to a minimum speed value within a second preset time; if not, generate a first stop command and send the first stop command to the motor controller, the first stop command being used to instruct the motor controller to disconnect from the motor; and control the motor speed to decrease to the minimum speed value through the braking device.

[0018] In conjunction with the first aspect, in another possible implementation of the first aspect, the vehicle controller (VCU) is further configured to control the motor controller to perform a shutdown operation upon detecting the emergency stop signal, such as by controlling the motor controller to cancel the enable signal to perform the shutdown operation.

[0019] In conjunction with the first aspect, in another possible implementation of the first aspect, the vehicle controller (VCU) is further configured to determine whether the remaining charge of the vehicle battery is less than or equal to a preset charge before detecting the emergency stop signal of the emergency stop switch within the first preset time period after a preset fault occurs; if so, the vehicle controller (VCU) detects the emergency stop signal, generates the braking command, and sends the braking command to the motor controller.

[0020] In a second aspect, embodiments of the present invention disclose an emergency stop control method, which is applied to the emergency stop control system described in the first aspect and any implementation thereof, the emergency stop control method comprising:

[0021] The vehicle control unit (VCU) of the emergency stop control system detects whether an emergency stop signal for the emergency stop switch is generated within a first preset time after a preset fault occurs; if not, the VCU generates a braking command and sends the braking command to the motor controller; the braking command is used to instruct the motor controller to apply braking torque to the motor of the emergency stop control system connected to it.

[0022] In conjunction with the second aspect, in one possible implementation of the second aspect, after sending the braking command to the motor controller, the method further includes:

[0023] The vehicle controller (VCU) receives the motor speed after applying braking torque from the motor controller; it determines whether the motor speed has reached the minimum speed value. If so, the VCU generates a power-down command and sends the power-down command to the battery management system (BMS). The power-down command instructs the BMS to complete the power-down task of the vehicle body.

[0024] Thirdly, embodiments of the present invention also disclose an emergency stop control device, the device comprising:

[0025] The detection unit is used to detect whether an emergency stop signal of the emergency stop switch is generated within a first preset time after a preset fault occurs;

[0026] The generation unit is configured to generate a braking command when the detection unit does not detect the emergency stop signal;

[0027] A sending unit is used to send the braking command to the motor controller; the braking command is used to instruct the motor controller to apply braking torque to the motor connected to it.

[0028] In addition, the above-mentioned device also includes: a receiving unit,

[0029] The receiving unit is used to receive the motor speed after the braking torque is applied, which is collected by the motor controller;

[0030] The generating unit is also used to generate a power-down command when the detection unit determines that the current speed of the motor has reached the minimum speed value;

[0031] The sending unit is further configured to send the power-down command to the battery management system (BMS), the power-down command being used to instruct the BMS to complete the power-down task.

[0032] Fourthly, embodiments of the present invention also disclose an electronic device, including a processor and a memory, wherein the processor is coupled to the memory; wherein the memory stores computer-readable program instructions, which, when executed by the processor, cause the electronic device to perform the emergency stop control method as described in the second aspect above.

[0033] Optionally, the electronic device may also include an interface, which may be a communication interface or other interfaces.

[0034] In addition, embodiments of the present invention also disclose a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the emergency stop control method described in the second aspect.

[0035] Fifthly, embodiments of the present invention also disclose a road machinery, including a vehicle body, and further including an emergency stop control system as described in the first aspect and any implementation thereof, the emergency stop control system being disposed on the vehicle body.

[0036] The method, apparatus, and road machinery provided in this invention connect the emergency stop switch to the vehicle control unit (VCU) and the motor controller. When no emergency stop signal is detected by the driver within a preset time, the VCU generates and sends a braking command to the motor controller. The braking motor controller reduces the speed of the motor connected to it, thereby achieving automatic speed reduction control of the vehicle body when the driver cannot make an emergency stop operation in time. This prevents damage to components caused by continued operation with a fault, or even personal injury. This solution ensures passenger safety to a certain extent.

[0037] In addition, during emergency stop control, an electronically controlled braking torque is used to control the motor speed in stages through braking commands. A larger torque is used at the initial stage when the speed is higher, such as the first braking torque, to rapidly reduce the motor speed and decelerate the vehicle quickly. In the later stage, a smaller braking torque is used, such as the second and third braking torques, to control the motor speed to reduce the speed. This allows for segmented braking and deceleration of the vehicle, reducing the impact of emergency braking on the occupants. Attached Figure Description

[0038] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1A A circuit diagram of an emergency stop control system provided in an embodiment of the present invention;

[0040] Figure 1B A schematic diagram of an emergency stop switch provided in an embodiment of the present invention;

[0041] Figure 2 A flowchart of an emergency stop control method provided in an embodiment of the present invention;

[0042] Figure 3 A signaling flowchart for segmented braking command control provided in an embodiment of the present invention;

[0043] Figure 4 A flowchart of a preset fault judgment method provided in an embodiment of the present invention;

[0044] Figure 5 A flowchart of another emergency stop control method provided in an embodiment of the present invention;

[0045] Figure 6 A structural block diagram of a control device provided in an embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the structure of a vehicle control unit (VCU) provided in an embodiment of the present invention. Detailed Implementation

[0047] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] The technical solutions provided in this application are applied to the field of vehicle driving, such as autonomous driving.

[0049] The technical solution of this embodiment improves the braking control circuit and control method of traditional road machinery products. The road machinery products refer to vehicles, such as electric vehicles. When a vehicle needs to brake suddenly, such as when a personal safety or electrical fault occurs, an emergency braking and stopping procedure is generally initiated. The vehicle controller controls the solenoid valve to generate hydraulic braking to the reducer, and the vehicle body stops suddenly through mechanical braking.

[0050] However, when existing road machinery products report a serious malfunction requiring emergency stopping, they cannot automatically perform emergency stopping operations without human intervention to initiate the emergency braking process. This can lead to uncontrollable results, or even equipment damage or personal injury. Therefore, there is a need for a technical solution that can automatically control emergency stopping without human intervention, in order to ensure the safety of drivers and passengers to a certain extent.

[0051] The technical solution provided in this embodiment will be described in detail below.

[0052] This embodiment provides an emergency stop control system that can be applied to road machinery products to automatically control the vehicle to stop suddenly, thereby improving driving safety.

[0053] In one example, such as Figure 1A As shown, the emergency stop control system includes: a low-voltage power supply system, a vehicle control unit (VCU), a motor controller, a motor, and an emergency stop switch. It should be understood that this emergency stop control system may also include other components, such as a battery management system (BMS), alarms, sensors, etc., but this embodiment does not impose any limitations on this.

[0054] The low-voltage power supply system is used to provide low-voltage electricity to downstream electrical components and to control the on / off state of at least one switch. Optionally, the low-voltage power supply system includes: a low-voltage battery, a handbrake, a first switch, and a second switch, etc.

[0055] The low-voltage battery includes, but is not limited to, one or more sets of low-voltage batteries.

[0056] The low-voltage battery is connected to one end of the handbrake via a low-voltage wire, and the other end of the handbrake is connected in parallel to a first switch and a second switch. The first switch connects the vehicle control unit (VCU) and the motor controller, and the second switch connects the emergency stop switch. When the first switch is closed, the low-voltage battery supplies low-voltage power to the VCU and the motor controller through the handbrake. When the second switch is closed, the low-voltage battery supplies power to the emergency stop switch.

[0057] The motor controller is connected to the vehicle control unit (VCU). Additionally, the motor controller is also connected to the motor and the emergency stop switch. In this embodiment, the number of motor controllers can be one or more; for example... Figure 1A As shown, the system includes three motor controllers: a first motor controller, a second motor controller, and a third motor controller. Each motor controller is connected to one motor. For example, the first motor controller is connected to the first motor, the second motor controller is connected to the second motor, and the third motor controller is connected to the third motor. Each motor controller is used to control the motor connected to it.

[0058] In addition, the various motor controllers can be connected to each other via a Controller Area Network (CAN) bus. For example, the first motor controller to the third motor controller can be connected to each other via a CAN bus, and these motor controllers can also be connected to the vehicle controller (VCU) via a CAN bus.

[0059] Optionally, the motor controller is a microcontroller unit (MCU).

[0060] The emergency stop switch is located on the circuit connecting the low-voltage power supply system to the vehicle control unit (VCU) and the motor controller.

[0061] Optionally, in one possible implementation, such as Figure 1B As shown, the emergency stop switch includes an emergency stop button and a third switch. The emergency stop button is connected in series with the control circuit of the third switch to control the third switch. When energized, the emergency stop button can be turned on or off simultaneously, so the working state of the third switch can be controlled by the emergency stop button. When the third switch is closed, the low voltage output by the low voltage power supply system passes through the third switch and supplies power to the vehicle controller (VCU) and the motor controller.

[0062] The vehicle control unit (VCU) is used to generate a braking command and send the braking command to the motor controller if no emergency stop signal from the emergency stop switch is detected within a first preset time after a preset fault occurs.

[0063] The motor controller is used to apply braking torque to the motor connected to it according to the braking command.

[0064] Specifically, the control principle is as follows:

[0065] During normal operation, the emergency stop switch is normally closed. When the handbrake in the low-voltage power supply system is closed, the first and second switches close sequentially. The low-voltage power supply system outputs low-voltage electricity and wakes up the battery management system (BMS) to enter working mode. At this time, both the low-voltage and high-voltage power supply systems operate simultaneously. The vehicle control unit (VCU) receives the power-on signals from the back ends of the first and second switches. Simultaneously, the back-end circuit of the emergency stop switch outputs a high-level signal to the VCU and the first to third motor controllers. Correspondingly, the VCU and the first to third motor controllers receive the high-level signal output from the back-end circuit of the emergency stop switch.

[0066] When a preset fault occurs and the driver presses the emergency stop button in the emergency stop switch, the emergency stop switch changes from closed to open. At this time, the third switch in the emergency stop switch also opens, and a low-level signal is output to the vehicle controller (VCU) and the first to third motor controllers through the third switch. Correspondingly, the vehicle controller (VCU) and the first to third motor controllers receive this low-level signal. The vehicle controller (VCU) can then determine whether the emergency stop button has been pressed by judging whether the received signal is a high-level signal. When the emergency stop button is pressed, the high-level signal disappears. At this time, the vehicle controller (VCU) only detects the low-level signal, then generates a braking command and sends the braking command to the first to third motor controllers. After receiving the braking command, each motor controller controls the speed of the first to third motors connected to it, reducing the speed of each motor and stopping the vehicle.

[0067] In one possible implementation, each motor controller is further configured to acquire the rotational speed of the motor after the braking torque is applied, and send the motor rotational speed to the vehicle control unit (VCU). The VCU is further configured to generate a power-down command when it determines that the motor rotational speed has reached a minimum value, and send the power-down command to the battery management system (BMS). The BMS receives the power-down command and completes the power-down task according to the command.

[0068] Optionally, in the above embodiments, the braking command includes a first braking command and a second braking command. The motor controller is configured to apply a first braking torque to the motor connected to it according to the first braking command, and to apply a second braking torque to the motor connected to it according to the second braking command, wherein the first braking torque is greater than the second braking torque.

[0069] In addition, the vehicle control unit (VCU) is also used to send the first braking command to the motor controller, receive the first rotational speed of the motor measured by the motor controller, and, if it determines that the first rotational speed is greater than a first threshold, send the second braking command to the motor controller. The first rotational speed is the rotational speed of the motor after the first braking torque is applied by the motor controller.

[0070] It should be understood that the above braking commands may also include more braking commands, such as third braking commands, fourth braking commands, etc.

[0071] Optionally, in the above embodiments, the emergency stop control system further includes a sensor (the sensor is in...) Figure 1A (Not shown in the image), the sensor is connected to the vehicle control unit (VCU), and the sensor is used for fault detection. Specifically, the VCU is also used to generate an alarm signal when the sensor detects a preset fault, and send the alarm signal to an alarm device for alarm activation.

[0072] Optionally, in the above embodiments, such as Figure 1A As shown, the emergency stop control system also includes a braking device and a brake; the braking device is connected to the vehicle controller (VCU) and the brake respectively, and the brake is also connected to the first to third motors.

[0073] The vehicle control unit (VCU) is further configured to, after sending the braking command, determine whether the collected motor speed has decreased to a minimum speed value within a second preset time; if not, generate a first stop command and send the first stop command to the motor controller, the first stop command being used to instruct the motor controller to disconnect from the motor; and control the motor speed to decrease to the minimum speed value through the brake.

[0074] In addition, in the above embodiments, the vehicle controller (VCU) is also used to control the motor controller to cancel the shutdown operation when the emergency stop signal is detected within the first preset time. For example, the shutdown operation can be performed by controlling the motor controller to enable the disappearance signal.

[0075] Upon detecting the emergency stop signal, indicating that the driver or passenger has pressed the emergency stop button, the vehicle control unit (VCU) will cancel the enable signal. After the enable signal disappears, the vehicle will be decelerated using the braking device and the brake to perform a stop operation, thereby ensuring passenger safety.

[0076] Optionally, in the above embodiments, the vehicle controller (VCU) is further configured to determine whether the remaining charge of the vehicle battery is less than or equal to a preset charge before detecting the emergency stop signal of the emergency stop switch within the first preset time period after a preset fault occurs; if so, the vehicle controller (VCU) detects the emergency stop signal, generates the braking command, and sends the braking command to the motor controller, which then controls the motor to reduce its speed.

[0077] Alternatively, if not, the vehicle control unit (VCU) controls the motor controller to remove the enable signal and perform a shutdown operation to quickly stop the vehicle.

[0078] In one specific embodiment, such as Figure 2 As shown, this embodiment provides an emergency stop control method applied to the aforementioned emergency stop control system. The road machinery can be a vehicle, such as an electric vehicle. The emergency stop control method includes the following steps:

[0079] Step 101: When the vehicle control unit (VCU) detects a fault, it determines whether the fault is a preset fault. A preset fault is a severe fault that cannot disappear automatically.

[0080] Step 102: If so, the vehicle control unit (VCU) generates an alarm signal and sends it to the alarm device to trigger an alarm. The alarm device may trigger an alarm via, but is not limited to, indicator lights and / or a buzzer.

[0081] Step 103: Determine whether an emergency stop signal from the emergency stop switch is detected within the first preset time period after the preset fault occurs.

[0082] The first preset time can be represented as "t1"; the duration of t1 can be set by the system, for example, t1 = 2s (seconds). The first preset time t1 can start counting from when the alarm signal is issued by the alarm device, and it is determined whether the driver presses the emergency stop button in the emergency stop switch within 2 seconds. If yes, the shutdown control process is executed; if no, step 104 is executed.

[0083] Specifically, when the emergency stop button is pressed, an emergency stop signal is generated. Further, the generation of the emergency stop signal can be determined by detecting high and low level signals. If the vehicle control unit (VCU) receives a high level signal continuously for a first preset time t1, it indicates that no emergency stop signal has been detected, meaning the emergency stop button has not been pressed; conversely, if a low level signal is received, it indicates that the emergency stop signal has been detected, and the emergency stop button has been pressed.

[0084] Step 104: If no emergency stop signal is detected within the first preset time after the preset fault occurs, the vehicle controller (VCU) generates a braking command and sends the braking command to the motor controller; the braking command is used to instruct the motor controller to apply braking torque to the motor of the emergency stop control system connected to it.

[0085] Optionally, the vehicle control unit (VCU) generates and sends multiple braking commands to instruct the motor controller to apply braking torque to the motor connected to it, thereby reducing the motor speed.

[0086] In step 104, the vehicle control unit (VCU) initiates a "braking mode command" to the first to third motor controllers. By sending multiple braking commands, each of which carries a braking torque, each motor controller controls its connected motor according to the braking torque. The multiple braking commands control the motor speed in segments. For example, in the first stage, when the motor speed is high, a larger torque is used to brake and decelerate the vehicle quickly. In the second stage, when the motor speed drops to a smaller value, such as when the speed is less than the set value V0, a ​​smaller braking torque is used to reduce the impact of rapid deceleration on the occupants of the vehicle.

[0087] In addition, the methods also include:

[0088] Step 105: The vehicle control unit (VCU) receives the motor speed after the applied braking torque, collected by the motor controller. If the first to third motor controllers receive multiple braking commands from the VCU, they perform multiple braking maneuvers on the first to third motors and report the motor speed after each braking maneuver to the VCU. For example, the reported motor speed can be any one of V1 to Vn, where Vn is the motor speed after the Nth braking maneuver.

[0089] Step 106: Determine whether the speed of the motors currently being received has reached the minimum speed value.

[0090] Optionally, the minimum speed value is approximately equal to 0, that is, after the motor controller applies at least one braking torque to the motor connected to it, whether the motor speed of each motor drops to 0 or approximately equal to 0.

[0091] Step 107: If so, the Vehicle Controller (VCU) generates a power-down command and sends it to the Battery Management System (BMS). The power-down command instructs the BMS to complete the power-down task. Correspondingly, the BMS receives the power-down command from the VCU and completes the power-down task on the vehicle body.

[0092] Specifically, the vehicle controller (VCU) sends a power-down command to the battery management system (BMS). The power management module of the BMS controls the high-voltage circuit switch to open, at which point the system loses power and no high-voltage power is supplied to the electrical appliances, and the vehicle stops moving.

[0093] The method provided in this embodiment connects the emergency stop button to the vehicle control unit (VCU) and the motor controller. When no emergency stop signal is detected from the emergency stop switch within a first preset time after a preset fault occurs, the VCU initiates an autonomous emergency stop control mechanism, generating and sending a braking command to the motor controller. This instructs the motor controller to reduce the speed of its connected motor according to the braking command, thereby controlling the vehicle to power down and stop, thus achieving emergency stop control of the vehicle. This method automatically controls the vehicle to stop when the driver cannot make an emergency stop operation in time, preventing the vehicle from continuing to operate with a fault, which could lead to component damage or even personal injury, and to a certain extent ensures the safety of the driver and passengers.

[0094] Optionally, in a specific example, in step 104 above, the braking command includes a first braking command and a second braking command. It should be understood that a third, fourth, ..., Nth braking command can also be generated, where N ≥ 2 and is a positive integer.

[0095] The first braking command carries a first braking torque, and the second braking command carries a second braking torque, wherein the first braking torque is greater than the second braking torque. The motor controller is configured to apply the first braking torque to the motor connected to it according to the first braking command, and to apply the second braking torque to the motor connected to it according to the second braking command.

[0096] Specifically, such as Figure 3 As shown, step 104 specifically includes the following processes:

[0097] Step 1041: The vehicle control unit (VCU) sends the first braking command to the first to third motor controllers.

[0098] Step 1042: After receiving the first braking command, the first to third motor controllers apply the first braking torque to the first to third motors connected to them according to the first braking torque indicated by the first braking command.

[0099] More specifically, the first motor controller, the second motor controller, and the third motor controller apply a first braking torque to the first motor, the second motor, and the third motor, respectively, to reduce the speed of the first to the third motors.

[0100] Step 1043: The first to third motor controllers measure the speed of the corresponding motor after the first braking torque. For example, after the first motor controller applies the first braking torque to the first motor, it measures the speed of the first motor. Similarly, the second and third motor controllers also control the speed of the second and third motors respectively, and measure the speed of the second and third motors after deceleration by the first braking torque. Optionally, in this embodiment, the speed of each motor after the first braking torque is defined as the first speed, denoted by "V1".

[0101] Step 1044: The first to third motor controllers report the first speed V1 they have acquired to the vehicle controller VCU via the controller local area network CAN bus.

[0102] Specifically, after applying a first braking torque to the first motor connected to it, the first motor controller measures the first speed V1 of the first motor and reports the first speed V1 to the vehicle controller VCU. Similarly, the second motor controller and the third motor controller also send the speeds of the second and third motors they manage to the vehicle controller VCU, respectively.

[0103] At this point, steps 1041 to 1044 complete the process of the vehicle controller (VCU) sending the first braking command to the first to third motor controllers and controlling the first to third motors to reduce their speed once according to the first braking torque.

[0104] Similarly, the vehicle control unit (VCU) also performs secondary speed reduction on the first to third motors, such as... Figure 3 The method shown also includes:

[0105] Step 1045: The vehicle control unit (VCU) determines whether all first speeds V1 reported by the first to third motor controllers are greater than a first threshold. The first threshold can be set by the system itself.

[0106] Step 1046: If so, that is, when all the first speeds V1 are greater than the first threshold, the vehicle controller VCU sends a second braking command to the first to third motor controllers. The second braking command carries control parameters such as the second braking torque.

[0107] Step 1047: After receiving the second braking command, the first to third motor controllers apply a second braking torque to the first to third motors connected to them to reduce the speed of the first to third motors a second time.

[0108] Step 1048: The first to third motor controllers measure and obtain the rotational speed of the first to third motors after the second braking torque. In this embodiment, the rotational speed of the motor after the second braking torque is set as the second rotational speed, which is represented by "V2".

[0109] Step 1049: The first to third motor controllers report the second speed V2 to the vehicle controller VCU, and the vehicle controller VCU receives the second speed V2 accordingly. At this time, the vehicle controller VCU completes the secondary speed reduction process of the first to third motors through the second braking torque.

[0110] Similarly, the vehicle control unit (VCU) can also instruct the motor controller to perform the third, fourth, ..., Nth speed reduction control on the motor it controls through the third, fourth, ..., Nth braking commands. The specific control process is the same as the first and second braking control processes mentioned above, and will not be repeated here.

[0111] In this embodiment, if no emergency stop signal is detected within a first preset time, the vehicle control unit (VCU) initiates an autonomous emergency stop mechanism, generating and sending a braking command to the motor controller to reduce the motor speed in stages. Initially, when the motor speed is high, a larger braking torque, such as the first braking torque, is used to rapidly reduce the motor speed and decelerate the vehicle quickly. Later, a smaller braking torque, such as the second, third, or Nth braking torque, is used to control the motor speed and reduce its speed. This staged braking and deceleration aims to reduce the impact of emergency braking on the occupants.

[0112] It should be noted that during the initial braking and deceleration phase, when the speed is greater than the first threshold, the magnitude of the braking torque carried in the braking command needs to be adjusted in real time according to the magnitude of the feedback current, so as not to exceed the set current value, and to meet the requirement of reducing the speed to a smaller speed in the shortest possible time. For example, when the motor speed is reduced to the second threshold, the motor speed is braked and controlled according to the given fixed torque.

[0113] Optionally, in one possible implementation of this embodiment, when determining whether the detected fault is a preset fault in step 101 above, it specifically includes, for example: Figure 4 As shown, the vehicle control unit (VCU) determines the fault level corresponding to the fault. The fault levels are classified into three levels according to severity: Level 1, Level 2, and Level 3, with Level 1 being the most severe, followed by Level 2, and Level 3 being the least severe. Specifically, the VCU determines the level based on the data range transmitted from each sub-component to the VCU via the CAN bus, dividing the data into three segments to classify the detected fault.

[0114] Assuming the preset fault level is Level 1 (serious fault) and other fault levels (including Level 2 and Level 3) are minor faults, when the fault is determined to be the preset fault, step 102 is executed. If the determination result is negative (i.e., the fault level is Level 2 or Level 3), it is determined that the current fault is not a preset fault, and it is further determined whether the fault can disappear within a third preset time period t3. If yes, the process reverts to the initial fault detection step and continues real-time detection; if no, i.e., the fault does not disappear within the time period t3, step 102 is executed to generate an alarm signal and send the alarm signal to the alarm device to trigger, reminding the driver to press the emergency stop button.

[0115] The duration of the third preset time t3 can be customized by the system, such as 1 to 2 seconds, but this embodiment does not impose any restrictions on it.

[0116] This method, upon encountering a fault, first determines the fault level, filtering out severe, moderate, and minor faults. Therefore, for faults other than severe ones, the autonomous stop process is not initiated. Only when the fault is classified as severe will the automatic emergency stop control mechanism be activated, issuing an alarm to remind the driver to stop immediately. The method provided in this embodiment ensures the continuity of vehicle operation and avoids sudden stops caused by minor faults or errors.

[0117] In addition, the aforementioned emergency stop control system also includes: a braking device and a brake. For example... Figure 1A As shown, the braking device can be a brake valve, which is connected to the vehicle controller (VCU) and the brake respectively. Specifically, the braking device is connected to the brake through a hydraulic circuit. The brake is also connected to the first to third motors to control the speed of each motor under the instruction of the braking device, thereby realizing emergency stop control of the vehicle body.

[0118] It should be noted that, Figure 1A The braking device can use an electro-proportional valve to control the pressure of the hydraulic oil, gradually reducing the pressure and gradually increasing the braking force, thereby preventing the brakes from locking up and causing mechanical impact on personnel and equipment.

[0119] Specifically, step 105 above also includes constraining the duration of the motor speed reduction, specifically, as follows: Figure 5 As shown, step 106 above specifically includes:

[0120] Step 1061: Determine whether the collected motor speed has decreased to the minimum speed value within a second preset time period. That is, after the first to the Nth braking torque braking, within the time period of repeated braking (the second preset time t2), whether the speed of all motors has decreased to 0 or approximately equal to 0. The duration of the second preset time t2 can be customized by the system.

[0121] If not, proceed to step 1062.

[0122] Step 1062: The vehicle controller (VCU) disconnects the brake control signal and brakes the motor through the brake, controlling the motor speed to decrease to the minimum speed value.

[0123] Specifically, the vehicle control unit (VCU) generates a first stop command and sends it to the first to third motor controllers. This first stop command instructs the first to third motor controllers to disconnect the motors they control. The VCU also collects the motor speed data from each motor controller in real time to determine whether the connection between the motor controller and each motor is broken. Then, the VCU sends a control command to the braking system. Upon receiving this command, the braking system uses the brakes to reduce the speed of the first to third motors to the minimum speed value.

[0124] The specific control principle is as follows: During normal driving, the brake is connected to the first to third motors. When the vehicle controller (VCU) controls the brake valve to be energized, the hydraulic oil circuit between the brake device and the brake is connected. Under these circumstances, the brake is disconnected from each motor (not connected) and no braking control is performed. When the vehicle controller (VCU) controls the brake valve to be de-energized, the hydraulic oil circuit is interrupted. Under these circumstances, the brake is connected to each motor and generates braking force. This braking force is used to control the speed of each motor to be reduced to the minimum speed value, thereby realizing the stopping control of the vehicle body.

[0125] Additionally, in step 1061 above, if the judgment result is "yes", then step 107 is executed, and the normal power-down process is performed.

[0126] The method provided in this embodiment uses a second preset time to detect whether the vehicle controller (VCU) effectively controls the motor to reduce its speed to the minimum speed value within a certain time. If not, it may be due to a bus transmission failure, such as a communication failure preventing the VCU from sending braking commands to the motor controllers, thus preventing the motor controllers from braking the motors to reduce their speed quickly. This method can avoid this situation. When bus transmission may fail, this method effectively controls the motor speed reduction through braking devices such as brake valves and brakes, achieving emergency stop control of the vehicle.

[0127] Optionally, as another embodiment, in step 103 above, if the determination result is "yes", that is, an emergency stop signal of the emergency stop switch is detected within the first preset time t1, then step 108 is executed.

[0128] Step 108: The vehicle controller (VCU) controls the motor controller to remove the enable signal and perform a shutdown operation.

[0129] Specifically, one possible implementation is that the vehicle control unit (VCU) generates a second stop command and sends it to the motor controller. The second stop command instructs the motor controller to stop controlling the motor, i.e., to disconnect from the motor. Furthermore, the VCU generates a new braking command and sends it to the braking device. Upon receiving the braking command, the braking device controls the brake to reduce the motor speed to the minimum speed value. The specific process can be found in step 1062 above, and will not be repeated here.

[0130] Once the motor speeds have all decreased to the minimum speed value, step 107 above is executed to complete the power-off task for the vehicle body.

[0131] The method provided in this embodiment, after detecting the emergency stop signal of the emergency stop switch, instructs the motor controller through a second stop command to stop braking control of the motor, and then controls the motor to reduce the speed to the minimum speed value through the brake valve and brake, thereby realizing automatic parking control of the vehicle body.

[0132] Optionally, in the above embodiments, after the vehicle controller VCU issues an alarm signal when it detects a fault in step 102, the method further includes: the vehicle controller VCU determining whether the remaining power of the vehicle battery is less than or equal to a preset power; if so, then step 103 is executed.

[0133] The remaining power can be monitored by the battery management system (BMS) and the power data is transmitted to the vehicle control unit (VCU). After receiving the battery power data, the VCU determines whether the remaining power is less than or equal to a preset power level.

[0134] If not, i.e., if the remaining battery charge is greater than the preset charge, the vehicle control unit (VCU) generates a third stop command and sends it to the motor controller. At this point, the VCU controls the motor speed to reduce to the minimum speed value via the brake. When the VCU detects a stop, it sends a power-down command to the battery management system (BMS). Upon receiving the command, the BMS executes the power-down stop task. For details, please refer to the aforementioned... Figure 5 Steps 1062 and 107 in the embodiment will not be described again here.

[0135] When the vehicle control unit (VCU) activates the automatic emergency stop control mechanism, it generates a certain amount of electricity. This electricity feedback charges the high-voltage battery, increasing the battery charge to, for example, above 98%. At this point, the battery will self-protect and not allow further charging. Therefore, when executing step 103, the battery charge is first judged. If the battery charge does not exceed the preset charge, the control process of step 103 is executed, thereby preventing the battery from being dangerous due to overload. This method can further ensure the safety of automatic parking control.

[0136] This invention also discloses an emergency stop control device, which can be applied to the emergency stop control system in the foregoing embodiments, such as... Figure 6 As shown, the device includes: a detection unit 601, an alarm unit 602, a generation unit 603, a transmission unit 604, and a receiving unit 605. Furthermore, the device may include other modules, such as a storage unit.

[0137] The detection unit 601 is used to detect whether a fault has occurred in the vehicle body and whether the fault is a preset fault.

[0138] The alarm unit 602 is used to issue an alarm signal when the detection unit 601 detects a fault and a preset fault occurs. The alarm signal is used to instruct the alarm device to sound an alarm.

[0139] The detection unit 601 is also used to detect whether an emergency stop signal of the emergency stop switch is generated within a first preset time after a preset fault occurs.

[0140] The generation unit 603 is used to generate a braking command when the detection unit 601 does not detect the emergency stop signal.

[0141] The sending unit 604 is used to send the braking command generated by the generating unit 603 to the motor controller; the braking command is used to instruct the motor controller to apply braking torque to the motor connected to it.

[0142] Additionally, it includes: a receiving unit 605, used to receive the motor speed after applying braking torque, collected by the motor controller; a detection unit 601, used to determine whether the motor speed has reached the minimum speed value; a generating unit 603, used to generate a power-down command when the detection unit 601 determines that the current motor speed has reached the minimum speed value; and a sending unit 604, used to send the power-down command to the battery management system (BMS), so that the BMS can complete the power-down task according to the power-down command.

[0143] Optionally, in one specific embodiment of this example, the generation unit 603 is further configured to generate a first braking command and a second braking command, wherein the first braking command carries a first braking torque, the second braking command carries a second braking torque, and the first braking torque is greater than the second braking torque.

[0144] The sending unit 604 is further configured to send the first braking command to the motor controller and to send the second braking command to the motor controller. The motor controller is configured to apply a first braking torque to the motor connected to it according to the first braking command and to apply a second braking torque to the motor connected to it according to the second braking command.

[0145] In addition, the sending unit 604 is also used to send the third braking torque, the fourth braking torque, etc. generated by the generating unit 603 to the motor controller.

[0146] Optionally, in another specific embodiment of this example, the detection unit 601 is further configured to determine whether the fault is a preset fault when a fault is detected; the generation unit 603 is further configured to generate the alarm signal when the detection unit 601 detects that the fault is a preset fault, and send the alarm signal to the alarm device through the sending unit 604.

[0147] Optionally, in another specific embodiment of this example, the detection unit 601 is further configured to receive the motor speed reported by the motor controller through the receiving unit 605, determine whether the motor speed has decreased to the minimum speed value within a second preset time; if not, generate a first stop command through the generation unit 603, and send the first stop command to the motor controller through the sending unit 604. The first stop command is used to instruct the motor controller to disconnect from the motor, and the braking device is used to control the motor speed to decrease to the minimum speed value through the brake.

[0148] Optionally, in another specific embodiment of this example, the generating unit 603 is further configured to control the motor controller to cancel the enable signal and perform a shutdown operation when the detection unit 601 detects the emergency stop signal within the first preset time.

[0149] Optionally, in another specific embodiment of this example, the detection unit 601 is further configured to determine whether the remaining charge of the vehicle battery is less than or equal to a preset charge before detecting the emergency stop signal of the emergency stop switch within the first preset time period after a preset fault occurs; if so, the detection unit 601 detects whether the emergency stop signal is received within the first preset time period. The generation unit 603 is further configured to generate the braking command and send the braking command to the motor controller through the sending unit 604.

[0150] Furthermore, in another embodiment, a road machinery is also provided, including a vehicle body comprising the above-described components. Figure 1A The emergency stop control system shown is mounted on the vehicle body.

[0151] Optionally, the vehicle body is an electric vehicle.

[0152] The system and apparatus provided in this embodiment have the following beneficial effects:

[0153] First, an emergency stop button is set in the circuit. After the emergency stop button is pressed, the emergency stop signal output is connected to the vehicle controller (VCU) and motor controller via hard wiring and the controller area network (CAN). The emergency stop signal serves as the enable logic control signal for the electronic control system. The signal transmission is stable and highly reliable. When the user presses the emergency stop button, the receiving motor controller can respond quickly and initiate the braking and stopping process.

[0154] Secondly, the emergency stop control mechanism provided in this embodiment generates braking torque through electronic control. The vehicle controller (VCU) indicates the magnitude of the braking torque for each braking action through braking commands, thereby achieving segmented control of the motor speed. When the initial speed is high, a larger torque is used to quickly decelerate the vehicle. When the final speed is lower than the set value, a smaller torque is used, thereby mitigating the impact of sudden braking on the occupants. This method, combined with a mechanical emergency stop button, further improves driving safety.

[0155] Third, this method solves the problem of emergency stop control in the event of no response. When no user presses the emergency stop button, the automatic braking and stopping process is initiated to achieve automatic control of the vehicle. This prevents the vehicle from continuing to drive due to the driver's failure to activate the emergency brake, or from affecting driving safety due to damage to the vehicle's internal components, or even causing traffic accidents and injuries.

[0156] At the hardware level, this embodiment also provides an electronic device, such as... Figure 7 As shown, the electronic device includes a processor 701 and a memory 702, wherein the processor 701 and the memory 702 are coupled, and the coupling can be achieved through a bus or other means. Figure 7 Taking a bus connection as an example. Furthermore, the electronic device also includes 703, where interface 703 can be a communication interface or other interfaces, and the number of interfaces can be one or more; this embodiment does not limit this.

[0157] Processor 701 can be a central processing unit (CPU). Processor 701 can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0158] The memory 702, as a non-transitory computer-readable storage medium, can be used to store computer-readable program instructions, including but not limited to non-transitory software programs, non-transitory computer-executable program instructions, and program instructions / modules corresponding to modules such as the emergency stop control method in the embodiments of the present invention.

[0159] The processor 701 executes various functional applications and data processing by running the instructions stored in the memory 702, thereby implementing the emergency stop control method in the above method embodiment.

[0160] Additionally, memory 702 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by processor 701, etc. Furthermore, memory 702 may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 702 may optionally include memory remotely located relative to processor 701, and these remote memories can be connected to processor 701 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0161] Additionally, interface 703 is used to enable communication between electronic devices and external devices, such as communication with a server. Optionally, interface 703 can also be used to connect sensors, peripheral input / output devices, such as keyboards, displays / touchscreens, cameras, etc.

[0162] For specific details regarding the aforementioned electronic devices, please refer to the relevant documentation. Figure 1A The relevant descriptions and effects in the illustrated embodiments are for understanding purposes only and will not be repeated here.

[0163] This embodiment also discloses a computer-readable storage medium storing a computer program thereon, which, when executed by the processor 701, implements the following... Figures 2 to 5 Emergency stop control method in the illustrated embodiment.

[0164] Optionally, the aforementioned computer-readable storage medium may be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium may also include combinations of the above types of memory.

[0165] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An emergency stop control system, characterized in that, include: The system includes a low-voltage power supply system, a vehicle control unit (VCU), a motor controller, a motor, an emergency stop switch, a braking device, and a brake. The emergency stop switch includes an emergency stop button and a third switch, with the emergency stop button connected in series with the control circuit of the third switch to control the third switch. The low-voltage power supply system is connected to the vehicle controller (VCU) and the motor controller, and the emergency stop switch is located on the circuit connecting the low-voltage power supply system to the vehicle controller (VCU) and the motor controller. The emergency stop control system also includes a battery management system (BMS). The low-voltage power supply system includes a low-voltage battery, a handbrake, a first switch, and a second switch. The low-voltage battery is connected to one end of the handbrake via a low-voltage line, and the other end of the handbrake is connected in parallel to the first switch and the second switch. The first switch is used to connect the vehicle control unit (VCU) and the motor controller, and the second switch is used to connect the emergency stop switch. During normal operation, the emergency stop switch is normally closed, the handbrake in the low-voltage power supply system is closed, the first switch and the second switch are closed in sequence, the low-voltage power supply system outputs low-voltage electricity, and wakes up the battery management system (BMS) to enter the working state. At this time, the low-voltage power supply system and the high-voltage system work simultaneously; the vehicle controller (VCU) receives the power-on signal from the back end of the first switch and the power-on signal from the back end of the second switch, and the back end circuit of the emergency stop switch outputs a high-level signal to the vehicle controller (VCU) and the motor controller; When a preset fault occurs and the driver presses the emergency stop button in the emergency stop switch, the emergency stop switch changes from closed to open. The third switch in the emergency stop switch opens, and a low-level signal is output to the vehicle controller (VCU) and the motor controller through the third switch. The VCU and the motor controller receive this low-level signal. The VCU determines whether the emergency stop button has been pressed by judging whether the received signal is a high-level signal. When the emergency stop button is pressed, the VCU detects an emergency stop signal. The vehicle control unit (VCU) is configured to generate a braking command and send the braking command to the motor controller if no emergency stop signal is detected from the emergency stop switch within a first preset time period in the event of a preset fault; and to control the motor controller to perform a shutdown operation if the emergency stop signal is detected within the first preset time period. The motor controller is connected to the motor, and the motor controller is used to apply braking torque to the connected motor according to the braking command; The braking device is connected to the vehicle control unit (VCU) and the brake respectively; The vehicle control unit (VCU) is further configured to, after sending the braking command, determine whether the collected motor speed has decreased to a minimum speed value within a second preset time; if not, generate a first stop command and send the first stop command to the motor controller, the first stop command being used to instruct the motor controller to disconnect from the motor; and control the motor speed to decrease to the minimum speed value through the brake.

2. The emergency stop control system according to claim 1, characterized in that, The motor controller is also used to collect the rotational speed of the motor after the braking torque is applied, and send the rotational speed of the motor to the vehicle controller (VCU); The vehicle control unit (VCU) is also used to generate a power-down command when it determines that the motor speed has reached the minimum speed value, and send the power-down command to the battery management system (BMS). The battery management system (BMS) is used to receive the power-down command and complete the power-down task according to the power-down command.

3. The emergency stop control system according to claim 2, characterized in that, The braking command includes a first braking command and a second braking command. The motor controller is configured to apply a first braking torque to the motor connected to it according to the first braking command, and to apply a second braking torque to the motor connected to it according to the second braking command, wherein the first braking torque is greater than the second braking torque. The vehicle controller (VCU) is also configured to send the first braking command to the motor controller, receive the first speed of the motor measured by the motor controller, and send the second braking command to the motor controller when the first speed is greater than a first threshold. Wherein, the first speed is the speed of the motor after the first braking torque is applied by the motor controller.

4. The emergency stop control system according to claim 1, characterized in that, The emergency stop control system also includes a sensor for fault detection, and the sensor is connected to the vehicle control unit (VCU). The vehicle control unit (VCU) is also used to generate an alarm signal when the sensor detects a preset fault, and send the alarm signal to an alarm device.

5. The emergency stop control system according to claim 1, characterized in that, The vehicle controller (VCU) is also used to determine whether the remaining charge of the vehicle battery is less than or equal to a preset charge before detecting the emergency stop signal of the emergency stop switch within the first preset time after a preset fault occurs. If so, the vehicle control unit (VCU) detects the emergency stop signal, generates the braking command, and sends the braking command to the motor controller.

6. An emergency stop control method, characterized in that, The emergency stop control method, applied to any one of claims 1 to 5, comprises: The vehicle control unit (VCU) of the emergency stop control system detects whether an emergency stop signal is generated within a first preset time after a preset fault occurs. If not, the vehicle control unit (VCU) generates a braking command and sends the braking command to the motor controller of the emergency stop control system. The braking command is used to instruct the motor controller to apply braking torque to the motor of the emergency stop control system connected to it. If so, then control the motor controller to perform a shutdown operation; After sending the braking command, the vehicle control unit (VCU) determines whether the collected motor speed has decreased to the minimum speed value within a second preset time. If not, it generates a first stop command and sends the first stop command to the motor controller, which instructs the motor controller to disconnect from the motor. The VCU also controls the motor speed to decrease to the minimum speed value through the brake.

7. The emergency stop control method according to claim 6, characterized in that, After sending the braking command to the motor controller, the method further includes: The vehicle controller (VCU) receives the motor speed after applying braking torque, collected by the motor controller; determines whether the motor speed has reached the minimum speed value; if so, the VCU generates a power-down command and sends the power-down command to the battery management system (BMS) of the emergency stop control system. The power-down command is used to instruct the BMS to complete the power-down task.

8. A road machinery, comprising a vehicle body, characterized in that, Includes an emergency stop control system as described in any one of claims 1 to 5, wherein the emergency stop control system is disposed on the vehicle body.

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