Anti-slip method, device and equipment for electric vehicles

Abstract

The present application provides an anti-slip method, device and equipment for electric vehicles, wherein a first motor and a second motor are provided in the electric vehicle, wherein the method comprises: applying torque to the first motor when the electric vehicle is in a slipping state; obtaining the current torque value of the first motor; if it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to a preset threshold value, and it is determined that the electric vehicle is still in a slipping state, applying torque to the second motor; after applying torque to the second motor, applying torque to the first motor again until the electric vehicle stops slipping. The present application can achieve the purpose of suppressing the slipping tendency by controlling another motor to amplify the motor torque limit that overcomes the slipping tendency.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to an anti-slip method, device and equipment applied to electric vehicles. Background Art

[0002] During the driving process of electric vehicles, especially on uphill sections, the vehicle is prone to slipping. When the electric vehicle is in a slipping condition, after the driver steps on the accelerator pedal, the motor applies torque to overcome the slipping tendency and prevent the vehicle from slipping backwards.

[0003] In the prior art, after the driver steps on the accelerator pedal, the motor applies torque to overcome the tendency of the vehicle to roll. In the process of applying torque to overcome the tendency of the vehicle to roll, it is necessary to turn on the high-voltage accessories in the vehicle to consume the electric energy generated by the drive motor, thereby increasing the system charging power, providing reverse driving force for the vehicle, and preventing the vehicle from rolling down the slope.

[0004] However, in the above method, the motor driving torque to overcome the sliding tendency is limited by the actual power consumption of the high-voltage accessories, and the high-voltage accessories react slowly. Before the actual power consumption of the high-voltage accessories reaches a certain value, the vehicle's sliding tendency will be aggravated. Summary of the invention

[0005] The present application provides a method, device and equipment for preventing electric vehicles from rolling away, so as to solve the problem that the rolling tendency cannot be suppressed because the driving torque of the motor is limited by the actual power consumption of the high-voltage accessories.

[0006] In a first aspect, the present application provides a method for preventing a vehicle from sliding when the vehicle is powered by an electric vehicle. The electric vehicle is provided with a first motor and a second motor. The method comprises:

[0007] When the electric vehicle is in a rolling state, applying torque to the first motor;

[0008] Acquire a current torque value of the first motor, wherein the current torque value of the first motor represents a torque value when torque is applied to the first motor;

[0009] If it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to a preset threshold value, and it is determined that the electric vehicle is still in a rolling state, then torque is applied to the second motor; wherein the first torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the rolling state;

[0010] After the torque is applied to the second motor, the torque is applied to the first motor again until the electric vehicle stops rolling.

[0011] In one example, after applying torque to the second motor, applying torque to the first motor again until the electric vehicle stops rolling includes:

[0012] After applying torque to the second motor, obtaining a current torque value of the second motor, wherein the current torque value of the second motor represents a torque value when torque is applied to the second motor; and obtaining charging power information of a power system of the electric vehicle, wherein the charging power information represents a charging power provided by the first motor when the first motor applies torque;

[0013] Determine a second torque limit value according to the current torque value of the second motor and the charging power information; wherein the second torque limit value represents a maximum motor torque that can be applied to the first motor when the electric vehicle overcomes rolling after applying torque to the second motor;

[0014] Apply torque to the first motor again; in the process of applying torque to the first motor again, control the actual motor torque of the electric vehicle to be less than or equal to the second torque limit value until the electric vehicle stops rolling; wherein the actual motor torque represents the sum of the torque value when applying torque to the first motor and the torque value when applying torque to the second motor.

[0015] In one example, determining the second torque limit value according to the current torque value of the second motor and the charging power information includes:

[0016] Acquire the charging power information, the first conversion efficiency information, and the second conversion efficiency information; wherein the first conversion efficiency information represents the conversion efficiency between the electric power of the first motor and the mechanical power of the first motor, and the second conversion efficiency information represents the conversion efficiency between the electric power of the second motor and the mechanical power of the second motor;

[0017] According to the current torque value of the second motor and the second conversion efficiency information, power conversion calculation processing is performed to obtain power consumption information; wherein the power consumption information represents the electric power consumed by the second motor when applying torque;

[0018] The second torque limit value is obtained by converting a sum of the power consumption information and the charging power information based on the power consumption information, the first conversion efficiency information, and the charging power information.

[0019] In one example, power conversion calculation processing is performed according to the current torque value of the second motor and the second conversion efficiency information to obtain power consumption information, including:

[0020] Obtaining the current rotation speed of the wheel end of the second motor;

[0021] Determining the mechanical power of the second motor according to the current torque value of the second motor and the current wheel end speed of the second motor;

[0022] The second conversion efficiency information and the mechanical power of the second motor are subjected to power conversion calculation processing to obtain the power consumption information.

[0023] In one example, the power consumption information is P 2 =Tq 2 *(ActSpd 2 / E 2 );

[0024] Among them, ActSpd 2 / E 2 is the mechanical power of the second motor, Tq 2 ActSpd is the current torque value of the second motor, 2 is the current wheel speed of the second motor, E 2 is the second conversion efficiency information.

[0025] In one example, according to the power consumption information, the first conversion efficiency information, and the charging power information, a sum of the power consumption information and the charging power information is converted to obtain the second torque limit value, including:

[0026] Obtaining the current rotation speed of the wheel end of the first motor;

[0027] The second torque limit value is determined according to the current rotational speed of the wheel end of the first motor, the power consumption information, the first conversion efficiency information, and the charging power information.

[0028] In one example, the second torque limit value is

[0029] Among them, P 1 is the charging power information, P 2 ActSpd is the power consumption information. 1 is the current speed of the wheel end of the first motor, E 1 is the first conversion efficiency information.

[0030] In one example, the method further includes:

[0031] Acquire the current driving direction, current driving speed, current gear direction of the electric vehicle and charging power information of the power system of the electric vehicle; wherein the charging power information represents the charging power provided by the first motor when the first motor applies torque;

[0032] If it is determined that the current driving direction is opposite to the current gear direction, and the current driving speed is within a preset speed range, and the charging power information is within a preset power range, it is determined that the electric vehicle is in a rolling state.

[0033] In one example, the method further includes:

[0034] If it is determined that the difference between the current torque value of the first motor and the first torque limit value is greater than a preset threshold, and it is determined that the electric vehicle is still in a rolling state, torque continues to be applied to the first motor until the electric vehicle stops rolling.

[0035] In a feasible implementation, when the electric vehicle is slipping within a certain speed range and the system charging power is low, the driver presses the accelerator pedal to control the first motor of the vehicle to apply torque. The torque value when the first motor applies torque and the maximum motor torque value that can be applied to the first motor when the electric vehicle overcomes the slipping trend can be obtained through the controller of the internal system of the vehicle. The difference between the torque value when the first motor applies torque to overcome the slipping trend and the maximum motor torque value is calculated. If the difference is less than or equal to the preset torque value and the electric vehicle is still in a slipping state, the accelerator pedal applies torque to the second motor of the vehicle. After applying torque to the second motor, the maximum motor torque value applied to the first motor can be increased through power conversion of the vehicle system, and then torque is applied to the first motor again until the electric vehicle stops slipping, thereby achieving the purpose of suppressing the slipping trend.

[0036] In a second aspect, the present application provides an anti-slip device for an electric vehicle, wherein the electric vehicle is provided with a first motor and a second motor, and the device comprises:

[0037] A first applying unit, configured to apply torque to the first motor when the electric vehicle is in a rolling state;

[0038] A first acquisition unit, configured to acquire a current torque value of the first motor, wherein the current torque value of the first motor represents a torque value when torque is applied to the first motor;

[0039] a second applying unit, configured to apply torque to the second motor if it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to a preset threshold value and it is determined that the electric vehicle is still in a rolling state; wherein the first torque limit value represents a maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the rolling state;

[0040] The third applying unit is used to apply torque to the first motor again after applying torque to the second motor until the electric vehicle stops rolling.

[0041] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0042] The memory stores computer-executable instructions;

[0043] The processor executes the computer-executable instructions stored in the memory to implement the method according to the first aspect.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method described in the first aspect.

[0045] In a fifth aspect, the present application provides a computer program product, comprising: a computer program, the computer program being stored in a readable storage medium, at least one processor of an electronic device being able to read the computer program from the readable storage medium, and the at least one processor executing the computer program so that the electronic device executes the method described in the first aspect.

[0046] The present application provides a method, device and equipment for preventing electric vehicles from slipping, wherein a first motor and a second motor are provided in the electric vehicle, and when the electric vehicle is in a slipping state, torque is applied to the first motor; a current torque value of the first motor is obtained, wherein the current torque value of the first motor represents the torque value when the torque is applied to the first motor; if it is determined that the difference between the current torque value of the first motor and a first torque limit value is less than or equal to a preset threshold value, and it is determined that the electric vehicle is still in a slipping state, torque is applied to the second motor; wherein the first torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the slipping state; after applying the torque to the second motor, torque is applied to the first motor again until the electric vehicle stops slipping. When the electric vehicle is slipping within a certain speed range and the system charging power is low, the driver presses the accelerator pedal to control the first motor of the vehicle to apply torque. The torque value when the first motor applies torque and the maximum motor torque value that can be applied to the first motor when the electric vehicle overcomes the slipping trend can be obtained through the controller of the internal system of the vehicle. The difference between the torque value when the first motor applies torque to overcome the slipping trend and the maximum motor torque value is calculated. If the difference is less than or equal to the preset torque value and the electric vehicle is still in a slipping state, the accelerator pedal applies torque to the second motor of the vehicle. After applying torque to the second motor, the maximum motor torque value applied to the first motor can be increased through power conversion of the vehicle system, and then torque is applied to the first motor again until the electric vehicle stops slipping, thereby achieving the purpose of suppressing the slipping trend. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] Figure 1 A schematic diagram of a flow chart of an anti-slip method applied to an electric vehicle provided in an embodiment of the present application;

[0049] Figure 2 A schematic flow chart of another anti-slip method applied to an electric vehicle provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of the structure of an anti-slip device applied to an electric vehicle provided in an embodiment of the present application;

[0051] Figure 4 A schematic structural diagram of another anti-slip device applied to an electric vehicle provided in an embodiment of the present application;

[0052] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0053] Figure 6 The figure is a block diagram of an electronic device according to an exemplary embodiment.

[0054] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0056] With the rapid development of the electric vehicle market, automobile companies have higher and higher requirements for the products and quality of electric vehicles. Among them, electric vehicles are prone to slipping during driving, especially on uphill sections. Therefore, the anti-slip function is an important function that affects customers' driving comfort and safety.

[0057] In the prior art, after the driver steps on the accelerator pedal, the motor applies torque to overcome the tendency of the vehicle to roll. In the process of applying torque to overcome the tendency of the vehicle to roll, it is necessary to turn on the high-voltage accessories in the vehicle to consume the electric energy generated by the drive motor, thereby increasing the system charging power, providing reverse driving force for the vehicle, and preventing the vehicle from rolling down the slope.

[0058] In one example, in a rolling vehicle condition, the electric energy generated by the drive motor is consumed by turning on high-voltage accessories in the vehicle. For example, in the rolling vehicle condition, the operating data of the vehicle is collected, and a control signal is output when the operating data indicates that the vehicle is fully charged and running on a slope and the vehicle's motor is in a reverse state; the high-voltage accessories of the vehicle are turned on according to the control signal, and the actual power consumption of the high-voltage accessories is obtained, and then the motor is controlled to feedback power to provide a reverse driving force for the vehicle, thereby preventing the vehicle from rolling down the slope.

[0059] However, in the above method, the motor driving torque to overcome the sliding tendency is limited by the actual power consumption of the high-voltage accessories, and the high-voltage accessories react slowly. Before the actual power consumption of the high-voltage accessories reaches a certain value, the vehicle will slide backwards more severely.

[0060] The present application provides a method, device and equipment for preventing electric vehicles from slipping, aiming to solve the above technical problems in the prior art.

[0061] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0062] Figure 1 A flowchart of a method for preventing an electric vehicle from sliding provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, a first motor and a second motor are provided in the electric vehicle, and the method includes:

[0063] S101. When the electric vehicle is in a rolling state, applying torque to the first motor.

[0064] Exemplarily, the execution subject of this embodiment may be an electronic device, or a server, or a terminal device, or other devices or equipment that can execute this embodiment. This embodiment is described by taking the execution subject as an electronic device as an example.

[0065] When a driver is driving an electric vehicle powered by two motors, when the electric vehicle rolls within a certain speed range and the system charging power is low, the driver steps on the accelerator pedal to control the first motor of the vehicle to apply torque to overcome the rolling tendency of the vehicle.

[0066] S102 . Obtain a current torque value of the first motor, wherein the current torque value of the first motor represents a torque value when torque is applied to the first motor.

[0067] For example, when the first motor applies torque to overcome the rolling tendency of the electric vehicle, the torque value of the first motor of the electric vehicle when applying torque can be directly obtained through the controller of the internal system of the vehicle.

[0068] In one example, when torque is applied to the first motor to overcome the tendency of the electric vehicle to roll, the torque value of the electric vehicle when the first motor applies torque can be obtained by calculating the charging power of the power system through the controller of the vehicle's internal power system, and then the torque value of the electric vehicle when the first motor applies torque can be directly obtained.

[0069] S103. If it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to a preset threshold, and it is determined that the electric vehicle is still in a slipping state, torque is applied to the second motor; wherein the first torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the slipping state.

[0070] Exemplarily, when the first motor applies torque to overcome the electric vehicle's tendency to roll, the maximum motor torque value that can be applied to the first motor to overcome the electric vehicle's tendency to roll can be directly obtained through the controller of the vehicle's internal system. Based on the obtained torque value when the first motor applies torque, the difference between the torque value when the first motor applies torque to overcome the tendency to roll and the maximum motor torque value is calculated. If the difference is less than or equal to the preset torque value and the electric vehicle is still in a rolling state, the accelerator pedal is pressed to control the vehicle's second motor to apply torque.

[0071] In one example, when the first motor applies torque to the rear axle of the electric vehicle to overcome the tendency of the electric vehicle to roll, the torque value of the electric vehicle when the first motor applies torque can be obtained by calculating the charging power of the power system through the controller of the vehicle's internal power system, and then the maximum motor torque value that can be applied to the first motor of the electric vehicle to overcome the rolling can be directly obtained, that is, the first torque limit value. According to the torque value obtained when the first motor applies torque, the difference between the torque value when the first motor applies torque to overcome the rolling tendency and the maximum motor torque value is calculated. If the difference is less than or equal to the preset torque value and the electric vehicle is still in a rolling state, at this time, the first torque limit value of the first motor is small, and the charging power of the power system of the electric vehicle is small. Therefore, the accelerator pedal is controlled to control another motor of the vehicle to apply torque to the front axle of the vehicle, thereby increasing the first torque limit value of the first motor.

[0072] S104: After applying torque to the second motor, apply torque to the first motor again until the electric vehicle stops rolling.

[0073] Exemplarily, after applying torque to another motor, the first torque limit value of the first motor of the vehicle is increased, and the accelerator pedal is continuously pressed to control the first motor to apply torque again until the combined torque of the two motors reaches a level that drives the vehicle to overcome the rolling tendency and the electric vehicle stops rolling.

[0074] In one example, after torque is applied to the front axle of the vehicle by another motor, the torque increases the tendency to roll, thereby increasing the system charging power to increase the first torque limit value of the first motor of the vehicle. Therefore, the accelerator pedal is continuously pressed to control the first motor to apply driving torque to the rear axle again until the combined torque of the two motors reaches the torque to drive the vehicle to overcome the tendency to roll, at which point the electric vehicle stops rolling.

[0075] In this embodiment, a first motor and a second motor are provided in the electric vehicle, and when the electric vehicle is in a rolling state, torque is applied to the first motor; a current torque value of the first motor is obtained, wherein the current torque value of the first motor represents the torque value when torque is applied to the first motor; if it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to a preset threshold value, and it is determined that the electric vehicle is still in a rolling state, torque is applied to the second motor; wherein the first torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the rolling state; after applying torque to the second motor, torque is applied to the first motor again until the electric vehicle stops rolling. When the electric vehicle is slipping within a certain speed range and the system charging power is low, the driver presses the accelerator pedal to control the first motor of the vehicle to apply torque. The torque value when the first motor applies torque and the maximum motor torque value that can be applied to the first motor when the electric vehicle overcomes the slipping trend can be obtained through the controller of the internal system of the vehicle. The difference between the torque value when the first motor applies torque to overcome the slipping trend and the maximum motor torque value is calculated. If the difference is less than or equal to the preset torque value and the electric vehicle is still in a slipping state, the accelerator pedal applies torque to the second motor of the vehicle. After applying torque to the second motor, the maximum motor torque value applied to the first motor can be increased through power conversion of the vehicle system, and then torque is applied to the first motor again until the electric vehicle stops slipping, thereby achieving the purpose of suppressing the slipping trend.

[0076] Figure 2 A flow chart of another anti-slip method for an electric vehicle provided in an embodiment of the present application is shown as follows: Figure 2 As shown, a first motor and a second motor are provided in the electric vehicle, and the method includes:

[0077] S201, obtaining the current driving direction, current driving speed, current gear direction and charging power information of the power system of the electric vehicle; wherein the charging power information represents the charging power provided by the first motor when the first motor applies torque.

[0078] For example, when a driver is driving an electric vehicle powered by two motors, the current driving direction, current driving speed and current gear direction of the electric vehicle are obtained, and at the same time, the charging power information of the power system of the electric vehicle is obtained, including the charging power provided by the first motor when the first motor applies torque.

[0079] S202: If it is determined that the current driving direction is opposite to the current gear direction, and the current driving speed is within a preset speed range, and the charging power information is within a preset power range, it is determined that the electric vehicle is in a rolling state.

[0080] Exemplarily, after acquiring the current driving direction, current driving speed, current gear direction and charging power information of the power system of the electric vehicle, it is determined that the current driving direction of the electric vehicle is opposite to the current gear direction of the electric vehicle, and the current driving speed of the electric vehicle is within a preset speed range, and the charging power information of the electric vehicle is within a preset power range, then it is determined that the electric vehicle is in a slipping state.

[0081] In one example, after obtaining the current driving direction, current driving speed, current gear direction and charging power information of the electric vehicle's power system, the vehicle's driving direction is backward, the gear direction is forward, the vehicle's actual driving direction is opposite to the gear direction, and the vehicle's driving speed is within a preset threshold, and at the same time, the vehicle's system charging power is small, then it is determined that the vehicle's state is in a slipping state.

[0082] S203: When the electric vehicle is in a rolling state, applying torque to the first motor.

[0083] For example, when a driver is driving an electric vehicle powered by two motors, when the electric vehicle is slipping within a certain speed range and the system charging power is low, the driver steps on the accelerator pedal to control the first motor of the vehicle to apply torque to overcome the vehicle's slipping tendency.

[0084] S204 . Obtain a current torque value of the first motor, wherein the current torque value of the first motor represents a torque value when torque is applied to the first motor.

[0085] For example, when the first motor applies torque to overcome the rolling tendency of the electric vehicle, the torque value of the first motor of the electric vehicle when applying torque can be directly obtained through the controller of the internal system of the vehicle.

[0086] In one example, when torque is applied to the first motor to overcome the tendency of the electric vehicle to roll, the torque value of the electric vehicle when the first motor applies torque can be obtained by calculating the charging power of the power system through the controller of the vehicle's internal power system, and then the torque value of the electric vehicle when the first motor applies torque can be directly obtained.

[0087] Exemplarily, after step S204, step S205 or step S206 is performed.

[0088] S205: If it is determined that the difference between the current torque value of the first motor and the first torque limit value is greater than a preset threshold, and it is determined that the electric vehicle is still in a rolling state, continue to apply torque to the first motor until the electric vehicle stops rolling.

[0089] For example, after step S204, when the first motor applies torque to overcome the rolling tendency of the electric vehicle, the maximum motor torque value that can be applied to the first motor when the electric vehicle overcomes the rolling tendency can be directly obtained through the controller of the internal system of the vehicle. According to the torque value obtained when the first motor applies torque, the difference between the torque value when the first motor applies torque to overcome the rolling tendency and the maximum motor torque value is calculated. If the difference is greater than the preset torque value and the electric vehicle is still in the rolling state, the accelerator pedal is pressed to continue to apply torque to the first motor until the electric vehicle stops.

[0090] S206. If it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to a preset threshold, and it is determined that the electric vehicle is still in a slipping state, torque is applied to the second motor; wherein the first torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the slipping state.

[0091] Exemplarily, after step S204, when the first motor applies torque to overcome the electric vehicle's tendency to roll, the maximum motor torque value that can be applied to the first motor to overcome the electric vehicle's tendency to roll can be directly obtained through the controller of the vehicle's internal system. Based on the obtained torque value when the first motor applies torque, the difference between the torque value when the first motor applies torque to overcome the tendency to roll and the maximum motor torque value is calculated. If the difference is less than or equal to the preset torque value and the electric vehicle is still in a rolling state, the accelerator pedal is pressed to control the vehicle's second motor to apply torque.

[0092] In one example, when the first motor applies torque to the rear axle of the electric vehicle, the first motor is in the power generation mode to overcome the tendency of the electric vehicle to roll. Through the controller of the internal power system of the vehicle, the torque value of the first motor of the electric vehicle when applying torque can be obtained by calculating the charging power of the power system, and then the maximum motor torque value that can be applied to the first motor of the electric vehicle to overcome the roll can be directly obtained, that is, the first torque limit value. According to the torque value obtained when the first motor applies torque, the difference between the torque value when the first motor applies torque to overcome the roll tendency and the maximum motor torque value is calculated. If the difference is less than or equal to the preset torque value, and the electric vehicle is still in the roll state, at this time, the first torque limit value of the first motor is small, and the charging power of the power system of the electric vehicle is small. Therefore, the accelerator pedal is pressed to control another motor of the vehicle to apply torque to the front axle of the car, consuming the power, increasing the charging power of the first motor, and then increasing the first torque limit value of the first motor. It can also prevent the first motor from charging the vehicle battery all the time, causing the battery to be overcharged.

[0093] S207. After applying torque to the second motor, obtain a current torque value of the second motor, wherein the current torque value of the second motor represents the torque value when torque is applied to the second motor; and obtain charging power information of a power system of the electric vehicle, wherein the charging power information represents the charging power provided by the first motor when the torque is applied to the first motor.

[0094] For example, after step S206, after controlling another motor to apply torque, the torque value of another motor of the electric vehicle when applying torque can be directly obtained through the controller of the internal system of the vehicle.

[0095] In one example, when controlling another motor to apply torque, the controller of the vehicle's internal power system can calculate the charging power of the power system to obtain the torque value when the second motor of the electric vehicle applies torque, and then the current torque value when the third motor of the electric vehicle applies torque can be directly obtained.

[0096] S208. Determine a second torque limit value based on the current torque value of the second motor and the charging power information; wherein the second torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes rolling after applying torque to the second motor.

[0097] In one example, step S208 includes:

[0098] The first step of step S208 is to obtain charging power information, first conversion efficiency information and second conversion efficiency information; wherein the first conversion efficiency information represents the conversion efficiency between the electric power of the first motor and the mechanical power of the first motor, and the second conversion efficiency information represents the conversion efficiency between the electric power of the second motor and the mechanical power of the second motor.

[0099] The second step of step S208 is to perform power conversion calculation processing based on the current torque value of the second motor and the second conversion efficiency information to obtain power consumption information; wherein the power consumption information represents the electric power consumed by the second motor when applying torque.

[0100] In the third step of step S208, the sum of the power consumption information and the charging power information is converted based on the power consumption information, the first conversion efficiency information, and the charging power information to obtain the second torque limit value.

[0101] In one example, the second step of step S208 includes:

[0102] Step 1: Obtain the current rotation speed of the wheel end of the second motor.

[0103] Step 2: Determine the mechanical power of the second motor according to the current torque value of the second motor and the current wheel end speed of the second motor.

[0104] Step three: perform power conversion calculation processing on the second conversion efficiency information and the mechanical power of the second motor to obtain power consumption information.

[0105] In one example, the power consumption information P 2 =Tq 2 *(ActSpd 2 / E 2 );

[0106] Among them, ActSpd 2 / E 2 is the mechanical power of the second motor, Tq 2 ActSpd is the current torque value of the second motor. 2 is the current wheel speed of the second motor, E 2 is the second conversion efficiency information.

[0107] In one example, the third step of step S208 includes:

[0108] Step 1: Obtain the current rotation speed of the wheel end of the first motor.

[0109] Step 2: Determine the second torque limit value according to the current rotational speed of the wheel end of the first motor, the power consumption information, the first conversion efficiency information and the charging power information.

[0110] In one example, the second torque limit value

[0111] Among them, P 1 is the charging power information, P 2 For power consumption information, ActSpd 1 is the current speed of the wheel end of the first motor, E 1 is the first conversion efficiency information.

[0112] Exemplarily, through the controller of the vehicle's internal system, the charging power provided by the first motor when the first motor applies torque, that is, the charging power information, can be directly obtained; the conversion efficiency between the electric power of the first motor and the mechanical power of the first motor can be directly obtained, that is, the first conversion efficiency information, and the conversion efficiency between the electric power of the second motor and the mechanical power of the second motor can be directly obtained, that is, the second conversion efficiency information.

[0113] Furthermore, the vehicle's second motor is in a power consumption mode, resulting in electric power consumption of the power system. Power conversion calculations are performed based on the current torque value of the vehicle's second motor and the conversion efficiency between the electric power of the second motor and the mechanical power of the second motor to obtain the electric power consumed by the second motor when applying torque, that is, the power consumption information.

[0114] The vehicle's second motor is in power consumption mode, resulting in power system electric power consumption. This electric power consumption will amplify the power system charging power of the vehicle, thereby amplifying the motor torque limit for overcoming the slipping tendency. The calculated power consumption information and charging power information are added to obtain the sum of the two, that is, the amplified power system charging power. Based on the amplified power system charging power and the conversion efficiency between the electric power of the first motor and the mechanical power of the first motor, the amplified motor torque limit for the first motor to overcome the slipping tendency is obtained after power system power conversion calculation processing.

[0115] Exemplarily, in order to obtain the electric power consumed by the second motor of the vehicle when applying torque, that is, the consumed power, the current wheel end speed of the second motor of the vehicle and the current torque value of the second motor of the vehicle are obtained through the controller of the internal system of the vehicle, and the mechanical power output by the second motor when applying torque is obtained through mechanical power calculation processing. According to the conversion efficiency between the mechanical power of the second motor and the electric power of the second motor and the mechanical power of the second motor, power conversion calculation processing is performed to obtain the consumed power information. The calculation formula is as follows: The consumed power information P 2 =Tq 2 *(ActSpd 2 / E 2 ); Among them, ActSpd 2 / E 2 is the mechanical power of the second motor, Tq 2 ActSpd is the current torque value of the second motor. 2 is the current wheel speed of the second motor, E 2 is the conversion efficiency between the electrical power of the second motor and the mechanical power of the second motor.

[0116] Exemplarily, in order to obtain the motor torque limit value of the amplified first motor of the vehicle to overcome the slipping tendency, that is, the second torque limit value, the current wheel end speed of the first motor of the vehicle, the electric power consumed by the second motor when applying torque, the conversion efficiency between the electric power of the first motor and the mechanical power of the first motor, and the charging power provided by the first motor when the first motor applies torque can be obtained. By utilizing the conversion characteristics between the motor electric power and mechanical power, the motor torque limit value of the amplified first motor of the vehicle to overcome the slipping tendency is calculated based on the acquired current wheel end speed of the first motor, power consumption information, first conversion efficiency and charging power information. The calculation formula is as follows: Second torque limit value Among them, P 1 is the charging work provided by the first motor when the first motor applies torque, P 2 ActSpd is the electric power consumed by the second motor when applying torque, 1is the current speed of the wheel end of the first motor, E 1 is the conversion efficiency between the electrical power of the first motor and the mechanical power of the first motor.

[0117] In one example, the low conversion efficiency between the electric power and mechanical power of the motor at low speed is utilized to make one of the two motors work in the first and third quadrants in an energy consumption state, and the other motor works in the second and fourth quadrants in a power generation state. Assuming that the system charging power is ElePwrRegn, the system driving power is ElePwrDrv, the current wheel end speed is ActSpd, and the rear motor is used as the driving motor at low vehicle speed, then when the vehicle is rolling, the driving torque limit of the first motor to the rear axle is DrvTqLimtRear=ElePwrRegn / EffRear / ActSpd. When the actual torque ActTqRear of the first motor to the rear axle is close to the driving torque limit DrvTqLimRear of the first motor, the torque TarTqFrnt is gradually applied to the front axle by the second motor, wherein the torque should be within its torque limit ElePwrDrv Within the range of v / ActSpd, the second motor applies torque TarTqFrnt to the front axle to increase the slipping tendency and works in the power consumption mode. Its mechanical power is TarTqFrnt*ActSpd. Considering the efficiency conversion, the efficiency is EffFrnt, then the electric power consumed by the second motor is TarTqFrnt*ActSpd / EffFrnt, then the system charging power increases to ElePwrRegn+TarTqFrntActSpd / EffFrnt, and the first motor increases the rear axle drive torque limit to ElePwrRegn / EffRear / ActSpdTarTqFrnt / EffFrnt / EffRear. The conversion efficiency at this time is EffRear. The increased part of the first motor's rear axle drive torque limit is obtained by the electric energy consumed by the front axle motor and the system efficiency loss.

[0118] S209, reapplying torque to the first motor; in the process of reapplying torque to the first motor, controlling the actual motor torque of the electric vehicle to be less than or equal to the second torque limit value until the electric vehicle stops slipping; wherein the actual motor torque represents the sum of the torque value when applying torque to the first motor and the torque value when applying torque to the second motor.

[0119] Exemplarily, after controlling another motor to apply torque, the first torque limit value of the vehicle's first motor is increased, and the accelerator pedal is continuously pressed to control the first motor to apply torque again. In the process of controlling the first motor to apply torque again, the sum of the torque value when controlling the first motor of the electric vehicle to apply torque and the torque value when applying torque to the second motor is less than or equal to the second torque limit value until the electric vehicle stops rolling.

[0120] In one example, after controlling another motor to apply torque to the front axle of the vehicle, the first torque limit value applied by the first motor of the vehicle to the rear axle of the vehicle is increased, and the accelerator pedal is continuously pressed to control the first motor to apply torque to the rear axle of the vehicle again. In the process of controlling the first motor to apply torque to the rear axle of the vehicle again, the sum of the torque value when controlling the first motor of the electric vehicle to apply torque to the rear axle of the vehicle and the torque value when controlling the second motor to apply torque to the front axle of the vehicle is less than or equal to the second torque limit value, that is, the resultant force of the front and rear axle end torques on the vehicle after applying torque to the front axle is to overcome the tendency of the vehicle to slip, thereby achieving the purpose of amplifying the torque limit of the rear axle, until the electric vehicle overcomes the tendency to slip and stops slipping.

[0121] In this embodiment, on the basis of the above embodiments, the current driving direction, current driving speed, current gear direction and charging power information of the power system of the electric vehicle are obtained; if it is determined that the current driving direction is opposite to the current gear direction, and the current driving speed is within a preset speed range, and the charging power information is within a preset power range, then it is determined that the electric vehicle is in a slipping state; when the electric vehicle is in a slipping state, torque is applied to the first motor; the current torque value of the first motor is obtained; if it is determined that the difference between the current torque value of the first motor and the first torque limit value is greater than a preset threshold value, and it is determined that the electric vehicle is still in a slipping state, torque continues to be applied to the first motor until the electric vehicle stops slipping; if it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to the preset threshold value, and it is determined that the electric vehicle is still in a slipping state, torque is applied to the second motor Torque; after applying torque to the second motor, obtaining the current torque value of the second motor, wherein the current torque value of the second motor represents the torque value when the torque is applied to the second motor; and obtaining the charging power information of the power system of the electric vehicle; determining the second torque limit value according to the current torque value and the charging power information of the second motor; the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the slipping; further, the second motor consumes electric power when applying torque, and the electric power consumption amplifies the charging power of the power system, thereby amplifying the motor torque limit for overcoming the slipping trend; applying torque to the first motor again; in the process of applying torque to the first motor again, controlling the actual motor torque of the electric vehicle to be less than or equal to the second torque limit value until the electric vehicle stops slipping; in addition, by controlling another motor to apply torque to enter the power consumption mode and amplifying the charging power of the power system, the electric vehicle can also be prevented from overcharging the power battery.

[0122] Figure 3 A schematic diagram of a structure of an anti-slip device for an electric vehicle provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, a first motor and a second motor are provided in the electric vehicle, and the device 300 includes:

[0123] The first applying unit 301 is used to apply torque to the first motor when the electric vehicle is in a sliding state.

[0124] The first acquisition unit 302 is used to acquire a current torque value of the first motor, wherein the current torque value of the first motor represents a torque value when torque is applied to the first motor.

[0125] The second application unit 303 is used to apply torque to the second motor if it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to a preset threshold value, and it is determined that the electric vehicle is still in a slipping state; wherein the first torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the slipping state.

[0126] The third applying unit 304 is used to apply torque to the first motor again after applying torque to the second motor until the electric vehicle stops rolling.

[0127] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0128] Figure 4 A schematic diagram of another anti-slip device for electric vehicles provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, a first motor and a second motor are provided in the electric vehicle, and the device 400 includes:

[0129] A first applying unit 401 is used to apply torque to the first motor when the electric vehicle is in a rolling state;

[0130] The first acquisition unit 402 is used to acquire a current torque value of the first motor, wherein the current torque value of the first motor represents a torque value when torque is applied to the first motor.

[0131] The second application unit 403 is used to apply torque to the second motor if it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to a preset threshold value, and it is determined that the electric vehicle is still in a slipping state; wherein the first torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the slipping state.

[0132] The third applying unit 404 is used to apply torque to the first motor again after applying torque to the second motor until the electric vehicle stops rolling.

[0133] In one example, the third applying unit 404 includes:

[0134] The first acquisition subunit 4041 is used to acquire a current torque value of the second motor after applying torque to the second motor, wherein the current torque value of the second motor represents a torque value when the torque is applied to the second motor.

[0135] The second acquisition subunit 4042 is used to acquire charging power information of a power system of the electric vehicle, wherein the charging power information represents the charging power provided by the first motor when the first motor applies torque.

[0136] Determine subunit 4043, for determining a second torque limit value based on the current torque value and charging power information of the second motor; wherein the second torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes rolling after applying torque to the second motor.

[0137] The first applying subunit 4044 is used to apply torque to the first motor again.

[0138] The control subunit 4045 is used to control the actual motor torque of the electric vehicle to be less than or equal to the second torque limit value during the process of re-applying torque to the first motor until the electric vehicle stops slipping; wherein the actual motor torque represents the sum of the torque value when applying torque to the first motor and the torque value when applying torque to the second motor.

[0139] In one example, determining subunit 4043 includes:

[0140] An acquisition module is used to acquire charging power information, first conversion efficiency information and second conversion efficiency information; wherein the first conversion efficiency information represents the conversion efficiency between the electric power of the first motor and the mechanical power of the first motor, and the second conversion efficiency information represents the conversion efficiency between the electric power of the second motor and the mechanical power of the second motor.

[0141] The processing module is used to perform power conversion calculation processing according to the current torque value of the second motor and the second conversion efficiency information to obtain power consumption information; wherein the power consumption information represents the electric power consumed by the second motor when applying torque.

[0142] The conversion module is used to convert the sum of the power consumption information and the charging power information according to the power consumption information, the first conversion efficiency information and the charging power information to obtain a second torque limit value.

[0143] In one example, the processing module includes:

[0144] The first acquisition submodule is used to acquire the current rotation speed of the wheel end of the second motor.

[0145] The first determination submodule is used to determine the mechanical power of the second motor according to the current torque value of the second motor and the current wheel end speed of the second motor.

[0146] The processing submodule is used to perform power conversion calculation processing on the second conversion efficiency information and the mechanical power of the second motor to obtain the consumed power.

[0147] In one example, the power consumption information P 2 =Tq 2 *(ActSpd 2 / E 2 ); among them, ActSpd 2 / E 2 is the mechanical power of the second motor, Tq 2 ActSpd is the current torque value of the second motor. 2 is the current wheel speed of the second motor, E 2 is the second conversion efficiency information.

[0148] In one example, the conversion module includes:

[0149] The second acquisition submodule is used to acquire the current rotation speed of the wheel end of the first motor.

[0150] The second determination submodule is used to determine the second torque limit value according to the current rotation speed of the wheel end of the first motor, the power consumption information, the first conversion efficiency information and the charging power information.

[0151] In one example, the second torque limit value Among them, P 1 is the charging power information, P 2 For power consumption information, ActSpd 1 is the current speed of the wheel end of the first motor, E 1 is the first conversion efficiency information.

[0152] In one example, the device further includes:

[0153] The second acquisition unit 405 is used to acquire the current driving direction, current driving speed, current gear direction and charging power information of the power system of the electric vehicle; wherein the charging power information represents the charging power provided by the first motor when the first motor applies torque.

[0154] The determination unit 406 is used to determine that the electric vehicle is in a rolling state if it is determined that the current driving direction is opposite to the current gear direction, and the current driving speed is within a preset speed range, and the charging power information is within a preset power range.

[0155] In one example, the device further includes:

[0156] The fourth applying unit 407 is used to continue applying torque to the first motor until the electric vehicle stops rolling if it is determined that the difference between the current torque value of the first motor and the first torque limit value is greater than a preset threshold and it is determined that the electric vehicle is still in a rolling state.

[0157] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0158] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the electronic device 50 includes: a memory 51 and a processor 52; the memory 51; and a memory for storing instructions executable by the processor 52.

[0159] The processor 52 is configured to execute the method provided in the above embodiment.

[0160] The terminal device further includes a receiver 53 and a transmitter 54. The receiver 53 is used to receive instructions and data sent by other devices, and the transmitter 54 is used to send instructions and data to external devices.

[0161] Figure 6 It is a block diagram of an electronic device according to an exemplary embodiment, which device may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0162] The device 800 may include one or more of the following components: a processing component 802 , a memory 804 , a power component 806 , a multimedia component 808 , an audio component 810 , an input / output (I / O) interface 812 , a sensor component 814 , and a communication component 816 .

[0163] The processing component 802 generally controls the overall operation of the device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0164] The memory 804 is configured to store various types of data to support operations on the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0165] The power supply component 806 provides power to the various components of the device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.

[0166] The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0167] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the device 800 is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0168] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

[0169] The sensor assembly 814 includes one or more sensors for providing various aspects of status assessment for the device 800. For example, the sensor assembly 814 can detect the open / closed state of the device 800, the relative positioning of components, such as the display and keypad of the device 800, the sensor assembly 814 can also detect the position change of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration / deceleration of the device 800 and the temperature change of the device 800. The sensor assembly 814 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 can also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.

[0170] The communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices. The device 800 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0171] In an exemplary embodiment, the apparatus 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above method.

[0172] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the instructions can be executed by the processor 820 of the device 800 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0173] An embodiment of the present application also provides a non-temporary computer-readable storage medium, which, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform the above method.

[0174] According to an embodiment of the present application, the present application also provides a computer program product, which includes: a computer program, the computer program is stored in a readable storage medium, at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the solution provided by any of the above embodiments.

[0175] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0176] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for preventing vehicle rollback applied to an electric vehicle, characterized in that, a first motor and a second motor are provided in the electric vehicle, and the method includes: when the electric vehicle is in a rollback state, applying a torque to the first motor; obtaining a current torque value of the first motor, where the current torque value of the first motor represents the torque value when the torque is applied to the first motor; if it is determined that the difference between the current torque value of the first motor and a first torque limit value is less than or equal to a preset threshold, and it is determined that the electric vehicle is still in a rollback state, then applying a torque to the second motor; where the first torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes rollback; after applying the torque to the second motor, applying the torque to the first motor again until the electric vehicle stops rolling back.

2. The method according to claim 1, characterized in that, after applying the torque to the second motor, applying the torque to the first motor again until the electric vehicle stops rolling back, including: after applying the torque to the second motor, obtaining a current torque value of the second motor, where the current torque value of the second motor represents the torque value when the torque is applied to the second motor; and obtaining charging power information of the power system of the electric vehicle, where the charging power information represents the charging power provided by the first motor when the torque is applied to the first motor; determining a second torque limit value according to the current torque value of the second motor and the charging power information; where the second torque limit value represents the maximum motor torque that can be applied to the first motor when the electric vehicle overcomes rollback after applying the torque to the second motor; applying the torque to the first motor again; during the process of applying the torque to the first motor again, controlling the actual motor torque of the electric vehicle to be less than or equal to the second torque limit value until the electric vehicle stops rolling back; where the actual motor torque represents the sum of the torque value when the torque is applied to the first motor and the torque value when the torque is applied to the second motor.

3. The method according to claim 2, characterized in that, determining the second torque limit value according to the current torque value of the second motor and the charging power information, including: obtaining the charging power information, first conversion efficiency information, and second conversion efficiency information; where the first conversion efficiency information represents the conversion efficiency between the electric power and the mechanical power of the first motor, and the second conversion efficiency information represents the conversion efficiency between the electric power and the mechanical power of the second motor; performing power conversion calculation processing according to the current torque value of the second motor and the second conversion efficiency information to obtain power consumption information; where the power consumption information represents the electric power consumed by the second motor when the torque is applied. The second torque limit value is obtained by converting a sum of the power consumption information and the charging power information based on the power consumption information, the first conversion efficiency information, and the charging power information.

4. The method according to claim 3, It is characterized in that According to the current torque value of the second motor and the second conversion efficiency information, power conversion calculation processing is performed to obtain power consumption information, including: Obtaining the current rotation speed of the wheel end of the second motor; Determining the mechanical power of the second motor according to the current torque value of the second motor and the current wheel end speed of the second motor; The second conversion efficiency information and the mechanical power of the second motor are subjected to power conversion calculation processing to obtain the power consumption information.

5. The method according to claim 4, It is characterized in that The power consumption information P 2 =Tq 2 (ActSpd 2 / E 2 ); Among them, ActSpd 2 / E 2 is the mechanical power of the second motor, Tq 2 ActSpd is the current torque value of the second motor, 2 is the current wheel speed of the second motor, E 2 is the second conversion efficiency information.

6. The method according to claim 3, It is characterized in that According to the power consumption information, the first conversion efficiency information, and the charging power information, a sum of the power consumption information and the charging power information is converted to obtain the second torque limit value, including: Obtaining the current rotation speed of the wheel end of the first motor; The second torque limit value is determined according to the current rotational speed of the wheel end of the first motor, the power consumption information, the first conversion efficiency information, and the charging power information.

7. The method according to claim 6, It is characterized in that The second torque limit value Among them, P 1 is the charging power information, P 2 ActSpd is the power consumption information. 1 is the current speed of the wheel end of the first motor, E 1 is the first conversion efficiency information.

8. The method according to any one of claims 1 to 7, It is characterized in that The method further comprises: Acquire the current driving direction, current driving speed, current gear direction of the electric vehicle and charging power information of the power system of the electric vehicle; wherein the charging power information represents the charging power provided by the first motor when the first motor applies torque; If it is determined that the current driving direction is opposite to the current gear direction, and the current driving speed is within a preset speed range, and the charging power information is within a preset power range, it is determined that the electric vehicle is in a rolling state.

9. The method according to any one of claims 1 to 7, It is characterized in that The method further comprises: If it is determined that the difference between the current torque value of the first motor and the first torque limit value is greater than a preset threshold, and it is determined that the electric vehicle is still in a rolling state, torque continues to be applied to the first motor until the electric vehicle stops rolling. 10.An anti-slip device for electric vehicles, It is characterized in that The electric vehicle is provided with a first motor and a second motor, and the device comprises: A first applying unit, configured to apply torque to the first motor when the electric vehicle is in a rolling state; A first acquisition unit, configured to acquire a current torque value of the first motor, wherein the current torque value of the first motor represents a torque value when torque is applied to the first motor; a second applying unit, configured to apply torque to the second motor if it is determined that the difference between the current torque value of the first motor and the first torque limit value is less than or equal to a preset threshold value and it is determined that the electric vehicle is still in a rolling state; wherein the first torque limit value represents a maximum motor torque that can be applied to the first motor when the electric vehicle overcomes the rolling state; The third applying unit is used to apply torque to the first motor again after applying torque to the second motor until the electric vehicle stops rolling.

11. The device according to claim 10, It is characterized in that The third applying unit comprises: A first acquisition subunit is used to acquire a current torque value of the second motor after applying torque to the second motor, wherein the current torque value of the second motor represents a torque value when the torque is applied to the second motor; a second acquisition subunit, configured to acquire charging power information of a power system of the electric vehicle, wherein the charging power information represents the charging power provided by the first motor when the first motor applies torque; a determination subunit, configured to determine a second torque limit value according to a current torque value of the second motor and the charging power information; wherein the second torque limit value represents a maximum motor torque that can be applied to the first motor when the electric vehicle overcomes rolling after applying torque to the second motor; a first applying subunit, used for applying torque to the first motor again; A control subunit is used to control the actual motor torque of the electric vehicle to be less than or equal to the second torque limit value during the process of re-applying torque to the first motor until the electric vehicle stops rolling; wherein the actual motor torque represents the sum of the torque value when applying torque to the first motor and the torque value when applying torque to the second motor.

12. The device according to claim 11, It is characterized in that The determining subunit comprises: an acquisition module, configured to acquire the charging power information, first conversion efficiency information, and second conversion efficiency information; wherein the first conversion efficiency information represents the conversion efficiency between the electric power of the first motor and the mechanical power of the first motor, and the second conversion efficiency information represents the conversion efficiency between the electric power of the second motor and the mechanical power of the second motor; a processing module, configured to perform power conversion calculation processing according to the current torque value of the second motor and the second conversion efficiency information to obtain power consumption information; wherein the power consumption information represents the electric power consumed by the second motor when applying torque; A conversion module is used to convert the sum of the power consumption information and the charging power information according to the power consumption information, the first conversion efficiency information and the charging power information to obtain the second torque limit value.

13. The device according to claim 12, It is characterized in that The processing module comprises: A first acquisition submodule, used to acquire the current rotation speed of the wheel end of the second motor; A first determination submodule, configured to determine the mechanical power of the second motor according to a current torque value of the second motor and a current wheel end speed of the second motor; The processing submodule is used to perform power conversion calculation processing on the second conversion efficiency information and the mechanical power of the second motor to obtain the power consumption information.

14. The device according to claim 13, It is characterized in that The power consumption information P 2 =Tq 2 (ActSpd 2 / E 2 ); Among them, ActSpd 2 / E 2 is the mechanical power of the second motor, Tq 2 ActSpd is the current torque value of the second motor, 2 is the current wheel speed of the second motor, E 2 is the second conversion efficiency information.

15. The device according to claim 12, It is characterized in that The conversion module comprises: A second acquisition submodule, used to acquire the current rotation speed of the wheel end of the first motor; The second determination submodule is used to determine the second torque limit value according to the current rotational speed of the wheel end of the first motor, the power consumption information, the first conversion efficiency information and the charging power information.

16. The device according to claim 15, It is characterized in that The second torque limit value Among them, P 1 is the charging power information, P 2 ActSpd is the power consumption information. 1 is the current speed of the wheel end of the first motor, E 1 is the first conversion efficiency information.

17. The device according to any one of claims 10 to 16, It is characterized in that The device also includes: a second acquisition unit, configured to acquire the current driving direction, the current driving speed, the current gear direction of the electric vehicle and the charging power information of the power system of the electric vehicle; wherein the charging power information represents the charging power provided by the first motor when the first motor applies torque; A determination unit is used to determine that the electric vehicle is in a rolling state if it is determined that the current driving direction is opposite to the current gear direction, and the current driving speed is within a preset speed range, and the charging power information is within a preset power range.

18. The device according to any one of claims 10 to 16, It is characterized in that The device also includes: The fourth application unit is used to continue applying torque to the first motor until the electric vehicle stops rolling if it is determined that the difference between the current torque value of the first motor and the first torque limit value is greater than a preset threshold and it is determined that the electric vehicle is still in a rolling state.

19. An electronic device, It is characterized in that include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 9.

20. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 9 when executed by a processor.

21. A computer program product comprising a computer program, It is characterized in that When the computer program is executed by a processor, the computer program implements the method according to any one of claims 1 to 9.

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