System and method for fast implementation of electric vehicle hill hold

Abstract

The application discloses a system and method for quickly realizing slope parking of an electric vehicle, and the system comprises: a slope sliding judgment module, which is used for judging the driver's intention according to the brake opening degree variation trend when there is a brake signal, judging whether to enter a slope parking enabling mode according to the driver's intention and a real-time slope sliding state, and judging whether to exit a slope control mode; a speed closed loop limiting direction judgment module, which is used for judging a speed closed loop limiting direction according to the motor speed direction, the accelerator and the brake signal; and a slope control module, which is used for performing motor zero speed control according to the speed closed loop limiting direction. The system and method for quickly realizing slope parking of the electric vehicle provided by the application can judge the driver's intention and the rear sliding when there is a brake signal, enter the slope control in advance, quickly realize parking without shaking, and effectively shorten the slope parking distance; the speed closed loop output is determined to be unidirectionally limited according to the slope sliding speed direction, so that the shaking caused by the slope control output torque and the mechanical brake torque being inconsistent in direction is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electric vehicle control technology, and particularly relates to a system and method for quickly realizing electric vehicle hill holding. BACKGROUND

[0002] When a vehicle is parked on a slope and the driver does not operate, the vehicle will slide forward or backward due to the component force of its own gravity, affecting the safe driving of the vehicle. In order to prevent the vehicle from sliding on the slope, most electric vehicles have a hill holding function, which can keep the vehicle stationary on the slope for a few seconds before the driver's foot leaves the accelerator pedal, without stepping on the brake pedal and without stepping on the accelerator pedal, so as to facilitate the driver to easily transfer the foot from the accelerator pedal to the brake pedal or from the brake pedal to the accelerator pedal, preventing accidents caused by vehicle sliding.

[0003] At present, in order to prevent the vehicle from sliding on the slope, most pure electric vehicles use electric motors to realize the hill holding function. Generally, whether the hill holding condition is reached is determined when the driver does not operate, that is, does not step on the brake pedal and does not step on the accelerator pedal, and the motor controller realizes speed closed-loop control based on zero speed given. The disadvantage of this hill holding scheme is that the prerequisite for entering the hill holding closed-loop control is that the driver does not operate, that is, does not step on the brake pedal and does not step on the accelerator pedal. In actual operation, the driver may not be quick enough to release the brake pedal, and the vehicle may slide backward when the driver has not completely released the brake pedal. The vehicle detects that the driver has an operation related signal, and cannot timely enter the speed closed-loop control, resulting in that the hill holding is not timely, the vehicle slides backward for a long distance, and the safety of slope driving is affected.

[0004] Therefore, there is an urgent need for a system and method for quickly realizing electric vehicle hill holding. SUMMARY

[0005] The present application aims to provide a system and method for quickly realizing electric vehicle hill holding, to solve the problems in the prior art, to judge the driver's intention and backward sliding under the condition of brake signal, to enter hill holding control in advance, to quickly realize hill holding without shaking, and to effectively shorten the hill holding distance.

[0006] The present application provides a system for quickly realizing electric vehicle hill holding, comprising:

[0007] The hill sliding judgment module, the speed closed-loop amplitude limiting direction judgment module and the hill holding control module are sequentially arranged, wherein:

[0008] The hill sliding judgment module is used for judging the driver's intention according to the change trend of the brake opening degree under the condition of brake signal, judging whether to enter the hill holding enable mode according to the driver's intention and the real-time hill sliding state, outputting the hill holding enable signal, entering the hill holding control in advance, and judging whether to exit the hill holding control mode.

[0009] The rotating speed closed loop limiting direction judging module is configured to judge the rotating speed closed loop limiting direction in the hill hold control mode according to the current motor rotating speed direction, the accelerator signal and the brake signal.

[0010] The hill hold control module is configured to enter the hill hold control mode when the hill hold enable signal output by the hill sliding judging module is 1, and to perform motor zero speed control according to the rotating speed closed loop limiting direction judged by the rotating speed closed loop limiting direction judging module.

[0011] The system for quickly realizing hill parking of electric vehicles as described above, preferably, the hill sliding judging module is specifically configured to determine whether the vehicle is in front sliding or back sliding state when the brake signal is 1 and the brake opening degree trend becomes smaller than that of the last time, and if there is hill sliding, determine to enter the hill hold control mode and output the hill hold enable signal; and further configured to judge whether to exit the hill hold control mode according to the accelerator signal and the brake signal, the parking time length and the fault flag.

[0012] The system for quickly realizing hill parking of electric vehicles as described above, preferably, the rotating speed closed loop limiting direction judging module is specifically configured to:

[0013] In the case of no brake and no accelerator, judge the rotating speed closed loop limiting direction in the hill hold control mode as bidirectional limiting, and the absolute values of positive and negative limiting are the maximum locked torque;

[0014] In the case of brake or accelerator signal and negative motor rotating speed, judge the rotating speed closed loop limiting direction in the hill hold control mode as unidirectional limiting, the positive limiting is 0 and the negative limiting is the positive maximum locked torque;

[0015] In the case of brake or accelerator signal and positive motor rotating speed, judge the rotating speed closed loop limiting direction in the hill hold control mode as unidirectional limiting, the positive limiting is 0 and the negative limiting is the negative maximum locked torque.

[0016] The system for quickly realizing hill parking of electric vehicles as described above, preferably, the system for quickly realizing hill parking of electric vehicles further comprises a torque control module configured to enter the torque control mode when the hill hold enable signal output by the hill sliding judging module is 0, and to control the motor operation according to the gear signal and the torque signal.

[0017] The system for quickly realizing hill parking of electric vehicles as described above, preferably, the hill hold control module is further configured to clear and backup the brake opening degree data, and to perform smooth switching between the hill hold control mode and the torque control mode in response to the driver's intention.

[0018] The application also provides a method for quickly realizing slope parking of an electric vehicle by using the system.

[0019] In the case of a brake signal, the entering of the slope parking enabling mode is determined according to the change trend of the brake opening degree, and a slope parking enabling signal is outputted to enter the slope parking control in advance, and the method is also used to determine whether to exit the slope parking control mode;

[0020] According to the current motor speed direction, the accelerator signal and the brake signal, the speed closed-loop limiting direction in the slope parking control mode is determined.

[0021] When the slope parking enabling signal is 1, the slope parking control mode is entered, and the motor zero-speed control is performed according to the speed closed-loop limiting direction.

[0022] The method for quickly realizing slope parking of an electric vehicle as described above, preferably, the entering of the slope parking enabling mode is determined according to the change trend of the brake opening degree in the case of a brake signal, and a slope parking enabling signal is outputted to enter the slope parking control in advance, and the method is also used to determine whether to exit the slope parking control mode, and specifically comprises:

[0023] Step S11, the current motor control mode is determined, if it is a torque mode, it is transferred to step S12, if it is a non-torque mode, it is transferred to step S15;

[0024] Step S12, the driver's intention is determined, if there is an accelerator signal, it is transferred to step S13, if there is no accelerator signal, the brake signal is determined again, if the brake signal is 1 and the brake opening degree of this time is less than the brake opening degree of the last time, it is transferred to step S13, if the brake signal is 1 and the brake opening degree of this time is not less than the brake opening degree of the last time, the current motor control mode is maintained, the brake opening degree information is backed up, and it is returned to step S11, if the brake signal is 0, it is transferred to step S13;

[0025] Step S13, it is determined whether there is a tendency of coasting down the slope, if the forward gear is coasting down or the reverse gear is coasting down, it is transferred to step S14, if there is no coasting down, the current motor control mode is maintained, the brake opening degree information is backed up, and it is returned to step S11;

[0026] Step S14, the coasting down speed is determined, if the speed is higher than a preset speed threshold or the motor or the motor controller has a fault, the slope parking enabling flag is not set, the current motor control mode is maintained, the brake opening degree information is backed up, and it is returned to step S11, otherwise, the slope parking enabling flag is set, the control mode switching is prepared, and it is returned to step S11 in a loop;

[0027] Step S15, if the brake signal is 1 and the brake opening degree of this time is greater than the brake opening degree of the last time, reset the hill-hold enable flag, and prepare to switch the control mode; if the brake signal is 1 and the brake opening degree of this time is not greater than the brake opening degree of the last time, maintain the current motor control mode, backup the brake opening degree information, and return to step S11; if the brake signal is 0, go to step S16;

[0028] Step S16, if the accelerator given torque is greater than the hill-hold torque, reset the hill-hold enable flag, prepare to switch the control mode, and return to step S11; otherwise, maintain the current motor control mode, backup the brake opening degree information, and return to step S11.

[0029] The method for quickly realizing hill-hold of an electric vehicle as described above, preferably, the direction of speed closed-loop limiting in the hill-hold control mode is determined according to the current motor speed direction, the accelerator signal and the brake signal, and specifically includes:

[0030] In the case of no brake and no accelerator, the direction of speed closed-loop limiting in the hill-hold control mode is determined as bidirectional limiting, and the absolute values of positive and negative limiting are the maximum locked-rotor torque;

[0031] In the case of brake or accelerator signal and negative motor speed, the direction of speed closed-loop limiting in the hill-hold control mode is determined as unidirectional limiting, the positive limiting is 0, and the negative limiting is the positive maximum locked-rotor torque;

[0032] In the case of brake or accelerator signal and positive motor speed, the direction of speed closed-loop limiting in the hill-hold control mode is determined as unidirectional limiting, the positive limiting is 0, and the negative limiting is the negative maximum locked-rotor torque.

[0033] The system and method for quickly realizing hill-hold of an electric vehicle of the present application can determine the driver's intention and the rearward sliding in the case of brake signal, enter the hill-hold control in advance, quickly realize the parking without shaking, effectively shorten the hill-hold distance, and determine when to exit the hill-hold control according to the driver's intention; the speed closed-loop output is determined by unidirectional limiting according to the speed direction of the sliding hill, so as to avoid the shaking caused by the inconsistent direction of the hill-hold control output torque and the mechanical brake torque, and affect the driving experience. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described below with reference to the drawings, in which:

[0035] Figure 1 The structural block diagram of an embodiment of the system for quickly realizing hill-hold of an electric vehicle provided by the present application;

[0036] Figure 2A flow chart of the method for quickly realizing slope parking of an electric vehicle provided by the present application;

[0037] Figure 3 A logic chart of the slope sliding judgment process of the method for quickly realizing slope parking of an electric vehicle provided by the present application. DETAILED DESCRIPTION

[0038] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses. The present disclosure can be implemented in numerous different forms, not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the relative arrangement of the components and steps set forth in these embodiments, the components of the materials, numerical expressions, and numerical values, unless otherwise specifically stated, should be interpreted as merely illustrative, and not as a limitation.

[0039] The "first", "second", and similar words used in the present disclosure do not indicate any order, number or importance, but are only used to distinguish different parts. The words such as "include" or "contain" mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements. "Up", "down" and the like are only used to represent the relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0040] In the present disclosure, when it is described that a specific component is located between a first component and a second component, there can be an intervening component between the specific component and the first component or the second component, or there can be no intervening component. When it is described that a specific component is connected to other components, the specific component can be directly connected to the other components without an intervening component, or can not be directly connected to the other components with an intervening component.

[0041] All terms used in the present disclosure, including technical terms or scientific terms, have the same meaning as understood by those skilled in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted to have meanings consistent with their meanings in the context of the relevant art, and should not be interpreted in an idealized or excessively formalized sense, unless specifically defined herein.

[0042] Techniques, methods and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but in appropriate cases, the techniques, methods and devices should be considered as part of the specification.

[0043] As Figure 1As shown, the system for quickly realizing the hill parking of the electric vehicle provided by the embodiment comprises: a hill rolling judgment module, a rotating speed closed loop limiting direction judgment module and a hill parking control module arranged in sequence, wherein:

[0044] The hill rolling judgment module is used for judging the driver's intention according to the change trend of the brake opening degree in the case of the brake signal, judging whether to enter the hill parking enabling mode according to the driver's intention and the real-time hill rolling state, outputting the hill parking enabling signal to enter the hill parking control in advance, and judging whether to exit the hill parking control mode.

[0045] The rotating speed closed loop limiting direction judgment module is used for judging the rotating speed closed loop limiting direction in the hill parking control mode according to the current motor rotating speed direction, the accelerator signal and the brake signal.

[0046] The hill parking control module is used for entering the hill parking control mode when the hill parking enabling signal output by the hill rolling judgment module is 1, and performing the motor zero speed control according to the rotating speed closed loop limiting direction judged by the rotating speed closed loop limiting direction judgment module.

[0047] The hill rolling judgment module is specifically used for judging that the brake opening degree trend becomes smaller when the brake signal is 1 and the brake opening degree of the current time is smaller than the brake opening degree of the last time, at this time, the driver's intention is the intention of not stepping on the brake, then judging whether the vehicle is in the front rolling or rear rolling state, if there is hill rolling, it is determined to enter the hill parking control mode and output the hill parking enabling signal, and is further used for judging whether to exit the hill parking control mode according to the accelerator signal and the brake signal, the parking time length and the fault flag.

[0048] Further, the rotating speed closed loop limiting direction judgment module is specifically used for:

[0049] In the case of no brake and no accelerator, the rotating speed closed loop limiting direction in the hill parking control mode is judged as bidirectional limiting, and the absolute values of the positive and negative limiting are the maximum locked-rotor torque.

[0050] In the case of the brake or the accelerator signal and the motor rotating speed being negative, the rotating speed closed loop limiting direction in the hill parking control mode is judged as unidirectional limiting, the negative limiting is 0, and the positive limiting is the positive maximum locked-rotor torque.

[0051] In the case of the brake or the accelerator signal and the motor rotating speed being positive, the rotating speed closed loop limiting direction in the hill parking control mode is judged as unidirectional limiting, the positive limiting is 0, and the negative limiting is the negative maximum locked-rotor torque.

[0052] It should be noted that the value of the maximum locked-rotor torque is not specifically limited. The rotating speed closed loop limiting direction judgment module guarantees that the motor output torque direction always keeps the same direction as the brake torque direction by converting the output torque direction of the rotating speed closed loop control, so as to avoid the shaking of the hill parking torque in the case of the brake signal.

[0053] Further, the system for quickly realizing hill parking of an electric vehicle further comprises a torque control module, configured to enter a torque control mode when the hill parking enable signal output by the hill rolling judgment module is 0, and control the motor to operate according to the gear signal and the torque signal. The torque control mode is a normal operation mode of the motor.

[0054] Further, the hill parking control module is further configured to clear and backup the brake opening degree data, and switch between the hill parking control mode and the torque control mode according to the driver's intention. In the hill parking control mode, the motor is controlled to be at zero speed, and the motor operates in a speed closed loop with a given speed of 0.

[0055] As shown in Figure 2 the method for quickly realizing hill parking of an electric vehicle provided by the embodiment includes the following steps:

[0056] In step S1, when there is a brake signal, the hill parking enable mode is determined according to the change trend of the brake opening degree, and a hill parking enable signal is output to enter the hill parking control mode in advance. The hill parking control mode is also determined.

[0057] As shown in Figure 3 in an embodiment of the method for quickly realizing hill parking of an electric vehicle, the step S1 can specifically include the following steps:

[0058] In step S11, the current motor control mode is determined. If the motor control mode is torque control mode, the process proceeds to step S12. If the motor control mode is not torque control mode, the process proceeds to step S15.

[0059] In step S12, the driver's intention is determined. If there is an accelerator signal, the process proceeds to step S13. If there is no accelerator signal, the brake signal is determined again. If the brake signal is 1 and the current brake opening degree is smaller than the last brake opening degree, the process proceeds to step S13. If the brake signal is 1 and the current brake opening degree is not smaller than the last brake opening degree, the current motor control mode is maintained, the brake opening degree information is backed up, and the process returns to step S11. If the brake signal is 0, the process proceeds to step S13.

[0060] If the current brake opening degree is smaller than the last brake opening degree, it indicates that the driver intends to release the brake, and the process proceeds to step S13. If the current brake opening degree is not smaller than the last brake opening degree, it indicates that the driver does not intend to release the brake, and the current motor control mode is maintained.

[0061] In step S13, it is determined whether there is a hill rolling trend. If the vehicle rolls backward after moving forward or rolls forward after moving backward, the process proceeds to step S14. If there is no backward rolling and no forward rolling, the current motor control mode is maintained, the brake opening degree information is backed up, and the process returns to step S11.

[0062] Step S14, if the speed is higher than the preset speed threshold or the motor or motor controller has a fault, the hill-hold enable flag is not set, the current motor control mode is maintained, the brake opening information is backed up, and the step S11 is returned; otherwise, the hill-hold enable flag is set, the control mode switching is prepared, and the step S11 is returned.

[0063] Step S15, if the brake signal is 1 and the current brake opening is greater than the last brake opening, the hill-hold enable flag is reset, and the control mode switching is prepared; if the brake signal is 1 and the current brake opening is not greater than the last brake opening, the current motor control mode is maintained, and the brake opening information is backed up, and the step S11 is returned; if the brake signal is 0, the step S16 is entered.

[0064] If the current brake opening is greater than the last brake opening, it indicates that the driver has the intention to step on the brake, and the hill-hold enable flag is reset, and the control mode switching is prepared; if the current brake opening is not greater than the last brake opening, it indicates that the driver does not have the intention to step on the brake, and the current motor control mode is maintained.

[0065] Step S16, if the throttle given torque is greater than the hill-hold torque, the hill-hold enable flag is reset, the control mode switching is prepared, and the step S11 is returned; otherwise, the current motor control mode is maintained, the brake opening information is backed up, and the step S11 is returned.

[0066] If the throttle given torque is greater than the hill-hold torque, it indicates that the driver's throttle is sufficient to maintain the vehicle from sliding backward, and the hill-hold enable flag is reset, and the control mode switching is prepared.

[0067] Through steps S11-S16, the driver's intention to quickly enter or exit the hill-hold mode can be judged in the presence of a brake signal, and the hill-hold mode can be quickly entered in the presence of a brake signal, which can effectively shorten the hill sliding distance.

[0068] Step S2, according to the current motor speed direction, the throttle signal and the brake signal, the speed closed-loop limiting direction in the hill-hold control mode is judged.

[0069] In one embodiment of the method for quickly realizing the hill-hold of the electric vehicle according to the application, the step S2 can specifically include:

[0070] Step S21, in the absence of brake and throttle, the speed closed-loop limiting direction in the hill-hold control mode is judged to be bidirectional limiting, and the positive and negative limiting absolute values are the maximum stall torque.

[0071] Specifically, the relationship between the input and the output is represented by the following formula:

[0072]

[0073] wherein out max represents the maximum stall torque.

[0074] In step S22, in the case that there is a brake or accelerator signal and the motor speed is negative, it is judged that the speed closed loop limiting direction in the hill hold control mode is one-way limiting, the negative limiting is 0, and the positive limiting is the positive maximum stall torque.

[0075] Specifically, the relationship between the input and the output is represented by the following formula:

[0076]

[0077] In step S23, in the case that there is a brake or accelerator signal and the motor speed is positive, it is judged that the speed closed loop limiting direction in the hill hold control mode is one-way limiting, the positive limiting is 0, and the negative limiting is the negative maximum stall torque.

[0078] Specifically, the relationship between the input and the output is represented by the following formula:

[0079]

[0080] In step S2, the output torque direction of the speed closed loop control is converted to ensure that the motor output torque direction always remains the same as the brake torque direction, avoiding the occurrence of shaking of the hill hold torque in different directions when there is a brake signal.

[0081] In step S3, when the hill hold enable signal is 1, the hill hold control mode is entered, and the motor zero speed control is performed according to the speed closed loop limiting direction.

[0082] At this time, the motor operates in the speed closed loop, and the given speed is zero.

[0083] The system and method for quickly realizing the hill holding of the electric vehicle provided by the embodiment of the application can judge the driver's intention and the rear sliding in the case that there is a brake signal, enter the hill hold control in advance, quickly realize the parking without shaking, effectively shorten the hill holding distance, and judge when to exit the hill hold control according to the driver's intention; the one-way limiting of the speed closed loop output is determined according to the sliding speed direction, the shaking of the hill hold control output torque and the mechanical brake torque in different directions is avoided, and the driving experience is affected.

[0084] Thus far, the embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0085] Although some specific embodiments of the present disclosure have been described in detail by way of example with reference to the drawings, it is to be understood that the above examples are intended to be illustrative only and are not intended to limit the scope of the present disclosure. It is to be understood that modifications or equivalent arrangements of the above embodiments can be made by those skilled in the art without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A system for rapidly parking electric vehicles on ramps, characterized in that, include: The following modules are sequentially configured: a slope judgment module, a speed closed-loop limiting direction judgment module, and a slope control module, wherein: The slope judgment module is used to judge the driver's intention based on the changing trend of the brake opening when there is a brake signal, and to determine whether to enter the parking slope enable mode based on the driver's intention and the real-time slope state, and outputs a parking slope enable signal to enter the parking slope control in advance. It is also used to judge whether to exit the parking slope control mode. The speed closed-loop limiting direction determination module is used to determine the speed closed-loop limiting direction in the hill-climb control mode based on the current motor speed direction, throttle signal, and brake signal. The slope holding control module is used to enter the slope holding control mode when the slope holding enable signal output by the slope slip judgment module is 1, and to perform zero-speed control of the motor according to the speed closed-loop limiting direction determined by the speed closed-loop limiting direction judgment module. The slope slip judgment module is specifically used to determine whether the vehicle is rolling forward or backward when the brake signal is 1 and the current brake opening is less than the previous brake opening, indicating that the driver does not intend to apply the brakes. If there is a slope slip, the module determines to enter the parking control mode and outputs a parking enable signal. It is also used to determine whether to exit the parking control mode based on the throttle signal, brake signal, parking duration, and fault flag. The speed closed-loop limiting direction determination module is specifically used for: In the absence of both brakes and throttle, the direction of the closed-loop speed limiting in the hill-start control mode is determined to be bidirectional limiting, and the absolute value of the positive and negative limiting is the maximum stall torque. When there is a brake or throttle signal and the motor speed is negative, the direction of the speed closed-loop limiting in the parking slope control mode is determined to be unidirectional limiting, negative limiting is 0, and positive limiting is the positive maximum stall torque. When there is a brake or throttle signal and the motor speed is positive, the direction of the speed closed-loop limiting in the parking slope control mode is determined to be unidirectional limiting, with positive limiting being 0 and negative limiting being the negative maximum stall torque.

2. The system for rapidly parking electric vehicles on ramps according to claim 1, characterized in that, The system for quickly stopping electric vehicles on ramps also includes a torque control module, which is used to enter torque control mode when the ramp enable signal output by the ramp judgment module is 0, and control the motor operation according to the gear signal and torque signal.

3. The system for rapidly parking electric vehicles on ramps according to claim 2, characterized in that, The parking slope control module is also used to: clear and back up the brake opening data, and smoothly switch between parking slope control mode and torque control mode in response to the driver's intention.

4. A method for rapidly parking an electric vehicle on a ramp using the system described in any one of claims 1-3, characterized in that, Includes the following steps: When there is a braking signal, the system determines whether to enter the parking slope enable mode based on the changing trend of the brake opening and outputs a parking slope enable signal to enter parking slope control in advance. It is also used to determine whether to exit the parking slope control mode. Based on the current motor speed direction, throttle signal, and brake signal, determine the speed closed-loop limiting direction in the hill-climb control mode; When the slope-holding enable signal is 1, the slope-holding control mode is entered, and the motor is controlled at zero speed according to the direction of the closed-loop speed limit.

5. The method for rapidly parking an electric vehicle on a ramp according to claim 4, characterized in that, When a braking signal is present, the system determines whether to enter the parking slope enabling mode based on the changing trend of the brake opening and outputs a parking slope enabling signal to enter parking slope control in advance. It is also used to determine whether to exit the parking slope control mode, specifically including: Step S11: Determine the current motor control mode. If it is torque mode, proceed to step S12; if it is non-torque mode, proceed to step S15. Step S12: Determine the driver's intention. If there is an accelerator signal, proceed to step S13. If there is no accelerator signal, determine the brake signal. If the brake signal is 1 and the current brake opening is less than the previous brake opening, proceed to step S13. If the brake signal is 1 and the current brake opening is not less than the previous brake opening, maintain the current motor control mode, back up the brake opening information, and return to step S11. If the brake signal is 0, proceed to step S13. Step S13: Determine if there is a tendency to slide backward. If the vehicle slides backward in forward gear or forward in reverse gear, proceed to step S14. If there is no forward or backward movement, maintain the current motor control mode, back up the brake opening information, and return to step S11. Step S14: Determine the slope speed. If the speed is higher than the preset speed threshold or there is a fault in the motor or motor controller, do not set the parking enable flag, maintain the current motor control mode, back up the brake opening information, and return to step S11; otherwise, set the parking enable flag, prepare for control mode switching, and return to step S11 in a loop. Step S15: Determine the brake signal. If the brake signal is 1 and the current brake opening is greater than the previous brake opening, reset the parking enable flag and prepare for control mode switching. If the brake signal is 1 and the current brake opening is not greater than the previous brake opening, maintain the current motor control mode, back up the brake opening information, and return to step S11. If the brake signal is 0, proceed to step S16. Step S16: Determine the throttle information. If the throttle torque is greater than the parking torque, reset the parking enable flag, prepare for control mode switching, and return to step S11. Otherwise, maintain the current motor control mode, back up the brake opening information, and return to step S11.

6. The method for rapidly parking an electric vehicle on a ramp according to claim 4, characterized in that, The determination of the speed closed-loop limiting direction in the hill-climb control mode based on the current motor speed direction, throttle signal, and brake signal specifically includes: In the absence of both brakes and throttle, the direction of the closed-loop speed limiting in the hill-start control mode is determined to be bidirectional limiting, and the absolute value of the positive and negative limiting is the maximum stall torque. When there is a brake or throttle signal and the motor speed is negative, the direction of the speed closed-loop limiting in the parking slope control mode is determined to be unidirectional limiting, negative limiting is 0, and positive limiting is the positive maximum stall torque. When there is a brake or throttle signal and the motor speed is positive, the direction of the speed closed-loop limiting in the parking slope control mode is determined to be unidirectional limiting, with positive limiting being 0 and negative limiting being the negative maximum stall torque.

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