Control method for a train to enter an emergency traction mode and train

Abstract

The application provides a train emergency traction mode entering control method and a train. The train emergency traction mode entering control method is applied to a traction control system of the train. The method comprises the following steps: detecting whether current emergency traction information meets an emergency traction mode entering condition; when the current emergency traction information meets the emergency traction mode entering condition, controlling the train to enter the emergency traction mode; receiving a hard-wire signal sent by a driver controller, and performing corresponding operations according to the type of the hard-wire signal. The technical scheme of the application does not need to set an emergency traction device, reduces the production cost, avoids the problem that the vehicle cannot perform emergency traction when the emergency traction device is invalid or fails, and can effectively improve the applicability of the hard-wire control-based emergency traction circuit.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rail transit, and more particularly to a control method for a train entering an emergency traction mode and a train. BACKGROUND

[0002] A conventional rail transit train traction and braking control system connects traction control systems, braking control systems and other systems distributed in each intelligent unit of the entire train into a train network through a multifunctional vehicle bus, and a train network control system exchanges information with each subsystem connected through the vehicle bus. In the conventional technology, when the network control system fails, an emergency traction device is started to control the train to enter an emergency traction mode. This method requires an emergency traction device to be configured in the train, which increases the production and development cost. Moreover, when the emergency traction device fails or malfunctions, the train emergency traction will fail, and the train cannot brake again. SUMMARY

[0003] The present application is proposed to solve at least one of the above problems. According to an aspect of the present application, a control method for a train entering an emergency traction mode is provided, which is applied to a traction control system of the train, and the method comprises:

[0004] detecting whether current emergency traction information meets a condition for entering the emergency traction mode;

[0005] controlling the train to enter the emergency traction mode when the current emergency traction information meets the condition for entering the emergency traction mode;

[0006] receiving a hard-wire signal sent by a driver controller, and performing a corresponding operation according to a type of the hard-wire signal.

[0007] In an embodiment of the present application, the current emergency traction information comprises:

[0008] an emergency traction hard-wire signal;

[0009] a rotation speed of a motor; and

[0010] a hard-wire signal of the driver controller.

[0011] In an embodiment of the present application, detecting whether the current emergency traction information meets the condition for entering the emergency traction mode comprises:

[0012] detecting whether the emergency traction hard-wire signal is valid;

[0013] adjusting the motor to reduce a torque of the motor to 0 when the emergency traction hard-wire signal is valid;

[0014] detecting whether the rotation speed of the motor is less than or equal to a preset threshold;

[0015] When the rotation speed of the motor is less than or equal to a preset threshold, it is detected whether the hard-wire signal of the controller is a non-traction hard-wire signal, and if so, the condition for entering the emergency traction mode is met.

[0016] In an embodiment of the present application, the types of the hard-wire signal include at least one of the following: an emergency traction hard-wire signal, a key hard-wire signal, a direction hard-wire signal, and a traction hard-wire signal.

[0017] In an embodiment of the present application, according to the type of the hard-wire signal, a corresponding operation is performed, including:

[0018] When the hard-wire signal is a traction hard-wire signal, the train is tractioned according to a preset load and a preset gear.

[0019] In an embodiment of the present application, the controller includes a head controller and a tail controller.

[0020] According to the type of the hard-wire signal, a corresponding operation is performed, including:

[0021] When the hard-wire signal includes a key hard-wire signal and a direction hard-wire signal, it is judged whether the key hard-wire signal is from the head controller.

[0022] If so, the train is tractioned according to the orientation of the head and the direction hard-wire signal; otherwise, the train is tractioned according to the orientation of the tail and the direction hard-wire signal.

[0023] In an embodiment of the present application, the traction control system includes a traction inverter.

[0024] According to another aspect of the present application, a control method for a train to enter an emergency traction mode is provided, which is applied to a brake control system of the train, and the method includes:

[0025] An emergency traction hard-wire signal of a controller is collected.

[0026] When the emergency traction hard-wire signal is valid, the emergency traction mode is entered.

[0027] In an embodiment of the present application, the hard-wire signal includes a brake hard-wire signal.

[0028] After the emergency traction mode is entered when the emergency traction hard-wire signal is valid, the method further includes:

[0029] A brake hard-wire signal sent by the controller is received.

[0030] When the brake hard-wire signal is valid, the train is braked according to a preset load and gear.

[0031] In one embodiment of the present application, the brake control system comprises a brake controller.

[0032] According to another aspect of the present application, a train is provided, comprising a traction inverter, a controller and a brake controller.

[0033] The traction inverter is configured to:

[0034] detect whether current emergency traction information meets a condition for entering an emergency traction mode;

[0035] control the train to enter the emergency traction mode when the current emergency traction information meets the condition for entering the emergency traction mode;

[0036] receive a hard-wire signal sent by the controller, and perform corresponding operations according to a type of the hard-wire signal;

[0037] The brake controller is configured to:

[0038] collect an emergency traction hard-wire signal of the controller;

[0039] enter the emergency traction mode when the emergency traction hard-wire signal is valid;

[0040] The controller comprises a head controller and a tail controller.

[0041] According to the control method of the train entering the emergency traction mode of the present application, when the current emergency traction information meets the condition for entering the emergency traction mode, the train is controlled to enter the emergency traction mode, and then corresponding operations are performed according to the type of the hard-wire signal of the controller, without the need to set an emergency traction device, thereby reducing the manufacturing cost of the train, and avoiding the problem that the train cannot perform emergency traction when the emergency traction device fails or malfunctions. The present application can effectively improve the applicability of the emergency traction circuit based on hard-wire control.

[0042] In addition, according to the control method of the train entering the emergency traction mode of the present application, an emergency traction hard-wire signal of the controller is collected, and then the emergency traction mode is entered according to the validity of the emergency traction hard-wire signal. After entering the emergency traction mode, braking or non-braking is performed according to the level of the brake hard-wire signal sent by the controller, thereby avoiding the problem that the vehicle cannot brake when the emergency traction device fails or malfunctions. BRIEF DESCRIPTION OF DRAWINGS

[0043] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0044] Figure 1 a schematic flow chart of a control method for a train entering an emergency traction mode according to an embodiment of the present application is shown;

[0045] Figure 2 a schematic flow chart of a control method for a train entering an emergency traction mode according to an embodiment of the present application is shown;

[0046] Figure 3 a schematic block diagram of a train according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0047] In order to make the objects, technical solutions and advantages of the present application more apparent, the following will describe the example embodiments according to the present application in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present application.

[0048] Based on the foregoing technical problem, the present application provides a control method for a train entering an emergency traction mode, applied to a traction control system of the train, and the method comprises the following steps: detecting whether current emergency traction information meets a condition for entering an emergency traction mode; when the current emergency traction information meets the condition for entering the emergency traction mode, controlling the train to enter the emergency traction mode; and collecting a hard-wire signal of a driver controller and performing corresponding operations according to a type of the hard-wire signal. When the current emergency traction information meets the condition for entering the emergency traction mode, the present application controls the train to enter the emergency traction mode, and then performs corresponding operations according to the type of the hard-wire signal of the driver controller, without the need to set an emergency traction device, thereby reducing the manufacturing cost of the train, and avoiding the problem that the train cannot perform emergency traction when the emergency traction device fails or malfunctions. The present application can effectively improve the applicability of the emergency traction circuit based on the hard-wire control.

[0049] The application further provides a control method for a train to enter an emergency traction mode, applied to a brake control system of the train, and the method comprises the following steps: collecting an emergency traction hard-wire signal of a driver controller; and entering the emergency traction mode when the emergency traction hard-wire signal is valid. The control method for the train to enter the emergency traction mode can avoid the problem that the vehicle cannot brake after the emergency traction device fails or malfunctions, by collecting the emergency traction hard-wire signal of the driver controller, then entering the emergency traction mode according to the validity of the emergency traction hard-wire signal, and braking or non-braking according to the level of the brake hard-wire signal sent by the driver controller after entering the emergency traction mode.

[0050] The scheme of the control method for the train to enter the emergency traction mode according to the embodiments of the application will be described in detail below with reference to the drawings. The features of the various embodiments of the application can be combined with each other on the premise of no conflict.

[0051] Figure 1 A schematic flowchart of the control method for the train to enter the emergency traction mode according to the embodiments of the application is shown, applied to a traction control system of the train. As shown in Figure 1 The control method 100 for the train to enter the emergency traction mode according to the embodiments of the application can comprise the following steps S101, S102 and S103:

[0052] In step S101, it is detected whether the current emergency traction information meets the condition for entering the emergency traction mode.

[0053] The current emergency traction information comprises: an emergency traction hard-wire signal; a rotating speed of a motor; and a hard-wire signal of a driver controller.

[0054] The driver controller is also called a driver controller, which is a kind of manual electric appliance used by the driver to control the train, and is mainly used to control the running direction, power, traction and speed of the train, and is a control device for railway trains, motor trains and industrial automation, and is also a command electric appliance for train reversing and speed regulation.

[0055] In one example, detecting whether the current emergency traction information meets the condition for entering the emergency traction mode comprises: A1, detecting whether the emergency traction hard-wire signal is valid; A2, adjusting the motor to make the torque of the motor decrease to 0 when the emergency traction hard-wire signal is valid; A3, detecting whether the rotating speed of the motor is less than or equal to a preset threshold; and A4, detecting whether the hard-wire signal of the driver controller is a non-traction hard-wire signal when the rotating speed of the motor is less than or equal to the preset threshold, and if yes, the condition for entering the emergency traction mode is met.

[0056] The traditional train traction and braking control system is based on network control data transmission. The train control system adopts a network priority control mode, and a hard-wire control is used as a backup. When the train network communication is normal, the traction and braking commands issued by the train signal system are collected through the network control system of the train, and are sent to the network control system of each car through the train network to complete the traction and braking of the entire train. In order to ensure that the train can continue to run to the next station in the event of a failure of the network control system, the train is provided with an emergency traction button. The driver can operate the emergency traction button to make the train enter an emergency traction mode. When the train is in the emergency traction mode, the traction control system and the braking control system receive the hard-wire signal to realize the traction and braking control of the train.

[0057] During the train operation, the traction and braking control system continuously detects whether the emergency traction hard-wire signal is valid. If the train network communication is abnormal, the driver can press the emergency traction button. At this time, the emergency traction hard-wire signal becomes valid, indicating that the train needs to enter the emergency traction mode.

[0058] Generally, the hard-wire signal is directly connected to the pin (PIN) of the chip, and the transmission is high and low level. In this embodiment, when the emergency traction hard-wire signal is high, the emergency traction hard-wire signal is valid.

[0059] When the traction and braking control system detects that the emergency traction hard-wire signal is valid, the motor is adjusted so that the torque of the motor is reduced to 0. Since the torque of the motor is reduced to 0, the train will lose traction and no longer brake, at which time the train speed will continuously decrease until it is in a stopped or coasting state.

[0060] Then, the traction and braking control system can detect whether the speed of the motor is less than or equal to a preset threshold. Since the speed of the motor corresponds to the train speed, when the speed of the motor is less than the preset threshold, the train speed will also decrease, for example, the train speed ≦ 0.5 km / h.

[0061] When the train speed corresponding to the speed of the motor is small enough (for example, less than or equal to 0.5 km / h), it is detected whether the hard-wire signal of the driver controller is a non-traction hard-wire signal. The non-traction hard-wire signal includes a braking hard-wire signal and a coasting hard-wire signal. That is, before entering the emergency traction mode, the train should be in a non-traction state.

[0062] The traction control system includes a traction inverter.

[0063] In step S102, when the current emergency traction information meets the condition for entering the emergency traction mode, the train is controlled to enter the emergency traction mode.

[0064] When the train is in the emergency traction mode, the traction control system will traction the train according to the hard-wire signal sent by the controller.

[0065] In step S103, the hard-wire signal sent by the controller is received, and according to the type of the hard-wire signal, the corresponding operation is performed.

[0066] The type of the hard-wire signal includes at least one of the following: emergency traction hard-wire signal, key hard-wire signal, direction hard-wire signal and traction hard-wire signal.

[0067] In one example, according to the type of the hard-wire signal, the corresponding operation is performed, including: when the hard-wire signal is a traction hard-wire signal, the train is tractioned according to the preset load and the preset level.

[0068] Generally, the train is provided with a load sensor, when the train is in the emergency traction mode, it will no longer be tractioned according to the actual load, but according to the preset load, for example, the preset load is 3000 people. The preset load can be the default load set when the train is manufactured, or it can be set according to actual needs.

[0069] Generally, the level of the train includes AW0, AW1, AW2, AW3 four levels. Among them, AW0 represents empty load, AW1 represents full load, AW2 represents full load, and AW3 represents overload. For example, the preset level is AW1.

[0070] The controller includes a head controller and a tail controller. When the train is running on the track, the train can be controlled by the head controller, and when the train needs to change direction, the train is controlled by the tail controller.

[0071] In one example, according to the type of the hard-wire signal, the corresponding operation is performed, including: B1, when the hard-wire signal includes a key hard-wire signal and a direction hard-wire signal, it is judged whether the key hard-wire signal comes from the head controller; If yes, step B2 is executed; Otherwise, step B3 is executed; B2, according to the orientation of the head and the direction hard-wire signal; B2, otherwise, according to the orientation of the tail and the direction hard-wire signal.

[0072] For example, when the key hard-wire signal comes from the head controller, it indicates that the train is controlled by the head controller at this time, and the orientation of the head is consistent with the advancing direction of the train. If the direction hard-wire signal is high, it indicates forward traction, and the traction control system controls the train to move forward with the orientation of the head as the reference. If the direction hard-wire signal is low, it indicates backward traction, and the traction control system controls the train to move backward.

[0073] When the current emergency traction information meets the condition of entering the emergency traction mode, the train is controlled to enter the emergency traction mode, and then corresponding operations are performed according to the type of the hard-wire signal of the controller, without the need to set an emergency traction device, thereby reducing the manufacturing cost of the train, and avoiding the problems that the train cannot perform emergency traction after the emergency traction device fails or malfunctions, and the emergency traction device cannot control the braking system. The application can effectively improve the applicability of the emergency traction circuit based on the hard-wire control.

[0074] Figure 2 A schematic flow chart of a control method for a train entering an emergency traction mode according to an embodiment of the application is shown. The control method is applied to a braking control system of the train. As shown in Figure 1 The control method 200 for the train entering the emergency traction mode according to the embodiment of the application can include the following steps S101 and S102.

[0075] In step S101, the emergency traction hard-wire signal of the controller is collected.

[0076] The braking control system includes a braking controller.

[0077] In the embodiment of the application, the braking control system continuously collects the emergency traction hard-wire signal of the controller. According to the introduction of the above embodiment, when the emergency traction hard-wire signal is high, the emergency traction hard-wire signal is valid.

[0078] The method for detecting whether the emergency traction hard-wire signal is valid can refer to the introduction of the above embodiment.

[0079] In step S102, when the emergency traction hard-wire signal is valid, the emergency traction mode is entered.

[0080] The hard-wire signal includes a braking hard-wire signal.

[0081] In one example, after entering the emergency traction mode when the emergency traction hard-wire signal is valid, the method further comprises: C1, receiving a brake hard-wire signal sent by the controller; C2, braking according to a preset load and gear when the brake hard-wire signal is valid.

[0082] The preset load and the preset gear can refer to the descriptions of the above examples.

[0083] The control method of the train entering the emergency traction mode provided in the present application can collect the emergency traction hard-wire signal of the controller, then enter the emergency traction mode according to the validity of the emergency traction hard-wire signal, and brake or not brake according to the level of the brake hard-wire signal sent by the controller after entering the emergency traction mode, so as to avoid the problem that the vehicle cannot brake after the emergency traction device fails or breaks down.

[0084] The control method of the train entering the emergency traction mode provided in the present application can collect the emergency traction hard-wire signal of the controller, then enter the emergency traction mode according to the validity of the emergency traction hard-wire signal, and brake or not brake according to the level of the brake hard-wire signal sent by the controller after entering the emergency traction mode, so as to avoid the problem that the vehicle cannot brake after the emergency traction device fails or breaks down. Figure 3 The train provided in the present application is described, wherein, Figure 3 A schematic block diagram of a train 300 according to an embodiment of the present application is shown.

[0085] As shown in Figure 3 The train 300 comprises a traction control system 301, a controller 302, and a brake control system 303. The controller 302 comprises a head controller 3021 and a tail controller 3022.

[0086] The traction control system 301 is configured to:

[0087] detect whether current emergency traction information meets the condition for entering the emergency traction mode;

[0088] control the train 300 to enter the emergency traction mode when the current emergency traction information meets the condition for entering the emergency traction mode;

[0089] receive a hard-wire signal sent by the controller 302, and perform corresponding operations according to the type of the hard-wire signal.

[0090] The brake control system 303 is configured to:

[0091] collect an emergency traction hard-wire signal of the controller 302;

[0092] enter the emergency traction mode when the emergency traction hard-wire signal is valid.

[0093] The controller 302 comprises a head controller 3021 and a tail controller 3022, the traction control system 301 comprises a traction inverter, and the brake control system 303 comprises a brake controller.

[0094] The train of the embodiments of the present application has the same advantages as the foregoing method, because the foregoing control method of the train entering the emergency traction mode can be realized.

[0095] Although example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the example embodiments are only exemplary and are not intended to limit the scope of the present application. Those of ordinary skill in the art can make various changes and modifications without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

[0096] Those of ordinary skill in the art can be aware that, in combination with the examples described in the embodiments disclosed in this paper, each unit and algorithm step of the examples can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those of ordinary skill in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0097] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, additional division can be made, or some features can be combined or integrated into another device, or some features can be omitted or not implemented.

[0098] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not described in detail in order not to obscure the understanding of the specification.

[0099] Similarly, it should be understood that, in order to simplify the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of the present application should not be interpreted as reflecting an intention that the claimed present application requires more features than those explicitly recited in each claim. Rather, as reflected by the corresponding claims, the inventive point is that the corresponding technical problem can be solved with fewer features than all the features of a certain disclosed single embodiment. Therefore, the claims following the specific embodiments are hereby expressly incorporated into the specific embodiments, wherein each claim itself is a separate embodiment of the present application.

[0100] Those skilled in the art will appreciate that all features described herein (including all features and processes described in the accompanying claims, abstract and drawings) can be combined in any combination. Each feature disclosed in this specification (including any "means for" feature disclosed by the specification, abstract and drawings) can be replaced by alternative features that are both equivalent in terms of the functionality for which the features are used. Unless otherwise expressly stated, the disclosure herein is not directed to any single implementation, but rather to all possible implementations.

[0101] Furthermore, those skilled in the art will recognize that references in the specification to "one implementation", "an implementation", "some implementations", "an alternate implementation" etc., mean that a particular feature, structure, or characteristic being described is included in at least one implementation. Thus, the appearance of such phrases in various places throughout the specification are not necessarily all referring to the same implementation.

[0102] Various components of the present application can be implemented in hardware, or as software modules running in one or more processors, or combinations thereof. Those skilled in the art will appreciate that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present application. The present application can also be implemented as an apparatus program (e.g., computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of the present application program can be stored on a computer readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier medium, or in any other form.

[0103] It is noted that the foregoing examples have been provided merely for the purpose of explanation and are in no way to be construed as limiting of the present application. While the application has been described with reference to preferred embodiments, it is understood that the words that have been used herein are words of description, and that changes can be made within the scope and spirit of the application. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word comprising does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the system claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not imply any order. These words are to be understood as names.

[0104] The above merely provides specific implementation manners or specific implementation manners of the present application, and the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, and all the changes or replacements should be covered in the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a train to enter emergency traction mode, characterized in that, A method applied to a train traction control system, the method comprising: Check whether the current emergency towing information meets the conditions for entering emergency towing mode; When the current emergency traction information meets the conditions for entering the emergency traction mode, the train is controlled to enter the emergency traction mode. Receive hardwired signals sent by the controller and perform corresponding operations according to the type of hardwired signals; The current emergency towing information includes: Emergency traction hardline signal; The speed of the motor; and Hardwired signals from the controller; The process of detecting whether the current emergency towing information meets the conditions for entering emergency towing mode includes: Check whether the emergency traction hardwire signal is valid; When the emergency traction hardline signal is valid, adjust the motor so that the torque of the motor is reduced to 0; Detect whether the motor speed is less than or equal to a preset threshold; When the motor speed is less than or equal to a preset threshold, the hard-wire signal of the driver controller is detected as a non-traction hard-wire signal. If it is, the conditions for entering the emergency traction mode are met.

2. The method as described in claim 1, characterized in that, The types of hard-wire signals include at least one of the following: emergency towing hard-wire signal, key hard-wire signal, direction hard-wire signal, and towing hard-wire signal.

3. The method as described in claim 2, characterized in that, Depending on the type of hard-wired signal, perform the corresponding operation, including: When the hard-wire signal is a traction hard-wire signal, the train is pulled according to the preset load and preset level.

4. The method as described in claim 2, characterized in that, The driver control unit includes a front driver control unit and a rear driver control unit; Depending on the type of hard-wired signal, perform the corresponding operation, including: When the hard wire signal includes a key hard wire signal and a steering hard wire signal, determine whether the key hard wire signal comes from the driver's controller at the front of the vehicle. If so, traction is performed based on the orientation of the vehicle's front and the hard-line signal of the direction; otherwise, traction is performed based on the orientation of the vehicle's rear and the hard-line signal of the direction.

5. The method as described in claim 1, characterized in that, The traction control system includes a traction inverter.

6. A control method for a train to enter emergency traction mode, characterized in that, A braking control system applied to trains, the method comprising: Collect the emergency traction hardwire signal from the driver's controller; When the emergency traction hardline signal is valid, the emergency traction mode is entered; When the emergency traction hardline signal is valid, after entering the emergency traction mode, the method further includes: Receive the brake hardwire signal sent by the driver controller; When the braking hard wire signal is valid, braking is performed according to the preset load and level.

7. The method as described in claim 6, characterized in that, The braking control system includes a brake controller.

8. A train, characterized in that, The train includes a traction control system, a driver controller, and a braking control system; The traction control system is used for: Check whether the current emergency towing information meets the conditions for entering emergency towing mode; When the current emergency traction information meets the conditions for entering the emergency traction mode, the train is controlled to enter the emergency traction mode. Receive hardwired signals sent by the controller and perform corresponding operations according to the type of hardwired signals; The braking control system is used for: Collect the emergency traction hardwire signal from the driver controller; When the emergency traction hardline signal is valid, the emergency traction mode is entered; The driver controller includes a front driver controller and a rear driver controller; the traction control system includes a traction inverter; and the braking control system includes a brake controller. The current emergency towing information includes: Emergency traction hardline signal; The speed of the motor; and Hardwired signals from the controller; The process of detecting whether the current emergency towing information meets the conditions for entering emergency towing mode includes: Check whether the emergency traction hardwire signal is valid; When the emergency traction hardline signal is valid, adjust the motor so that the torque of the motor is reduced to 0; Detect whether the motor speed is less than or equal to a preset threshold; When the motor speed is less than or equal to a preset threshold, the hard-wire signal of the driver controller is detected as a non-traction hard-wire signal. If it is, the conditions for entering the emergency traction mode are met.

Images