An electric vehicle brake identification method and device, electronic equipment and storage medium

Abstract

The application discloses an electric vehicle brake identification method and device, electronic equipment and a storage medium; the method comprises the following steps: acquiring the conversion time of the Hall sensor of the wheel of the electric vehicle, the rotation angle of the wheel, the conversion time of the Hall sensor of the motor of the electric vehicle and the rotation angle of the motor; calculating the angular acceleration of the wheel within a predetermined time length according to the conversion time of the Hall sensor of the wheel and the rotation angle of the wheel; calculating the angular acceleration of the motor within a predetermined time length according to the conversion time of the Hall sensor of the motor and the rotation angle of the motor; and identifying the driving state of the electric vehicle according to the angular acceleration of the wheel within a predetermined time length and the angular acceleration of the motor within a predetermined time length. When the electric vehicle brakes in an emergency, even if the brake signal switch is damaged, the angular acceleration of the wheel and the angular acceleration of the motor can be used to identify whether the electric vehicle brakes in an emergency, so that the safe driving of the electric vehicle can be ensured.

Description

Technical Field

[0001] This application relates to the field of electric vehicle technology, and in particular to an electric vehicle brake recognition method, device, electronic device, and storage medium. Background Technology

[0002] Braking is a core function for the safety of riding two-wheeled electric vehicles. The main purpose of braking is to slow down the electric vehicle according to the driver's requirements and to stop quickly in an emergency, thus ensuring riding safety.

[0003] The braking system of most electric vehicles on the market consists of two main parts: mechanical and electrical. The mechanical part commonly includes disc brakes and drum brakes, both of which use the friction of the brake pads to quickly reduce the vehicle's speed. The electrical part has a push-button switch at the brake lever. When the driver squeezes the brake, this switch is pressed simultaneously, transmitting a braking signal to the electric vehicle's controller. Upon receiving the braking signal, the controller disconnects the motor drive. Therefore, braking an electric vehicle actually involves two actions: stopping the motor drive and reducing the vehicle's speed.

[0004] It is essential for electric vehicles to shut off the motor drive when braking. Its main functions include: 1) Significantly shortening braking distance during emergency braking, making braking safer; 2) With the motor drive off, the electric vehicle has no forward driving force, requiring less braking force, thus reducing brake pad friction and extending the lifespan of the mechanical brakes; 3) A more linear and smooth speed reduction when the driver applies intermittent braking, improving the user's braking experience; 4) Preventing the motor from stalling after the electric vehicle has stopped, protecting the motor from overcurrent.

[0005] Using existing electric vehicle brake recognition methods, if the brake signal switch malfunctions during emergency braking, the brake signal cannot be transmitted to the electric vehicle's controller, and the controller cannot stop the motor drive in time. Summary of the Invention

[0006] This application provides a method, device, electronic device, and storage medium for identifying the brakes of an electric vehicle. When an electric vehicle brakes suddenly, even if the brake signal switch is damaged, the system can still identify whether the electric vehicle has braked suddenly by measuring the angular acceleration of the wheels and the angular acceleration of the motor, thereby ensuring the safe operation of the electric vehicle.

[0007] In a first aspect, embodiments of this application provide a method for recognizing the brakes of an electric vehicle, the method comprising:

[0008] The time of change of the Hall sensor of the electric vehicle wheel and the rotation angle of the wheel are obtained, as well as the time of change of the Hall sensor of the electric vehicle motor and the rotation angle of the motor.

[0009] The angular acceleration of the wheel within a predetermined time period is calculated based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel.

[0010] The angular acceleration of the motor during the predetermined time period is calculated based on the change time of the Hall sensor of the motor and the rotation angle of the motor.

[0011] The driving state of the electric vehicle is identified based on the angular acceleration of the wheels and the angular acceleration of the motor during the predetermined time period; wherein the driving state includes: braking state and non-braking state.

[0012] Secondly, embodiments of this application also provide an electric vehicle brake recognition device, the device comprising: an acquisition module, a calculation module, and a recognition module; wherein,

[0013] The acquisition module is used to acquire the change time of the Hall sensor of the electric vehicle's wheel and the rotation angle of the wheel, as well as the change time of the Hall sensor of the electric vehicle's motor and the rotation angle of the motor.

[0014] The calculation module is used to calculate the angular acceleration of the wheel within a predetermined time period based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel; and to calculate the angular acceleration of the motor within the predetermined time period based on the change time of the Hall sensor of the motor and the rotation angle of the motor.

[0015] The identification module is used to identify the driving state of the electric vehicle based on the angular acceleration of the wheels and the angular acceleration of the motor within the predetermined time period; wherein the driving state includes: braking state and non-braking state.

[0016] Thirdly, embodiments of this application provide an electronic device, including:

[0017] One or more processors;

[0018] Memory, used to store one or more programs.

[0019] When the one or more programs are executed by the one or more processors, the one or more processors implement the electric vehicle brake recognition method according to any embodiment of this application.

[0020] Fourthly, embodiments of this application provide a storage medium storing a computer program thereon, which, when executed by a processor, implements the electric vehicle brake recognition method described in any embodiment of this application.

[0021] This application proposes a method, device, electronic device, and storage medium for identifying the braking status of an electric vehicle. First, it acquires the switching time and rotation angle of the Hall sensors on the wheels and the rotation angle of the motor. Then, based on the switching time and rotation angle of the wheels, it calculates the angular acceleration of the wheels over a predetermined time period. Simultaneously, based on the switching time and rotation angle of the motor, it calculates the angular acceleration of the motor over the predetermined time period. Finally, it identifies the driving state of the electric vehicle based on the angular acceleration of the wheels and the motor over the predetermined time period. In other words, the technical solution of this application can identify whether an electric vehicle has undergone emergency braking based on the angular acceleration of the wheels and the motor over the predetermined time period. However, in the prior art, when an electric vehicle undergoes emergency braking, if the brake signal switch malfunctions, the brake signal cannot be transmitted to the electric vehicle's controller, and the controller cannot stop the motor drive in time. Therefore, compared with the prior art, the electric vehicle brake recognition method, device, electronic device and storage medium proposed in this application can identify whether the electric vehicle has braked suddenly when it brakes suddenly, even if the brake signal switch is damaged, by using the angular acceleration of the wheel and the angular acceleration of the motor, thereby ensuring the safe operation of the electric vehicle; moreover, the technical solution of this application is simple and convenient to implement, easy to popularize, and has a wider range of applications. Attached Figure Description

[0022] Figure 1 A schematic diagram of the first process of the electric vehicle brake recognition method provided in an embodiment of this application;

[0023] Figure 2 This is a second flowchart illustrating the electric vehicle brake recognition method provided in an embodiment of this application;

[0024] Figure 3 A schematic diagram showing the installation position of the Hall sensor for the wheel provided in an embodiment of this application;

[0025] Figure 4 A schematic diagram showing the installation position of the Hall sensor for the motor provided in an embodiment of this application;

[0026] Figure 5 A schematic diagram of the third process of the electric vehicle brake recognition method provided in the embodiments of this application;

[0027] Figure 6This is a schematic diagram of the electric vehicle brake recognition device provided in an embodiment of this application;

[0028] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0029] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present application are shown in the drawings, not the entire structure.

[0030] Example 1

[0031] Figure 1 This is a first flowchart illustrating the electric vehicle brake recognition method provided in this application embodiment. The method can be executed by an electric vehicle brake recognition device or an electronic device, which can be implemented in software and / or hardware, and can be integrated into any smart device with network communication capabilities. Figure 1 As shown, the electric vehicle brake recognition method may include the following steps:

[0032] S101. Obtain the switching time of the Hall sensor of the electric vehicle's wheel and the rotation angle of the wheel, as well as the switching time of the Hall sensor of the electric vehicle's motor and the rotation angle of the motor.

[0033] In this step, the electronic device can acquire the switching time of the Hall sensors on the wheels of the electric vehicle and the rotation angle of the wheels, as well as the switching time of the Hall sensors on the motor of the electric vehicle and the rotation angle of the motor. Specifically, when acquiring the switching time of the Hall sensors on the wheels, the electronic device can use the following method: determine whether the switching time of the Hall sensors on the wheels is within a preset wheel switching time range; wherein, the wheel switching time range is: [minimum wheel switching time, maximum wheel switching time]; if the switching time of the Hall sensors on the wheels is outside the wheel switching time range, then the switching time of the Hall sensors on the wheels is set to the minimum wheel switching time or the maximum wheel switching time. Further, if the switching time of the Hall sensors on the wheels is less than the minimum wheel switching time, then the switching time of the Hall sensors on the wheels can be set to the minimum wheel switching time; if the switching time of the Hall sensors on the wheels is greater than the maximum wheel switching time, then the switching time of the Hall sensors on the wheels can be set to the maximum wheel switching time. Similarly, when acquiring the switching time of the Hall sensor of a motor, the electronic device can use the following method: determine whether the switching time of the Hall sensor is within a preset motor switching time range; where the motor switching time range is: [minimum motor switching time, maximum motor switching time]; if the switching time of the Hall sensor is outside the motor switching time range, then the switching time of the Hall sensor is set to the minimum or maximum motor switching time. Further, if the switching time of the Hall sensor is less than the minimum motor switching time, then the switching time of the Hall sensor can be set to the minimum motor switching time; if the switching time of the Hall sensor is greater than the maximum motor switching time, then the switching time of the Hall sensor can be set to the maximum motor switching time.

[0034] S102. Calculate the angular acceleration of the wheel within a predetermined time period based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel.

[0035] In this step, the electronic device can calculate the angular acceleration of the wheel within a predetermined time period based on the switching time of the wheel's Hall sensor and the wheel's rotation angle. Specifically, the electronic device can first calculate the angular velocity of the wheel based on the switching time of the wheel's Hall sensor and the wheel's rotation angle; then, it can push the angular velocity of the wheel into a pre-built wheel velocity queue according to a predetermined period; and finally, it can calculate the angular acceleration of the wheel within a predetermined time period based on a predetermined number of angular velocities in the wheel velocity queue and a predetermined period.

[0036] S103. Calculate the angular acceleration of the motor within a predetermined time period based on the change time of the Hall sensor of the motor and the rotation angle of the motor.

[0037] In this step, the electronic device can calculate the angular acceleration of the motor within a predetermined time period based on the change time of the motor's Hall sensor and the motor's rotation angle. Specifically, the electronic device can first calculate the angular velocity of the motor based on the change time of the motor's Hall sensor and the motor's rotation angle; then, it can input the angular velocity of the motor into a pre-built motor speed queue according to a predetermined period; and finally, it can calculate the angular acceleration of the motor within a predetermined time period based on a predetermined number of angular velocities in the motor speed queue and a predetermined period.

[0038] S104. Identify the driving state of the electric vehicle based on the angular acceleration of the wheels and the angular acceleration of the motor within a predetermined time period; wherein the driving state includes: braking state and non-braking state.

[0039] In this step, the electronic device can identify the driving state of the electric vehicle based on the angular acceleration of the wheels and the motor within a predetermined time period. The driving state includes braking and non-braking states. Specifically, the electronic device can calculate the absolute value of the difference between the angular acceleration of the wheels and the motor within the predetermined time period. If the absolute value of this difference is greater than a predetermined threshold, the driving state of the electric vehicle can be determined to be braking; if the absolute value is less than or equal to the predetermined threshold, the driving state of the electric vehicle can be determined to be non-braking.

[0040] The electric vehicle braking recognition method proposed in this application first acquires the switching time and rotation angle of the Hall sensors of the electric vehicle's wheels, as well as the switching time and rotation angle of the Hall sensors of the electric vehicle's motor. Then, based on the switching time and rotation angle of the wheel's Hall sensors, the angular acceleration of the wheel within a predetermined time period is calculated. Simultaneously, based on the switching time and rotation angle of the motor's Hall sensors, the angular acceleration of the motor within a predetermined time period is calculated. Finally, the driving state of the electric vehicle is identified based on the angular acceleration of the wheel and the motor within the predetermined time period. In other words, in the technical solution of this application, whether an electric vehicle has undergone emergency braking can be identified based on the angular acceleration of the wheel and the motor within the predetermined time period. However, in the prior art, when an electric vehicle undergoes emergency braking, if the brake signal switch malfunctions, the brake signal cannot be transmitted to the electric vehicle's controller, and the controller cannot stop the motor drive in time. Therefore, compared with the prior art, the electric vehicle brake recognition method proposed in this application can identify whether the electric vehicle has braked suddenly when it brakes suddenly, even if the brake signal switch is damaged, by using the angular acceleration of the wheel and the angular acceleration of the motor, thereby ensuring the safe operation of the electric vehicle. Furthermore, the technical solution of this application is simple and convenient to implement, easy to popularize, and has a wider range of applications.

[0041] Example 2

[0042] Figure 2 This is a second flowchart illustrating the electric vehicle brake recognition method provided in this application embodiment. Further optimizations and extensions can be made based on the above technical solution, and it can be combined with the various optional implementation methods described above.

[0043] like Figure 2 As shown, the electric vehicle brake recognition method may include the following steps:

[0044] S201. Obtain the switching time of the Hall sensor of the electric vehicle's wheel and the rotation angle of the wheel, as well as the switching time of the Hall sensor of the electric vehicle's motor and the rotation angle of the motor.

[0045] Figure 3 This is a schematic diagram showing the installation position of the Hall sensor for the wheel provided in an embodiment of this application. Figure 3As shown, six Hall effect sensors can be installed on one wheel. The specific installation method may include the following steps: 1) Determine the sensor location: First, determine the sensor's installation location on the wheel. Typically, the sensor is installed near the wheel axle. 2) Prepare installation materials: Prepare the necessary installation materials according to the sensor's requirements, such as screws, nuts, brackets, etc. 3) Install the bracket: Select a suitable bracket based on the wheel and sensor dimensions and install it on the wheel. The bracket should be securely fixed to the wheel to ensure sensor stability. 4) Install the sensor: Fix the sensor to the bracket, ensuring it is at an appropriate distance from the wheel. The sensor should be parallel to the wheel's rotation axis and should not be in contact with the wheel. 5) Connect the power and signal lines: Connect the sensor's power and signal lines according to the sensor's requirements. These lines typically need to be connected to the vehicle's electrical system or control unit. 6) Debugging and testing: After installation, debug and test the sensor. Ensure the sensor can correctly detect wheel rotation and transmit data to the appropriate system or device.

[0046] Figure 4 This is a schematic diagram showing the installation position of the Hall sensor for the motor provided in an embodiment of this application. Figure 4 As shown, a motor can be equipped with three Hall effect sensors. The specific installation method may include the following steps: 1) Determine the sensor location: First, determine the location on the motor where the sensor will be installed. Generally, the sensor should be installed near the rotating parts of the motor to accurately sense the motor's rotation status. 2) Prepare the mounting bracket: A suitable mounting bracket can be made according to the sensor's size and shape. This bracket can be made of metal or plastic, ensuring the sensor is securely mounted on the motor. 3) Install the sensor bracket: Fix the prepared mounting bracket onto the motor, ensuring its position is stable and maintains a certain distance from the motor's rotating parts. 4) Connect the sensor and the circuit: Connect the sensor's leads to the electric vehicle's circuitry. Depending on the sensor specifications and the electric vehicle's circuit design, some wiring connections and adjustments may be necessary. 5) Debugging and testing: After installation, debug and test the sensor. This can be done by connecting it to the electric vehicle's control system to observe whether the sensor's output signal is normal and whether it can accurately sense the motor's rotation status.

[0047] S202. Calculate the angular acceleration of the wheel within a predetermined time period based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel.

[0048] In this step, the electronic device can calculate the angular acceleration of the wheel within a predetermined time period based on the switching time of the wheel's Hall sensor and the wheel's rotation angle. Specifically, the electronic device can first calculate the angular velocity of the wheel based on the switching time of the wheel's Hall sensor and the wheel's rotation angle; then, it can push the angular velocity of the wheel into a pre-built wheel velocity queue according to a predetermined period; and finally, it can calculate the angular acceleration of the wheel within a predetermined time period based on a predetermined number of angular velocities in the wheel velocity queue and a predetermined period.

[0049] S203. Calculate the angular acceleration of the motor within a predetermined time period based on the change time of the motor's Hall sensor and the rotation angle of the motor.

[0050] In this step, the electronic device can calculate the angular acceleration of the motor within a predetermined time period based on the change time of the motor's Hall sensor and the motor's rotation angle. Specifically, the electronic device can first calculate the angular velocity of the motor based on the change time of the motor's Hall sensor and the motor's rotation angle; then, it can input the angular velocity of the motor into a pre-built motor speed queue according to a predetermined period; and finally, it can calculate the angular acceleration of the motor within a predetermined time period based on a predetermined number of angular velocities in the motor speed queue and a predetermined period.

[0051] S204. If the angular acceleration of the wheel within the predetermined time period is less than 0 and the angular acceleration of the motor within the predetermined time period is less than 0, then calculate the absolute value of the difference between the angular acceleration of the wheel within the predetermined time period and the angular acceleration of the motor within the predetermined time period.

[0052] In a specific embodiment of this application, if the angular acceleration of the wheel within a predetermined time period is greater than or equal to 0, or the angular acceleration of the motor within a predetermined time period is greater than or equal to 0, the electronic device can determine that the electric vehicle is in a non-braking state.

[0053] S205. If the absolute value of the difference between the angular acceleration of the wheel and the angular acceleration of the motor within a predetermined time period is greater than a predetermined threshold, then the electric vehicle is determined to be in a braking state.

[0054] In a specific embodiment of this application, if the absolute value of the difference between the angular acceleration of the wheel and the angular acceleration of the motor within a predetermined time period is greater than a predetermined threshold, the electronic device can determine that the electric vehicle is in a braking state; if the absolute value of the difference between the angular acceleration of the wheel and the angular acceleration of the motor within a predetermined time period is less than or equal to the predetermined threshold, the electronic device can determine that the electric vehicle is in a non-braking state.

[0055] The electric vehicle braking recognition method proposed in this application first acquires the switching time and rotation angle of the Hall sensors of the electric vehicle's wheels, as well as the switching time and rotation angle of the Hall sensors of the electric vehicle's motor. Then, based on the switching time and rotation angle of the wheel's Hall sensors, the angular acceleration of the wheel within a predetermined time period is calculated. Simultaneously, based on the switching time and rotation angle of the motor's Hall sensors, the angular acceleration of the motor within a predetermined time period is calculated. Finally, the driving state of the electric vehicle is identified based on the angular acceleration of the wheel and the motor within the predetermined time period. In other words, in the technical solution of this application, whether an electric vehicle has undergone emergency braking can be identified based on the angular acceleration of the wheel and the motor within the predetermined time period. However, in the prior art, when an electric vehicle undergoes emergency braking, if the brake signal switch malfunctions, the brake signal cannot be transmitted to the electric vehicle's controller, and the controller cannot stop the motor drive in time. Therefore, compared with the prior art, the electric vehicle brake recognition method proposed in this application can identify whether the electric vehicle has braked suddenly when it brakes suddenly, even if the brake signal switch is damaged, by using the angular acceleration of the wheel and the angular acceleration of the motor, thereby ensuring the safe operation of the electric vehicle. Furthermore, the technical solution of this application is simple and convenient to implement, easy to popularize, and has a wider range of applications.

[0056] Example 3

[0057] Figure 5 This is a schematic diagram of the third process of the electric vehicle brake recognition method provided in this application embodiment. Further optimizations and extensions can be made based on the above technical solution, and it can be combined with the various optional implementation methods described above.

[0058] like Figure 5 As shown, the electric vehicle brake recognition method may include the following steps:

[0059] S501. Obtain the switching time of the Hall sensor of the electric vehicle's wheel and the rotation angle of the wheel, as well as the switching time of the Hall sensor of the electric vehicle's motor and the rotation angle of the motor.

[0060] S502. Calculate the angular velocity of the wheel based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel.

[0061] In this step, the electronic device can calculate the angular velocity of the wheel based on the switching time of the wheel's Hall sensor and the wheel's rotation angle. Specifically, the electronic device can measure the wheel's rotation angle θ. c Divide by the switching time T of the Hall sensor on the wheel c The angular velocity ω of the wheel is obtained. c , i.e., ω c =θc / T c .

[0062] S503. The angular velocity of the wheel is fed into the pre-built wheel velocity queue according to a predetermined cycle.

[0063] In this step, the electronic device can input the wheel's angular velocity into a pre-built wheel velocity queue at predetermined intervals. Specifically, the electronic device can input the wheel's angular velocity into the pre-built wheel velocity queue every X milliseconds.

[0064] S504. Calculate the angular acceleration of the wheel within a predetermined time period based on a predetermined number of angular velocities and a predetermined period in the wheel speed queue.

[0065] In this step, the electronic device can calculate the angular acceleration of the wheel within a predetermined time period based on a predetermined number of angular velocities and a predetermined period in the wheel speed queue. Specifically, the electronic device can first divide the predetermined number of angular velocities into m groups; where m is a natural number greater than or equal to 2; each group includes n angular velocities, where n is a natural number greater than or equal to 1; and then calculate the angular acceleration of the wheel within the predetermined time period based on the angular velocities in the m groups and the number n angular velocities in each group.

[0066] In one embodiment, an array of K variables is defined in the controller program and queued. Every X milliseconds, the angular velocities of the wheels are pushed into a pre-built wheel velocity queue. The n angular velocities in the wheel velocity queue are grouped sequentially; all angular velocities in the wheel velocity queue are divided into m groups; where K = n × m, m ≥ 2; the angular acceleration of the wheel within Y milliseconds is calculated using the following formula: Where Y = X × n.

[0067] S505. Calculate the angular velocity of the motor based on the change time of the motor's Hall sensor and the motor's rotation angle.

[0068] In this step, the electronic device can calculate the angular velocity of the motor based on the change time of the motor's Hall sensor and the motor's rotation angle. Specifically, the electronic device can measure the motor's rotation angle θ. d Divide by the switching time T of the motor's Hall sensor d The angular velocity ω of the motor is obtained. d , i.e., ω d =θ d / T d .

[0069] S506. The angular velocity of the motor is fed into the pre-built motor speed queue according to a predetermined cycle.

[0070] In this step, the electronic device can input the motor's angular velocity into a pre-built motor speed queue at predetermined intervals. Specifically, the electronic device can input the motor's angular velocity into the pre-built motor speed queue every X milliseconds.

[0071] S507. Calculate the angular acceleration of the motor within a predetermined time period based on a predetermined number of angular velocities and a predetermined period in the motor speed queue.

[0072] In this step, the electronic device can calculate the angular acceleration of the motor within a predetermined time period based on a predetermined number of angular velocities and a predetermined period in the motor speed queue. Specifically, the electronic device can first divide the predetermined number of angular velocities into m groups; where m is a natural number greater than or equal to 2; each group includes n angular velocities, where n is a natural number greater than or equal to 1; and then calculate the angular acceleration of the motor within the predetermined time period based on the angular velocities in the m groups and the number n angular velocities in each group.

[0073] In one embodiment, an array of K variables is defined in the controller program and queued. Every X milliseconds, the angular velocity of the wheel is fed into a pre-built motor speed queue. The n angular velocities in the motor speed queue are grouped sequentially; all angular velocities in the motor speed queue are divided into m groups; where K = n × m, m ≥ 2; the angular acceleration of the motor within Y milliseconds is calculated using the following formula: Where Y = X × n.

[0074] S508. The driving state of the electric vehicle is identified based on the angular acceleration of the wheels and the angular acceleration of the motor within a predetermined time period; wherein the driving state includes: braking state and non-braking state.

[0075] In this step, the electronic device can determine the angular acceleration α of the wheel over a predetermined time period. c and the angular acceleration a of the motor within a predetermined time period d Identify the driving state of the electric vehicle; where driving state includes braking state and non-braking state. Specifically, if the angular acceleration 'a' of the wheel within a predetermined time period... c The angular acceleration a of the motor within the predetermined time period is less than 0. d If the value is less than 0, then calculate the angular acceleration 'a' of the wheel over the predetermined time period. c The angular acceleration a of the motor over a predetermined time period d The absolute value of the difference, Δa, is Δa = |a| c -a d |. If the angular acceleration a of the wheel within a predetermined time period is _____. c The angular acceleration a of the motor over a predetermined time period dIf the absolute value of the difference Δa is greater than a predetermined threshold, the electric vehicle is determined to be in a braking state; if the angular acceleration a of the wheel within a predetermined time period is greater than a predetermined threshold, the electric vehicle is determined to be in a braking state. c The angular acceleration a of the motor over a predetermined time period d If the absolute value of the difference Δa is less than or equal to a predetermined threshold, the electric vehicle is determined to be in a non-braking state. If the angular acceleration a of the wheel within a predetermined time period is... c Greater than or equal to 0, or the angular acceleration α of the motor within the predetermined time period. d If the value is greater than or equal to 0, the electric vehicle is determined to be in a non-braking state.

[0076] The electric vehicle braking recognition method proposed in this application first acquires the switching time and rotation angle of the Hall sensors of the electric vehicle's wheels, as well as the switching time and rotation angle of the Hall sensors of the electric vehicle's motor. Then, based on the switching time and rotation angle of the wheel's Hall sensors, the angular acceleration of the wheel within a predetermined time period is calculated. Simultaneously, based on the switching time and rotation angle of the motor's Hall sensors, the angular acceleration of the motor within a predetermined time period is calculated. Finally, the driving state of the electric vehicle is identified based on the angular acceleration of the wheel and the motor within the predetermined time period. In other words, in the technical solution of this application, whether an electric vehicle has undergone emergency braking can be identified based on the angular acceleration of the wheel and the motor within the predetermined time period. However, in the prior art, when an electric vehicle undergoes emergency braking, if the brake signal switch malfunctions, the brake signal cannot be transmitted to the electric vehicle's controller, and the controller cannot stop the motor drive in time. Therefore, compared with the prior art, the electric vehicle brake recognition method proposed in this application can identify whether the electric vehicle has braked suddenly when it brakes suddenly, even if the brake signal switch is damaged, by using the angular acceleration of the wheel and the angular acceleration of the motor, thereby ensuring the safe operation of the electric vehicle. Furthermore, the technical solution of this application is simple and convenient to implement, easy to popularize, and has a wider range of applications.

[0077] Example 4

[0078] Figure 6 This is a schematic diagram of the electric vehicle brake recognition device provided in an embodiment of this application. Figure 6 As shown, the electric vehicle brake recognition device includes: an acquisition module 601, a calculation module 602, and a recognition module 603; wherein,

[0079] The acquisition module 601 is used to acquire the change time of the Hall sensor of the electric vehicle's wheel and the rotation angle of the wheel, as well as the change time of the Hall sensor of the electric vehicle's motor and the rotation angle of the motor.

[0080] The calculation module 602 is used to calculate the angular acceleration of the wheel within a predetermined time period based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel; and to calculate the angular acceleration of the motor within the predetermined time period based on the change time of the Hall sensor of the motor and the rotation angle of the motor.

[0081] The identification module 603 is used to identify the driving state of the electric vehicle based on the angular acceleration of the wheel and the angular acceleration of the motor within the predetermined time period; wherein the driving state includes: braking state and non-braking state.

[0082] The electric vehicle brake recognition device described above can execute the method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in this embodiment can be found in the electric vehicle brake recognition method provided in any embodiment of this application.

[0083] Example 5

[0084] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 7 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present application is shown. Figure 7 The electronic device 12 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0085] like Figure 7 As shown, the electronic device 12 is represented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0086] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0087] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0088] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 7 Not shown; usually referred to as a "hard drive"). Although Figure 7 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0089] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of this application.

[0090] Electronic device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 12, and / or with any device that enables electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18. It should be understood that, although... Figure 7 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0091] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the electric vehicle brake recognition method provided in the embodiments of this application.

[0092] Example 6

[0093] This application provides a computer storage medium.

[0094] The computer-readable storage medium of this application embodiment can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be—but is not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0095] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0096] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0097] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0098] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for recognizing the brakes of an electric vehicle, characterized in that, The method includes: The time of change of the Hall sensor of the electric vehicle wheel and the rotation angle of the wheel are obtained, as well as the time of change of the Hall sensor of the electric vehicle motor and the rotation angle of the motor. The angular acceleration of the wheel within a predetermined time period is calculated based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel. The angular acceleration of the motor during the predetermined time period is calculated based on the change time of the Hall sensor of the motor and the rotation angle of the wheel. The driving state of the electric vehicle is identified based on the angular acceleration of the wheels and the angular acceleration of the motor during the predetermined time period; wherein, the driving state includes: braking state and non-braking state; The driving state of the electric vehicle is identified based on the angular acceleration of the wheels and the angular acceleration of the motor during the predetermined time period, including: If the angular acceleration of the wheel during the predetermined time period is less than 0 and the angular acceleration of the motor during the predetermined time period is less than 0, then calculate the absolute value of the difference between the angular acceleration of the wheel during the predetermined time period and the angular acceleration of the motor during the predetermined time period. If the absolute value of the difference between the angular acceleration of the wheel and the angular acceleration of the motor during the predetermined time period is greater than a predetermined threshold, then the driving state of the electric vehicle is determined to be a braking state. If the absolute value of the difference between the angular acceleration of the wheel and the angular acceleration of the motor within the predetermined time period is less than or equal to a predetermined threshold, then the driving state of the electric vehicle is determined to be a non-braking state. Furthermore, if the angular acceleration of the wheel during the predetermined time period is greater than or equal to 0, or the angular acceleration of the motor during the predetermined time period is greater than or equal to 0, then the driving state of the electric vehicle is determined to be a non-braking state.

2. The method according to claim 1, characterized in that, The switching time of the Hall sensors at the wheels of the electric vehicle is obtained, including: Determine whether the switching time of the Hall sensor of the wheel is within a preset wheel switching time range; wherein, the wheel switching time range is: [minimum wheel switching time, maximum wheel switching time]; If the switching time of the Hall sensor of the wheel is outside the range of the wheel switching time, then the switching time of the Hall sensor of the wheel is set to the minimum wheel switching time or the maximum wheel switching time. If the switching time of the Hall sensor of the wheel is within the switching time range of the wheel, then the switching time of the Hall sensor of the wheel will remain unchanged.

3. The method according to claim 1, characterized in that, Based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel, the angular acceleration of the wheel within a predetermined time period is calculated, including: The angular velocity of the wheel is calculated based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel; The angular velocity of the wheel is fed into a pre-built wheel velocity queue according to a predetermined cycle; The angular acceleration of the wheel during the predetermined time period is calculated based on a predetermined number of angular velocities in the wheel speed queue and the predetermined period.

4. The method according to claim 3, characterized in that, Calculate the angular acceleration of the wheel within the predetermined time period based on a predetermined number of angular velocities in the wheel speed queue and the predetermined period, including: The predetermined number of angular velocities are divided into m groups; where m is a natural number greater than or equal to 2; each group includes n angular velocities, where n is a natural number greater than or equal to 1. The angular acceleration of the wheel during the predetermined time period is calculated based on the angular velocities in the m groups and the number n of angular velocities included in each group.

5. The method according to claim 1, characterized in that, Obtaining the switching time of the Hall sensor of the electric vehicle's motor includes: Determine whether the switching time of the Hall sensor of the motor is within a preset motor switching time range; wherein, the motor switching time range is: [minimum motor switching time, maximum motor switching time]; If the switching time of the Hall sensor of the motor is outside the switching time range of the motor, then the switching time of the Hall sensor of the motor is set to the minimum switching time or the maximum switching time of the motor. If the switching time of the Hall sensor of the motor is within the switching time range of the motor, then the switching time of the Hall sensor of the motor will remain unchanged.

6. The method according to claim 1, characterized in that, Based on the change time of the Hall sensor of the motor and the rotation angle of the motor, the angular acceleration of the motor during the predetermined time period is calculated, including: The angular velocity of the motor is calculated based on the change time of the Hall sensor of the motor and the rotation angle of the motor. The angular velocity of the motor is fed into a pre-built motor speed queue according to a predetermined cycle; The angular acceleration of the motor during the predetermined duration is calculated based on a predetermined number of angular velocities in the motor speed queue and the predetermined period.

7. The method according to claim 6, characterized in that, Calculate the angular acceleration of the motor within the predetermined duration based on a predetermined number of angular velocities in the motor speed queue and the predetermined period, including: The predetermined number of angular velocities are divided into m groups; where m is a natural number greater than or equal to 2; each group includes n angular velocities, where n is a natural number greater than or equal to 1. The angular acceleration of the motor during the predetermined time period is calculated based on the angular velocities in the m groups and the number n of angular velocities included in each group.

8. An electric vehicle brake recognition device, characterized in that, The device includes: an acquisition module, a calculation module, and an identification module; wherein... The acquisition module is used to acquire the change time of the Hall sensor of the electric vehicle's wheel and the rotation angle of the wheel, as well as the change time of the Hall sensor of the electric vehicle's motor and the rotation angle of the motor. The calculation module is used to calculate the angular acceleration of the wheel within a predetermined time period based on the change time of the Hall sensor of the wheel and the rotation angle of the wheel; and to calculate the angular acceleration of the motor within the predetermined time period based on the change time of the Hall sensor of the motor and the rotation angle of the motor. The identification module is used to identify the driving state of the electric vehicle based on the angular acceleration of the wheels and the angular acceleration of the motor within the predetermined time period; wherein the driving state includes: braking state and non-braking state; The driving state of the electric vehicle is identified based on the angular acceleration of the wheels and the angular acceleration of the motor during the predetermined time period, including: If the angular acceleration of the wheel during the predetermined time period is less than 0 and the angular acceleration of the motor during the predetermined time period is less than 0, then calculate the absolute value of the difference between the angular acceleration of the wheel during the predetermined time period and the angular acceleration of the motor during the predetermined time period. If the absolute value of the difference between the angular acceleration of the wheel and the angular acceleration of the motor during the predetermined time period is greater than a predetermined threshold, then the driving state of the electric vehicle is determined to be a braking state. If the absolute value of the difference between the angular acceleration of the wheel and the angular acceleration of the motor within the predetermined time period is less than or equal to a predetermined threshold, then the driving state of the electric vehicle is determined to be a non-braking state. Furthermore, if the angular acceleration of the wheel during the predetermined time period is greater than or equal to 0, or the angular acceleration of the motor during the predetermined time period is greater than or equal to 0, then the driving state of the electric vehicle is determined to be a non-braking state.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the electric vehicle brake recognition method as described in any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the electric vehicle brake recognition method as described in any one of claims 1 to 7.

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