Electric vehicle braking method on icy and snowy roads, electronic equipment and vehicle

Abstract

The present invention discloses a braking method for electric vehicles on snowy and icy roads, an electronic device and a vehicle. The electric vehicle is a vehicle that is only equipped with an ABS system and no ESC system. The method comprises: when the electric vehicle turns on energy recovery, obtaining environmental information around the electric vehicle; determining whether it is an icy and snowy road according to the environmental information; when it is determined to be an icy and snowy road, obtaining target parameters of the electric vehicle, the target parameters include vehicle speed, vehicle weight, uphill and downhill state, and slope; adjusting a pre-set basic slip threshold value according to the target parameters to obtain a slip threshold; obtaining the current slip rate of the electric vehicle calculated by the ABS system; when the current slip rate exceeds the slip threshold, sending an exit energy recovery instruction to the VCU of the electric vehicle. The present invention obtains multiple target parameters of the electric vehicle in the icy and snowy road scene, adjusts the slip threshold in time, allows energy recovery to exit as soon as possible, and keeps the vehicle stable.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicles, and in particular relates to a braking method for an electric vehicle on an icy or snowy road, an electronic device and a vehicle. Background Art

[0002] With the popularity of new energy vehicles, in order to improve the energy utilization rate of the whole vehicle, most electric vehicles are equipped with energy recovery systems. During the energy recovery process, the drive motor brakes the drive wheels of the electric vehicle. In the scenario of icy and snowy roads, the braking of the drive wheels by energy recovery can easily cause the vehicle to lose control. In order to maintain the stability of the vehicle, ESC (Electronic Stability Control) or other control units with active supercharging function are usually used to increase the braking force equivalent to the energy recovery on the non-drive wheels to ensure the stability of the vehicle.

[0003] Compared with ESC, ABS (Antilock Brake System) only needs 4 boost valves and 4 pressure reducing valves, and has fewer internal circuits and smaller motor power. In addition to 4 boost valves and 4 pressure reducing valves, ESC or other control units with active boost function also need high pressure valves and circuit control valves for active boost control, with more complex internal circuits and greater motor power. Therefore, ESC or other control units with active boost function are more expensive and are not suitable for all vehicles.

[0004] For vehicles that are only equipped with ABS, ABS will calculate the vehicle's slip rate in real time during operation, but the slip required for ABS to intervene in the vehicle's braking is relatively large. If the vehicle has lost control before ABS intervenes, since ABS does not have the function of monitoring the vehicle's yaw and actively boosting the pressure, it will not be able to control the out-of-control vehicle, which is prone to safety accidents. Summary of the invention

[0005] An object of the present invention is to provide an electric vehicle braking method on icy and snowy roads, an electronic device and a vehicle, which can solve the technical problem in the prior art that electric vehicles with only ABS but no ESC are prone to vehicle loss of control when performing energy recovery on icy and snowy roads.

[0006] According to a first aspect of the present invention, a braking method for an electric vehicle on an icy or snowy road is provided, wherein the electric vehicle is a vehicle that is only equipped with an ABS system and not an ESC system, and the method comprises:

[0007] When energy recovery is turned on for the electric vehicle, obtaining environmental information around the electric vehicle;

[0008] Determining whether the road is icy or snowy according to the environmental information;

[0009] When it is determined that the road is icy or snowy, target parameters of the electric vehicle are obtained, the target parameters including vehicle speed, vehicle weight, uphill and downhill conditions, and slope;

[0010] Adjusting a preset basic slip threshold value according to the target parameter to obtain a slip threshold value;

[0011] Acquiring a current slip rate of the electric vehicle calculated by the ABS system;

[0012] When the current slip rate of the electric vehicle exceeds the slip threshold, an exit energy recovery instruction is sent to the VCU of the electric vehicle, where the exit energy recovery instruction is used to instruct the VCU to turn off energy recovery.

[0013] Optionally, adjusting a preset basic sliding threshold value according to the target parameter to obtain a sliding threshold value includes:

[0014] determining a first slip adjustment value corresponding to the vehicle speed;

[0015] determining a second slip adjustment value corresponding to the vehicle weight;

[0016] Determine the uphill and downhill state and a third slip adjustment value corresponding to the slope;

[0017] The basic slip threshold value is adjusted according to the first slip adjustment value, the second slip adjustment value, and the third slip adjustment value to obtain the slip threshold value.

[0018] Optionally, the adjusting the basic slip threshold value according to the first slip adjustment value, the second slip adjustment value, and the third slip adjustment value to obtain the slip threshold value includes:

[0019] The sum of the first slip adjustment value, the second slip adjustment value, the third slip adjustment value and the basic slip threshold value is determined as the slip threshold value.

[0020] Optionally, determining the first slip adjustment value corresponding to the vehicle speed includes:

[0021] According to the vehicle speed, a pre-set slip adjustment table is searched to obtain a first slip adjustment value corresponding to the vehicle speed, wherein the slip adjustment table includes slip adjustment values ​​corresponding to a plurality of vehicle speed intervals;

[0022] When the vehicle speed is greater than a vehicle speed threshold, the first slip adjustment value is less than zero;

[0023] When the vehicle speed is less than or equal to the vehicle speed threshold, the first slip adjustment value is greater than zero;

[0024] The greater the absolute value of the difference between the vehicle speed and the vehicle speed threshold, the greater the absolute value of the first slip adjustment value.

[0025] Optionally, the vehicle speed threshold is 60km / h.

[0026] Optionally, determining the second slip adjustment value corresponding to the vehicle weight includes:

[0027] According to the vehicle weight, a preset slip adjustment table is searched to obtain a second slip adjustment value corresponding to the vehicle weight, wherein the slip adjustment table includes slip adjustment values ​​corresponding to a plurality of vehicle weight intervals;

[0028] The second slip adjustment value is less than zero, and the greater the vehicle weight is, the greater the absolute value of the second slip adjustment value is.

[0029] Optionally, the determining the uphill and downhill state and the third slip adjustment value corresponding to the slope includes:

[0030] According to the uphill and downhill states and the slope, a pre-set slip adjustment table is searched to obtain a second slip adjustment value corresponding to the slope;

[0031] When the uphill or downhill state is uphill, the third slip adjustment value is greater than zero;

[0032] When the uphill and downhill state is downhill, the third slip adjustment value is less than zero.

[0033] Optionally, the electric vehicle is provided with a tire pressure monitoring system, and the weight of the electric vehicle is obtained by:

[0034] Obtaining an output signal of the tire pressure monitoring system;

[0035] determining the load of the electric vehicle according to the output signal of the tire pressure monitoring system;

[0036] The weight of the electric vehicle is determined according to the load of the electric vehicle and the weight of the electric vehicle when it is unloaded.

[0037] According to a second aspect of the present invention, there is provided an electronic device comprising a processor and a memory, wherein the memory stores programs or instructions executable by the processor, and when the programs or instructions are executed by the processor, the steps of a method for braking an electric vehicle on icy and snowy roads as described in the first aspect of the present invention are implemented.

[0038] According to a third aspect of the present invention, a vehicle is provided, comprising the electronic device according to the second aspect of the present invention.

[0039] The beneficial effect of the present invention is that the present invention obtains multiple target parameters of the electric vehicle in the icy and snowy road scene, and timely adjusts the slip threshold according to the target parameters of the electric vehicle, so that energy recovery can be exited as early as possible to keep the vehicle stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The present invention is a flowchart of an electric vehicle braking method on icy and snowy roads in one embodiment of the present invention.

[0041] Figure 2 It is a flow chart of a braking method for an electric vehicle on icy and snowy roads in another embodiment of the present invention. DETAILED DESCRIPTION

[0042] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0043] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0044] The techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and devices should be considered as part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0046] In the specification and claims of the present invention, if the term "first" or "second" is involved, it may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects are in an "or" relationship.

[0047] like Figure 1 As shown, this embodiment introduces a braking method for an electric vehicle on icy and snowy roads, wherein the electric vehicle is a vehicle that is only equipped with an ABS system and no ESC system, and the method includes steps 1100-1600.

[0048] Step 1100: When energy recovery is turned on in the electric vehicle, environmental information around the electric vehicle is obtained.

[0049] Environmental information includes temperature. The temperature can be obtained through the outdoor temperature sensor of the vehicle air conditioner. Environmental information also includes weather. The vehicle's surrounding environment image can be captured by the driving camera, and the weather can be determined based on the vehicle's surrounding environment image.

[0050] Step 1200: Determine whether the road is icy or snowy based on the environmental information.

[0051] Step 1300: When the road is determined to be icy or snowy, target parameters of the electric vehicle are obtained, the target parameters including vehicle speed, vehicle weight, uphill and downhill conditions, and slope.

[0052] The speed of the electric vehicle can be obtained through the wheel speed sensor on the electric vehicle. The vehicle weight is the weight of the electric vehicle, including the weight of the electric vehicle when it is unloaded and the weight of the electric vehicle when it is loaded. The uphill and downhill states of the electric vehicle include the uphill state and the downhill state. The slope includes the uphill slope and the downhill slope.

[0053] In this embodiment, the electric vehicle is provided with a tire pressure monitoring system, and the weight of the electric vehicle is obtained in the following manner: obtaining an output signal of the tire pressure monitoring system; determining the load of the electric vehicle according to the output signal of the tire pressure monitoring system; determining the weight of the electric vehicle according to the load of the electric vehicle and the weight of the electric vehicle when unloaded.

[0054] The weight of an electric vehicle is the sum of the weight of the electric vehicle when it is unloaded and the weight of the electric vehicle when it is loaded. Since different models of electric vehicles have different weights when they are unloaded, the present invention uses the sum of the weight of the electric vehicle when it is unloaded and the weight of the electric vehicle when it is loaded as the weight of the electric vehicle, which can better reflect the differences between different models of electric vehicles and the actual state of the electric vehicle.

[0055] Step 1400: Adjust the preset basic sliding threshold value according to the target parameter to obtain a sliding threshold value.

[0056] The basic slip threshold is a preset slip threshold for electric vehicles to exit energy recovery in icy and snowy road scenarios. The basic slip threshold corresponds to a specific state of the vehicle, such as no load, a specific speed, and a specific slope. On this basis, adjustments are made according to the actual state of the vehicle. Different target parameters have different adjustments to the basic slip threshold. Adjusting the basic slip threshold includes increasing or decreasing the basic slip threshold.

[0057] Step 1500: Obtain the current slip rate of the electric vehicle calculated by the ABS system.

[0058] Step 1600: When the current slip rate of the electric vehicle exceeds the slip threshold, an exit energy recovery instruction is sent to the VCU of the electric vehicle, where the exit energy recovery instruction is used to instruct the VCU to turn off energy recovery.

[0059] If the ABS calculates that the current slip rate of the electric vehicle exceeds the slip threshold, it means that the risk of vehicle loss of control is high, and energy recovery needs to be exited to reduce the risk of vehicle loss of control. In this case, an exit energy recovery command is sent to the VCU (Vehicle Control Unit) to turn off energy recovery to prevent the vehicle from losing control.

[0060] The present invention obtains multiple target parameters of the electric vehicle in an icy and snowy road scenario, and timely adjusts the slip threshold according to the target parameters of the electric vehicle, so that energy recovery can be exited as early as possible to keep the vehicle stable.

[0061] In this embodiment, step 1400 includes steps 1410-1440.

[0062] Step 1410: Determine a first slip adjustment value corresponding to the vehicle speed.

[0063] Specifically, step 1410 includes: querying a pre-set slip adjustment table according to the vehicle speed to obtain a first slip adjustment value corresponding to the vehicle speed, wherein the slip adjustment table includes slip adjustment values ​​corresponding to a plurality of vehicle speed intervals. When the vehicle speed is greater than a vehicle speed threshold, the first slip adjustment value is less than zero. When the vehicle speed is less than or equal to the vehicle speed threshold, the first slip adjustment value is greater than zero. The greater the absolute value of the difference between the vehicle speed and the vehicle speed threshold, the greater the absolute value of the first slip adjustment value.

[0064] The present invention pre-sets a slip adjustment table, in which a plurality of vehicle speed intervals are configured, and each vehicle speed interval corresponds to a respective slip adjustment value. After obtaining the current vehicle speed of the electric vehicle, the slip adjustment value corresponding to the vehicle speed interval in which the current vehicle speed is located is queried from the slip adjustment table as the first slip adjustment value.

[0065] When the vehicle speed exceeds the speed threshold, the vehicle speed is fast and the risk of vehicle loss of control is high. In this case, the basic slip threshold needs to be reduced, that is, the first slip adjustment value is set to be less than zero, so that the electric vehicle can exit energy recovery as soon as possible to ensure safety. The higher the speed, the greater the risk of vehicle loss of control. Therefore, as the speed increases, the reduction in the basic slip threshold value is also greater.

[0066] When the vehicle speed does not exceed the speed threshold, the vehicle speed is low and the risk of vehicle loss of control is low. In this case, the basic slip threshold can be appropriately increased, that is, the first slip adjustment value is set to be greater than zero, so that the electric vehicle can perform more energy recovery actions. The lower the speed, the lower the risk of vehicle loss of control. Therefore, as the speed decreases, the increase in the basic slip threshold value is also greater.

[0067] The greater the absolute value of the difference between the current speed of the electric vehicle and the speed threshold, the greater the amplitude of the adjustment of the basic slip threshold. The absolute value of the first slip adjustment value represents the amplitude of the adjustment of the basic slip threshold.

[0068] The speed threshold can be calibrated according to the actual vehicle, for example, the speed threshold is 60km / h.

[0069] Step 1420: Determine a second slip adjustment value corresponding to the vehicle weight.

[0070] Specifically, step 1420 includes: querying a pre-set slip adjustment table according to the vehicle weight to obtain a second slip adjustment value corresponding to the vehicle weight, wherein the slip adjustment table includes slip adjustment values ​​corresponding to a plurality of vehicle weight intervals. The second slip adjustment value is less than zero, and the greater the vehicle weight, the greater the absolute value of the second slip adjustment value.

[0071] The present invention pre-sets a slip adjustment table, in which a plurality of vehicle weight intervals are configured, and each vehicle weight interval corresponds to a respective slip adjustment value. After obtaining the current vehicle weight of the electric vehicle, the slip adjustment value corresponding to the vehicle weight interval in which the current vehicle weight is located is queried from the slip adjustment table as the second slip adjustment value.

[0072] The heavier the electric vehicle is, the higher the risk of vehicle loss of control. The basic slip threshold value is the slip threshold value when the electric vehicle is unloaded. When the electric vehicle is loaded, the weight of the electric vehicle increases, thereby increasing the risk of loss of control. It is necessary to reduce the basic slip threshold value, in which case the second slip adjustment value is less than zero.

[0073] And as the weight of the vehicle increases, the risk of the electric vehicle losing control increases, and the adjustment range of the basic slip threshold value increases. The absolute value of the second slip adjustment value indicates the adjustment range of the basic slip threshold value.

[0074] Step 1430: Determine the uphill and downhill state and the third slip adjustment value corresponding to the slope.

[0075] Specifically, the step 1430 includes: querying a pre-set slip adjustment table according to the uphill and downhill state and the slope to obtain a second slip adjustment value corresponding to the slope. When the uphill and downhill state is uphill, the third slip adjustment value is greater than zero. When the uphill and downhill state is downhill, the third slip adjustment value is less than zero.

[0076] The present invention pre-sets a slip adjustment table, in which multiple slope intervals are configured, including an uphill slope interval and a downhill slope interval, and each slope interval corresponds to a respective slip adjustment value. After obtaining the uphill and downhill states and the slope of the electric vehicle, the slip adjustment value corresponding to the slope interval where the current slope is located is queried from the slip adjustment table as the third slip adjustment value.

[0077] When the vehicle is in an uphill state, the risk of the vehicle losing control is low, and the basic slip threshold can be increased. At this time, the third slip adjustment value is greater than zero. When the vehicle is in a downhill state, the risk of the vehicle losing control is high, and the basic slip threshold needs to be reduced. The greater the downhill slope, the greater the risk of losing control, and the greater the adjustment of the basic slip threshold.

[0078] Step 1440: Adjust the basic slip threshold value according to the first slip adjustment value, the second slip adjustment value, and the third slip adjustment value to obtain the slip threshold value.

[0079] Specifically, step 1440 includes: determining the sum of the first slip adjustment value, the second slip adjustment value, the third slip adjustment value and the basic slip threshold value as the slip threshold value.

[0080] like Figure 2 As shown, after determining that the road is icy or snowy, the slip adjustment values ​​corresponding to the vehicle weight, vehicle speed, and uphill and downhill slopes are calculated respectively. Figure 2 In the figure, "-sr_vehicle weight" indicates the second slip adjustment value corresponding to the vehicle weight. "-sr_high speed" and "+sr_low speed" indicate the first slip adjustment value corresponding to the vehicle speed. When the vehicle speed is greater than the vehicle speed threshold, the first slip adjustment value is "-sr_high speed". When the vehicle speed is less than the vehicle speed threshold, the first slip adjustment value is "+sr_low speed". When the vehicle is in an uphill state, the third slip adjustment value is "+sr_uphill". When the vehicle is in a downhill state, the third slip adjustment value is "-sr_downhill". Figure 2 Where "±sr" is the sum of the first slip adjustment value, the second slip adjustment value and the third slip adjustment value. Finally, the sum of "±sr" and the basic slip threshold value sr_base is calculated as the slip threshold.

[0081] During vehicle operation, the vehicle speed, uphill and downhill conditions, and slope will change in real time, and the slip threshold will be adjusted in real time to ensure vehicle safety and prevent vehicle loss of control.

[0082] This embodiment introduces an electronic device, including a processor and a memory, wherein the memory stores programs or instructions that can be executed by the processor, and when the program or instructions are executed by the processor, the steps of a method for braking an electric vehicle on icy and snowy roads described in any embodiment of the present invention are implemented.

[0083] This embodiment introduces a vehicle, including the electronic device described in the above embodiment of the present invention.

[0084] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

[0085] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0086] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0087] In the 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 modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0088] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0089] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0090] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling an electronic device to perform all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks or optical disks.

[0091] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0092] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A braking method for electric vehicles on icy and snowy roads, characterized in that: The electric vehicle is a vehicle that is only equipped with an ABS system and not an ESC system, and the method includes: When energy recovery is turned on for the electric vehicle, obtaining environmental information around the electric vehicle; Determining whether the road is icy or snowy according to the environmental information; When it is determined that the road is icy or snowy, target parameters of the electric vehicle are obtained, the target parameters including vehicle speed, vehicle weight, uphill and downhill conditions, and slope; Adjusting a preset basic slip threshold value according to the target parameter to obtain a slip threshold value; Acquiring a current slip rate of the electric vehicle calculated by the ABS system; When the current slip rate of the electric vehicle exceeds the slip threshold, sending an exit energy recovery instruction to a VCU of the electric vehicle, wherein the exit energy recovery instruction is used to instruct the VCU to turn off energy recovery; The step of adjusting a preset basic sliding threshold value according to the target parameter to obtain a sliding threshold value includes: determining a first slip adjustment value corresponding to the vehicle speed; determining a second slip adjustment value corresponding to the vehicle weight; Determine the uphill and downhill state and a third slip adjustment value corresponding to the slope; adjusting the basic slip threshold value according to the first slip adjustment value, the second slip adjustment value, and the third slip adjustment value to obtain the slip threshold value; The adjusting the basic slip threshold value according to the first slip adjustment value, the second slip adjustment value, and the third slip adjustment value to obtain the slip threshold value includes: The sum of the first slip adjustment value, the second slip adjustment value, the third slip adjustment value and the basic slip threshold value is determined as the slip threshold value.

2. The method according to claim 1, characterized in that: The determining the first slip adjustment value corresponding to the vehicle speed includes: According to the vehicle speed, a pre-set slip adjustment table is searched to obtain a first slip adjustment value corresponding to the vehicle speed, wherein the slip adjustment table includes slip adjustment values ​​corresponding to a plurality of vehicle speed intervals; When the vehicle speed is greater than a vehicle speed threshold, the first slip adjustment value is less than zero; When the vehicle speed is less than or equal to the vehicle speed threshold, the first slip adjustment value is greater than zero; The greater the absolute value of the difference between the vehicle speed and the vehicle speed threshold, the greater the absolute value of the first slip adjustment value.

3. The method according to claim 2, characterized in that The vehicle speed threshold is 60km / h.

4. The method according to claim 1, characterized in that: The determining the second slip adjustment value corresponding to the vehicle weight includes: According to the vehicle weight, a preset slip adjustment table is searched to obtain a second slip adjustment value corresponding to the vehicle weight, wherein the slip adjustment table includes slip adjustment values ​​corresponding to a plurality of vehicle weight intervals; The second slip adjustment value is less than zero, and the greater the vehicle weight is, the greater the absolute value of the second slip adjustment value is.

5. The method according to claim 1, characterized in that The determining the uphill and downhill state and the third slip adjustment value corresponding to the slope includes: According to the uphill and downhill states and the slope, a pre-set slip adjustment table is searched to obtain a second slip adjustment value corresponding to the slope; When the uphill or downhill state is uphill, the third slip adjustment value is greater than zero; When the uphill and downhill state is downhill, the third slip adjustment value is less than zero.

6. The method according to claim 1, characterized in that The electric vehicle is provided with a tire pressure monitoring system, and the weight of the electric vehicle is obtained by: Obtaining an output signal of the tire pressure monitoring system; determining the load of the electric vehicle according to the output signal of the tire pressure monitoring system; The weight of the electric vehicle is determined according to the load of the electric vehicle and the weight of the electric vehicle when it is unloaded.

7. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores programs or instructions executable by the processor, and when the programs or instructions are executed by the processor, the steps of a braking method for an electric vehicle on icy and snowy roads as described in any one of claims 1 to 6 are implemented.

8. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 7.

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