Method and device for preventing electric vehicle from sliding on slope and electronic equipment

Abstract

The invention discloses a method and a device for preventing an electric vehicle from sliding on a slope and electronic equipment. The method comprises the steps that under the condition that it is determined that the electric vehicle is in a slope sliding state, a motor is controlled to conduct a slope sliding prevention process; the slope sliding prevention process comprises at least one locked-rotor stage and at least one running stage, the locked-rotor stage comprises locked-rotor at a first set rotating speed, and the running stage comprises the step of controlling the electric vehicle to run forwards or backwards by controlling the rotating speed of a motor. On the basis of realizing the anti-slip function, the electric vehicle is controlled to advance or retreat by controlling the rotating speed of the motor, so that the motor is changed into an alternating current sine wave state in a normal driving state from a direct current heating state during stalling, and the purpose of reducing the temperature of a power module in the motor controller is achieved; the problem that according to an existing slope sliding prevention method, when the motor system is locked to achieve the slope sliding prevention function, the motor system cannot be locked continuously due to overheating, and the slope sliding prevention performance is poor is solved.

Description

Technical Field

[0001] The present invention relates to the field of automobile control technology, and in particular to a method and device for preventing an electric vehicle from sliding downhill, and electronic equipment. Background Art

[0002] With the large-scale application of electric vehicles, electric vehicles have to face special working conditions. For example, when the whole vehicle is parked on a slope, in the process of switching from brake to accelerator, due to the effect of gravity, the whole vehicle may slide backward or forward. At this time, if there is a car behind or in front, it may cause a traffic accident, and in serious cases, it may cause irreparable losses. In order to solve this problem, the current method is to determine whether the system is in the slope sliding mode according to the gear position and speed direction of the car, and realize the anti-slope sliding function by blocking the motor system.

[0003] When the existing anti-slope method uses the motor system to lock the rotor to achieve the anti-slope function, there is a problem that the motor system cannot be locked continuously due to overheating, resulting in poor anti-slope performance. Summary of the invention

[0004] The present invention provides an electric vehicle anti-slope rolling method, device and electronic equipment to solve the problem that when the existing anti-slope rolling method adopts the motor system blocking to realize the anti-slope rolling function, the motor system cannot be continuously blocked due to overheating, resulting in poor anti-slope rolling performance.

[0005] According to one aspect of the present invention, a method for preventing an electric vehicle from sliding down a slope is provided. The electric vehicle includes a motor. The method for preventing an electric vehicle from sliding down a slope includes:

[0006] When it is determined that the electric vehicle is in a sliding slope state, controlling the motor to perform an anti-sliding slope process;

[0007] The anti-slope rolling process includes at least one stalling stage and at least one driving stage. The stalling stage includes stalling at a first set speed, and the driving stage includes controlling the electric vehicle to drive forward or backward by controlling the speed of the motor.

[0008] Optionally, when it is determined that the electric vehicle is in a sliding slope state, before controlling the motor to perform the anti-sliding slope process, the process further includes:

[0009] Acquiring operating parameters of the electric vehicle, wherein the operating parameters include motor speed, wheel speed signal, brake signal, throttle signal and gear position;

[0010] Whether the electric vehicle is in a sliding slope state is determined according to the electric vehicle motor speed, wheel speed signal, brake signal, throttle signal and gear position.

[0011] Optionally, determining whether the electric vehicle is in a sliding slope state according to the electric vehicle motor speed, wheel speed signal, brake signal, throttle signal and gear position includes:

[0012] When the gear position of the electric vehicle is in the forward gear, and the filtered motor speed is a negative value and the filtered motor speed is less than the first set speed, and the rolling slope distance obtained by the wheel speed signal reaches a first preset distance, and there is no brake signal, and the throttle signal is less than the preset throttle threshold, it is determined that the electric vehicle is in a rolling slope state.

[0013] Optionally, the stalling stage includes a first stalling stage and a second stalling stage, and the driving stage includes a forward stage and a reverse stage;

[0014] The anti-slide process includes:

[0015] In the first stalling stage, the output torque is increased, and the motor speed is maintained less than the first set speed for a first set time, the electric vehicle does not move, and then enters the forward running stage;

[0016] In the forward phase, the output torque continues to increase, and the motor speed is maintained to be greater than the first set speed and less than the second set speed, the electric vehicle moves forward for a first preset distance, and then enters the second stall phase;

[0017] In the second stalling stage, the motor speed is maintained to be less than the first set speed, and after a second set time, the electric vehicle stops stalling and then enters the retreat stage;

[0018] In the retreat stage, the electric vehicle retreats a second preset distance and returns to the first stall stage until the temperature of the power module in the motor controller reaches a preset temperature threshold, and the electric vehicle exits the anti-slope process.

[0019] Optionally, the first set time is the same as the second set time, and / or the first preset distance is the same as the second preset distance.

[0020] Optionally, after obtaining the operating parameters of the electric vehicle, the method further includes:

[0021] Performing arithmetic mean algorithm filtering on the motor speed, and outputting the filtered motor speed;

[0022] Whether the electric vehicle is in a sliding slope state is determined according to the filtered motor speed and wheel speed signal, the brake signal, the throttle signal and the gear position.

[0023] Optionally, the motor speed is filtered by an arithmetic mean algorithm, and the filtered motor speed is outputted to include:

[0024] Taking the current moment corresponding to the motor speed as the current sampling point;

[0025] Taking the current sampling point as the center, calculating the average value of a preset number of sampling points on the left and right of the current sampling point;

[0026] The average value is used as the motor speed after filtering at the current sampling point.

[0027] Optionally, when it is determined that the electric vehicle is in a sliding slope state, after controlling the motor to perform the anti-sliding slope process, the method further includes:

[0028] Based on the preset conditions, the anti-slope rolling process is exited; the preset conditions should be satisfied: a brake signal is detected, or the target torque corresponding to the accelerator pedal opening is greater than the anti-slope rolling torque.

[0029] According to another aspect of the present invention, there is provided an electric vehicle anti-slip device, which is used to perform the electric vehicle anti-slip method according to any embodiment of the present invention, and the anti-slip device comprises:

[0030] A control module, wherein the control module is used to control the motor to perform an anti-slipping process when it is determined that the electric vehicle is in a slipping state;

[0031] The anti-slope rolling process includes at least one stalling stage and at least one driving stage. The stalling stage includes stalling at a first set speed, and the driving stage includes controlling the electric vehicle to drive forward or backward by controlling the speed of the motor.

[0032] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0033] at least one processor; and

[0034] a memory communicatively connected to the at least one processor; wherein,

[0035] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the electric vehicle anti-slope sliding method described in any embodiment of the present invention.

[0036] The technical solution provided by the embodiment of the present invention, when it is determined that the electric vehicle is in a rolling downhill state, controls the motor to perform an anti-rolling downhill process, and the anti-rolling downhill process includes at least one stalling stage and at least one driving stage. The anti-rolling downhill function is achieved by stalling the motor in the stalling stage, and the driving stage is based on achieving the anti-rolling downhill function. The electric vehicle is controlled to move forward or backward by controlling the speed of the motor, so that the vehicle has a certain driving distance, and the motor system changes from a DC heating state during stalling to an AC sinusoidal wave state under normal driving conditions, so that the heat generated by the motor stalling can be dissipated quickly, so as to achieve the purpose of reducing the temperature of the power module in the motor controller, so that the motor can be stalled intermittently multiple times, thereby effectively improving the motor stalling ability and frequency in the anti-rolling downhill application of the whole vehicle and the user experience of the whole vehicle.

[0037] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A flow chart of a method for preventing an electric vehicle from sliding downhill provided by an embodiment of the present invention;

[0040] Figure 2 A flow chart of another method for preventing an electric vehicle from sliding downhill provided by an embodiment of the present invention;

[0041] Figure 3 A flow chart of another method for preventing an electric vehicle from sliding downhill provided by an embodiment of the present invention;

[0042] Figure 4 A flow chart of another method for preventing an electric vehicle from sliding downhill provided by an embodiment of the present invention;

[0043] Figure 5 A schematic diagram of the structure of an anti-slope device for an electric vehicle provided by an embodiment of the present invention;

[0044] Figure 6 A schematic structural diagram of an electronic device for an electric vehicle anti-slope sliding method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] Figure 1 This is a flow chart of an electric vehicle anti-slope rolling method provided by an embodiment of the present invention. This embodiment is applicable to the case where the anti-slope rolling function is realized by using a motor stall. The method can be executed by an electric vehicle anti-slope rolling device. The electric vehicle anti-slope rolling device can be implemented in the form of hardware and / or software. The electric vehicle anti-slope rolling device can be configured in any electronic device with a communication function. The electric vehicle includes a motor, see Figure 1 , the electric vehicle anti-slip method includes:

[0048] S110. When it is determined that the electric vehicle is in a rolling downhill state, control the motor to perform an anti-rolling downhill process; the anti-rolling downhill process includes at least one stalling stage and at least one driving stage, the stalling stage includes stalling at a first set speed, and the driving stage includes controlling the electric vehicle to drive forward or backward by controlling the speed of the motor.

[0049] The first set speed can be preset according to the slope distance;

[0050] Specifically, the anti-slope process includes at least one stalling stage and at least one driving stage. In the stalling stage, the anti-slope function is realized by stalling the motor. In the driving stage, the electric vehicle is controlled to move forward or backward by controlling the motor speed. In some optional embodiments, when the motor speed is greater than the first set speed and less than the second set speed, the electric vehicle is controlled to move forward a certain distance. In other optional embodiments, when the motor speed is less than the first set speed, the electric vehicle is controlled to slide backward a certain distance. The driving stage allows the vehicle to travel a certain distance, so that the motor system changes from the DC heating state during stalling to the AC sine wave state under normal driving conditions, so that the heat generated by the motor stalling can be dissipated quickly, so as to achieve the purpose of reducing the temperature of the power module in the motor controller, thereby improving the ability and frequency of motor stalling in the anti-slope application of the whole vehicle, and improving the user experience of the whole vehicle.

[0051] The technical solution provided by the embodiment of the present invention, when it is determined that the electric vehicle is in a rolling downhill state, controls the motor to perform an anti-rolling downhill process, and the anti-rolling downhill process includes at least one stalling stage and at least one driving stage. The anti-rolling downhill function is achieved by stalling the motor in the stalling stage, and the driving stage is based on achieving the anti-rolling downhill function. The electric vehicle is controlled to move forward or backward by controlling the speed of the motor, so that the vehicle has a certain driving distance, and the motor system changes from a DC heating state during stalling to an AC sinusoidal wave state under normal driving conditions, so that the heat generated by the motor stalling can be dissipated quickly, so as to achieve the purpose of reducing the temperature of the power module in the motor controller, so that the motor can be stalled intermittently multiple times, thereby effectively improving the motor stalling ability and frequency in the anti-rolling downhill application of the whole vehicle and the user experience of the whole vehicle.

[0052] Figure 2 This is a flow chart of another electric vehicle anti-slope method provided by an embodiment of the present invention. The embodiment of the present invention further refines the above embodiment on the basis of the above embodiment. Figure 2 , the electric vehicle anti-slip method includes:

[0053] S210, obtaining operating parameters of the electric vehicle, the operating parameters including motor speed, wheel speed signal, brake signal, throttle signal and gear position.

[0054] Among them, the electric vehicle includes a motor system, and the motor system includes a motor and a motor controller; specifically, the motor controller collects motor speed, wheel speed signal, brake signal, throttle signal and gear position pre-stored in the electronic control unit of the whole vehicle through the CAN bus.

[0055] S220: Determine whether the electric vehicle is in a sliding downhill state according to the electric vehicle motor speed, wheel speed signal, brake signal, throttle signal and gear position.

[0056] Optionally, determining whether the electric vehicle is in a sliding slope state according to the electric vehicle motor speed, wheel speed signal, brake signal, throttle signal and gear position includes:

[0057] When the electric vehicle is in the forward gear, the filtered motor speed is a negative value and the filtered motor speed is less than the first set speed, the rolling slope distance obtained by the wheel speed signal reaches the first preset distance, there is no brake signal, and the throttle signal is less than the preset throttle threshold, it is determined that the electric vehicle is in a rolling slope state.

[0058] Specifically, when the electric vehicle is in the forward gear D gear, and the filtered motor speed is a negative value, the filtered motor speed is less than the first set speed R1, and the sliding distance calculated by the wheel speed signal reaches the first preset distance M1, and there is no brake signal, no throttle signal or the throttle signal is less than the preset throttle threshold, it is determined that the vehicle enters the sliding state. The sliding distance can be obtained by multiplying the wheel speed by the tire radius and then by the time; the first preset distance can be set based on the user being able to slightly feel the vehicle moving; the preset throttle threshold is a throttle size threshold that does not exceed the normal forward driving of the vehicle, and the preset throttle threshold includes the situation where there is no throttle signal and there is a throttle signal, but the throttle signal is less than the preset throttle threshold.

[0059] S230. When it is determined that the electric vehicle is in a rolling downhill state, control the motor to perform an anti-rolling downhill process; the anti-rolling downhill process includes at least one stalling stage and at least one driving stage, the stalling stage includes stalling at a first set speed, and the driving stage includes controlling the electric vehicle to drive forward or backward by controlling the speed of the motor.

[0060] Optionally, the stalling stage includes a first stalling stage and a second stalling stage, and the driving stage includes a forward stage and a reverse stage; the anti-slip process includes:

[0061] In the first stalling stage, the output torque is increased, and the motor speed is maintained less than the first set speed for a first set time, the electric vehicle does not move, and then enters the forward driving stage.

[0062] The stall stage indicates that the vehicle meets the creep torque, and the creep torque is a fixed value of 60N·m. The torque is gradually increased on the basis of the creep torque, and each stall increases by 10N·m. The first setting time can be pre-set based on the stall capacity, and is generally set to 5s.

[0063] In the forward phase, the output torque continues to increase, and the motor speed is maintained greater than the first set speed and less than the second set speed. The electric vehicle moves forward a first preset distance and then enters a second stall phase.

[0064] In the second stalling stage, the motor speed is maintained less than the first set speed, and after continuing for a second set time, the electric vehicle stops stalling and then enters the retreat stage.

[0065] In the retreat stage, the electric vehicle retreats a second preset distance and returns to the first stall stage until the temperature of the power module in the motor controller reaches a preset temperature threshold, and the electric vehicle exits the anti-slope process.

[0066] Specifically, in the first stalling stage, the motor controller gradually increases the output torque, which lasts for the first set time T1, and maintains the motor speed less than the first set speed R1, the whole vehicle does not move, and then enters the forward stage; in the forward stage, that is, after the first set time T1 ends, the motor controller increases the output torque again, so that the motor speed is greater than the first set speed R1 and less than the second set speed R2, and the whole vehicle stops after traveling forward for about the first preset distance S1, and then the motor system enters the stalling state again, that is, enters the second stalling stage, the motor speed is maintained less than the first set speed R1, and lasts for the second set time T2, after the second set time T2 ends, the motor system is no longer stalled, and then enters the backward stage, in the backward stage, after the whole vehicle slides backward for the second preset distance M1, the motor system enters the stalling state again, that is, the electric vehicle returns to the first stalling stage, and repeats until the temperature of the power module in the motor controller reaches the preset temperature threshold, and the electric vehicle exits the anti-slip process. Among them, the temperature of the power module can be collected by the temperature sensor on the power module. The preset temperature threshold can be set according to the temperature that the power module can withstand without causing the power device to burn out. Generally, the preset temperature threshold is set to 95°C.

[0067] Further, the first set time is the same as the second set time, and / or the first preset distance is the same as the second preset distance.

[0068] Figure 3 A flowchart of another method for preventing an electric vehicle from sliding downhill is provided in an embodiment of the present invention. The embodiment of the present invention further refines the above embodiments on the basis of the above embodiments. Figure 3 , the electric vehicle anti-slip method includes:

[0069] S310, obtaining operating parameters of the electric vehicle, the operating parameters including motor speed, wheel speed signal, brake signal, throttle signal and gear position.

[0070] S320, performing arithmetic mean algorithm filtering on the motor speed, and outputting the filtered motor speed.

[0071] Optionally, the motor speed is filtered using an arithmetic mean algorithm, and the output filtered motor speed includes:

[0072] The current moment corresponding to the motor speed is taken as the current sampling point; the average value of a preset number of sampling points around the current sampling point is calculated with the current sampling point as the center; and the average value is taken as the motor speed after filtering at the current sampling point.

[0073] Specifically, to perform arithmetic averaging algorithm filtering on the motor speed, it is first necessary to define the size of the filter window. Generally, the larger the size of the filter window, the better the filtering effect, but the amount of calculation will also increase; secondly, the motor speed signal data is obtained from the rotary transformer, and the current moment corresponding to the motor speed is used as the current sampling point; with the current sampling point as the center, the average value of a preset number of sampling points to the left and right of the current sampling point is calculated; the average value is used as the motor speed after filtering at the current sampling point, and the filtered motor speed signal is used as the basis for judging the direction of motor rotation. When the motor speed is a positive value, it indicates that the motor is rotating forward, and when the motor speed is a negative value, it indicates that the motor is reversed.

[0074] S330: Determine whether the electric vehicle is in a sliding downhill state according to the filtered motor speed and wheel speed signals, brake signals, throttle signals, and gear positions.

[0075] S340. When it is determined that the electric vehicle is in a rolling downhill state, control the motor to perform an anti-rolling downhill process; the anti-rolling downhill process includes at least one stalling stage and at least one driving stage, the stalling stage includes stalling at a first preset speed, and the driving stage includes controlling the electric vehicle to drive forward or backward by controlling the speed of the motor.

[0076] The technical solution provided by the embodiment of the present invention avoids the possibility of misjudgment by filtering the collected motor speed signal, so as to improve the accuracy of judging whether the electric vehicle is in a sliding slope state.

[0077] Figure 4 This is a flow chart of another electric vehicle anti-slope method provided by an embodiment of the present invention. The embodiment of the present invention further refines the above embodiments based on the above embodiments. Figure 4 , the electric vehicle anti-slip method includes:

[0078] S410: When it is determined that the electric vehicle is in a state of sliding down a slope, the motor is controlled to perform an anti-slipping process.

[0079] S420: Exit the anti-slope rolling process based on preset conditions; the preset conditions should be satisfied: a brake signal is detected, or the target torque corresponding to the accelerator pedal opening is greater than the anti-slope rolling torque.

[0080] Figure 5 This is a schematic diagram of the structure of an anti-slope device for an electric vehicle provided by an embodiment of the present invention. Figure 5 The electric vehicle anti-slope sliding device includes: a control module 510.

[0081] The control module 510 is used to control the motor to perform an anti-slipping process when it is determined that the electric vehicle is in a slipping state;

[0082] The anti-slope process includes at least one stalling stage and at least one driving stage. The stalling stage includes stalling at a first set speed, and the driving stage includes controlling the electric vehicle to drive forward or backward by controlling the speed of the motor.

[0083] Continue to see Figure 5 The electric vehicle anti-slope sliding device includes: an acquisition module 520 and a determination module 530.

[0084] The acquisition module 520 is used to acquire the operating parameters of the electric vehicle, and the operating parameters include motor speed, wheel speed signal, brake signal, throttle signal and gear position.

[0085] The determination module 530 is used to determine whether the electric vehicle is in a rolling downhill state according to the electric vehicle motor speed, wheel speed signal, brake signal, throttle signal and gear position.

[0086] The electric vehicle anti-slope sliding device provided in the embodiment of the present invention can execute the electric vehicle anti-slope sliding method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0087] Figure 6 A schematic diagram of the structure of an electronic device for an electric vehicle anti-slip method provided by an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0088] like Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0089] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0090] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as an electric vehicle anti-slip method.

[0091] In some embodiments, an electric vehicle anti-slope method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the electric vehicle anti-slope method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute an electric vehicle anti-slope method in any other appropriate manner (e.g., by means of firmware).

[0092] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0093] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0094] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0095] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0096] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0097] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0098] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0099] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for preventing electric vehicles from sliding downhill, characterized in that: The electric vehicle includes a motor, and the anti-slip method includes: When it is determined that the electric vehicle is in a sliding slope state, controlling the motor to perform an anti-slip slope process; The anti-slope rolling process includes at least one stalling stage and at least one driving stage. The stalling stage includes stalling at a first set speed, and the driving stage includes controlling the electric vehicle to drive forward or backward by controlling the speed of the motor.

2. The electric vehicle anti-slope method according to claim 1, characterized in that: When it is determined that the electric vehicle is in a sliding slope state, before controlling the motor to perform the anti-slip slope process, the process also includes: Acquiring operating parameters of the electric vehicle, wherein the operating parameters include motor speed, wheel speed signal, brake signal, throttle signal and gear position; Whether the electric vehicle is in a sliding slope state is determined according to the electric vehicle motor speed, wheel speed signal, brake signal, throttle signal and gear position.

3. The electric vehicle anti-slope method according to claim 2, characterized in that: Determining whether the electric vehicle is in a sliding slope state according to the electric vehicle motor speed, wheel speed signal, brake signal, throttle signal and gear position includes: When the gear position of the electric vehicle is in the forward gear, and the filtered motor speed is a negative value and the filtered motor speed is less than the first set speed, and the rolling slope distance obtained by the wheel speed signal reaches a first preset distance, and there is no brake signal, and the throttle signal is less than the preset throttle threshold, it is determined that the electric vehicle is in a rolling slope state.

4. The electric vehicle anti-slope method according to claim 1, characterized in that: The stalling stage includes a first stalling stage and a second stalling stage, and the driving stage includes a forward driving stage and a reverse driving stage; The anti-slide process includes: In the first stalling stage, the output torque is increased, and the motor speed is maintained less than the first set speed for a first set time, the electric vehicle does not move, and then enters the forward running stage; In the forward phase, the output torque continues to increase, and the motor speed is maintained to be greater than the first set speed and less than the second set speed, the electric vehicle moves forward for a first preset distance, and then enters the second stall phase; In the second stalling stage, the motor speed is maintained to be less than the first set speed, and after a second set time, the electric vehicle stops stalling and then enters the retreat stage; In the retreat stage, the electric vehicle retreats a second preset distance and returns to the first stall stage until the temperature of the power module in the motor controller reaches a preset temperature threshold, and the electric vehicle exits the anti-slope process.

5. The electric vehicle anti-slope method according to claim 4, characterized in that: The first set time is the same as the second set time, and / or the first preset distance is the same as the second preset distance.

6. The electric vehicle anti-slope sliding method according to claim 2, characterized in that: After obtaining the operating parameters of the electric vehicle, the method further includes: Performing arithmetic mean algorithm filtering on the motor speed, and outputting the filtered motor speed; Whether the electric vehicle is in a sliding slope state is determined according to the filtered motor speed and wheel speed signal, the brake signal, the throttle signal and the gear position.

7. The electric vehicle anti-slope sliding method according to claim 6, characterized in that: The arithmetic mean algorithm filtering is performed on the motor speed, and the motor speed after the filtering is output includes: Taking the current moment corresponding to the motor speed as the current sampling point; Taking the current sampling point as the center, calculating the average value of a preset number of sampling points on the left and right of the current sampling point; The average value is used as the motor speed after filtering at the current sampling point.

8. The method for preventing slope sliding according to claim 1, characterized in that: When it is determined that the electric vehicle is in a sliding slope state, after controlling the motor to perform the anti-sliding slope process, the process further includes: Based on the preset conditions, the anti-slope rolling process is exited; the preset conditions should be satisfied: a brake signal is detected, or the target torque corresponding to the accelerator pedal opening is greater than the anti-slope rolling torque.

9. An anti-slip device for electric vehicles, characterized in that: Used to implement the electric vehicle anti-slipping method according to any one of claims 1 to 8, the anti-slipping device comprises: A control module, wherein the control module is used to control the motor to perform an anti-slipping process when it is determined that the electric vehicle is in a slipping state; The anti-slope rolling process includes at least one stalling stage and at least one driving stage. The stalling stage includes stalling at a first set speed, and the driving stage includes controlling the electric vehicle to drive forward or backward by controlling the speed of the motor.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the electric vehicle anti-slope sliding method according to any one of claims 1-8.

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