Safety control system and method for electric automobile based on gear identification

Abstract

The invention discloses a safety control system and method for an electric vehicle based on gear recognition. The safety control system comprises an electronic gear shifter, a braking system controller, a vehicle control unit VCU and a motor controller. A gear request signal of the electronic gear shifter is sent to a vehicle control unit VCU, and the vehicle control unit VCU obtains an actual wheel speed direction signal of a braking system controller and judges whether the actual wheel speed direction signal is consistent with the gear request signal or not; and if so, executing a gear request signal. The method has the advantages that safety control over the vehicle is achieved based on gear recognition and vehicle information, potential safety hazards caused by mismatching of the gear and the vehicle state are avoided, meanwhile, the intention of a driver can be automatically recognized, the user requirement is met to the maximum extent, the actual requirement of the user is met as much as possible on the basis of improving driving safety, and the user experience is improved. And user experience is improved.

Description

Technical Field

[0001] The present invention relates to a safety control strategy for new energy vehicles, and in particular to a safety control system and method for electric vehicles based on gear position recognition. Background Art

[0002] As the market share of new energy electric vehicles in my country continues to increase, more and more car buyers are choosing new energy vehicles. The functions of the entire vehicle system on new energy vehicles are becoming more and more complex, involving higher safety and reliability of the entire vehicle functions. In order to avoid functional failures caused by failures of electronic and electrical components, which may lead to unacceptable safety accidents, more and more OEMs are now adding safety measures to control strategies based on function implementation requirements to avoid safety accidents caused by unexpected functional failures.

[0003] Especially for new energy electric vehicles, their forward and reverse gears should match the actual environment. If during the gear shifting process of the new energy electric vehicle, a failure of electronic and electrical components occurs, resulting in unexpected gear implementation, such as R gear (reverse gear) unexpectedly entering D gear (forward gear), or D gear (forward gear) unexpectedly entering R gear (reverse gear), thereby causing a safety accident, it is necessary to implement a safety control strategy based on the gear to ensure the safe driving of the vehicle. At the same time, it is necessary to automatically identify the driver's intentions and meet user needs to the greatest extent possible. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a safety control system and method for electric vehicles based on gear recognition, which can realize vehicle safety control based on gear recognition and vehicle information, avoid safety hazards caused by mismatch between gear and vehicle status, and automatically identify the driver's intentions and meet user needs to the greatest extent.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a safety control system based on gear recognition for electric vehicles, including an electronic shifter, a braking system controller, a vehicle control unit VCU and a motor controller; the gear request signal of the electronic shifter is sent to the vehicle control unit VCU, the vehicle control unit VCU obtains the actual wheel speed direction signal of the braking system controller, and determines whether the actual wheel speed direction signal is consistent with the gear request signal; if they are consistent, the gear request signal is executed.

[0006] The control system also includes a motor controller and an instrument. When the vehicle control unit VCU determines that the actual wheel speed direction information is inconsistent with the gear request signal, the vehicle control unit VCU controls the motor controller to achieve output torque limitation, and sends a corresponding alarm reminder signal through the vehicle instrument.

[0007] The control system also includes a vehicle speed sensor, which is used to obtain a vehicle speed signal. The output end of the vehicle speed sensor is connected to a vehicle control unit VCU. The vehicle control unit VCU determines the user's intention based on the vehicle speed data and executes a control strategy that matches the user's intention.

[0008] A vehicle speed threshold is set, and the vehicle control unit VCU compares the acquired vehicle speed signal with the vehicle speed threshold. When the vehicle speed threshold is greater than the set threshold and the request signal corresponding to the second gear trigger is not detected within the set time threshold after the gear trigger, it is determined that the gear request signal is generated by a user's false trigger, and the vehicle control unit VCU ignores the current gear request signal;

[0009] If the vehicle speed threshold is less than or equal to the set threshold and no request signal corresponding to the second gear trigger is detected within the set time threshold after the gear trigger, it is judged that the user needs to shift gears at this time, and the vehicle control unit VCU outputs a control signal to the motor controller to control the motor braking until the gear shifting conditions are met, and then a reminder signal allowing the gear shift is issued through the instrument.

[0010] The vehicle control unit VCU obtains a gear trigger signal. If multiple gear trigger signals are detected continuously within a set time threshold range after the first gear is triggered, the vehicle control unit VCU determines that the user operation is abnormal. At this time, the vehicle control unit VCU outputs a braking signal to the motor controller, and the motor controller controls the vehicle to gradually decelerate and the vehicle control unit VCU controls the vehicle's double flash lights to light up.

[0011] The vehicle control unit VCU is connected to the on-board assisted driving system. After determining that the user operation is abnormal, the vehicle control unit VCU sends a pull-over instruction to the on-board assisted driving system, and the on-board assisted driving system controls the vehicle to gradually pull over and slow down to stop.

[0012] A safety control method for an electric vehicle based on gear recognition comprises: a vehicle control unit VCU obtains an actual wheel speed direction signal of a brake system controller, and determines whether the actual wheel speed direction signal is consistent with a gear request signal; if they are consistent, the gear request signal is executed; if they are inconsistent, the vehicle control unit VCU controls a motor controller to achieve output torque limitation, and sends a corresponding alarm reminder signal through a vehicle instrument.

[0013] The vehicle control unit VCU determines the user's intention based on the vehicle speed data and executes a control strategy that matches the user's intention: the vehicle control unit VCU compares the acquired vehicle speed signal with the vehicle speed threshold. When the vehicle speed threshold is greater than the set threshold and the request signal corresponding to the second gear trigger is not detected within the set time threshold after the gear trigger, it is determined that the gear request signal is generated by a user's false trigger. At this time, the vehicle control unit VCU ignores the current gear request signal;

[0014] If the vehicle speed threshold is less than or equal to the set threshold and no request signal corresponding to the second gear trigger is detected within the set time threshold after the gear trigger, it is judged that the user needs to shift gears at this time, and the vehicle control unit VCU outputs a control signal to the motor controller to control the motor braking until the gear shifting conditions are met, and then a reminder signal allowing the gear shift is issued through the instrument.

[0015] The vehicle control unit VCU obtains the gear trigger signal. If multiple gear trigger signals are detected continuously within the set time threshold range after the first gear is triggered, the vehicle control unit VCU determines that the user operation is abnormal. At this time, the vehicle control unit VCU outputs a braking signal to the motor controller, and the motor controller controls the vehicle to gradually decelerate and the vehicle control unit VCU controls the vehicle's double flash lights to light up.

[0016] The vehicle control unit VCU is connected to the on-board assisted driving system. After determining that the user operation is abnormal, the vehicle control unit VCU sends a pull-over command to the on-board assisted driving system. The on-board assisted driving system controls the vehicle to gradually pull over and slow down to stop.

[0017] The advantages of the present invention are: it realizes vehicle safety control based on gear recognition and vehicle information, avoids safety hazards caused by mismatch between gear and vehicle status, and can automatically identify the driver's intention and meet user needs to the greatest extent, thereby meeting the user's actual needs as much as possible on the basis of improving driving safety and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following is a brief description of the contents expressed in the drawings of the present specification and the marks in the drawings:

[0019] Figure 1 The present invention is a block diagram of the structural principle of the safety control system of the electric vehicle based on gear position recognition. DETAILED DESCRIPTION

[0020] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0021] Embodiment 1:

[0022] The safety control system for gear position identification of new energy electric vehicles provided in this embodiment is to avoid unexpected gear shifting failures in the gear shifting process of new energy electric vehicles, which may lead to major safety incidents that endanger the safety of people's lives. Safety measures are specially added for the gear switching of new energy electric vehicles (switching from R gear to D gear or from D gear to R gear): when the vehicle control unit (VCU) executes the gear request sent by the electronic shifter (arm gear), it is necessary to combine the actual wheel speed direction state sent by the brake system controller to determine the correctness of the gear shift execution. If the VCU recognizes that the requested gear signal and the actual gear signal are inconsistent, it is necessary to limit the torque output, perform functional downgrade and alarm to prompt the driver.

[0023] The present invention relates to a safety measure for gear position identification of a new energy electric vehicle, which performs closed-loop control on unexpected gear positions occurring during the gear shifting process in combination with wheel speed signals. The specific scheme is as follows:

[0024] like Figure 1 As shown, a safety control system based on gear recognition for electric vehicles includes an electronic gear shifter, a brake system controller, a vehicle control unit VCU and a motor controller; the gear request signal of the electronic gear shifter is sent to the vehicle control unit VCU, and the vehicle control unit VCU obtains the actual wheel speed direction signal of the brake system controller and determines whether the actual wheel speed direction signal is consistent with the gear request signal; if they are consistent, the gear request signal is executed, and the vehicle control unit VCU controls the motor controller to execute the corresponding forward and reverse rotation of the motor according to the gear request signal. For example, if the gear request signal is R gear to D gear, if the wheel speed direction signal is neither forward nor backward, but static at this time, it can be judged that the gear request signal is satisfied, and the R gear is changed to the D gear at this time, and the vehicle controller VCU executes the corresponding forward and reverse rotation of the motor. Similarly, when the wheel speed direction signal detects that the vehicle is in a moving state, whether the direction is forward or backward, it is inconsistent with the state required for shifting, and the shifting control cannot be performed at this time. Therefore, it is judged that the gear is inconsistent at this time, and the gear change is not performed at this time, and the corresponding reminder signal needs to be issued.

[0025] The motor controller is responsible for the reverse and forward control of the motor after the gear shift, and the instrument is to provide a reminder feedback signal to the user whether the gear shift signal has been executed. When the vehicle control unit VCU determines that the actual wheel speed direction information is inconsistent with the gear request signal, the vehicle instrument sends a corresponding alarm reminder signal and / or the vehicle control unit VCU controls the motor controller to achieve output torque limitation. When the wheel speed direction signal is inconsistent with the gear request signal, the gear cannot be shifted at this time. If the gear is shifted, it will cause damage to the equipment. Therefore, when the judgment is inconsistent at this time, the user's gear shift demand is ignored, and the received gear shift request signal is ignored, and / or the corresponding reminder signal is sent through the instrument at this time to remind the user that the current gear shift request signal has not been executed. At this time, a corresponding reminder signal is sent.

[0026] like Figure 1 As shown, the present invention relates to a new energy electric vehicle gear position identification safety measure control system comprising:

[0027] Input signal:

[0028] 1. Electronic shifter: gear shift request signal;

[0029] 2. Braking system controller: vehicle speed signal, wheel speed direction signal;

[0030] 3. Motor controller: front and rear motor speed signals;

[0031] Control part: The control part takes the vehicle control unit VCU as the core part of the entire control. The vehicle control unit VCU can be divided into the following modules:

[0032] 1. Gear execution instruction algorithm module: Analyze and determine the gear realization signal corresponding to the user based on the gear request signal of the electronic gear shifter, and obtain the current real-time gear signal;

[0033] 2. Gear execution status monitoring module: determines the gear status based on the wheel speed direction signal sent by the brake system controller;

[0034] 3. Gear shift execution decision command judgment module; it is used to judge the current actual gear signal and whether to execute the gear shift request signal according to the gear realization signal and the gear status, and output the corresponding motor direction control signal to the motor controller to execute the corresponding motor on the motor controller to perform forward and reverse rotation. The actual executed gear or the corresponding alarm reminder signal that is not executed is sent to the vehicle instrument, and the gear execution signal or the gear mismatch alarm reminder signal is displayed through the instrument to remind the user. The output actual gear signal is sent to the instrument to achieve the purpose of display reminder, and the actual gear signal of the vehicle is displayed to the driver;

[0035] The execution part uses a motor controller to achieve the purpose of forward and reverse control of the motor. The motor controller receives the motor direction control signal sent by the vehicle control unit, and realizes the forward and reverse rotation of the motor by opening and closing the circuit, so as to realize the forward and reverse rotation of the vehicle;

[0036] Gear execution control strategy:

[0037] ① When the gear execution instruction algorithm module receives the gear shift request signal, it executes the gear shift signal algorithm and sends it to the gear shift execution decision command judgment module;

[0038] ② The gear execution status monitoring module monitors the wheel speed direction signal, determines the correctness of the gear status, and sends it to the gear shift execution decision command judgment module;

[0039] When ① and ② meet the design definition at the same time, the gear shift execution decision command judgment module sends a gear shift instruction to the motor controller to execute the gear shift.

[0040] In this embodiment, a vehicle speed sensor is introduced to detect the vehicle speed signal. The vehicle speed signal can be obtained by the braking system controller to obtain the corresponding vehicle speed signal. The obtained vehicle speed signal is sent to the vehicle control unit VCU. The vehicle control unit VCU judges the user intention based on the vehicle speed data and executes a control strategy that matches the user intention.

[0041] The judgment of user intention and the control strategy matching user intention include:

[0042] A speed threshold is set, and the vehicle control unit VCU compares the acquired speed signal with the speed threshold. When the speed threshold is greater than the set threshold and the request signal corresponding to the second gear trigger is not detected within the set time threshold after the gear trigger, it is judged that the gear request signal is generated by a user's false trigger. At this time, the vehicle control unit VCU ignores the current gear request signal and does not execute the gear request signal, but sends a corresponding false trigger reminder through the instrument at this time;

[0043] If the vehicle speed threshold is less than or equal to the set threshold and the request signal corresponding to the second gear trigger is not detected within the set time threshold after the gear trigger, it is judged that the user needs to shift gears at this time, and the vehicle control unit VCU outputs a control signal to the motor controller to control the motor braking to meet the gear shifting conditions, and then sends a reminder signal to allow the gear shift through the instrument. At this time, it is judged that the user has a gear shifting demand, but the gear shifting time is wrong. Therefore, in order to meet the real needs of the user, the vehicle control unit VCU sends a braking demand to the braking system controller and the energy recovery system to achieve the deceleration control of the vehicle to achieve the required gear shifting conditions. After the gear shifting conditions are met, the corresponding gear shifting reminder is issued through the instrument to remind the user that the current gear shifting can be met. Only when the vehicle speed is lower than the set threshold can it be judged whether the user has a gear shifting demand. The purpose of doing this is that there is only the possibility of shifting gears at low speeds. When the vehicle is driving at high speed, it is impossible for the user to shift gears at this time. A gear shifting demand is generally considered to be a false trigger at high speeds to avoid safety hazards caused by false triggering.

[0044] In a preferred solution of this embodiment, no matter whether the current vehicle speed is high or low, if the gear shifting demand is triggered once or twice, it can be considered as a false trigger of the output. If the gear shifting demand is triggered repeatedly, it can be considered as an abnormality of the vehicle owner. At this time, the safety of the vehicle owner should be ensured, the vehicle should be stopped on the roadside, and a corresponding reminder should be issued. Each gear shifting request signal is collected by the electronic shifter, and the VCU built-in timer starts timing after the first gear shifting request signal.

[0045] The vehicle control unit VCU obtains the gear trigger signal. If multiple gear trigger signals are detected continuously within the set time threshold range after the first gear is triggered, the vehicle control unit VCU determines that the user operation is abnormal. At this time, the vehicle control unit VCU outputs a braking signal to the motor controller, and the motor controller controls the vehicle to gradually decelerate and the vehicle control unit VCU controls the vehicle-mounted double flash lights to light up. The vehicle controller VCU starts timing after receiving the gear request signal. From the start of timing to the timing reaching the timing threshold, if multiple gear trigger signals are detected continuously, it is determined that the current user is driving abnormally. At this time, the abnormality may be caused by the user's illness, physical abnormality, etc. At this time, the vehicle should not continue to drive, but should pull over and turn on the double flash to adapt to the current user's unexpected gear shifting state. The vehicle controller VCU is connected to the BCM or vehicle domain control to control the vehicle lighting system to control the lighting of the double flash lights. The solution for controlling the vehicle deceleration at the same time is that the vehicle controller VCU outputs a braking signal to the motor controller and the brake system controller. The motor controller can realize the regenerative braking of the motor to achieve energy recovery to brake, and the brake system controller can realize braking control through various methods such as hydraulics. While braking and decelerating to meet the needs of users, the hazard lights are turned on to improve safety.

[0046] Because the vehicle triggers the shift request abnormally many times, the vehicle is judged to be abnormal at this time. At this time, the vehicle is stopped to ensure the safety of the vehicle. Stopping and deceleration does not mean stopping directly but controlling the vehicle to park by the side of the road to improve safety. Therefore, in this solution, the vehicle control unit VCU is connected to the on-board assisted driving system. After judging that the user operation is abnormal, the vehicle control unit VCU sends a pull-over command to the on-board assisted driving system, and the on-board assisted driving system controls the vehicle to gradually pull over and slow down to stop. Using the on-board assisted driving system or the on-board intelligent driving system, the vehicle is controlled to drive to the roadside after judging that the user's gear position triggers an abnormality, thereby improving the safety of the user.

[0047] In this embodiment, the above scheme introduces the gear shifting from the R gear request signal to the D gear request signal, that is, the gear position request change signal between the R gear and the D gear. When the D gear request signal is received in the R gear working state; or when the R gear request signal is received in the D gear working state, the above scheme is adopted for safety control.

[0048] Embodiment 2:

[0049] This embodiment 2 implements a safety control method for electric vehicles based on gear recognition on the basis of the hardware of embodiment 1, including: the vehicle control unit VCU obtains the actual wheel speed direction signal of the brake system controller, and determines whether the actual wheel speed direction signal is consistent with the gear request signal; if they are consistent, the gear request signal is executed; if they are inconsistent, the vehicle control unit VCU controls the motor controller to achieve output torque limitation, and sends a corresponding alarm reminder signal through the vehicle instrument.

[0050] The vehicle control unit VCU determines the user's intention based on the vehicle speed data and executes a control strategy that matches the user's intention: the vehicle control unit VCU compares the acquired vehicle speed signal with the vehicle speed threshold. When the vehicle speed threshold is greater than the set threshold and the request signal corresponding to the second gear trigger is not detected within the set time threshold after the gear trigger, it is determined that the gear request signal is generated by a user's false trigger. At this time, the vehicle control unit VCU ignores the current gear request signal;

[0051] If the vehicle speed threshold is less than or equal to the set threshold and no request signal corresponding to the second gear trigger is detected within the set time threshold after the gear trigger, it is judged that the user needs to shift gears at this time, and the vehicle control unit VCU outputs a control signal to the motor controller to control the motor braking until the gear shifting conditions are met, and then a reminder signal allowing the gear shift is issued through the instrument.

[0052] The vehicle control unit VCU obtains the gear trigger signal. If multiple gear trigger signals are detected continuously within the set time threshold range after the first gear is triggered, the vehicle control unit VCU determines that the user operation is abnormal. At this time, the vehicle control unit VCU outputs a braking signal to the motor controller, and the motor controller controls the vehicle to gradually decelerate and the vehicle control unit VCU controls the vehicle's double flash lights to light up.

[0053] The vehicle control unit VCU is connected to the on-board assisted driving system. After determining that the user operation is abnormal, the vehicle control unit VCU sends a pull-over command to the on-board assisted driving system. The on-board assisted driving system controls the vehicle to gradually pull over and slow down to stop.

[0054] In a preferred solution of this embodiment, no matter whether the current vehicle speed is high or low, if the gear shifting demand is triggered once or twice, it can be considered as a false trigger of the output. If the gear shifting demand is triggered repeatedly, it can be considered as an abnormality of the vehicle owner. At this time, the safety of the vehicle owner should be ensured, the vehicle should be stopped on the roadside, and a corresponding reminder should be issued. Each gear shifting request signal is collected by the electronic shifter, and the VCU built-in timer starts timing after the first gear shifting request signal.

[0055] The vehicle control unit VCU obtains the gear trigger signal. If multiple gear trigger signals are detected continuously within the set time threshold range after the first gear is triggered, the vehicle control unit VCU determines that the user operation is abnormal. At this time, the vehicle control unit VCU outputs a braking signal to the motor controller, and the motor controller controls the vehicle to gradually decelerate and the vehicle control unit VCU controls the vehicle-mounted double flash lights to light up. The vehicle controller VCU starts timing after receiving the gear request signal. From the start of timing to the timing reaching the timing threshold, if multiple gear trigger signals are detected continuously, it is determined that the current user is driving abnormally. At this time, the abnormality may be caused by the user's illness, physical abnormality, etc. At this time, the vehicle should not continue to drive, but should pull over and turn on the double flash to adapt to the current user's unexpected gear shifting state. The vehicle controller VCU is connected to the BCM or vehicle domain control to control the vehicle lighting system to control the lighting of the double flash lights. The solution for controlling the vehicle deceleration at the same time is that the vehicle controller VCU outputs a braking signal to the motor controller and the brake system controller. The motor controller can realize the regenerative braking of the motor to achieve energy recovery to brake, and the brake system controller can realize braking control through various methods such as hydraulics. While braking and decelerating to meet the needs of users, the hazard lights are turned on to improve safety.

[0056] Because the vehicle triggers the shift request abnormally many times, the vehicle is judged to be abnormal at this time. At this time, the vehicle is stopped to ensure the safety of the vehicle. Stopping and deceleration does not mean stopping directly but controlling the vehicle to park by the side of the road to improve safety. Therefore, in this solution, the vehicle control unit VCU is connected to the on-board assisted driving system. After judging that the user operation is abnormal, the vehicle control unit VCU sends a pull-over command to the on-board assisted driving system, and the on-board assisted driving system controls the vehicle to gradually pull over and slow down to stop. Using the on-board assisted driving system or the on-board intelligent driving system, the vehicle is controlled to drive to the roadside after judging that the user's gear position triggers an abnormality, thereby improving the safety of the user.

[0057] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A safety control system for an electric vehicle based on gear position recognition, characterized in that: It includes an electronic shifter, a brake system controller, a vehicle control unit VCU and a motor controller; the gear request signal of the electronic shifter is sent to the vehicle control unit VCU, the vehicle control unit VCU obtains the actual wheel speed direction signal of the brake system controller, and determines whether the actual wheel speed direction signal is consistent with the gear request signal; if they are consistent, the gear request signal is executed.

2. A safety control system for electric vehicles based on gear position recognition as claimed in claim 1, characterized in that: The control system also includes a motor controller and an instrument. When the vehicle control unit VCU determines that the actual wheel speed direction information is inconsistent with the gear request signal, the vehicle control unit VCU controls the motor controller to achieve output torque limitation, and sends a corresponding alarm reminder signal through the vehicle instrument.

3. A safety control system for electric vehicles based on gear position recognition as claimed in claim 1 or 2, characterized in that: The control system also includes a vehicle speed sensor, which is used to obtain a vehicle speed signal. The output end of the vehicle speed sensor is connected to a vehicle control unit VCU. The vehicle control unit VCU determines the user's intention based on the vehicle speed data and executes a control strategy that matches the user's intention.

4. A safety control system for electric vehicles based on gear position recognition as claimed in claim 3, characterized in that: A vehicle speed threshold is set, and the vehicle control unit VCU compares the acquired vehicle speed signal with the vehicle speed threshold. When the vehicle speed threshold is greater than the set threshold and the request signal corresponding to the second gear trigger is not detected within the set time threshold after the gear trigger, it is determined that the gear request signal is generated by a user's false trigger, and the vehicle control unit VCU ignores the current gear request signal; If the vehicle speed threshold is less than or equal to the set threshold and no request signal corresponding to the second gear trigger is detected within the set time threshold after the gear trigger, it is judged that the user needs to shift gears at this time, and the vehicle control unit VCU outputs a control signal to the motor controller to control the motor braking until the gear shifting conditions are met, and then a reminder signal allowing the gear shift is issued through the instrument.

5. A safety control system for electric vehicles based on gear position recognition as claimed in claim 4, characterized in that: The vehicle control unit VCU obtains a gear trigger signal. If multiple gear trigger signals are detected continuously within a set time threshold range after the first gear is triggered, the vehicle control unit VCU determines that the user operation is abnormal. At this time, the vehicle control unit VCU outputs a braking signal to the motor controller, and the motor controller controls the vehicle to gradually decelerate and the vehicle control unit VCU controls the vehicle's double flash lights to light up.

6. A safety control system for electric vehicles based on gear position recognition as claimed in claim 5, characterized in that: The vehicle control unit VCU is connected to the on-board assisted driving system. After determining that the user operation is abnormal, the vehicle control unit VCU sends a pull-over instruction to the on-board assisted driving system, and the on-board assisted driving system controls the vehicle to gradually pull over and slow down to stop.

7. A safety control method for electric vehicles based on gear position recognition, characterized in that: include: The vehicle control unit VCU obtains the actual wheel speed direction signal from the brake system controller, and determines whether the actual wheel speed direction signal is consistent with the gear request signal; if they are consistent, the gear request signal is executed; if they are inconsistent, the vehicle control unit VCU controls the motor controller to achieve output torque limitation, and sends a corresponding alarm reminder signal through the vehicle instrument.

8. A safety control method for an electric vehicle based on gear position recognition as claimed in claim 7, characterized in that: The vehicle control unit VCU determines the user's intention based on the vehicle speed data and executes a control strategy that matches the user's intention: the vehicle control unit VCU compares the acquired vehicle speed signal with the vehicle speed threshold. When the vehicle speed threshold is greater than the set threshold and the request signal corresponding to the second gear trigger is not detected within the set time threshold after the gear trigger, it is determined that the gear request signal is generated by a user's false trigger. At this time, the vehicle control unit VCU ignores the current gear request signal; If the vehicle speed threshold is less than or equal to the set threshold and no request signal corresponding to the second gear trigger is detected within the set time threshold after the gear trigger, it is judged that the user needs to shift gears at this time, and the vehicle control unit VCU outputs a control signal to the motor controller to control the motor braking until the gear shifting conditions are met, and then a reminder signal allowing the gear shift is issued through the instrument.

9. A safety control method for an electric vehicle based on gear position recognition as claimed in claim 7 or 8, characterized in that: The vehicle control unit VCU obtains the gear trigger signal. If multiple gear trigger signals are detected continuously within the set time threshold range after the first gear is triggered, the vehicle control unit VCU determines that the user operation is abnormal. At this time, the vehicle control unit VCU outputs a braking signal to the motor controller, and the motor controller controls the vehicle to gradually decelerate and the vehicle control unit VCU controls the vehicle's double flash lights to light up.

10. A safety control method for electric vehicles based on gear position recognition as claimed in claim 9, characterized in that: The vehicle control unit VCU is connected to the on-board assisted driving system. After determining that the user operation is abnormal, the vehicle control unit VCU sends a pull-over command to the on-board assisted driving system. The on-board assisted driving system controls the vehicle to gradually pull over and slow down to stop.

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