Driving stopping method and system of electric automobile and storage medium

Abstract

The invention discloses a driving stop method of an electric automobile. The method comprises the following steps: selecting: a user selects an entered driving stop mode through an IHU; in the prompting step, the VCU obtains the selected driving stop mode and sends the selected driving stop mode to the I CU and the I HU, the I HU displays the selected driving stop mode, and the I CU displays a safety prompt; an execution step: the VCU obtains a gear signal, a vehicle slope signal and an accelerator pedal opening signal, controls the output torque of a driving motor according to a currently executed driving stop mode, and controls an ESP and an I BS to brake; the driving stop modes are divided into three modes, namely creeping parking, sliding parking and automatic parking. And the user selects a driving stop mode through the vehicle large screen. Various driving modes are provided for the user, the method is suitable for various scene applications, and driving fatigue is relieved to a certain degree.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a vehicle stop mode of an electric vehicle and a software control strategy and method thereof. Background Art

[0002] As electric vehicles become increasingly intelligent and develop by leaps and bounds, a variety of vehicle control methods, driving mode selections, entertainment function applications, and multi-functional scene applications have emerged.

[0003] For example, the patent publication number CN 114620060A, publication date 2022-06-14, and titled "Automatic Driving Mode Selection Method, Autonomous Driving Vehicle, and Control Method Thereof" discloses a driving mode selection method. The method comprises: obtaining manual driving data of a user driving an autonomous vehicle, wherein the autonomous vehicle has multiple autonomous driving modes; obtaining environmental information, navigation information, and planned trajectories of the autonomous vehicle when operating in each autonomous driving mode; selecting corresponding manual driving data based on the environmental information and navigation information, and obtaining an actual trajectory corresponding to the planned trajectory based on the selected manual driving data; comparing each planned trajectory with the corresponding actual trajectory; and selecting the optimal autonomous driving mode suitable for the user from the multiple autonomous driving modes based on the comparison results.

[0004] However, there is currently a lack of a system and corresponding control method that can control an electric vehicle based on a driving-stop mode. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to realize a method and system for controlling the driving and stopping of a vehicle in different ways through precise system variables, acquisition and strict control methods.

[0006] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: a method for stopping an electric vehicle while driving, comprising:

[0007] Selection step: The user selects the driving stop mode to enter through the IHU;

[0008] Prompt steps: VCU obtains the selected driving stop mode and sends the selected driving stop mode to ICU and IHU. IHU displays the selected driving stop mode and ICU displays a safety prompt;

[0009] Execution steps: The VCU obtains the gear position signal, vehicle slope signal, and accelerator pedal opening signal, and controls the output torque of the drive motor and the ESP and IBS for braking according to the currently executed driving stop mode;

[0010] The driving stop modes include creep stop, coast stop and automatic stop.

[0011] In the selection step, when the vehicle starts, the VCU sends the last selected driving stop mode to the IHU for display. If the user does not operate, the original driving stop mode is maintained, or the IHU is operated to switch to another driving stop mode. The IHU transmits the result selected by the user to the VCU. The VCU obtains the vehicle speed. If the current vehicle speed is 0, the mode is switched and memorized. If the current vehicle speed is not 0, the VCU does not operate.

[0012] In the creep stop, the brake pedal is not pressed, and energy recovery is performed when the vehicle coasts. When the vehicle speed slows down to V1, energy recovery is terminated. There is no accelerator or brake intervention, and the vehicle maintains a creep speed and travels at a constant speed.

[0013] After decelerating by braking, the energy recovery will be terminated when the vehicle speed drops to V2. The brake pedal will then be released and the vehicle will maintain a creeping speed. If the brake pedal is kept pressed, the vehicle will decelerate to a complete stop. If the brake pedal is kept pressed, the vehicle will remain stationary. If the brake pedal is released without pressing the accelerator pedal, the vehicle will start smoothly, accelerate to a creeping speed and maintain this speed.

[0014] When the vehicle is in a creep stop, it recovers energy while coasting and responds to the brakes and accelerator to control the vehicle to decelerate or accelerate.

[0015] In the coasting stop, when the vehicle speed decelerates to V3, energy recovery is exited, and there is no accelerator or brake intervention, and the vehicle continues to coast until the vehicle stops;

[0016] Energy recovery will exit when the vehicle speed reaches V4. If you release the brake at this time, the vehicle will continue to coast until it stops. If you keep pressing the brake, the vehicle will slow down to a complete stop on a flat road. If the brake pedal depth is insufficient on a slope, the vehicle will slide down. If you keep pressing the brake, the vehicle will slow down to a complete stop. When you release the brake but do not press the accelerator, the vehicle will continue to remain stationary. When you release the brake but press the accelerator, the vehicle will move according to the accelerator opening.

[0017] When the vehicle coasts to a stop, it recovers energy while coasting and responds to the brakes and accelerator to control the vehicle to decelerate or accelerate.

[0018] During the coasting stop, if the vehicle coasts on a sloped road;

[0019] When the vehicle is going uphill, it recovers energy. When the speed slows down to V3, it stops recovering energy. Without accelerator or brake intervention, the vehicle continues to glide until the speed reaches 0. After that, the vehicle cannot remain stationary and will slide down the slope.

[0020] When the vehicle is going downhill, the vehicle's energy is recovered, and without the accelerator or brake intervention, the vehicle continues to glide and cannot remain stationary, and will slide down the slope;

[0021] For the automatic parking, in the D gear forward position, release the brake while driving to start coasting;

[0022] On flat roads, energy recovery is performed based on the current driving mode and energy recovery level settings. The VCU adjusts and distributes electric / hydraulic deceleration in real time based on the current vehicle speed. When the VCU issues a hydraulic deceleration command, it simultaneously sends the automatic parking mode status flag. ESP responds and requests the IBS to build / maintain pressure. Energy recovery is terminated when the vehicle speed drops to V5. The VCU maintains the hydraulic deceleration request until the vehicle stops. The VCU then issues a pressure maintenance request, and ESP requests the IBS to build / maintain pressure. After a timeout, ESP requests the EPB to clamp.

[0023] In uphill conditions, energy recovery is performed according to the current driving mode and energy recovery level setting. The VCU adjusts the electric deceleration in real time based on the current vehicle speed and slope sensor signal. Energy recovery is terminated when the vehicle speed drops to V5. When the speed continues to drop to V6, the VCU requests torque. The vehicle remains stationary, and the VCU sends a pressure maintenance request. The ESP requests the IBS to build / maintain pressure. After a timeout, the ESP requests the EPB to clamp.

[0024] In downhill conditions, the vehicle cannot stop and enters natural sliding.

[0025] During the automatic parking, in the reverse gear R, release the brake while driving to start coasting;

[0026] On flat roads, energy recovery is performed based on the current driving mode and energy recovery level settings. The VCU adjusts and distributes electric / hydraulic deceleration in real time based on the current vehicle speed. When the VCU issues a hydraulic deceleration command, it simultaneously sends the automatic parking mode status flag. ESP responds and requests the IBS to build / maintain pressure. Energy recovery is terminated when the vehicle speed drops to V5. The VCU maintains the hydraulic deceleration request until the vehicle stops. The VCU then issues a pressure maintenance request, and ESP requests the IBS to build / maintain pressure. After a timeout, ESP requests the EPB to clamp.

[0027] In uphill conditions, the vehicle cannot stop and will naturally slide down the slope;

[0028] In downhill conditions, energy recovery is performed according to the current driving mode and energy recovery level setting. The VCU adjusts the electric deceleration in real time according to the current vehicle speed and slope sensor signal. Energy recovery is exited when the vehicle speed drops to V5. When the vehicle speed continues to drop to V6, the VCU requests torque. The vehicle remains stationary, and the VCU sends a pressure maintenance request again. The ESP requests the IBS to build / maintain pressure. After the timeout, the ESP requests the EPB to clamp.

[0029] During the automatic parking, the vehicle is in D gear and the brakes are at rest;

[0030] On flat roads, when the brakes are released and the ESP does not receive a brake release request from the VCU, it requests the IBS to build / maintain pressure. The VCU sends a brake release request based on the accelerator pedal opening signal, and the ESP requests the IBS to release pressure. The VCU sends a torque request after receiving ESP feedback. If the ESP times out and does not receive a brake release request from the VCU, the ESP requests the EPB to clamp.

[0031] In uphill driving conditions, when the brake is released and the ESP does not receive the brake release request from the VCU, it requests the IBS to build / maintain pressure. At the same time, the VCU requests torque. The VCU sends a brake release request based on the accelerator pedal opening signal. The ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request. If the ESP does not receive the VCU brake release request within a timeout period, the ESP requests the EPB to clamp.

[0032] In downhill driving conditions, when the brakes are released, if the driver manually releases the EPB and the ESP does not receive a brake release request from the VCU, the ESP requests the IBS to build / maintain pressure. If the timeout expires and the EPB is requested to be clamped again, the VCU sends a brake release request based on the accelerator pedal opening signal, and the ESP requests the IBS to release pressure. The VCU then sends a torque request after receiving ESP feedback.

[0033] During the automatic parking, the vehicle is in R gear and the brakes are at rest;

[0034] On flat roads, when the brakes are released and the ESP does not receive a brake release request from the VCU, it requests the IBS to build / maintain pressure. The VCU sends a brake release request based on the accelerator pedal opening signal, and the ESP requests the IBS to release pressure. The VCU receives ESP feedback and sends a torque request. If the ESP times out and does not receive the VCU brake release request, the ESP requests the EPB to clamp.

[0035] In uphill driving conditions, when the brakes are released, if the driver manually releases the EPB and the ESP does not receive a brake release request from the VCU, the ESP requests the IBS to build / maintain pressure. If the timeout expires and the EPB is requested to be clamped again, the VCU sends a brake release request based on the accelerator pedal opening signal, and the ESP requests the IBS to release pressure. The VCU then sends a torque request after receiving ESP feedback.

[0036] In downhill conditions, when the brake is released and ESP does not receive the brake release request from the VCU, it requests the IBS to build / maintain pressure. At the same time, the VCU requests torque. The VCU sends a brake release request based on the accelerator pedal opening signal, and ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request. If ESP does not receive the VCU brake release request within a time limit, ESP requests the EPB to clamp.

[0037] A driving stop system for an electric vehicle; the system is provided with a VCU, the VCU interacting with an IHU, and using the IHU to interact with a user, and the user selects a driving stop mode;

[0038] The VCU is connected to and outputs a parking mode setting feedback signal to the ICU, and the ICU displays a safety prompt message;

[0039] The VCU is connected to and outputs a torque signal to the MCU for execution;

[0040] The VCU is connected to and obtains the gear position signal output by the EGSM;

[0041] The VCU is connected to and obtains a slope signal output by a slope sensor;

[0042] The VCU is connected to and obtains an accelerator pedal opening signal output by the accelerator pedal;

[0043] The VCU is connected to and obtains the energy recovery power signal output by the BMS;

[0044] The VCU is connected to and outputs brake-related signals to the ESP, the ESP exchanges brake information with the EPB, and the EPS exchanges brake pressure request and feedback signals with the IBS;

[0045] The VCU is connected to and obtains brake pedal status information of a brake pedal, and the brake pedal is connected to and outputs a brake pedal stroke signal to the IBS.

[0046] A storage medium is provided, which is a computer-readable storage medium for storing software program codes, and the software program codes are used to execute the driving and stopping method of the electric vehicle.

[0047] The vehicle's stopping mode is divided into three types: creep stop, coast stop, and automatic stop. Users select the stopping mode via the vehicle's large screen. This provides users with a variety of driving modes, adapting to various scenarios and alleviating driver fatigue to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The following is a brief description of the contents of each figure in the specification of the present invention:

[0049] Figure 1 Functional architecture block diagram;

[0050] Figure 2 Select the flow chart for the driving stop mode function;

[0051] Figure 3 This is the control flow chart of creep parking mode;

[0052] Figure 4This is the control flow chart of the coasting parking mode;

[0053] Figure 5 This is the automatic parking mode control flow chart. DETAILED DESCRIPTION

[0054] Below, with reference to the accompanying drawings, through the description of the embodiments, the specific implementation methods of the present invention, such as the shape, structure, relative positions and connection relationships of the various components involved, the functions and working principles of the various components, the manufacturing process and operating methods, etc., are further explained in detail to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0055] In order to further match the intelligent scenarios, the driving and stopping modes of electric vehicles have been designed and defined from a functional perspective, and a control method has been designed to adapt to various driving scenario applications.

[0056] The driving stop system of electric vehicles Figure 1 As shown, the system is provided with a VCU, which is connected to the I HU and performs information communication. The VCU interacts with the user through the I HU, and the user selects the driving stop mode. The driving stop modes include creep stop, coast stop and automatic stop. The VCU is connected to and outputs a parking mode setting feedback signal to the ICU, the ICU displays a safety prompt message, and the VCU is connected to and outputs a torque signal to the MCU for execution; the VCU is connected to and obtains the gear signal output by the EGSM, the VCU is connected to and obtains the slope signal output by the slope sensor, the VCU is connected to and obtains the accelerator pedal opening signal output by the accelerator pedal, the VCU is connected to and obtains the energy recovery power allowed signal output by the BMS, the VCU is connected to and outputs a braking-related signal to the ESP, the ESP and the EPB exchange braking information, the EPS and the IBS exchange braking pressure request and feedback signals, the VCU is connected to and obtains the brake pedal status information of the brake pedal, the brake pedal is connected to and outputs a brake pedal travel signal to the IBS, the VCU is the control core of the entire system, and its specific control method is integrated in the storage medium of the VCU, the storage medium is a computer-readable storage medium for storing software program code, and the software program code is used to execute the driving and stopping method of the electric vehicle.

[0057] During operation, the user selects the driving stop mode via the vehicle's large display (IHU). The IHU transmits the mode setting to the vehicle controller (VCU), which then feeds back the mode setting result to the IHU, which then displays it to the user. The VCU then transmits the mode setting structure to the vehicle's instrument cluster (ICU), which provides a safety reminder. The vehicle controller combines the gear position signal, vehicle slope, and accelerator pedal position to request torque control for the drive motor. When the vehicle requires a driving stop, the ESP and IBS braking systems build up brake pressure and apply the brakes.

[0058] like Figure 2 The figure shows the flow chart for selecting the vehicle's driving stop mode. When the vehicle is started, the VCU sends the last vehicle's driving stop mode status to the vehicle's large screen IHU and displays it. When the car is used for the first time, or when the vehicle's driving stop mode function is turned off and then started again, a default mode is set. The default mode is defined as the "last vehicle driving stop mode", for example, automatic parking is defined as the default mode; when the operation is selected, after the user clicks on the driving stop mode, the IHU sends the selection result to the vehicle controller VCU, and the VCU determines the current vehicle speed to ensure that it is in a safe and stationary state. After confirming that the vehicle speed is 0, the mode is switched and memorized, and the switching result is simultaneously sent to the IHU and the vehicle instrument ICU. The IHU and ICU light up the mode and issue problem reminders. After confirming that the vehicle speed is not 0, the VCU does not operate accordingly and gives feedback to the IHU. The IHU displays the text "Please set when the car is stationary"; that is, the system shape operation requires the vehicle to be in a stopped state to operate and select. When in the driving state (the vehicle speed is not 0), you can only view the current vehicle driving stop mode, and adjust, switch and select the vehicle driving stop mode.

[0059] like Figure 3 The figure shows the control flow chart for the vehicle's creep stop mode. In creep stop mode, if the brake pedal is not pressed, the vehicle will regenerate energy while coasting. Regenerative braking will terminate when the vehicle speed decelerates to V1, and the vehicle will maintain a constant creep speed without throttle or brake intervention. In creep stop mode, if the brake pedal is pressed to decelerate, regenerative braking will terminate when the vehicle speed drops to V2. After the brake pedal is released, the vehicle will maintain a constant creep speed. If the brake pedal is kept pressed, the vehicle will decelerate to a complete stop; if the brake pedal is kept pressed, the vehicle will remain stationary. If the brake pedal is released without pressing the accelerator, the vehicle will smoothly start, accelerate to a creep speed, and maintain this constant speed. In creep stop mode, regenerative braking will occur while the vehicle coasts, and the vehicle will decelerate and accelerate in response to the brake and throttle.

[0060] like Figure 4The figure shows the control flow chart for the vehicle's coast-to-stop mode. In coast-to-stop mode, the vehicle regenerates energy while coasting. Regenerative braking is terminated when the vehicle's speed decelerates to V3. The vehicle continues to coast until it comes to a standstill, without throttle or brake intervention. In coast-to-stop mode, the vehicle coasts on a sloping road. When coasting uphill, the vehicle regenerates energy. Regenerative braking is terminated when the vehicle's speed decelerates to V3. The vehicle continues to coast until its speed reaches zero, at which point it will be unable to remain stationary and will roll down the slope. When coasting downhill, the vehicle regenerates energy. The vehicle continues to coast without throttle or brake intervention, without remaining stationary and will roll down the slope. In Coast Stop mode, the vehicle stops regenerating when the brakes are applied to a speed of V4. Release the brakes at this point and the vehicle continues to coast until it comes to a stop. Maintaining the brakes will cause the vehicle to slow down to a complete stop on flat roads. On slopes with insufficient brake pedal depth, the vehicle will roll down. Maintaining the brakes will cause the vehicle to slow down to a complete stop and remain stationary when the brakes are released without the accelerator. When the brakes are released with the accelerator on, the vehicle moves according to the accelerator opening. In Coast Stop mode, the vehicle recovers energy while coasting, slowing and accelerating in response to the brakes and accelerator.

[0061] like Figure 4 As shown in FIG, it is the control flow chart of the vehicle automatic stop mode.

[0062] When the vehicle is in automatic parking mode and in the D forward gear, release the brake while driving to start coasting.

[0063] On flat roads, energy regeneration is performed based on the current driving mode and energy regeneration level setting. The VCU adjusts and distributes electric and hydraulic deceleration in real time based on the current vehicle speed. When the VCU issues a hydraulic deceleration command, it also sends the automatic parking mode status flag. ESP responds and requests the IBS to build or maintain pressure. When the vehicle speed drops to V5, energy regeneration is terminated, and the VCU maintains the hydraulic deceleration request until the vehicle comes to a stop. The VCU issues a hold pressure request, and ESP requests the IBS to build or maintain pressure. After a timeout, ESP requests the EPB to clamp.

[0064] On uphill driving, energy regeneration is performed based on the current driving mode and the energy regeneration level setting. The VCU adjusts the electric deceleration rate in real time based on the current vehicle speed and the slope sensor signal. Energy regeneration is terminated when the vehicle speed drops to V5. When the speed continues to drop to V6 (near 0 km / h), the VCU requests torque, and the vehicle remains stationary. The VCU then sends a pressure hold request, and the ESP requests the IBS to build or maintain pressure. After a timeout, the ESP requests the EPB to clamp.

[0065] In downhill conditions, the vehicle cannot stop and enters natural sliding.

[0066] When the vehicle is in automatic parking mode and in reverse gear R, release the brake while driving to start coasting.

[0067] On flat roads, energy regeneration is performed based on the current driving mode and energy regeneration level setting. The VCU adjusts and distributes electric and hydraulic deceleration in real time based on the current vehicle speed. When the VCU issues a hydraulic deceleration command, it also sends the automatic parking mode status flag. ESP responds and requests the IBS to build or maintain pressure. When the vehicle speed drops to V5, energy regeneration is terminated, and the VCU maintains the hydraulic deceleration request until the vehicle comes to a stop. The VCU issues a hold pressure request, and ESP requests the IBS to build or maintain pressure. After a timeout, ESP requests the EPB to clamp.

[0068] On uphill driving, the vehicle cannot stop and begins to roll naturally. On downhill driving, energy recovery is performed based on the current driving mode and energy recovery level setting. The VCU adjusts the electric deceleration rate in real time based on the current vehicle speed and the slope sensor signal. Energy recovery is terminated when the vehicle speed drops to V5. When the speed continues to drop to V6 (near 0 km / h), the VCU requests torque, and the vehicle remains stationary. The VCU then sends a pressure hold request, and the ESP requests the IBS to build / maintain pressure. After a timeout, the ESP requests the EPB to clamp.

[0069] The vehicle is in automatic parking mode, D gear, and the vehicle brake is at a standstill.

[0070] On flat roads, if the brakes are released and the ESP does not receive a brake release request from the VCU, it requests the IBS to build or maintain pressure. The VCU sends a brake release request based on the accelerator pedal position signal, and the ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request. If the ESP times out and does not receive a brake release request from the VCU, it requests the EPB to clamp.

[0071] During uphill driving, if the brake is released and ESP does not receive the brake release request from the VCU, it requests the IBS to build / maintain pressure. Simultaneously, the VCU requests torque. Based on the accelerator pedal opening signal, the VCU sends a brake release request. ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request. If ESP times out and does not receive the VCU brake release request, ESP requests the EPB to clamp. During downhill driving, if the brake is released and the driver manually releases the EPB but does not receive the VCU brake release request, ESP requests the IBS to build / maintain pressure. If a timeout occurs, it requests the EPB to clamp again. Based on the accelerator pedal opening signal, the VCU sends a brake release request. ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request.

[0072] The vehicle is in automatic parking mode, gear R, and the vehicle brake is at a standstill.

[0073] On flat roads, if the brakes are released and ESP does not receive a brake release request from the VCU, it requests the IBS to build / maintain pressure. The VCU sends a brake release request based on the accelerator pedal opening signal, and ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request. If ESP times out and does not receive the VCU brake release request, ESP requests the EPB to clamp. On uphill roads, if the brakes are released and ESP does not receive a brake release request from the VCU after the driver manually releases the EPB, ESP requests the IBS to build / maintain pressure. If it times out, it requests the EPB to clamp again. The VCU sends a brake release request based on the accelerator pedal opening signal, and ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request.

[0074] During downhill driving, if the brakes are released and the ESP does not receive a brake release request from the VCU, it requests the IBS to build or maintain pressure. Simultaneously, the VCU requests torque. The VCU sends a brake release request based on the accelerator pedal position, and the ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request. If the ESP times out and does not receive the VCU brake release request, it requests the EPB to clamp.

[0075] This invention is a smart scenario-matching system. From a functional perspective, it designs and defines the driving and stopping modes of electric vehicles, along with a control method, adapting to various driving scenarios. Through precise system variable acquisition and rigorous control methods, it controls the vehicle's driving and stopping in different ways, providing users with multiple driving modes, adapting to various scenarios, and alleviating driver fatigue to a certain extent.

[0076] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the scope of protection of the present invention.

Claims

1. A method for stopping an electric vehicle, characterized in that: Selection step: The user selects the driving stop mode to enter through the IHU; Prompt steps: VCU obtains the selected driving stop mode and sends the selected driving stop mode to ICU and IHU. IHU displays the selected driving stop mode and ICU displays a safety prompt; Execution steps: The VCU obtains the gear position signal, vehicle slope signal, and accelerator pedal opening signal, and controls the output torque of the drive motor and the ESP and IBS for braking according to the currently executed driving stop mode; The driving stop modes include creep stop, coast stop and automatic stop.

2. The method for stopping an electric vehicle according to claim 1, wherein: In the selection step, when the vehicle starts, the VCU sends the last selected driving stop mode to the IHU for display. If the user does not operate, the original driving stop mode is maintained, or the IHU is operated to switch to another driving stop mode. The IHU transmits the result selected by the user to the VCU. The VCU obtains the vehicle speed. If the current vehicle speed is 0, the mode is switched and memorized. If the current vehicle speed is not 0, the VCU does not operate.

3. The method for stopping an electric vehicle according to claim 1 or 2, characterized in that: In the creep stop, the brake pedal is not pressed, and energy recovery is performed when the vehicle coasts. When the vehicle speed slows down to V1, energy recovery is terminated. There is no accelerator or brake intervention, and the vehicle maintains a creep speed and travels at a constant speed. After decelerating by braking, the energy recovery will be terminated when the vehicle speed drops to V2. The brake pedal will then be released and the vehicle will maintain a creeping speed. If the brake pedal is kept pressed, the vehicle will decelerate to a complete stop. If the brake pedal is kept pressed, the vehicle will remain stationary. If the brake pedal is released without pressing the accelerator pedal, the vehicle will start smoothly, accelerate to a creeping speed and maintain this speed. When the vehicle is in a creep stop, it recovers energy while coasting and responds to the brakes and accelerator to control the vehicle to decelerate or accelerate.

4. The method for stopping an electric vehicle according to claim 3, wherein: In the coasting stop, when the vehicle speed decelerates to V3, energy recovery is exited, and there is no accelerator or brake intervention, and the vehicle continues to coast until the vehicle stops; Energy recovery will exit when the vehicle speed reaches V4. If you release the brake at this time, the vehicle will continue to coast until it stops. If you keep pressing the brake, the vehicle will slow down to a complete stop on a flat road. If the brake pedal depth is insufficient on a slope, the vehicle will slide down. If you keep pressing the brake, the vehicle will slow down to a complete stop. When you release the brake but do not press the accelerator, the vehicle will continue to remain stationary. When you release the brake but press the accelerator, the vehicle will move according to the accelerator opening. When the vehicle coasts to a stop, it recovers energy while coasting and responds to the brakes and accelerator to control the vehicle to decelerate or accelerate.

5. The method for stopping an electric vehicle according to claim 1 or 4, characterized in that: During the coasting stop, if the vehicle coasts on a sloped road; When the vehicle is going uphill, it recovers energy. When the speed slows down to V3, it stops recovering energy. Without accelerator or brake intervention, the vehicle continues to glide until the speed reaches 0. After that, the vehicle cannot remain stationary and will slide down the slope. When the vehicle is going downhill, the vehicle's energy is recovered, and without the intervention of the accelerator or brake, the vehicle continues to slide and cannot remain stationary, and will slide down the slope.

6. The method for stopping an electric vehicle according to claim 5, characterized in that: For the automatic parking, in the D gear forward position, release the brake while driving to start coasting; On flat roads, energy recovery is performed based on the current driving mode and energy recovery level settings. The VCU adjusts and distributes electric / hydraulic deceleration in real time based on the current vehicle speed. When the VCU issues a hydraulic deceleration command, it simultaneously sends the automatic parking mode status flag. ESP responds and requests the IBS to build / maintain pressure. Energy recovery is terminated when the vehicle speed drops to V5. The VCU maintains the hydraulic deceleration request until the vehicle stops. The VCU then issues a pressure maintenance request, and ESP requests the IBS to build / maintain pressure. After a timeout, ESP requests the EPB to clamp. In uphill conditions, energy recovery is performed according to the current driving mode and energy recovery level setting. The VCU adjusts the electric deceleration in real time based on the current vehicle speed and slope sensor signal. Energy recovery is terminated when the vehicle speed drops to V5. When the speed continues to drop to V6, the VCU requests torque. The vehicle remains stationary, and the VCU sends a pressure maintenance request. The ESP requests the IBS to build / maintain pressure. After a timeout, the ESP requests the EPB to clamp. In downhill conditions, the vehicle cannot stop and enters natural sliding.

7. The method for stopping an electric vehicle according to claim 6, characterized in that: During the automatic parking, in the reverse gear R, release the brake while driving to start coasting; On flat roads, energy recovery is performed based on the current driving mode and energy recovery level settings. The VCU adjusts and distributes electric / hydraulic deceleration in real time based on the current vehicle speed. When the VCU issues a hydraulic deceleration command, it simultaneously sends the automatic parking mode status flag. ESP responds and requests the IBS to build / maintain pressure. Energy recovery is terminated when the vehicle speed drops to V5. The VCU maintains the hydraulic deceleration request until the vehicle stops. The VCU then issues a pressure maintenance request, and ESP requests the IBS to build / maintain pressure. After a timeout, ESP requests the EPB to clamp. In uphill conditions, the vehicle cannot stop and will naturally slide down the slope; In downhill conditions, energy recovery is performed according to the current driving mode and energy recovery level setting. The VCU adjusts the electric deceleration in real time according to the current vehicle speed and slope sensor signal. Energy recovery is exited when the vehicle speed drops to V5. When the vehicle speed continues to drop to V6, the VCU requests torque. The vehicle remains stationary, and the VCU sends a pressure maintenance request again. The ESP requests the IBS to build / maintain pressure. After the timeout, the ESP requests the EPB to clamp.

8. The method for stopping an electric vehicle according to claim 7, characterized in that: During the automatic parking, the vehicle is in D gear and the brakes are at rest; On flat roads, when the brakes are released and the ESP does not receive a brake release request from the VCU, it requests the IBS to build / maintain pressure. The VCU sends a brake release request based on the accelerator pedal opening signal, and the ESP requests the IBS to release pressure. The VCU sends a torque request after receiving ESP feedback. If the ESP times out and does not receive a brake release request from the VCU, the ESP requests the EPB to clamp. In uphill driving conditions, when the brake is released and the ESP does not receive the brake release request from the VCU, it requests the IBS to build / maintain pressure. At the same time, the VCU requests torque. The VCU sends a brake release request based on the accelerator pedal opening signal. The ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request. If the ESP does not receive the VCU brake release request within a timeout period, the ESP requests the EPB to clamp. In downhill driving conditions, when the brakes are released, if the driver manually releases the EPB and the ESP does not receive a brake release request from the VCU, the ESP requests the IBS to build / maintain pressure. If the timeout expires and the EPB is requested to be clamped again, the VCU sends a brake release request based on the accelerator pedal opening signal, and the ESP requests the IBS to release pressure. The VCU then sends a torque request after receiving ESP feedback. During the automatic parking, the vehicle is in R gear and the brakes are at rest; On flat roads, when the brakes are released and the ESP does not receive a brake release request from the VCU, it requests the IBS to build / maintain pressure. The VCU sends a brake release request based on the accelerator pedal opening signal, and the ESP requests the IBS to release pressure. The VCU receives ESP feedback and sends a torque request. If the ESP times out and does not receive the VCU brake release request, the ESP requests the EPB to clamp. In uphill driving conditions, when the brakes are released, if the driver manually releases the EPB and the ESP does not receive a brake release request from the VCU, the ESP requests the IBS to build / maintain pressure. If the timeout expires and the EPB is requested to be clamped again, the VCU sends a brake release request based on the accelerator pedal opening signal, and the ESP requests the IBS to release pressure. The VCU then sends a torque request after receiving ESP feedback. In downhill conditions, when the brake is released and ESP does not receive the brake release request from the VCU, it requests the IBS to build / maintain pressure. At the same time, the VCU requests torque. The VCU sends a brake release request based on the accelerator pedal opening signal, and ESP requests the IBS to release pressure. After receiving ESP feedback, the VCU sends a torque request. If ESP does not receive the VCU brake release request within a time limit, ESP requests the EPB to clamp.

9. A driving stop system for an electric vehicle, characterized in that: The system is provided with a VCU, which interacts with the IHU and uses the IHU to interact with the user, and the user selects the driving stop mode; The VCU is connected to and outputs a parking mode setting feedback signal to the ICU, and the ICU displays a safety prompt message; The VCU is connected to and outputs a torque signal to the MCU for execution; The VCU is connected to and obtains the gear position signal output by the EGSM; The VCU is connected to and obtains a slope signal output by a slope sensor; The VCU is connected to and obtains an accelerator pedal opening signal output by the accelerator pedal; The VCU is connected to and obtains the energy recovery power signal output by the BMS; The VCU is connected to and outputs brake-related signals to the ESP, the ESP exchanges brake information with the EPB, and the EPS exchanges brake pressure request and feedback signals with the IBS; The VCU is connected to and acquires brake pedal status information of a brake pedal, and the brake pedal is connected to and outputs a brake pedal stroke signal to the IBS.

10. A storage medium, wherein the storage medium is a computer-readable storage medium for storing software program code, characterized in that: The software program code is used to execute the driving and stopping method of the electric vehicle as claimed in any one of claims 1 to 8.

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