CN111231696B - Method and device for preventing electric vehicle from sliding down slope, electric vehicle and computer readable storage medium - Google Patents
Method and device for preventing electric vehicle from sliding down slope, electric vehicle and computer readable storage medium Download PDFInfo
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- CN111231696B CN111231696B CN202010059867.XA CN202010059867A CN111231696B CN 111231696 B CN111231696 B CN 111231696B CN 202010059867 A CN202010059867 A CN 202010059867A CN 111231696 B CN111231696 B CN 111231696B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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Abstract
The invention is applicable to the technical field of electric vehicles, and provides an anti-slope-sliding method and device for an electric vehicle, the electric vehicle and a computer readable storage medium, wherein the anti-slope-sliding method for the electric vehicle comprises the following steps: when the electric vehicle is detected to be in a vehicle sliding state, acquiring the vehicle sliding direction of the electric vehicle, and acquiring the vehicle sliding distance of the electric vehicle in real time; determining the rotation direction of a motor of the electric vehicle according to the vehicle sliding direction; determining the duty ratio of the motor according to the vehicle sliding distance; and generating a rotation control instruction according to the duty ratio and the rotation direction, and sending the control instruction to the driving module so that the driving module can control the motor to rotate. In the embodiment of the invention, the electric vehicle can continuously work according to the control instruction, so that the phenomenon that the electric vehicle slips again is prevented, namely the electric vehicle can keep the position unchanged, the potential safety hazard caused by slipping of the electric vehicle can be prevented, and the electric vehicle is safer.
Description
Technical Field
The invention belongs to the technical field of electric vehicles, and particularly relates to a method and a device for preventing an electric vehicle from sliding down a slope, the electric vehicle and a computer readable storage medium.
Background
With the popularization of new energy and motor control technologies, electric vehicles are widely used in many fields, such as electric motorcycles, riding lawn mowers, floor washing robots, and the like. However, when the electric vehicle needs to stay on a slope in the process of ascending or descending, due to the inertia and the self gravity, the electric vehicle can automatically move downwards, namely, the electric vehicle slips off the slope, so that the electric vehicle cannot stay on the slope, and certain potential safety hazards exist.
The method for preventing the electric vehicle from sliding down the slope in the related art judges whether the electric vehicle has the phenomenon of sliding down the slope by judging the backward speed of the vehicle. For example, when the vehicle is detected to be backing up while the electric vehicle is staying on a slope, i.e., when the vehicle is at a backing up speed, the electric motor may provide an acting force to the electric vehicle to cancel the acting force when the electric vehicle is backing up, to prevent the electric vehicle from backing up, and when it is detected that the vehicle is not backing up, i.e. when the reverse speed is zero, the motor is not operated, at which time the force is cancelled, and when the vehicle has a reverse speed again, the motor is operated again, when the backward speed is zero, the motor stops working again, and the operation is repeated, under the condition, the motor is continuously switched between the working state and the non-working state, so that the motor is damaged, the electric vehicle still keeps the trend of sliding, namely, the position of the electric vehicle is changed, and therefore, certain potential safety hazards exist in the electric vehicle.
Disclosure of Invention
The embodiment of the invention provides a slope slipping prevention method for an electric vehicle, and aims to solve the problem that potential safety hazards still exist in the aspect of slope slipping prevention of the existing electric vehicle.
The embodiment of the invention is realized in such a way that the method for preventing the electric vehicle from sliding down the slope comprises the following steps: when the electric vehicle is detected to be in a vehicle sliding state, acquiring the vehicle sliding direction of the electric vehicle, and acquiring the vehicle sliding distance of the electric vehicle in real time; determining the rotation direction of a motor of the electric vehicle according to the vehicle sliding direction; determining the duty ratio of the motor according to the vehicle sliding distance; and generating a rotation control instruction according to the duty ratio and the rotation direction, and sending the control instruction to a driving module so that the driving module can control the motor to rotate.
Furthermore, when the throttle value of the electric vehicle is zero, the mechanical brake does not work and the motor rotor position detection sensor detects signal change, the electric vehicle enters the vehicle sliding state.
Further, the step of obtaining the vehicle sliding direction of the electric vehicle and obtaining the vehicle sliding distance of the electric vehicle in real time comprises: acquiring signal changes detected by the motor rotor position detection sensor in real time; and determining the vehicle sliding distance and the vehicle sliding direction of the electric vehicle according to the signal change.
Still further, the step of determining the duty cycle of the motor according to the coasting distance comprises: and when the current vehicle sliding distance of the electric vehicle is greater than or equal to a preset distance, determining the duty ratio of the motor according to the current vehicle sliding distance.
Still further, before the step of determining the duty ratio of the motor according to the current rolling distance, the method further comprises: when the current vehicle sliding distance of the electric vehicle is smaller than the preset distance, judging whether the change value of the current vehicle sliding distance in a first preset time interval is smaller than a preset threshold value; and when the change value of the vehicle sliding distance in the preset time interval is smaller than a preset threshold value, determining the duty ratio of the motor according to the current vehicle sliding distance.
Still further, the step of determining the duty cycle of the motor according to the coasting distance comprises: and when the change value of the current vehicle sliding distance of the electric vehicle in a second preset time interval is smaller than a preset threshold value, determining the duty ratio of the motor according to the current vehicle sliding distance.
Still further, the step of determining the duty cycle of the motor according to the coasting distance comprises: the method comprises the steps of taking the detected electric vehicle in a vehicle sliding state as a vehicle sliding distance original point, increasing the current duty ratio by a preset unit duty ratio when the current vehicle sliding distance is increased by a preset unit distance, wherein the current duty ratio is zero when the detected electric vehicle is in the vehicle sliding state.
The embodiment of the invention also provides a slope slipping prevention device of the electric vehicle, which comprises: the acquisition unit is used for acquiring the vehicle sliding direction of the electric vehicle and acquiring the vehicle sliding distance of the electric vehicle in real time when the electric vehicle is detected to be in a vehicle sliding state; the rotation direction determining unit is used for determining the rotation direction of a motor of the electric vehicle according to the vehicle sliding direction; the duty ratio determining unit is used for determining the duty ratio of the motor according to the vehicle sliding distance; and the sending unit is used for generating a rotation control instruction according to the duty ratio and the rotation direction, and sending the control instruction to a driving module so that the driving module can control the motor to rotate.
Still further, the apparatus further comprises: and the judging unit is used for judging that the electric vehicle is in the vehicle sliding state when the throttle value of the electric vehicle is zero, the mechanical brake does not work and the motor rotor position detection sensor detects signal change.
Still further, the acquisition unit includes: the detection module is used for acquiring the signal change detected by the motor rotor position detection sensor in real time; and the acquisition module is used for determining the vehicle sliding distance and the vehicle sliding direction of the electric vehicle according to the signal change.
Still further, the duty ratio determining unit includes: and the first duty ratio determining module is used for determining the duty ratio of the motor according to the current vehicle sliding distance when the current vehicle sliding distance of the electric vehicle is greater than or equal to a preset distance.
Still further, the duty ratio determining unit further includes: the judging module is used for judging whether the change value of the current vehicle sliding distance in a first preset time interval is smaller than a preset threshold value or not when the current vehicle sliding distance of the electric vehicle is smaller than the preset distance; the first duty ratio determining module is further configured to determine the duty ratio of the motor according to the current vehicle sliding distance when the variation value of the vehicle sliding distance within the preset time interval is smaller than a preset threshold value.
Still further, the duty ratio determining unit further includes: and the second duty ratio determining module is used for determining the duty ratio of the motor according to the current vehicle sliding distance when the change value of the current vehicle sliding distance of the electric vehicle in a second preset time interval is smaller than a preset threshold value.
Still further, the duty ratio determining unit further includes: and the third duty ratio determining module is used for increasing the current duty ratio by a preset unit duty ratio when the electric vehicle is detected to be in a vehicle sliding state and taking the detected electric vehicle as a vehicle sliding distance original point and increasing the current duty ratio by the preset unit duty ratio when the current vehicle sliding distance is increased by the preset unit distance, wherein the current duty ratio is zero when the electric vehicle is detected to be in the vehicle sliding state.
The embodiment of the invention also provides an electric vehicle which comprises the anti-slope-sliding device of the electric vehicle.
An embodiment of the present invention further provides a computer-readable storage medium, where a program for preventing an electric vehicle from sliding down a slope is stored in the computer-readable storage medium, and when the program for preventing an electric vehicle from sliding down a slope is executed by a processor, the method for preventing an electric vehicle from sliding down a slope includes any one of the steps described above.
The embodiment of the invention has the advantages that when the electric vehicle is detected to be in a sliding state, the sliding direction and the sliding distance of the electric vehicle are obtained, then the rotating direction of the motor of the electric vehicle is determined according to the sliding direction, the duty ratio of the motor is determined according to the sliding distance, then the rotating control instruction is generated according to the rotating direction and the duty ratio, and the motor is controlled to rotate according to the control instruction, namely, the electric vehicle can generate a rotating control instruction opposite to the sliding direction according to the sliding direction and the sliding distance, then the motor rotates according to the control instruction, so that the electric vehicle has an acting force opposite to the sliding direction, the acting force can be counteracted with the acting force generated when the electric vehicle slides, the sliding phenomenon of the electric vehicle is prevented, and the electric vehicle can continuously work according to the control instruction, so that the sliding phenomenon of the electric vehicle is prevented from occurring again, that is to say, can make the electric motor car keep the position unchangeable, so can prevent that the electric motor car from leading to the emergence of potential safety hazard because of the swift current car for the electric motor car is safer.
Drawings
Fig. 1 is a schematic flow chart of an anti-landslide method for an electric vehicle according to a first embodiment of the present invention;
fig. 2 is a schematic flow chart of an anti-landslide method for an electric vehicle according to a third embodiment of the present invention;
fig. 3 is a schematic flow chart of an anti-landslide method for an electric vehicle according to a fourth embodiment of the present invention;
fig. 4 is a schematic flow chart of an anti-landslide method for an electric vehicle according to a fifth embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating an anti-landslide method for an electric vehicle according to a sixth embodiment of the present invention;
fig. 6 is a schematic flow chart of an anti-landslide method for an electric vehicle according to a seventh embodiment of the present invention;
fig. 7 is a schematic flow chart of an anti-creep device for an electric vehicle according to an eighth embodiment of the present invention;
fig. 8 is a schematic flow chart of an anti-creep device of an electric vehicle according to a tenth embodiment of the present invention;
fig. 9 is a schematic flow chart of an anti-creep device for an electric vehicle according to an eleventh embodiment of the present invention;
fig. 10 is a schematic flow chart of an anti-creep device for an electric vehicle according to a twelfth embodiment of the present invention;
fig. 11 is a schematic flow chart of an anti-creep device for an electric vehicle according to a thirteenth embodiment of the present invention;
fig. 12 is a schematic flow chart of an electric vehicle landslide prevention apparatus according to a fourteenth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The method for preventing the electric vehicle from sliding down the slope is to judge whether the electric vehicle has the phenomenon of sliding down the slope by judging the backward speed of the vehicle. For example, when the vehicle is detected to be backing up while the electric vehicle is staying on a slope, i.e., when the vehicle is at a backing up speed, the electric motor may provide an acting force to the electric vehicle to cancel the acting force when the electric vehicle is backing up, to prevent the electric vehicle from backing up, and when it is detected that the vehicle is not backing up, i.e. when the reverse speed is zero, the motor is not operated, at which time the force is cancelled, and when the vehicle has a reverse speed again, the motor is operated again, when the backward speed is zero, the motor stops working again, and the operation is repeated, under the condition, the motor is continuously switched between the working state and the non-working state, so that the motor is damaged, the electric vehicle still keeps the trend of sliding, namely, the position of the electric vehicle is changed, and therefore, certain potential safety hazards exist in the electric vehicle.
The embodiment of the invention obtains the sliding direction and the sliding distance of the electric vehicle when the electric vehicle is detected to be in the sliding state, then determines the rotating direction of the motor of the electric vehicle according to the sliding direction, determines the duty ratio of the motor according to the sliding distance, then generates the rotating control instruction according to the rotating direction and the duty ratio, and controls the motor to rotate according to the control instruction, namely, the electric vehicle can generate a rotating control instruction opposite to the sliding direction according to the sliding direction and the sliding distance, then the motor rotates according to the control instruction, so that the electric vehicle has an acting force opposite to the sliding direction, the acting force can be offset with the acting force generated when the electric vehicle slides, thereby preventing the electric vehicle from sliding, and the electric vehicle can continuously work according to the control instruction, thereby preventing the electric vehicle from sliding again, that is to say, can make the electric motor car keep the position unchangeable, so can prevent that the electric motor car from leading to the emergence of potential safety hazard because of the swift current car for the electric motor car is safer.
Example one
Referring to fig. 1, a method for preventing an electric vehicle from sliding down a slope according to an embodiment of the present invention includes:
s01: when the electric vehicle is detected to be in a vehicle sliding state, acquiring the vehicle sliding direction of the electric vehicle, and acquiring the vehicle sliding distance of the electric vehicle in real time;
s02: determining the rotation direction of a motor of the electric vehicle according to the vehicle sliding direction;
s03: determining the duty ratio of the motor according to the vehicle sliding distance;
s04: and generating a rotation control instruction according to the duty ratio and the rotation direction, and sending the control instruction to the driving module so that the driving module can control the motor to rotate.
In the embodiment of the invention, when the electric vehicle is detected to be in a vehicle sliding state. For example, when the electric vehicle stops on an uphill, the electric vehicle retreats, that is, the direction of the vehicle head is opposite to the movement direction of the vehicle body; or when the electric vehicle stops in the process of descending, the electric vehicle moves forward, namely the direction of the vehicle head is the same as the movement direction of the vehicle body. And acquiring the vehicle sliding direction of the electric vehicle and acquiring the vehicle sliding distance of the electric vehicle in real time. Then, the rotation direction of the motor of the electric vehicle is determined according to the vehicle sliding direction. For example, when the electric vehicle stops on an uphill slope and retreats, the rotation direction of the motor can enable the electric vehicle to move forwards; or the electric vehicle is stopped in the process of descending, and when the electric vehicle moves forward, the rotation direction of the motor can enable the electric vehicle to retreat. The rotation direction of the motor is related to the mechanical connection between the motor and the wheels, and if the rotation direction of the motor is the same as the rotation direction of the wheels under the actual mechanical connection relationship, the determined rotation direction of the motor is opposite to the sliding direction when the rotation direction of the motor of the electric vehicle is determined according to the sliding direction; similarly, if the rotation direction of the motor is opposite to the rotation direction of the wheels under the actual mechanical connection relationship, and the rotation direction of the motor of the electric vehicle is determined according to the vehicle sliding direction, the determined rotation direction of the motor is the same as the vehicle sliding direction.
The duty ratio of the motor is determined according to the vehicle sliding distance, then a rotation control instruction is generated according to the duty ratio and the rotation direction, the control instruction is sent to the driving module, and the driving module can drive the motor to rotate according to the control instruction. When the motor rotates according to the control command, the electric vehicle has a force opposite to the sliding direction. The acting force that produces when this acting force can with the electric motor car swift current car offsets to prevent that the electric motor car from the phenomenon of swift current car, and the electric motor car can be according to control command continuous work, thereby prevent that the electric motor car from the phenomenon of swift current car once more appearing, that is to say, can make the electric motor car keep the position unchangeable, so can prevent that the electric motor car from leading to the emergence of incident because of swift current car, make the electric motor car safer.
Illustratively, the moving direction of the electric vehicle moving forward when ascending a slope is defined as a first direction, the moving direction of the electric vehicle moving backward when ascending a slope is defined as a second direction, the first direction is opposite to the second direction, when the electric vehicle stops moving along the first direction, the self gravity and the slope can enable the electric vehicle to have an acting force towards the second direction, the electric vehicle can move towards the second direction at the first speed under the action of the acting force, at the moment, the electric vehicle is in a sliding state, in this case, the sliding direction of the electric vehicle is the second direction, the rotating direction of the motor of the electric vehicle is determined according to the sliding direction, the electric vehicle can have an acting force towards the first direction when the motor rotates according to the rotating direction, the electric vehicle can move towards the first direction at the second speed under the action of the acting force, and then, the duty ratio of the motor is determined according to the distance of the electric vehicle, and then generating a rotation control instruction according to the duty ratio and the rotation direction, and sending the control instruction to the driving module so that the driving module controls the motor to rotate according to the duty ratio. When the motor rotates according to the duty ratio, the acting force of the electric vehicle towards the first direction is the same as the acting force of the electric vehicle towards the second direction, and the directions are opposite, namely, the second speed is the same as the first speed and opposite to the first speed, so that the acting force of the first direction and the acting force of the second direction can be mutually offset, namely, the second speed and the first speed can be mutually offset, and further the phenomenon of sliding of the electric vehicle is prevented, namely the phenomenon of movement of the electric vehicle towards the second direction cannot occur. In addition, when the electric vehicle stops on a slope, the gravity of the electric vehicle still exists, namely the acting force of the electric vehicle towards the second direction still exists, and the motor rotates always according to the duty ratio, namely the acting force of the electric vehicle towards the first direction still exists, so that the electric vehicle can stop on the slope and the phenomenon of secondary vehicle sliding or multiple vehicle sliding cannot occur, namely, the method for preventing the electric vehicle from sliding down on the slope can prevent the electric vehicle from sliding down on the slope for the second time or multiple times and can prevent the position of the electric vehicle from changing. Therefore, the safety accidents caused by the sliding of the electric vehicle can be prevented, and the electric vehicle is safer.
When the motor rotates according to the duty ratio, the acting force of the electric vehicle towards the first direction and the acting force of the electric vehicle towards the second direction are always the same in magnitude, and the first direction and the second direction are always opposite, so that the electric vehicle can stop and cannot move towards the first direction or the second direction.
Further, when the electric vehicle stops in the process of ascending, the electric vehicle has an acting force towards the second direction due to the self gravity of the electric vehicle and the slope, the acting force is a component force of the self gravity of the electric vehicle on the slope, the electric vehicle is driven to move towards the second direction at the first speed under the action of the acting force, the vehicle sliding distance of the electric vehicle moving towards the second direction is obtained in real time at the moment, the running time of the electric vehicle at the vehicle sliding distance is obtained, the speed of the electric vehicle during sliding is calculated according to the vehicle sliding distance and the running time, the duty ratio is determined according to the speed, a rotation control command is generated according to the duty ratio and the rotation direction, the control command is sent to the driving module, the driving module controls the motor to rotate according to the control command, and the electric vehicle moves towards the first direction at the second speed in the process of the motor running, when the first speed is the same as the second speed, the electric vehicle is stopped under the combined action of the first speed and the second speed due to the fact that the directions of the first speed and the second speed are opposite. And the motor can always run according to the control instruction, so that the phenomenon of secondary slope sliding or repeated slope sliding is prevented, and the safety of the electric vehicle is improved.
In the embodiment of the invention, the rolling distance and the rolling direction can be obtained by adopting position detection sensors, wherein the types of the position detection sensors are various, such as a switch Hall sensor or a linear Hall sensor. The following explains the two types of position detection sensors described above:
for example, the position detection sensor adopts a switch hall sensor, three hall sensors are installed at a position close to the rotor, in the process of rotating the rotor, the N pole of the rotor can be gradually close to the hall sensors, at the moment, the magnetic induction intensity between the N pole and the hall sensors can be gradually enhanced, and when the magnetic induction intensity between the N pole and the hall sensors reaches a certain value, at the moment, the output of the hall sensors is in a positive conduction state. Because the rotor rotates, the N pole is gradually far away from the Hall sensor, at the moment, the magnetic induction intensity between the N pole and the Hall sensor is gradually reduced, in the process, the output of the Hall sensor is still in a positive conduction state, when the N pole is gradually far away from the Hall sensor, the S pole of the rotor is gradually close to the Hall sensor, at the moment, the magnetic induction intensity between the S pole and the Hall sensor is gradually enhanced, when the magnetic induction intensity between the S pole and the Hall sensor reaches a certain value, the output of the Hall sensor is changed from the positive conduction state to a negative conduction state, in the process of the rotation of the rotor, the S pole and the N pole are alternately close to and far away from the Hall sensor, thus, the positive and negative transformation can occur to the waveform output of the Hall sensor, one of the positive and negative transformation is a rotation period of the rotor, and the number of rotation of turns of the rotor can be obtained by identifying the waveform, thereby being capable of correspondingly converting into the sliding distance of the electric vehicle. For example, assuming that each hall sensor outputs a 0 or 1 signal under the action of the magnetic field of the motor, the three hall sensors output three different 0 or 1 signals, for example, the three hall sensors output signals of 101, 001, 011, 010, 110, 100, which are all binary signals, and the binary signals are converted into decimal signals, which result in 5, 1, 3, 2, 6, 4, and assume that 5, 1, 3, 2, 6, 4 correspond to 0 degree, 60 degrees, 120 degrees, 180 degrees, 240 degrees, 360 degrees, respectively. The motor can be judged to be rotating through the change of the signal, and the rotating direction of the motor can be judged through the change of the signal, for example, if the motor rotates in the positive direction when the signal output by the hall sensor is 5, 1, 3, 2, 6, 4, the motor rotates in the direction when the signal output by the hall sensor is 5, 4, 6, 2, 3, 1. And further obtaining the vehicle sliding distance and the vehicle sliding direction of the electric vehicle.
For another example, the position detection sensor adopts a linear hall sensor, two linear hall sensors are installed on the motor, and an included angle between the two linear hall sensors and the center of the motor is 90 °, that is, the two linear hall sensors are vertically arranged. When the motor rotates, the position of a rotor of the motor can be changed, at the moment, the magnetic field intensity induced by the linear Hall sensors is also changed, one Hall sensor can generate a sine electric signal and the other Hall sensor can generate a cosine electric signal along with the change of the magnetic field intensity, and the sine electric signal and the cosine electric signal are continuous. The sine electric signal and the cosine electric signal are processed, and the number of rotating circles of the motor and the rotating direction of the motor can be obtained. For example, the simulation data of 0-4096 is obtained by processing with relevant software, the simulation value of 0-4096 corresponds to the angle change of 0-360 °, and if the obtained data is from 0-4096, the motor is rotating in the forward direction, and if the obtained data is from 4096-0, the motor is rotating in the reverse direction. And the rotation angle of the motor can be obtained through the corresponding relation between the data and the angle. And further obtaining the vehicle sliding distance and the vehicle sliding direction of the electric vehicle.
It is understood that in other embodiments, other position sensing sensors may be used to obtain the roll distance and roll direction. Such as encoders, rotary transformers, etc. The selection can be made according to different situations. And are not limited herein. Only the vehicle sliding distance and the vehicle sliding direction need to be obtained.
Further, the duty cycle may be determined in two ways:
for example, a mathematical formula is used to obtain the duty ratio, and at this time, the relationship between the rolling distance and the duty ratio is: p is M + N D, P is the duty cycle, M is a constant, N is a scaling factor, D is the distance, and the relationship of P and D is a direct proportional relationship. That is, an increase in distance results in an increase in duty cycle. The vehicle sliding distance refers to the distance traveled by the electric vehicle in the middle from the vehicle sliding state to the electric vehicle stopping state. Certainly, the distance can be set to be a maximum value, when the electric vehicle moves to the maximum distance, the duty ratio is obtained according to the vehicle sliding distance and the relational expression, and then the motor is controlled to rotate according to the duty ratio, so that the electric vehicle is prevented from sliding down a slope. It is to be understood that the specific value of the maximum value may be set according to various situations. For example, the adjustment is performed according to the motor and the vehicle weight. And are not limited herein.
For another example, the unit rolling distance may be directly set, for example, assuming that the initial rolling distance is 0, the duty ratio is 0, the rolling distance is increased by 0.1 m, and the duty ratio is increased by 1, that is, when the electric vehicle rolls by 0.2 m, the duty ratio is 2, when the electric vehicle rolls by 0.3 m, the duty ratio is 3, and so on to obtain the empty duty ratio.
Of course, in other embodiments, other ways of obtaining the duty cycle may also be used. And are not limited herein.
Further, when the electric vehicle is in a vehicle sliding state, the anti-slope sliding device of the electric vehicle can acquire the vehicle sliding direction and the vehicle sliding distance of the electric vehicle, then the rotating direction and the duty ratio are obtained according to the vehicle sliding direction and the vehicle sliding distance, then the rotating control instruction is generated according to the rotating direction and the duty ratio, finally the motor is controlled to rotate according to the rotating control instruction so as to prevent the electric vehicle from sliding, and the electric vehicle is in an anti-slope sliding mode at the moment. And when the throttle value of the electric vehicle is not zero, or the mechanical brake of the electric vehicle is started, or the electric vehicle is powered off, the electric vehicle can exit the anti-sliding mode. That is to say, when the electric vehicle is in the anti-slide mode, the anti-slide device of the electric vehicle detects that the throttle value of the electric vehicle is not zero, or the mechanical brake of the electric vehicle is started, or the electric vehicle is powered off, the electric vehicle can automatically exit the anti-slide mode. So, do not need the manual work to go to operate, convenient and fast promotes user experience.
Example two
Furthermore, when the throttle value of the electric vehicle is zero, the mechanical brake is not working and the motor rotor position detection sensor detects a signal change, the electric vehicle enters a vehicle sliding state.
In this embodiment, when the throttle value of the electric vehicle is zero, the mechanical brake is not working, and the motor rotor position detection sensor detects a signal change, the electric vehicle enters a rolling state. That is, when the above three conditions are all satisfied, the electric vehicle enters a rolling state. When only one of the three conditions is satisfied, or only two of the three conditions are satisfied, the electric vehicle does not enter a rolling state.
The fact that the throttle value of the electric vehicle is not zero means that the electric vehicle has power, which indicates that the electric vehicle is driving, so that the electric vehicle does not need to enter a sliding state. And when the throttle value of the electric vehicle is zero, the electric vehicle does not have power, which indicates that the electric vehicle is not in driving.
The mechanical brake is not operated, that is, the user does not adopt the mechanical brake to stop the electric vehicle, and the electric vehicle can move forwards or backwards. And when the user adopted mechanical brake, the electric motor car can realize the function of pausing through mechanical brake this moment, so the electric motor car need not get into the state of rolling away.
The motor rotor position detection sensor detects signal changes, namely, the position detection sensor works to detect that the electric vehicle moves. When the position detection sensor does not detect that the electric vehicle moves, the electric vehicle is in a pause state at the moment, so that the electric vehicle does not need to enter a vehicle sliding state.
As can be seen from the above, when there is an unsatisfied condition in one of the three conditions, the electric vehicle does not need to enter a rolling state. When the three conditions are simultaneously met, the electric vehicle can enter a vehicle sliding state. So, can prevent to lead to the electric motor car unusual condition to appear because of the wrong entering of electric motor car state of sliding down, be favorable to the normal work of electric motor car.
The operation principle of the position detection sensor in this embodiment is the same as that of the position detection sensor in the above-described embodiment. This is not repeated herein.
EXAMPLE III
Referring to fig. 2, further, step S01 includes the steps of:
s011: acquiring signal changes detected by a motor rotor position detection sensor in real time;
s012: and determining the vehicle sliding distance and the vehicle sliding direction of the electric vehicle according to the signal change.
In the embodiment, the position detection sensor can determine the vehicle sliding distance and the vehicle sliding direction of the electric vehicle according to the detected signal change, and the position detection sensor is simple in structure and easy to realize.
The types of the position detection sensors are different, and the types of signals detected by the position detection sensors are also different. Reference may be made in particular to the operating principle of the position detection sensor in the first embodiment described above. This is not repeated herein.
Example four
Referring to fig. 3, further, step S03 includes the steps of:
s031: and when the current vehicle sliding distance of the electric vehicle is greater than or equal to the preset distance, determining the duty ratio of the motor according to the current vehicle sliding distance.
In such an embodiment, when the current rolling distance of the electric vehicle is greater than or equal to the preset distance, the anti-rolling device of the electric vehicle immediately calculates a duty ratio according to the current rolling distance, and then controls the motor to rotate according to the duty ratio so as to prevent the electric vehicle from rolling down the slope and enable the electric vehicle to stop. That is to say, after the electric motor car gets into the swift current car state, the electric motor car can appear the swift current car phenomenon, and at this moment, the swift current car distance of electric motor car can real-time detection electric motor car to when the swift current car distance is greater than or equal to the default, can calculate the duty cycle according to the current swift current car distance immediately, then control the motor and rotate according to this duty cycle, in order to prevent that the electric motor car from continuing to slide the slope and make the electric motor car can pause. So, do not need the manual work to go to operate, convenient and fast to the security performance of electric motor car has been promoted.
For example, assuming that the preset distance is 0.8m, when the anti-slope-slipping device of the electric vehicle detects that the sliding distance of the electric vehicle reaches 0.8m and the speed of the electric vehicle is still greater than zero, the anti-slope-slipping device of the electric vehicle takes 0.8m as the sliding distance of the electric vehicle, then calculates a duty ratio according to 0.8m, and then controls the motor to rotate at the duty ratio to prevent the electric vehicle from continuously sliding down a slope and enable the electric vehicle to be kept in a stopped state.
Wherein the preset distance of 0.8m is only an example. The specific value of the preset distance can be set according to different situations. For example, the preset distance may be set according to the vehicle weight or the type of the motor. And are not limited herein.
EXAMPLE five
Referring to fig. 4, further, before the step S03, the method further includes the steps of:
s032: when the current vehicle sliding distance of the electric vehicle is smaller than a preset distance, judging whether the change value of the current vehicle sliding distance in a first preset time interval is smaller than a preset threshold value;
s033: and when the change value of the vehicle sliding distance in the preset time interval is smaller than a preset threshold value, determining the duty ratio of the motor according to the current vehicle sliding distance.
In the process of sliding the electric vehicle, the electric vehicle may stop sliding before the electric vehicle does not reach the preset distance due to external forces such as vehicle weight, friction force, air resistance and the like. In other words, the electric vehicle stops moving when the distance is not reached, however, the electric vehicle still has a potential vehicle sliding hazard at this time, and under such a situation, the slope slipping prevention device can calculate a duty ratio according to the current vehicle sliding distance, and then the motor is controlled to rotate at the duty ratio, so that the electric vehicle is prevented from sliding down the slope again, and the electric vehicle can be kept in a stopped state.
In this embodiment, the change value of the current vehicle sliding distance in the first preset time interval refers to whether the electric vehicle has a vehicle sliding phenomenon in the first preset time interval, when the electric vehicle has the vehicle sliding phenomenon, the change value of the current vehicle sliding distance in the first preset time interval is not zero, and when the vehicle sliding phenomenon does not exist in the first preset time interval, the change value of the current vehicle sliding distance in the first preset time interval is zero. When the change value of the current vehicle sliding distance is zero in the first preset time interval, the electric vehicle stops, at the moment, in order to prevent the electric vehicle from sliding again, the slope slipping prevention device of the electric vehicle calculates the duty ratio according to the current vehicle sliding distance of the electric vehicle, and then the motor is controlled to rotate at the duty ratio, so that the electric vehicle is prevented from continuously sliding down the slope and can be kept in a pause state.
Wherein, the first preset time may be 1 second, 2 seconds, 3 seconds, etc. The specific setting can be according to different situations. And are not limited herein.
Further, the preset threshold may be a value greater than zero, such as 0.5m, 1m, 1.5m, and the like. The specific setting can be according to the actual conditions. And are not limited herein.
For example, assuming that the preset distance is 0.8m, when the anti-creep device of the electric vehicle detects that the creep distance of the electric vehicle reaches 0.5m, and within the next preset time (e.g. 1 s), the creep distance of the electric vehicle is still 0.5m, which indicates that the electric vehicle stops moving, then the anti-creep device of the electric vehicle takes 0.5m as the creep distance of the electric vehicle and calculates the duty ratio according to 0.5m, and then controls the motor to rotate at the duty ratio to prevent the electric vehicle from continuously slipping down the slope and enable the electric vehicle to keep in a standstill state.
It is understood that the above-mentioned predetermined distance of 0.8m and the vehicle-sliding distance of 0.5m are only examples. The specific numerical values of the preset distance and the vehicle sliding distance can be set according to different conditions. For example, the motor may be provided in accordance with the vehicle weight or the type of the motor. And are not limited herein.
EXAMPLE six
Referring to fig. 5, further, step S03 includes the steps of:
s034: and when the change value of the current sliding distance of the electric vehicle in a second preset time interval is smaller than a preset threshold value, determining the duty ratio of the motor according to the current sliding distance.
In this embodiment, the preset distance is not set, and at this time, the anti-slope-slipping device of the electric vehicle directly calculates the duty ratio according to the current sliding distance of the electric vehicle, and then controls the motor to rotate at the duty ratio, so as to prevent the electric vehicle from continuously slipping down the slope and enable the electric vehicle to be kept in a stopped state. That is, the anti-creep apparatus for an electric vehicle defines a distance from the start of rolling to the stop of rolling as a current rolling distance. In this case, the current rolling distance may be greater than the preset distance in the fifth embodiment described above, or the current rolling distance may be less than the preset distance in the fifth embodiment described above. The judgment can be specifically carried out according to the actual situation. For example, when the friction force is small, the air resistance is small, or the vehicle weight is heavy, the current sliding distance of the electric vehicle in the embodiment may be larger than the preset distance of the five embodiments. For example, when the friction force is large, the air resistance is large, or the vehicle weight is light, the current sliding distance of the electric vehicle in the embodiment may be smaller than the preset distance of the five embodiments.
The second preset time interval in this embodiment is the same as the first preset time interval in the fifth embodiment, that is, the second preset time may also be 1 second, 2 seconds, 3 seconds, and the like. The specific setting can be according to different situations. And are not limited herein.
Further, the preset threshold in this embodiment is the same as the preset threshold in the five embodiments described above. This is not repeated herein.
EXAMPLE seven
Referring to fig. 6, further, step S03 includes the steps of:
s035: the method comprises the steps of taking the detected electric vehicle in a vehicle sliding state as a vehicle sliding distance original point, increasing the current duty ratio by a preset unit duty ratio when the current vehicle sliding distance is increased by a preset unit distance, wherein the current duty ratio is zero when the detected electric vehicle is in the vehicle sliding state.
Specifically, when the electric vehicle is in the rolling state, the electric vehicle has just entered the rolling state, that is, when the throttle value of the electric vehicle is zero, the mechanical brake does not work and the motor rotor position detection sensor detects that the three conditions of signal change are all satisfied, the position where the electric vehicle is located at this time is defined as the rolling distance origin, and at this time, the current duty ratio of the electric vehicle is zero. Then, the electric vehicle has a phenomenon of sliding, and at the moment, the electric vehicle moves towards the direction far away from the sliding distance origin, under the condition, the anti-sliding device of the electric vehicle can detect the distance between the electric vehicle and the sliding distance origin in real time, and then the numerical value of the duty ratio is increased according to the change of the distance.
Illustratively, the preset unit distance is 0.1 meter, and the preset unit duty ratio is 1, that is, the duty ratio is increased by 1 every time the distance between the electric vehicle and the rolling distance origin is increased by 0.1 meter. For example, after the electric vehicle enters the rolling state, the distance between the electric vehicle and the rolling distance origin is 0.5m, and at this time, the duty ratio is 5. For another example, after the electric vehicle enters the rolling state, the distance between the electric vehicle and the rolling distance origin is 0.6 m, and at this time, the duty ratio is 5. And the like to obtain the space-to-occupation ratio. By adopting the mode, the duty ratio can be quickly acquired, and then the motor can be quickly controlled to work according to the duty ratio, so that the pause of the electric vehicle can be quickly controlled, the calculation time is saved, and the method is convenient and quick.
Example eight
Referring to fig. 7, in an anti-slope-slipping device 100 for an electric vehicle according to an embodiment of the present invention, the anti-slope-slipping device 100 for an electric vehicle includes:
the acquiring unit 10 is used for acquiring the vehicle sliding direction of the electric vehicle and acquiring the vehicle sliding distance of the electric vehicle in real time when the electric vehicle is detected to be in a vehicle sliding state;
a rotation direction determining unit 20 for determining a rotation direction of a motor of the electric vehicle according to a vehicle-sliding direction;
a duty ratio determining unit 30 for determining a duty ratio of the motor according to the vehicle-sliding distance;
and the sending unit 40 is used for generating a rotation control instruction according to the duty ratio and the rotation direction, and sending the control instruction to the driving module so that the driving module can control the motor to rotate.
Specifically, the implementation principle and the resulting technical effects of the slope slipping prevention device 100 for an electric vehicle according to the eighth embodiment of the present invention are the same as those of the first embodiment of the slope slipping prevention method for an electric vehicle, and for a brief description, reference may be made to the corresponding contents in the first embodiment of the slope slipping prevention method for an electric vehicle where the eighth embodiment of the slope slipping prevention device 100 for an electric vehicle is not mentioned.
Example nine
Further, the anti-creep apparatus 100 for an electric vehicle further includes:
and the judging unit is used for judging that the electric vehicle is in a vehicle sliding state when the throttle value of the electric vehicle is zero, the mechanical brake does not work and the motor rotor position detection sensor detects signal change.
Specifically, the implementation principle and the resulting technical effects of the slope slipping prevention device 100 for an electric vehicle according to the ninth embodiment of the present invention are the same as those of the foregoing embodiment of the slope slipping prevention method for an electric vehicle, and for a brief description, reference may be made to the corresponding contents in the foregoing second embodiment of the slope slipping prevention method for an electric vehicle in the ninth embodiment of the slope slipping prevention device 100 for an electric vehicle.
Example ten
Referring to fig. 8, further, the obtaining unit 10 includes:
the detection module 101 is used for acquiring signal changes detected by a motor rotor position detection sensor in real time;
and the obtaining module 102 is used for determining the vehicle sliding distance and the vehicle sliding direction of the electric vehicle according to the signal change.
Specifically, the implementation principle and the resulting technical effects of the slope slipping prevention device 100 for an electric vehicle according to the tenth embodiment of the present invention are the same as those of the foregoing embodiment of the slope slipping prevention method for an electric vehicle, and for a brief description, reference may be made to the corresponding contents in the third embodiment of the slope slipping prevention method for an electric vehicle in the tenth embodiment of the slope slipping prevention device 100 for an electric vehicle.
EXAMPLE eleven
Referring to fig. 9, further, the duty ratio determining unit 30 includes:
the first duty ratio determining module 301 is configured to determine a duty ratio of the motor according to a current vehicle sliding distance when the current vehicle sliding distance of the electric vehicle is greater than or equal to a preset distance.
Specifically, the implementation principle and the resulting technical effects of the slope slipping prevention device 100 for an electric vehicle according to the eleventh embodiment of the present invention are the same as those of the fourth embodiment of the slope slipping prevention method for an electric vehicle, and for a brief description, reference may be made to the corresponding contents of the fourth embodiment of the slope slipping prevention method for an electric vehicle where the eleventh embodiment of the slope slipping prevention device 100 for an electric vehicle is not mentioned.
Example twelve
Referring to fig. 10, the duty ratio determining unit 30 further includes:
the judging module 302 is configured to judge whether a change value of a current vehicle sliding distance within a first preset time interval is smaller than a preset threshold value when the current vehicle sliding distance of the electric vehicle is smaller than a preset distance;
the first duty ratio determining module 303 is further configured to determine a duty ratio of the motor according to the current vehicle sliding distance when the variation value of the vehicle sliding distance within the preset time interval is smaller than a preset threshold value.
Specifically, the implementation principle and the resulting technical effects of the slope slipping prevention device 100 for an electric vehicle according to the twelfth embodiment of the present invention are the same as those of the fifth embodiment of the slope slipping prevention method for an electric vehicle, and for a brief description, reference may be made to the corresponding contents of the fifth embodiment of the slope slipping prevention method for an electric vehicle in the twelfth embodiment of the slope slipping prevention device 100 for an electric vehicle.
EXAMPLE thirteen
Referring to fig. 11, further, the duty ratio determining unit 30 further includes:
and a second duty ratio determining module 304, configured to determine the duty ratio of the motor according to the current vehicle sliding distance when a variation value of the current vehicle sliding distance of the electric vehicle in a second preset time interval is smaller than a preset threshold.
Specifically, the implementation principle and the resulting technical effects of the slope-sliding prevention device 100 for an electric vehicle according to the thirteenth embodiment of the present invention are the same as those of the sixth embodiment of the slope-sliding prevention method for an electric vehicle, and for a brief description, reference may be made to the corresponding contents of the sixth embodiment of the slope-sliding prevention method for an electric vehicle in the thirteenth embodiment of the slope-sliding prevention device 100 for an electric vehicle.
Example fourteen
Referring to fig. 12, further, the duty ratio determining unit 30 further includes:
a third duty ratio determining module 305, configured to increase the current duty ratio by a preset unit duty ratio when the electric vehicle is detected to be in a rolling state and the current duty ratio is taken as an origin of the rolling distance when the current rolling distance is increased by the preset unit distance, where the current duty ratio is zero when the electric vehicle is detected to be in the rolling state.
Specifically, the implementation principle and the resulting technical effects of the slope slipping prevention device 100 for an electric vehicle provided in the fourteenth embodiment of the present invention are the same as those of the seventh embodiment of the slope slipping prevention method for an electric vehicle, and for a brief description, reference may be made to the corresponding contents in the seventh embodiment of the slope slipping prevention method for an electric vehicle in order to describe the embodiment of the slope slipping prevention device 100 for an electric vehicle.
Further, the electric vehicle according to the embodiment of the present invention includes the anti-creep device for an electric vehicle according to any one of the eighth to fourteenth embodiments.
Further, an embodiment of the present invention further provides a computer-readable storage medium, on which a slope slipping prevention program of an electric vehicle is stored, and when the slope slipping prevention program of the electric vehicle is executed by a processor, the steps of the slope slipping prevention method of the electric vehicle according to any one of the first to seventh embodiments are implemented.
For the purposes of this description, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer-readable storage medium.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. An anti-landslide method for an electric vehicle, the method comprising:
when the electric vehicle is detected to be in a vehicle sliding state, acquiring the vehicle sliding direction of the electric vehicle, and acquiring the vehicle sliding distance of the electric vehicle in real time, wherein the vehicle sliding direction is the same as the direction of a vehicle head;
determining the rotation direction of a motor of the electric vehicle according to the vehicle sliding direction;
determining the duty ratio of the motor according to the vehicle sliding distance;
generating a rotation control instruction according to the duty ratio and the rotation direction, and sending the control instruction to a driving module so that the driving module can control the motor to rotate;
the step of determining the duty ratio of the motor according to the rolling distance comprises the following steps:
when the current vehicle sliding distance of the electric vehicle is larger than or equal to a preset distance, determining the duty ratio of the motor according to the current vehicle sliding distance;
when the current vehicle sliding distance of the electric vehicle is smaller than the preset distance, judging whether the change value of the current vehicle sliding distance in a first preset time interval is smaller than a preset threshold value;
and when the change value of the vehicle sliding distance in the preset time interval is smaller than a preset threshold value, determining the duty ratio of the motor according to the current vehicle sliding distance.
2. The method for preventing a motor vehicle from slipping down a slope as claimed in claim 1, wherein the motor vehicle enters the slipping state when a throttle value of the motor vehicle is zero, a mechanical brake is not operated, and a motor rotor position detection sensor detects a signal change.
3. The method for preventing a motor vehicle from slipping down a slope according to claim 2, wherein the step of obtaining a direction of slipping of the motor vehicle and obtaining a distance of slipping of the motor vehicle in real time comprises:
acquiring signal changes detected by the motor rotor position detection sensor in real time;
and determining the vehicle sliding distance and the vehicle sliding direction of the electric vehicle according to the signal change.
4. The anti-creep method of an electric vehicle according to claim 1, wherein the step of determining the duty ratio of the motor based on the creep distance comprises:
and when the change value of the current vehicle sliding distance of the electric vehicle in a second preset time interval is smaller than a preset threshold value, determining the duty ratio of the motor according to the current vehicle sliding distance.
5. The anti-creep method of an electric vehicle according to claim 1, wherein the step of determining the duty ratio of the motor based on the creep distance comprises:
the method comprises the steps of taking the detected electric vehicle in a vehicle sliding state as a vehicle sliding distance original point, increasing the current duty ratio by a preset unit duty ratio when the current vehicle sliding distance is increased by a preset unit distance, wherein the current duty ratio is zero when the detected electric vehicle is in the vehicle sliding state.
6. An anti-landslide apparatus for an electric vehicle, the apparatus comprising:
the acquisition unit is used for acquiring the vehicle sliding direction of the electric vehicle and acquiring the vehicle sliding distance of the electric vehicle in real time when the electric vehicle is detected to be in a vehicle sliding state, wherein the vehicle sliding direction is the same as the direction of a vehicle head;
the rotation direction determining unit is used for determining the rotation direction of a motor of the electric vehicle according to the vehicle sliding direction;
the duty ratio determining unit is used for determining the duty ratio of the motor according to the vehicle sliding distance;
the sending unit is used for generating a rotation control instruction according to the duty ratio and the rotation direction and sending the control instruction to a driving module so that the driving module can control the motor to rotate;
the duty ratio determining unit includes:
the first duty ratio determining module is used for determining the duty ratio of the motor according to the current vehicle sliding distance when the current vehicle sliding distance of the electric vehicle is greater than or equal to a preset distance;
the judging module is used for judging whether the change value of the current vehicle sliding distance in a first preset time interval is smaller than a preset threshold value or not when the current vehicle sliding distance of the electric vehicle is smaller than the preset distance;
the first duty ratio determining module is further configured to determine the duty ratio of the motor according to the current vehicle sliding distance when the variation value of the vehicle sliding distance within the preset time interval is smaller than a preset threshold value.
7. The apparatus for preventing a slope from slipping down an electric vehicle according to claim 6, further comprising:
and the judging unit is used for judging that the electric vehicle is in the vehicle sliding state when the throttle value of the electric vehicle is zero, the mechanical brake does not work and the motor rotor position detection sensor detects signal change.
8. The slope slipping prevention device for an electric vehicle according to claim 7, wherein the acquisition unit includes:
the detection module is used for acquiring the signal change detected by the motor rotor position detection sensor in real time;
and the acquisition module is used for determining the vehicle sliding distance and the vehicle sliding direction of the electric vehicle according to the signal change.
9. The anti-creep apparatus of an electric vehicle according to claim 6, wherein the duty ratio determining unit further comprises:
and the second duty ratio determining module is used for determining the duty ratio of the motor according to the current vehicle sliding distance when the change value of the current vehicle sliding distance of the electric vehicle in a second preset time interval is smaller than a preset threshold value.
10. The anti-creep apparatus of an electric vehicle according to claim 6, wherein the duty ratio determining unit further comprises:
and the third duty ratio determining module is used for increasing the current duty ratio by a preset unit duty ratio when the electric vehicle is detected to be in a vehicle sliding state and taking the detected electric vehicle as a vehicle sliding distance original point and increasing the current duty ratio by the preset unit duty ratio when the current vehicle sliding distance is increased by the preset unit distance, wherein the current duty ratio is zero when the electric vehicle is detected to be in the vehicle sliding state.
11. An electric vehicle comprising the anti-roll apparatus for an electric vehicle according to any one of claims 6 to 10.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an anti-landslide program of an electric vehicle, which when executed by a processor implements the steps of the anti-landslide method of an electric vehicle according to any one of claims 1 to 5.
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| CN111823879B (en) * | 2020-06-28 | 2023-03-10 | 深圳市法拉第电驱动有限公司 | New energy automobile slope slipping prevention method and system |
| CN113479073B (en) * | 2021-08-02 | 2024-05-17 | 潍柴动力股份有限公司 | A method and device for preventing slope sliding, a vehicle controller and a storage medium |
| CN115805819B (en) * | 2022-11-30 | 2025-03-25 | 东风华神汽车有限公司 | Method, device, equipment and medium for preventing motor from stalling when preventing vehicle from sliding downhill |
| CN116700242A (en) * | 2023-05-29 | 2023-09-05 | 深圳市优必选科技股份有限公司 | Robot anti-slip control method and system and mobile robot |
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